From e0c9344c811d03a034b8800b8a0a5cab2f9c3378 Mon Sep 17 00:00:00 2001
From: Robbin <d-robotics@D-roboticsdeMacBook-Air.local>
Date: Wed, 4 Dec 2024 19:24:06 +0800
Subject: [PATCH] update ros2 book

---
 .DS_Store                                     |  Bin 0 -> 8196 bytes
 404.html                                      | 1078 +++++--
 .../index.html"                               | 1207 ++++++--
 .../index.html"                               | 1215 ++++++--
 .../index.html"                               | 1331 +++++++--
 .../index.html"                               | 1257 +++++++--
 .../index.html"                               | 1267 +++++++--
 .../2.10_DDS/index.html"                      | 1243 +++++++--
 .../index.html"                               | 1219 ++++++--
 .../index.html"                               | 1205 ++++++--
 .../2.3_\350\212\202\347\202\271/index.html"  | 1301 +++++++--
 .../2.4_\350\257\235\351\242\230/index.html"  | 1337 +++++++--
 .../2.5_\346\234\215\345\212\241/index.html"  | 1319 +++++++--
 .../index.html"                               | 1313 +++++++--
 .../2.7_\345\212\250\344\275\234/index.html"  | 1285 +++++++--
 .../2.8_\345\217\202\346\225\260/index.html"  | 1281 +++++++--
 .../index.html"                               | 1277 +++++++--
 .../index.html"                               | 1132 ++++++--
 .../3.1_Launch/index.html"                    | 1299 +++++++--
 .../3.2_TF/index.html"                        | 1461 +++++++---
 .../3.3_URDF/index.html"                      | 1413 +++++++---
 .../3.4_Gazebo/index.html"                    | 1649 +++++++----
 .../3.5_Rviz/index.html"                      | 1489 +++++++---
 .../3.6_Rqt/index.html"                       | 1211 ++++++--
 .../index.html"                               | 1199 ++++++--
 .../0.\345\211\215\350\250\200/index.html"    | 1746 ++++++++++++
 .../index.html"                               | 2472 +++++++++++++++++
 .../index.html"                               | 2453 ++++++++++++++++
 .../index.html"                               | 1931 +++++++++++++
 .../img/book_footer.jpg"                      |  Bin 0 -> 73112 bytes
 .../img/footer.png"                           |  Bin 0 -> 112493 bytes
 .../img/\345\260\201\351\235\242.jpg"         |  Bin 0 -> 73112 bytes
 .../index.html"                               | 2034 ++++++++++++++
 .../index.html"                               | 1812 ++++++++++++
 .../index.html"                               | 1743 ++++++++++++
 .../img/book_footer.jpg"                      |  Bin 0 -> 73112 bytes
 .../img/footer.png"                           |  Bin 0 -> 112493 bytes
 .../img/\345\260\201\351\235\242.jpg"         |  Bin 0 -> 73112 bytes
 .../index.html"                               | 2094 ++++++++++++++
 .../index.html"                               | 1830 ++++++++++++
 .../index.html"                               | 2266 +++++++++++++++
 .../img/book_footer.jpg"                      |  Bin 0 -> 73112 bytes
 .../img/footer.png"                           |  Bin 0 -> 112493 bytes
 .../img/\345\260\201\351\235\242.jpg"         |  Bin 0 -> 73112 bytes
 about/index.html                              | 1129 ++++++--
 assets/javascripts/bundle.83f73b43.min.js     |   16 +
 assets/javascripts/bundle.83f73b43.min.js.map |    7 +
 assets/javascripts/bundle.a6c66575.min.js     |   29 -
 assets/javascripts/bundle.a6c66575.min.js.map |    8 -
 assets/javascripts/lunr/min/lunr.ar.min.js    |    2 +-
 assets/javascripts/lunr/min/lunr.el.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.he.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.hy.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.kn.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.ko.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.sa.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.ta.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.te.min.js    |    1 +
 assets/javascripts/lunr/min/lunr.zh.min.js    |    2 +-
 assets/javascripts/lunr/wordcut.js            |    4 +-
 .../workers/search.2a1c317c.min.js.map        |    8 -
 ...2a1c317c.min.js => search.6ce7567c.min.js} |   22 +-
 .../workers/search.6ce7567c.min.js.map        |    7 +
 assets/js/baidu-tongji.js                     |   12 +-
 assets/stylesheets/main.6f8fc17f.min.css      |    1 +
 assets/stylesheets/main.6f8fc17f.min.css.map  |    1 +
 assets/stylesheets/main.c382b1dc.min.css      |    1 -
 assets/stylesheets/main.c382b1dc.min.css.map  |    1 -
 assets/stylesheets/palette.06af60db.min.css   |    1 +
 .../stylesheets/palette.06af60db.min.css.map  |    1 +
 assets/stylesheets/palette.cc9b2e1e.min.css   |    1 -
 .../stylesheets/palette.cc9b2e1e.min.css.map  |    1 -
 index.html                                    | 1153 ++++++--
 search/search_index.json                      |    2 +-
 sitemap.xml                                   |  115 +-
 sitemap.xml.gz                                |  Bin 655 -> 1007 bytes
 76 files changed, 46107 insertions(+), 7794 deletions(-)
 create mode 100644 .DS_Store
 create mode 100644 "ROS2_Book/0.\345\211\215\350\250\200/index.html"
 create mode 100644 "ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/ROS 2\345\270\270\347\224\250\345\267\245\345\205\267\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\345\274\200\345\217\221\346\233\264\344\276\277\346\215\267/index.html"
 create mode 100644 "ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/ROS2\346\240\270\345\277\203\345\216\237\347\220\206\357\274\232\346\236\204\345\273\272\346\234\272\345\231\250\344\272\272\347\232\204\345\237\272\347\237\263/index.html"
 create mode 100644 "ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/ROS\357\274\232\346\231\272\350\203\275\346\234\272\345\231\250\344\272\272\347\232\204\347\201\265\351\255\202/index.html"
 create mode 100644 "ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/img/book_footer.jpg"
 create mode 100644 "ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/img/footer.png"
 create mode 100644 "ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/img/\345\260\201\351\235\242.jpg"
 create mode 100644 "ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/ROS 2\346\216\247\345\210\266\344\270\216\346\204\237\347\237\245\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\345\212\250\345\276\227\344\272\206\343\200\201\347\234\213\345\276\227\350\247\201/index.html"
 create mode 100644 "ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/ROS 2\346\234\272\345\231\250\344\272\272\344\273\277\347\234\237\357\274\232\351\233\266\346\210\220\346\234\254\347\216\251\350\275\254\346\234\272\345\231\250\344\272\272/index.html"
 create mode 100644 "ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/ROS 2\346\234\272\345\231\250\344\272\272\346\236\204\345\273\272\357\274\232\344\273\216\344\273\277\347\234\237\345\210\260\345\256\236\347\211\251/index.html"
 create mode 100644 "ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/img/book_footer.jpg"
 create mode 100644 "ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/img/footer.png"
 create mode 100644 "ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/img/\345\260\201\351\235\242.jpg"
 create mode 100644 "ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\345\234\260\345\233\276\346\236\204\345\273\272\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\347\220\206\350\247\243\347\216\257\345\242\203/index.html"
 create mode 100644 "ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\350\207\252\344\270\273\345\257\274\350\210\252\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\350\277\220\345\212\250\350\207\252\347\224\261/index.html"
 create mode 100644 "ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\350\247\206\350\247\211\345\272\224\347\224\250\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\347\234\213\346\207\202\344\270\226\347\225\214/index.html"
 create mode 100644 "ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/img/book_footer.jpg"
 create mode 100644 "ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/img/footer.png"
 create mode 100644 "ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/img/\345\260\201\351\235\242.jpg"
 create mode 100644 assets/javascripts/bundle.83f73b43.min.js
 create mode 100644 assets/javascripts/bundle.83f73b43.min.js.map
 delete mode 100644 assets/javascripts/bundle.a6c66575.min.js
 delete mode 100644 assets/javascripts/bundle.a6c66575.min.js.map
 create mode 100644 assets/javascripts/lunr/min/lunr.el.min.js
 create mode 100644 assets/javascripts/lunr/min/lunr.he.min.js
 create mode 100644 assets/javascripts/lunr/min/lunr.hy.min.js
 create mode 100644 assets/javascripts/lunr/min/lunr.kn.min.js
 create mode 100644 assets/javascripts/lunr/min/lunr.ko.min.js
 create mode 100644 assets/javascripts/lunr/min/lunr.sa.min.js
 create mode 100644 assets/javascripts/lunr/min/lunr.ta.min.js
 create mode 100644 assets/javascripts/lunr/min/lunr.te.min.js
 delete mode 100644 assets/javascripts/workers/search.2a1c317c.min.js.map
 rename assets/javascripts/workers/{search.2a1c317c.min.js => search.6ce7567c.min.js} (59%)
 create mode 100644 assets/javascripts/workers/search.6ce7567c.min.js.map
 create mode 100644 assets/stylesheets/main.6f8fc17f.min.css
 create mode 100644 assets/stylesheets/main.6f8fc17f.min.css.map
 delete mode 100644 assets/stylesheets/main.c382b1dc.min.css
 delete mode 100644 assets/stylesheets/main.c382b1dc.min.css.map
 create mode 100644 assets/stylesheets/palette.06af60db.min.css
 create mode 100644 assets/stylesheets/palette.06af60db.min.css.map
 delete mode 100644 assets/stylesheets/palette.cc9b2e1e.min.css
 delete mode 100644 assets/stylesheets/palette.cc9b2e1e.min.css.map

diff --git a/.DS_Store b/.DS_Store
new file mode 100644
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diff --git a/404.html b/404.html
index a9ed29d..e0f86f6 100644
--- a/404.html
+++ b/404.html
@@ -6,27 +6,34 @@
       <meta charset="utf-8">
       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
+      
+      
+      
       
       
       
       <link rel="icon" href="/assets/img/favicon.png">
-      <meta name="generator" content="mkdocs-1.3.0, mkdocs-material-8.2.15">
+      <meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.5.47">
     
     
       
-        <title>ROS2入门教程</title>
+        <title>图书资源</title>
       
     
     
-      <link rel="stylesheet" href="/assets/stylesheets/main.c382b1dc.min.css">
+      <link rel="stylesheet" href="/assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="/assets/stylesheets/palette.cc9b2e1e.min.css">
-        
+        <link rel="stylesheet" href="/assets/stylesheets/palette.06af60db.min.css">
       
+      
+
+
     
     
+      
+    
     
       
         
@@ -37,12 +44,13 @@
       
     
     
-    <script>__md_scope=new URL("/",location),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("/",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
     
     
+    
   </head>
   
   
@@ -53,12 +61,9 @@
     
     
     
-    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="blue" data-md-color-accent="blue">
+    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue">
   
     
-    
-      <script>var palette=__md_get("__palette");if(palette&&"object"==typeof palette.color)for(var key of Object.keys(palette.color))document.body.setAttribute("data-md-color-"+key,palette.color[key])</script>
-    
     <input class="md-toggle" data-md-toggle="drawer" type="checkbox" id="__drawer" autocomplete="off">
     <input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
     <label class="md-overlay" for="__drawer"></label>
@@ -72,21 +77,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="/." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="/." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="/assets/img/favicon.png" alt="logo">
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
         <div class="md-header__topic">
           <span class="md-ellipsis">
-            ROS2入门教程
+            图书资源
           </span>
         </div>
         <div class="md-header__topic" data-md-component="header-topic">
@@ -99,32 +107,40 @@
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     </div>
     
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-            </label>
-          
-        
-      </form>
+      
+        <form class="md-header__option" data-md-component="palette">
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
+      </label>
+    
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
+      </label>
+    
+  
+</form>
+      
+    
+    
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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+      <div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
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             正在初始化搜索引擎
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-          <ol class="md-search-result__list"></ol>
+          <ol class="md-search-result__list" role="presentation"></ol>
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-          <span class="md-nav__icon md-icon"></span>
-        </label>
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
-      <nav class="md-nav" aria-label="系统架构" data-md-level="1">
-        <label class="md-nav__title" for="__nav_2">
-          <span class="md-nav__icon md-icon"></span>
-          系统架构
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
+        
           
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
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+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
-      <a href="/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
-        ROS和ROS2是什么
+      <a href="/." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
           
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
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+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
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+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        ROS2对比ROS1
+      <a href="/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
-        ROS2开发环境配置
-      </a>
-    </li>
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
   
 
-            
-          
-        </ul>
-      </nav>
+      </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
 
+              
+            
+              
+                
   
   
   
+  
+    
+    
+    
     
     <li class="md-nav__item md-nav__item--nested">
       
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
-      
-      
-      
-      
-        <label class="md-nav__link" for="__nav_3">
-          核心概念
-          <span class="md-nav__icon md-icon"></span>
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-      <nav class="md-nav" aria-label="核心概念" data-md-level="1">
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-          <span class="md-nav__icon md-icon"></span>
-          核心概念
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     
+    
+    
+    
     <li class="md-nav__item md-nav__item--nested">
       
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
-      
-      
-      
-      
-        <label class="md-nav__link" for="__nav_4">
-          常用工具
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-        </label>
-      
-      <nav class="md-nav" aria-label="常用工具" data-md-level="1">
-        <label class="md-nav__title" for="__nav_4">
-          <span class="md-nav__icon md-icon"></span>
-          常用工具
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="/ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -687,14 +1313,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -702,14 +1333,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="/about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -739,13 +1375,17 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
   <h1>404 - Not found</h1>
 
-            </article>
-          </div>
+              </article>
+            </div>
+          
+          
+<script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
       </main>
@@ -772,47 +1412,57 @@ <h1>404 - Not found</h1>
   
     
     
+    
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index 154d18f..4055950 100644
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+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
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+        
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+        
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+    ROS 2视觉应用：让机器人看懂世界
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         <label class="md-nav__link md-nav__link--active" for="__toc">
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           <span class="md-nav__icon md-icon"></span>
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@@ -348,416 +826,586 @@
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-            
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       </a>
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+
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+  
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       </a>
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-    
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+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
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+                  
 
 
 <h1 id="rosros2"><strong>ROS/ROS2是什么</strong></h1>
@@ -885,31 +1554,31 @@ <h1 id="rosros2"><strong>ROS/ROS2是什么</strong></h1>
 <p>接下来，我们就一起掀起ROS的神秘面纱，带领大家认识一下机器人开发中这位重量级的嘉宾。</p>
 <h2 id="ros"><strong>ROS的诞生</strong></h2>
 <p>对于越来越复杂的智能机器人系统，已经不是一个人或者一个团队可以独立完成的，如何高效开发机器人，是技术层面上非常重要的一个问题，针对这个问题，一群斯坦福大学的有志青年尝试给出一个答案，那就是<strong>机器人操作系统</strong>。</p>
-<p><img alt="image-20220521163450243" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163450243.jpg" /></p>
+<p><img alt="image-20220521163450243" src="image\1.1_ROS和ROS2是什么\image-20220521163450243.jpg" /></p>
 <p>2007年，他们诞生了这样一个想法，我们有没有可能做一款个人服务机器人，帮助我们完成洗衣做饭收拾家等一切你不想做的事情，甚至还可以在你无聊的时候，陪你聊天玩耍，最后他们真的做出来了。</p>
 <p>当时，他们深知做出这样一款机器人并不容易，机械、电路、软件等都要涉及，而且横跨很多个专业，光靠自己肯定做不到，此时他们诞生了这样一个想法：<strong>既然自己做不到，那为什么不联合所有人一起干呢？</strong>如果设计一套标准的机器人平台和其中的软件，大家都可以在这个平台上做应用开发，既然应用软件都基于同一平台，应用的分享也很容易实现，这就类似别人开发的苹果手机应用，只要你有苹果手机，同样也可以用。</p>
 <p>说干就干，初期的机器人原型是用实验室可以找到的木头和一些零部件组成的，后期有了充足的资金，才得以实现图中这款外观精致、性能强悍的机器人——<strong>PR2</strong>，Personal Robot 2代。</p>
-<p><img alt="image-20220521163523779" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163523779.jpg" /></p>
+<p><img alt="image-20220521163523779" src="image\1.1_ROS和ROS2是什么\image-20220521163523779.jpg" /></p>
 <p>在上图中，我们可以看到PR2机器人已经可以完成叠毛巾、熨烫衣服、打台球、剪头发等一系列复杂的应用功能，以叠毛巾为例，这在当时是轰动机器人圈的重要研究，因为第一次有机器人可以完成柔性物体的处理，虽然效率很低，在100分钟之内只完成了5条毛巾的整理，但是在学术层面却推动机器人向前走了一大步。</p>
 <p>这款机器人中的软件框架就是ROS的原型，所以ROS因这款个人服务机器人而生，很快也从中独立出来，成为一款用于更多机器人的软件系统。</p>
 <h2 id="ros_1"><strong>ROS的发展</strong></h2>
 <p>ROS诞生于2007年的斯坦福大学，这是早期PR2机器人的原型，这个项目很快被一家商业公司Willow Garage看中，类似现在的风险投资一样，他们投了一大笔钱给这群年轻人，PR2机器人在资本的助推下成功诞生。</p>
-<p><img alt="image-20220521163555519" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163555519.jpg" /></p>
+<p><img alt="image-20220521163555519" src="image\1.1_ROS和ROS2是什么\image-20220521163555519.jpg" /></p>
 <p>2010年，随着PR2机器人的发布，其中的软件正式确定了名称，就叫做机器人操作系统，Robot Operating System，简称为ROS。同年，ROS也肩负着让更多人使用的使命，正式开源。</p>
 <p>PR2机器人虽好，但是成本居高不下，几百万的价格让绝大部分开发者望而却步，官方也注意到了这个问题，所以在2011年发布了一款后期成为ROS圈爆款的机器人——<strong>Turtlebot</strong>，这款机器人采用扫地机器人的底盘，加上xbox游戏机中的体感传感器Kinect，直接使用笔记本电脑就可以控制，支持ROS的所有开源功能，关键是价格便宜，随着这款机器人的普及，大大推动了ROS的应用。</p>
 <p>从2012年开始，使用ROS的人越来越多，ROS官方也开始每年举办一届ROS开发者大会——<strong>ROS Conference</strong>，简称<strong>ROSCon</strong>，来自全球的开发者会齐聚一堂分享自己使用ROS开发的机器人应用，其中不乏亚马逊、Intel、微软等大公司的身影，近两年因为疫情原因改为线上举办，名称也变为了ROS World。</p>
 <p>经历前几年野蛮而快速的增长，ROS逐渐迭代稳定，2014年起，ROS跟随Ubuntu系统，每两年推出一个长期支持版，每个版本支持五年时间，这标志着ROS的成熟，也让ROS加快了普及的步伐。</p>
 <p>回到时间轴的起点，ROS的创始团队原本只想做一款个人服务机器人，万万没想到，<strong>ROS被越来越多机器人使用，受限于当初设计的局限性，ROS的问题也逐渐暴露</strong>。为了能够真正设计一款适用于所有机器人的操作系统，ROS2在2017年底正式发布，历经多年迭代，我们终于在2022年5月底，迎来了ROS2第一个长期支持版——<strong>ROS2 Humble</strong>，ROS2已经成熟，我们也进入了一个全新的ROS2时代。</p>
 <p>从ROS发展的时间轴中，我们不仅可以了解到ROS的发展过程，更重要的是熟悉ROS和ROS2诞生的原因。</p>
-<p><img alt="image-20220521163636582" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163636582.jpg" /></p>
+<p><img alt="image-20220521163636582" src="image\1.1_ROS和ROS2是什么\image-20220521163636582.jpg" /></p>
 <p>这里我们也把ROS2发展的时间轴单独提取出来，介于ROS在各种各样机器人中应用的问题，ROS2在2014年提出，2015年开始迭代，2017年推出第一个正式版，此后快速迭代，直到2022年推出了第一个长期支持版，本教程也会在该版本ROS2之上进行讲解。</p>
 <h2 id="ros_2"><strong>ROS的特点</strong></h2>
 <p>ROS怀揣“<strong>提高机器人软件复用率</strong>”的目标，促使社区快速发展和繁荣，时至今日，ROS已经广泛用于各种机器人的开发，无论是机械臂、移动机器人、水下机器人，还是人形机器人、复合机器人，统统都可以看到ROS的身影，ROS已经成为机器人领域的普遍标准。</p>
-<p><img alt="image-20220521163711567" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163711567.jpg" /></p>
+<p><img alt="image-20220521163711567" src="image\1.1_ROS和ROS2是什么\image-20220521163711567.jpg" /></p>
 <p>提高机器人软件复用率，这个目标简单来讲就是<strong>不要重新造轮子</strong>。</p>
-<p><img alt="image-20220521163724192" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163724192.jpg" /></p>
+<p><img alt="image-20220521163724192" src="image\1.1_ROS和ROS2是什么\image-20220521163724192.jpg" /></p>
 <p>正如一家做汽车的公司，从零制造汽车并不是一个明智的做法，他们通常会采购A家的轮子、B家的引擎、C家的多媒体系统，最后把这些整合到一起做成汽车。同理，我们也可以将ROS社区中已有的各种软件集合到一起，在此之上去实现自己的创意，同时还可以将自己的成果分享给别人，这样大家都可以站在巨人的肩膀上，向前走的更远，一步一步，智能机器人才会有更多沉淀和更长远的进步。</p>
-<p><img alt="image-20220521163735720" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163735720.jpg" /></p>
+<p><img alt="image-20220521163735720" src="image\1.1_ROS和ROS2是什么\image-20220521163735720.jpg" /></p>
 <p>围绕这个核心目标，ROS在自身的设计上也尽量做到了模块化，由<strong>通信机制、开发工具、应用功能、生态系统</strong>四大部分组成。同时ROS具备多项特点，这里的ROS是ROS1和ROS2的总称， 比如：</p>
 <blockquote>
 <ul>
@@ -932,15 +1601,15 @@ <h2 id="ros_3"><strong>ROS的社区</strong></h2>
 <li>packages.ros.org，是ROS功能包存储的数据库。</li>
 </ol>
 <p>这几个网站的使用情况基本就可以代表ROS社区的活跃度了。</p>
-<p><img alt="image-20220521163925495" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163925495.jpg" /></p>
+<p><img alt="image-20220521163925495" src="image\1.1_ROS和ROS2是什么\image-20220521163925495.jpg" /></p>
 <p>上图是近几年ROS社区页面浏览量的增长曲线，从总体趋势上来看，各项增长速度都非常快，wiki作为日常使用最为频繁的网站，使用度无疑是最高的，现在每个月有<strong>150万左右</strong>的访问量，answers和packages现在差不多，每个月有<strong>80万</strong>左右，其他两个不多，四项加起来每个月基本有<strong>250万左右</strong>的访问量，已经是一个活跃度非常棒的社区了。</p>
-<p><img alt="image-20220521163936186" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521163936186.jpg" /></p>
+<p><img alt="image-20220521163936186" src="image\1.1_ROS和ROS2是什么\image-20220521163936186.jpg" /></p>
 <p>从访问人数上来看，上边这张图更为清晰，<strong>wiki每个月有20到25万人使用</strong>，<strong>answers每个月有15万人以上使用</strong>，四项加起来每个月差不多有40多万的使用人数，这些用户绝大部分都是机器人开发者，可以看到ROS使用人数是越来越多了。</p>
 <p>总而言之，通过这些数据，我们可以看到的是ROS发展迅猛，正在助推机器人革命这一波大浪潮，大家每一个人在其中都大有可为。</p>
 <p>如果你希望学习机器人开发，ROS绝对会成为你开发机器人的神兵利器，本教程也绝对是你的最佳选择。</p>
 <h2 id="_1"><strong>参考资料</strong></h2>
 <p>关于本教程的参考资料，主要推荐这几个网站。</p>
-<p><img alt="image-20220521165541742" src="../image/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/image-20220521165541742.jpg" /></p>
+<p><img alt="image-20220521165541742" src="image\1.1_ROS和ROS2是什么\image-20220521165541742.jpg" /></p>
 <p>首先是最为推荐的搜索之王——<strong>Google</strong>，几乎所有问题，都可以在这里解决，作为开发工程师的同学，一定要掌握这个重要工具的使用方法。</p>
 <p>其次是开源项目的主阵地——<strong>Github</strong>，ROS和社区中的绝大部分代码，都在这里托管，还有大量可以作为我们学习参考的开源项目都可以在这里找到，也是我们离不开的一个网站。</p>
 <p>然后是<strong>古月居</strong>网站，这里有大量ROS机器人开发的技术内容和视频课程，还可以在泡泡板块中提问，也欢迎大家在这里和120万人分享你所学的知识。</p>
@@ -949,50 +1618,32 @@ <h2 id="_1"><strong>参考资料</strong></h2>
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@@ -1066,10 +1727,12 @@ <h2 id="_1"><strong>参考资料</strong></h2>
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+        <link rel="prev" href="../1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/">
+      
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+        <link rel="next" href="../1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/">
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1" >
+        
+          
+          <label class="md-nav__link" for="__nav_1" id="__nav_1_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2智能机器人开发实践
+  </span>
+  
 
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="false">
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+            ROS2智能机器人开发实践
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+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
-      <a href="../../.." class="md-nav__link">
-        引言
+      <a href="../../../ROS2_Book/0.%E5%89%8D%E8%A8%80/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
+
       </a>
     </li>
   
 
+              
+            
+              
+                
+  
+  
+  
+  
     
+    
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+    
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+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
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+  
+
+            <span class="md-nav__icon md-icon"></span>
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+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
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+            ROS2基础原理
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+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
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+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
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-      
+    </li>
+  
 
+              
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+              
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+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
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+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
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+
+      </a>
+    </li>
+  
+
+              
+            
+              
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
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+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
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+
+      </a>
+    </li>
+  
+
+              
+            
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+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
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+            <span class="md-nav__icon md-icon"></span>
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+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+  
+
+      </a>
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+  
+
+              
+            
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+  
+  
+  
+  
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
+
+              
+            
+          </ul>
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+    
       
       
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-          系统架构
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+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
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-        ROS和ROS2是什么
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
+              
+                
+  
+  
+    
+  
+  
+  
+    
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+            系统架构
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+  
+  
+  
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+      <a href="../1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
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+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          ROS2对比ROS1
+          
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="./" class="md-nav__link md-nav__link--active">
-        ROS2对比ROS1
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
       </a>
       
         
@@ -322,21 +797,27 @@
       
         <li class="md-nav__item">
   <a href="#ros1" class="md-nav__link">
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+    <span class="md-ellipsis">
+      ROS1的局限性
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   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ros2" class="md-nav__link">
-    全新的ROS2
+    <span class="md-ellipsis">
+      全新的ROS2
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ros2-vs-ros1" class="md-nav__link">
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+      ROS2 vs ROS1
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     <nav class="md-nav" aria-label="ROS2 vs ROS1">
@@ -344,35 +825,45 @@
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    系统架构
+    <span class="md-ellipsis">
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 </li>
         
           <li class="md-nav__item">
   <a href="#dds" class="md-nav__link">
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+    <span class="md-ellipsis">
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 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
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           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
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+    <span class="md-ellipsis">
+      编码方式
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    命令行
+    <span class="md-ellipsis">
+      命令行
+    </span>
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 </li>
@@ -389,402 +880,565 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
   
   
   
+  
+    
+    
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+
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 <h1 id="ros2ros1"><strong>ROS2对比ROS1</strong></h1>
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@@ -336,21 +818,27 @@
       
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   <a href="#ubuntu" class="md-nav__link">
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 </li>
       
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           <li class="md-nav__item">
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 </li>
         
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   <a href="#2" class="md-nav__link">
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 </li>
         
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   </a>
   
 </li>
         
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   <a href="#4-ubuntu" class="md-nav__link">
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 </li>
         
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 </li>
         
           <li class="md-nav__item">
   <a href="#6" class="md-nav__link">
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 </li>
         
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 </li>
         
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   <a href="#8" class="md-nav__link">
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 </li>
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           <li class="md-nav__item">
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 </li>
         
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 </li>
         
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 </li>
         
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   <a href="#4" class="md-nav__link">
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 </li>
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         <li class="md-nav__item">
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 </li>
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-            
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+  
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+
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+
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+  
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-          常用工具
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
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+                
+  
   
   
   
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-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
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-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
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-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
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-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
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     </li>
   
 
-            
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+              
             
               
+                
+  
   
   
   
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-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
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-      
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+              
+            
+              
+                
+  
   
   
   
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-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -881,14 +1557,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -896,14 +1577,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -937,21 +1623,27 @@
       
         <li class="md-nav__item">
   <a href="#linux" class="md-nav__link">
-    Linux系统简介
+    <span class="md-ellipsis">
+      Linux系统简介
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ubuntu" class="md-nav__link">
-    Ubuntu系统简介
+    <span class="md-ellipsis">
+      Ubuntu系统简介
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ubuntu_1" class="md-nav__link">
-    Ubuntu虚拟机安装
+    <span class="md-ellipsis">
+      Ubuntu虚拟机安装
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Ubuntu虚拟机安装">
@@ -959,56 +1651,72 @@
         
           <li class="md-nav__item">
   <a href="#1" class="md-nav__link">
-    1. 下载系统镜像
+    <span class="md-ellipsis">
+      1. 下载系统镜像
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#2" class="md-nav__link">
-    2. 在虚拟机中创建系统
+    <span class="md-ellipsis">
+      2. 在虚拟机中创建系统
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#3" class="md-nav__link">
-    3. 设置虚拟机硬盘大小
+    <span class="md-ellipsis">
+      3. 设置虚拟机硬盘大小
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#4-ubuntu" class="md-nav__link">
-    4. 设置Ubuntu镜像路径
+    <span class="md-ellipsis">
+      4. 设置Ubuntu镜像路径
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#5" class="md-nav__link">
-    5. 启动虚拟机
+    <span class="md-ellipsis">
+      5. 启动虚拟机
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#6" class="md-nav__link">
-    6. 设置用户名和密码
+    <span class="md-ellipsis">
+      6. 设置用户名和密码
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#7" class="md-nav__link">
-    7. 等待系统安装
+    <span class="md-ellipsis">
+      7. 等待系统安装
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#8" class="md-nav__link">
-    8. 完成安装
+    <span class="md-ellipsis">
+      8. 完成安装
+    </span>
   </a>
   
 </li>
@@ -1020,7 +1728,9 @@
       
         <li class="md-nav__item">
   <a href="#ros2_1" class="md-nav__link">
-    ROS2系统安装
+    <span class="md-ellipsis">
+      ROS2系统安装
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="ROS2系统安装">
@@ -1028,28 +1738,36 @@
         
           <li class="md-nav__item">
   <a href="#1_1" class="md-nav__link">
-    1. 设置编码
+    <span class="md-ellipsis">
+      1. 设置编码
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#2_1" class="md-nav__link">
-    2. 添加源
+    <span class="md-ellipsis">
+      2. 添加源
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#3-ros2" class="md-nav__link">
-    3. 安装ROS2
+    <span class="md-ellipsis">
+      3. 安装ROS2
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#4" class="md-nav__link">
-    4. 设置环境变量
+    <span class="md-ellipsis">
+      4. 设置环境变量
+    </span>
   </a>
   
 </li>
@@ -1061,7 +1779,9 @@
       
         <li class="md-nav__item">
   <a href="#ros2_2" class="md-nav__link">
-    ROS2示例测试
+    <span class="md-ellipsis">
+      ROS2示例测试
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="ROS2示例测试">
@@ -1069,14 +1789,18 @@
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    示例一：命令行示例
+    <span class="md-ellipsis">
+      示例一：命令行示例
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    示例二：小海龟仿真示例
+    <span class="md-ellipsis">
+      示例二：小海龟仿真示例
+    </span>
   </a>
   
 </li>
@@ -1094,10 +1818,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="ros2"><strong>ROS2安装方法</strong></h1>
@@ -1167,27 +1892,27 @@ <h3 id="8">8. 完成安装</h3>
 <h2 id="ros2_1"><strong>ROS2系统安装</strong></h2>
 <p>接下来，我们就可以把ROS2安装到Ubuntu系统中了。安装步骤如下：</p>
 <h3 id="1_1">1. 设置编码</h3>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ sudo apt update <span class="o">&amp;&amp;</span> sudo apt install locales
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ sudo locale-gen en_US en_US.UTF-8
-<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$ sudo update-locale <span class="nv">LC_ALL</span><span class="o">=</span>en_US.UTF-8 <span class="nv">LANG</span><span class="o">=</span>en_US.UTF-8 
-<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>$ <span class="nb">export</span> <span class="nv">LANG</span><span class="o">=</span>en_US.UTF-8
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>locales
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>locale-gen<span class="w"> </span>en_US<span class="w"> </span>en_US.UTF-8
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>update-locale<span class="w"> </span><span class="nv">LC_ALL</span><span class="o">=</span>en_US.UTF-8<span class="w"> </span><span class="nv">LANG</span><span class="o">=</span>en_US.UTF-8<span class="w"> </span>
+<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">LANG</span><span class="o">=</span>en_US.UTF-8
 </code></pre></div>
 <h3 id="2_1">2. 添加源</h3>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ sudo apt update <span class="o">&amp;&amp;</span> sudo apt install curl gnupg lsb-release 
-<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg 
-<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>$ <span class="nb">echo</span> <span class="s2">&quot;deb [arch=</span><span class="k">$(</span>dpkg --print-architecture<span class="k">)</span><span class="s2"> signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu </span><span class="k">$(</span><span class="nb">source</span> /etc/os-release <span class="o">&amp;&amp;</span> <span class="nb">echo</span> <span class="nv">$UBUNTU_CODENAME</span><span class="k">)</span><span class="s2"> main&quot;</span> <span class="p">|</span> sudo tee /etc/apt/sources.list.d/ros2.list &gt; /dev/null
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>curl<span class="w"> </span>gnupg<span class="w"> </span>lsb-release<span class="w"> </span>
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>curl<span class="w"> </span>-sSL<span class="w"> </span>https://raw.githubusercontent.com/ros/rosdistro/master/ros.key<span class="w"> </span>-o<span class="w"> </span>/usr/share/keyrings/ros-archive-keyring.gpg<span class="w"> </span>
+<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;deb [arch=</span><span class="k">$(</span>dpkg<span class="w"> </span>--print-architecture<span class="k">)</span><span class="s2"> signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu </span><span class="k">$(</span><span class="nb">source</span><span class="w"> </span>/etc/os-release<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="nv">$UBUNTU_CODENAME</span><span class="k">)</span><span class="s2"> main&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/ros2.list<span class="w"> </span>&gt;<span class="w"> </span>/dev/null
 </code></pre></div>
 <blockquote>
 <p>如遇报错“<strong>Failed to connect to raw.githubusercontent.com</strong>”，可参考<a href="https://www.guyuehome.com/37844" target="_blank">https://www.guyuehome.com/37844</a>  </p>
 </blockquote>
 <h3 id="3-ros2">3. 安装ROS2</h3>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ sudo apt update
-<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$ sudo apt upgrade
-<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$ sudo apt install ros-humble-desktop
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>upgrade
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-desktop
 </code></pre></div>
 <h3 id="4">4. 设置环境变量</h3>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ <span class="nb">source</span> /opt/ros/humble/setup.bash
-<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$ <span class="nb">echo</span> <span class="s2">&quot; source /opt/ros/humble/setup.bash&quot;</span> &gt;&gt; ~/.bashrc 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>/opt/ros/humble/setup.bash
+<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot; source /opt/ros/humble/setup.bash&quot;</span><span class="w"> </span>&gt;&gt;<span class="w"> </span>~/.bashrc<span class="w"> </span>
 </code></pre></div>
 <p>至此，ROS2就已经在系统中安装好了。</p>
 <hr />
@@ -1196,19 +1921,19 @@ <h2 id="ros2_2"><strong>ROS2示例测试</strong></h2>
 <h3 id="_1"><strong>示例一：命令行示例</strong></h3>
 <p>先来试试ROS2最为重要的底层通信系统DDS是否正常吧。</p>
 <p>启动第一个终端，通过以下命令启动一个数据的发布者节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$ ros2 run demo_nodes_cpp talker
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>demo_nodes_cpp<span class="w"> </span>talker
 </code></pre></div>
 <p><img alt="image-20220523191236749" src="../image/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/image-20220523191236749.jpg" /></p>
 <p>启动第二个终端，通过以下命令启动一个数据的订阅者节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 run demo_nodes_py listener
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>demo_nodes_py<span class="w"> </span>listener
 </code></pre></div>
 <p><img alt="image-20220523191243490" src="../image/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/image-20220523191243490.jpg" /></p>
 <p>如果“Hello World”字符串在两个终端中正常传输，说明通信系统没有问题。</p>
 <h3 id="_2"><strong>示例二：小海龟仿真示例</strong></h3>
 <p>再来试一试ROS中的经典示例——小海龟仿真器。</p>
 <p>启动两个终端，分别运行如下指令：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$ ros2 run turtlesim turtlesim_node
-<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$ ros2 run turtlesim turtle_teleop_key
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key
 </code></pre></div>
 <p>第一句指令将启动一个蓝色背景的海龟仿真器，第二句指令将启动一个键盘控制节点，在该终端中点击键盘上的“上下左右”按键，就可以控制小海龟运动啦。</p>
 <p><img alt="image-20220523191347938" src="../image/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/image-20220523191347938.jpg" /></p>
@@ -1217,50 +1942,32 @@ <h3 id="_2"><strong>示例二：小海龟仿真示例</strong></h3>
 <p><img alt="交流群" src="../image/%E4%BA%A4%E6%B5%81%E7%BE%A4.png" /></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/">
       
+      
+        <link rel="prev" href="../1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/">
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+      
+        <link rel="next" href="../1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/">
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+      <a href="../1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
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+  
+
+              
             
               
+                
+  
   
   
   
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
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+
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-            
-          
+              
             
               
+                
   
   
     
   
   
+  
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         <label class="md-nav__link md-nav__link--active" for="__toc">
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+          
+  
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           <span class="md-nav__icon md-icon"></span>
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-        ROS2命令行操作
+        
+  
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+    ROS2命令行操作
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+  
+
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@@ -350,7 +839,9 @@
       
         <li class="md-nav__item">
   <a href="#linux" class="md-nav__link">
-    Linux中的命令行
+    <span class="md-ellipsis">
+      Linux中的命令行
+    </span>
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     <nav class="md-nav" aria-label="Linux中的命令行">
@@ -358,14 +849,18 @@
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
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+    <span class="md-ellipsis">
+      启动方式
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 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    常用命令操作
+    <span class="md-ellipsis">
+      常用命令操作
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   </a>
   
 </li>
@@ -377,7 +872,9 @@
       
         <li class="md-nav__item">
   <a href="#ros2_1" class="md-nav__link">
-    ROS2中的命令行
+    <span class="md-ellipsis">
+      ROS2中的命令行
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="ROS2中的命令行">
@@ -385,49 +882,63 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    运行节点程序
+    <span class="md-ellipsis">
+      运行节点程序
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 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    查看节点信息
+    <span class="md-ellipsis">
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 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    查看话题信息
+    <span class="md-ellipsis">
+      查看话题信息
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 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    发布话题消息
+    <span class="md-ellipsis">
+      发布话题消息
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    发送服务请求
+    <span class="md-ellipsis">
+      发送服务请求
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 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    发送动作目标
+    <span class="md-ellipsis">
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 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    录制控制命令
+    <span class="md-ellipsis">
+      录制控制命令
+    </span>
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 </li>
@@ -444,374 +955,523 @@
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
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-      </nav>
+          </ul>
+        </nav>
+      
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-    
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-
+              
+            
+              
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+  
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+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
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+
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+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
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+            核心概念
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     <li class="md-nav__item">
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-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
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+  
+
       </a>
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-            
-          
+              
             
               
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+  
   
   
   
     <li class="md-nav__item">
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-        工作空间
+        
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+    工作空间
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-            
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+              
             
               
+                
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+        
+  
+  <span class="md-ellipsis">
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+
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-            
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-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        服务
+        
+  
+  <span class="md-ellipsis">
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+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        通信接口
+        
+  
+  <span class="md-ellipsis">
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-            
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+        
+  
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+
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-            
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+              
             
               
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-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
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-            
-          
+              
             
               
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-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
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-            
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+              
             
               
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-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
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+              
             
-          
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+          </ul>
+        </nav>
+      
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-    
-      
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+              
+            
+              
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+
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+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
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+            常用工具
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+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
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-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
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-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
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+  
+
       </a>
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-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
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-  
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-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -819,14 +1479,19 @@
     
       
       
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-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
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+  
+
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@@ -834,14 +1499,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
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@@ -875,7 +1545,9 @@
       
         <li class="md-nav__item">
   <a href="#linux" class="md-nav__link">
-    Linux中的命令行
+    <span class="md-ellipsis">
+      Linux中的命令行
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Linux中的命令行">
@@ -883,14 +1555,18 @@
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    启动方式
+    <span class="md-ellipsis">
+      启动方式
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
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+    <span class="md-ellipsis">
+      常用命令操作
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   </a>
   
 </li>
@@ -902,7 +1578,9 @@
       
         <li class="md-nav__item">
   <a href="#ros2_1" class="md-nav__link">
-    ROS2中的命令行
+    <span class="md-ellipsis">
+      ROS2中的命令行
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="ROS2中的命令行">
@@ -910,49 +1588,63 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    运行节点程序
+    <span class="md-ellipsis">
+      运行节点程序
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    查看节点信息
+    <span class="md-ellipsis">
+      查看节点信息
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    查看话题信息
+    <span class="md-ellipsis">
+      查看话题信息
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    发布话题消息
+    <span class="md-ellipsis">
+      发布话题消息
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    发送服务请求
+    <span class="md-ellipsis">
+      发送服务请求
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    发送动作目标
+    <span class="md-ellipsis">
+      发送动作目标
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    录制控制命令
+    <span class="md-ellipsis">
+      录制控制命令
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   </a>
   
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@@ -970,10 +1662,11 @@
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 <h1 id="ros2"><strong>ROS2命令行操作</strong></h1>
@@ -1102,99 +1795,81 @@ <h2 id="ros2_1"><strong>ROS2中的命令行</strong></h2>
 <p>接下来我们就以小海龟仿真为例，一起感受下ROS2命令行的主要功能，也对ROS2中的核心概念有一个大致了解。</p>
 <h3 id="_3"><strong>运行节点程序</strong></h3>
 <p>想要运行ROS2中某个节点，我们可以使用ros2 run命令进行操作，例如我们要运行海龟仿真节点和键盘控制节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run turtlesim turtlesim_node
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ ros2 run turtlesim turtle_teleop_key
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key
 </code></pre></div>
 <p><img alt="image-20220524082526919" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082526919.jpg" /></p>
 <h3 id="_4"><strong>查看节点信息</strong></h3>
 <p>当前运行的ROS系统中都有哪些节点呢？可以这样来查看：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 node list
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>node<span class="w"> </span>list
 </code></pre></div>
 <p><img alt="image-20220524082550228" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082550228.jpg" /></p>
 <p>如果对某一个节点感兴趣，加上一个info子命令，就可以知道它的详细信息啦：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ ros2 node info /turtlesim 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>node<span class="w"> </span>info<span class="w"> </span>/turtlesim<span class="w"> </span>
 </code></pre></div>
 <p><img alt="image-20220524082558457" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082558457.jpg" /></p>
 <h3 id="_5"><strong>查看话题信息</strong></h3>
 <p>当前系统中都有话题呢，使用如下命令即可查看：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ ros2 topic list
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>list
 </code></pre></div>
 <p><img alt="image-20220524082639408" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082639408.jpg" /></p>
 <p>还想看到某一个话题中的消息数据，加上echo子命令试一试：
-<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$ ros2 topic <span class="nb">echo</span> /turtle1/pose 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/turtle1/pose<span class="w"> </span>
 </code></pre></div></p>
 <p><img alt="image-20220524082647033" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082647033.jpg" /></p>
 <h3 id="_6"><strong>发布话题消息</strong></h3>
 <p>想要控制海龟动起来，我们还可以直接通过命令行发布话题指令：
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 topic pub --rate <span class="m">1</span> /turtle1/cmd_vel geometry_msgs/msg/Twist <span class="s2">&quot;{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}&quot;</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>--rate<span class="w"> </span><span class="m">1</span><span class="w"> </span>/turtle1/cmd_vel<span class="w"> </span>geometry_msgs/msg/Twist<span class="w"> </span><span class="s2">&quot;{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}&quot;</span>
 </code></pre></div></p>
 <p><img alt="image-20220524082721919" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082721919.jpg" /></p>
 <p><img alt="image-20220524082711671" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082711671.jpg" /></p>
 <h3 id="_7"><strong>发送服务请求</strong></h3>
 <p>一只海龟太孤单，仿真器还提供改了一个服务——产生海龟，我们试一试服务调用，再来一只海龟：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$ ros2 service call /spawn turtlesim/srv/Spawn <span class="s2">&quot;{x: 2, y: 2, theta: 0.2, name: &#39;&#39;}&quot;</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/spawn<span class="w"> </span>turtlesim/srv/Spawn<span class="w"> </span><span class="s2">&quot;{x: 2, y: 2, theta: 0.2, name: &#39;&#39;}&quot;</span>
 </code></pre></div>
 <p><img alt="image-20220524082737479" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082737479.jpg" /></p>
 <p><img alt="image-20220524082745776" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082745776.jpg" /></p>
 <h3 id="_8"><strong>发送动作目标</strong></h3>
 <p>想要让海龟完成一个具体动作，比如转到指定角度，仿真器中提供的这个action可以帮上忙，通过命令行这样发送动作目标：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute <span class="s2">&quot;theta: 3&quot;</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>send_goal<span class="w"> </span>/turtle1/rotate_absolute<span class="w"> </span>turtlesim/action/RotateAbsolute<span class="w"> </span><span class="s2">&quot;theta: 3&quot;</span>
 </code></pre></div>
 <p><img alt="image-20220524082809463" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082809463.jpg" /></p>
 <h3 id="_9"><strong>录制控制命令</strong></h3>
 <p>系统运行中的数据有很多，如果想要把某段数据录制下来，回到实验室再复现这段数据如何？ROS2中的rosbag功能还是很好用的，轻松实现数据的录制与播放：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$ ros2 bag record /turtle1/cmd_vel
-<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$ ros2 bag play rosbag2_2022_04_11-17_35_40/rosbag2_2022_04_11-17_35_40_0.db3
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/turtle1/cmd_vel
+<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>play<span class="w"> </span>rosbag2_2022_04_11-17_35_40/rosbag2_2022_04_11-17_35_40_0.db3
 </code></pre></div>
 <p><img alt="image-20220524082824817" src="../image/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/image-20220524082824817.jpg" /></p>
 <p>以上就是ROS2中我们常用的命令啦，每一个命令的子命令还有很多，大家可以自己尝试看看。</p>
 <p><img alt="交流群" src="../image/%E4%BA%A4%E6%B5%81%E7%BE%A4.png" /></p>
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+              
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+  
+  <span class="md-ellipsis">
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+              
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+        
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-            
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+              
             
               
+                
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+              
             
-          
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+          </ul>
+        </nav>
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+            常用工具
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+          <ul class="md-nav__list" data-md-scrollfix>
             
               
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+  
   
   
   
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
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-            
-          
+              
             
               
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
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-      
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+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -840,14 +1506,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -855,14 +1526,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -896,7 +1572,9 @@
       
         <li class="md-nav__item">
   <a href="#git" class="md-nav__link">
-    Git
+    <span class="md-ellipsis">
+      Git
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Git">
@@ -904,7 +1582,9 @@
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    下载教程源码
+    <span class="md-ellipsis">
+      下载教程源码
+    </span>
   </a>
   
 </li>
@@ -916,14 +1596,18 @@
       
         <li class="md-nav__item">
   <a href="#vscode" class="md-nav__link">
-    VSCode
+    <span class="md-ellipsis">
+      VSCode
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#vscode_1" class="md-nav__link">
-    VSCode插件配置
+    <span class="md-ellipsis">
+      VSCode插件配置
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="VSCode插件配置">
@@ -931,70 +1615,90 @@
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    中文语言包
+    <span class="md-ellipsis">
+      中文语言包
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#python" class="md-nav__link">
-    Python插件
+    <span class="md-ellipsis">
+      Python插件
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#c" class="md-nav__link">
-    C++插件
+    <span class="md-ellipsis">
+      C++插件
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#cmake" class="md-nav__link">
-    CMake插件
+    <span class="md-ellipsis">
+      CMake插件
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#vscode-icons" class="md-nav__link">
-    vscode-icons
+    <span class="md-ellipsis">
+      vscode-icons
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#ros" class="md-nav__link">
-    ROS插件
+    <span class="md-ellipsis">
+      ROS插件
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#msg-language-support" class="md-nav__link">
-    Msg Language Support
+    <span class="md-ellipsis">
+      Msg Language Support
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#visual-studio-intellicode" class="md-nav__link">
-    Visual Studio IntelliCode
+    <span class="md-ellipsis">
+      Visual Studio IntelliCode
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#urdf" class="md-nav__link">
-    URDF
+    <span class="md-ellipsis">
+      URDF
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#markdown-all-in-one" class="md-nav__link">
-    Markdown All in One
+    <span class="md-ellipsis">
+      Markdown All in One
+    </span>
   </a>
   
 </li>
@@ -1012,10 +1716,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="ros2"><strong>ROS2开发环境配置</strong></h1>
@@ -1037,11 +1742,11 @@ <h2 id="git"><strong>Git</strong></h2>
 <p><img alt="image-20220524082928485" src="../image/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/image-20220524082928485.png" /></p>
 <p>Linux发展迅速，成千上万人都会贡献代码，这些代码有些是修复bug的，有些是贡献新硬件驱动的，有些是增加系统新特性的，几千万行的代码人工一行一行审核合并肯定是不可能的，这就需要有一款软件，可以高效管理所有提交的代码，让开发者看到每次提交变更的代码具体是哪里，自动判断会不会有已有代码冲突，以及在多个不同版本之间切换等等功能，所以Linux之父Linus就设计并开发了这款版本管理工具——git，之后也被广泛应用，比如我们常听到的开源项目网站Github，和国内的码云Gitee，都在使用git工具进行众多开源项目的内容管理。</p>
 <p>Linux中安装git的方法非常简单，大家直接在终端中使用这一行命令就可以完成安装。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ sudo apt install git
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>git
 </code></pre></div>
 <h3 id="_1"><strong>下载教程源码</strong></h3>
 <p>《ROS2入门21讲》课程源码的下载方式：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ git clone https://gitee.com/guyuehome/ros2_21_tutorials.git
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/ros2_21_tutorials.git
 </code></pre></div>
 <p><img alt="image-20220524083019307" src="../image/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/image-20220524083019307.png" /></p>
 <p>下载好的课程代码是这样的，里边有很多文件夹，文件夹中还会有更多文件夹和代码文件，如果用系统自带的文件浏览器和记事本查看，就略显复杂，这里推荐另外一个集成开发环境——VSCode。</p>
@@ -1078,50 +1783,32 @@ <h3 id="markdown-all-in-one"><strong>Markdown All in One</strong></h3>
 <p><img alt="交流群" src="../image/%E4%BA%A4%E6%B5%81%E7%BE%A4.png" /></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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+              </article>
+            </div>
+          
+          
+<script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
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+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
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+  
+  <span class="md-ellipsis">
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+
+            <span class="md-nav__icon md-icon"></span>
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+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
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+        
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+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+
+      </a>
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+        
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+              
+            
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+        
+  
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+      </a>
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+      <a href="../../.." class="md-nav__link">
+        
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+              
             
+              
+                
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+    ROS和ROS2是什么
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+
+              
             
               
+                
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+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
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+
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+  
   
   
   
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+    概念总览
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+
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+              
             
               
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+  
   
   
   
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+    功能包
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+              
             
               
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+    节点
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+  
+
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-            
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+              
             
               
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+  
   
   
   
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+    话题
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+  
+
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-            
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+              
             
               
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+  </span>
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+
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+              
             
               
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+  
   
   
   
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+    通信接口
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+  
+
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+  
   
   
   
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+  
+
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-            
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+              
             
               
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+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
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+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
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-            
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+              
             
               
+                
   
   
     
   
   
+  
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         <label class="md-nav__link md-nav__link--active" for="__toc">
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+  
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+  
+
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         <li class="md-nav__item">
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+    <span class="md-ellipsis">
+      通信模型
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+    <span class="md-ellipsis">
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@@ -567,21 +1153,27 @@
         
           <li class="md-nav__item">
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-    什么是DDS
+    <span class="md-ellipsis">
+      什么是DDS
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#ddsros2" class="md-nav__link">
-    DDS在ROS2中的应用
+    <span class="md-ellipsis">
+      DDS在ROS2中的应用
+    </span>
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           <li class="md-nav__item">
   <a href="#qos" class="md-nav__link">
-    质量服务策略QoS
+    <span class="md-ellipsis">
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         <li class="md-nav__item">
   <a href="#dds_3" class="md-nav__link">
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+    <span class="md-ellipsis">
+      案例一：在命令行中配置DDS
+    </span>
   </a>
   
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   <a href="#dds_4" class="md-nav__link">
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+      案例二：DDS编程示例
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           <li class="md-nav__item">
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 </li>
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+              
             
-          
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+          </ul>
+        </nav>
+      
     </li>
   
 
-    
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+        
+  
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@@ -875,14 +1545,18 @@
       
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+    <span class="md-ellipsis">
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+    <span class="md-ellipsis">
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@@ -890,21 +1564,27 @@
         
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-    什么是DDS
+    <span class="md-ellipsis">
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+    </span>
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-    DDS在ROS2中的应用
+    <span class="md-ellipsis">
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-    质量服务策略QoS
+    <span class="md-ellipsis">
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@@ -916,14 +1596,18 @@
       
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   <a href="#dds_3" class="md-nav__link">
-    案例一：在命令行中配置DDS
+    <span class="md-ellipsis">
+      案例一：在命令行中配置DDS
+    </span>
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+    <span class="md-ellipsis">
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@@ -957,7 +1647,9 @@
       
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   <a href="#_5" class="md-nav__link">
-    参考链接
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+                  
 
 
 <h1 id="dds"><strong>DDS</strong></h1>
@@ -1054,14 +1747,14 @@ <h3 id="qos"><strong>质量服务策略QoS</strong></h3>
 <h2 id="dds_3"><strong>案例一：在命令行中配置DDS</strong></h2>
 <p>我们先来试一试在命令行中配置DDS的参数。</p>
 <p>启动第一个终端，我们使用best_effort创建一个发布者节点，循环发布任意数据，在另外一个终端中，如果我们使用reliable模型订阅同一话题，无法实现数据通信，如果修改为同样的best_effort，才能实现数据传输。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 topic pub /chatter std_msgs/msg/Int32 <span class="s2">&quot;data: 42&quot;</span> --qos-reliability best_effort 
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ ros2 topic <span class="nb">echo</span> /chatter --qos-reliability reliable
-<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$ ros2 topic <span class="nb">echo</span> /chatter --qos-reliability best_effort
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>/chatter<span class="w"> </span>std_msgs/msg/Int32<span class="w"> </span><span class="s2">&quot;data: 42&quot;</span><span class="w"> </span>--qos-reliability<span class="w"> </span>best_effort<span class="w"> </span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/chatter<span class="w"> </span>--qos-reliability<span class="w"> </span>reliable
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/chatter<span class="w"> </span>--qos-reliability<span class="w"> </span>best_effort
 </code></pre></div>
 <p><img alt="image-20220528021233993" src="../image/2.10_DDS/image-20220528021233993.jpg" /></p>
 <p><img alt="image-20220528021243492" src="../image/2.10_DDS/image-20220528021243492.jpg" /></p>
 <p>如何去查看ROS2系统中每一个发布者或者订阅者的QoS策略呢，在topic命令后边跟一个"--verbose"参数就行了。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 topic info /chatter --verbose
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>info<span class="w"> </span>/chatter<span class="w"> </span>--verbose
 </code></pre></div>
 <p><img alt="image-20220528021257958" src="../image/2.10_DDS/image-20220528021257958.jpg" /></p>
 <h2 id="dds_4"><strong>案例二：DDS编程示例</strong></h2>
@@ -1069,8 +1762,8 @@ <h2 id="dds_4"><strong>案例二：DDS编程示例</strong></h2>
 <p><img alt="image-20220528021328306" src="../image/2.10_DDS/image-20220528021328306.jpg" /></p>
 <h3 id="_2"><strong>运行效果</strong></h3>
 <p>启动两个终端，分别运行发布者和订阅者节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ ros2 run learning_qos qos_helloworld_pub
-<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$ ros2 run learning_qos qos_helloworld_sub
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_qos<span class="w"> </span>qos_helloworld_pub
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_qos<span class="w"> </span>qos_helloworld_sub
 </code></pre></div>
 <p>可以看到两个终端中的通信效果如下，和之前貌似并没有太大区别。</p>
 <p><img alt="image-20220528021427415" src="../image/2.10_DDS/image-20220528021427415.jpg" /></p>
@@ -1188,50 +1881,32 @@ <h2 id="_5"><strong>参考链接</strong></h2>
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-        <meta name="description" content="ROS2入门教程·古月居">
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+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
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-    工作空间是什么
+    <span class="md-ellipsis">
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-    编译工作空间
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+                  
 
 
 <h1 id="_1"><strong>工作空间：开发过程的大本营</strong></h1>
@@ -916,81 +1589,63 @@ <h2 id="_2"><strong>工作空间是什么</strong></h2>
 <p>以上情况是完全允许的，就像是我们在集成开发环境中创建了多个新工程一样，都是并列存在的关系。</p>
 <h2 id="_3"><strong>创建工作空间</strong></h2>
 <p>了解了工作空间的概念和结果，接下来我们可以使用如下命令创建一个工作空间，并且下载教程的代码：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ mkdir -p ~/dev_ws/src
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ <span class="nb">cd</span> ~/dev_ws/src
-<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$ git clone https://gitee.com/guyuehome/ros2_21_tutorials.git
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>mkdir<span class="w"> </span>-p<span class="w"> </span>~/dev_ws/src
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$<span class="w"> </span>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/ros2_21_tutorials.git
 </code></pre></div>
 <h2 id="_4"><strong>自动安装依赖</strong></h2>
 <p>我们从社区中下载的各种代码，多少都会有一些依赖，我们可以手动一个一个安装，也可以使用rosdep工具自动安装：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ sudo apt install -y python3-pip
-<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$ sudo pip3 install rosdepc
-<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>$ sudo rosdepc init
-<a id="__codelineno-1-4" name="__codelineno-1-4" href="#__codelineno-1-4"></a>$ rosdepc update
-<a id="__codelineno-1-5" name="__codelineno-1-5" href="#__codelineno-1-5"></a>$ <span class="nb">cd</span> ..
-<a id="__codelineno-1-6" name="__codelineno-1-6" href="#__codelineno-1-6"></a>$ rosdepc install -i --from-path src --rosdistro humble -y
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>python3-pip
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>pip3<span class="w"> </span>install<span class="w"> </span>rosdepc
+<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>rosdepc<span class="w"> </span>init
+<a id="__codelineno-1-4" name="__codelineno-1-4" href="#__codelineno-1-4"></a>$<span class="w"> </span>rosdepc<span class="w"> </span>update
+<a id="__codelineno-1-5" name="__codelineno-1-5" href="#__codelineno-1-5"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>..
+<a id="__codelineno-1-6" name="__codelineno-1-6" href="#__codelineno-1-6"></a>$<span class="w"> </span>rosdepc<span class="w"> </span>install<span class="w"> </span>-i<span class="w"> </span>--from-path<span class="w"> </span>src<span class="w"> </span>--rosdistro<span class="w"> </span>humble<span class="w"> </span>-y
 </code></pre></div>
 <h2 id="_5"><strong>编译工作空间</strong></h2>
 <p>依赖安装完成后，就可以使用如下命令编译工作空间啦，如果有缺少的依赖，或者代码有错误，编译过程中会有报错，否则编译过程应该不会出现任何错误：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ sudo apt install python3-colcon-ros
-<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$ <span class="nb">cd</span> ~/dev_ws/
-<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$ colcon build
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>python3-colcon-ros
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$<span class="w"> </span>colcon<span class="w"> </span>build
 </code></pre></div>
 <p>编译成功后，就可以在工作空间中看到自动生产的build、log、install文件夹了。</p>
 <p><img alt="image-20220524111804569" src="../image/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/image-20220524111804569.png" /></p>
 <h2 id="_6"><strong>设置环境变量</strong></h2>
 <p>编译成功后，为了让系统能够找到我们的功能包和可执行文件，还需要设置环境变量：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ <span class="nb">source</span> install/local_setup.sh <span class="c1"># 仅在当前终端生效</span>
-<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$ <span class="nb">echo</span> <span class="s2">&quot; source ~/dev_ws/install/local_setup.sh&quot;</span> &gt;&gt; ~/.bashrc <span class="c1"># 所有终端均生效</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>install/local_setup.sh<span class="w"> </span><span class="c1"># 仅在当前终端生效</span>
+<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot; source ~/dev_ws/install/local_setup.sh&quot;</span><span class="w"> </span>&gt;&gt;<span class="w"> </span>~/.bashrc<span class="w"> </span><span class="c1"># 所有终端均生效</span>
 </code></pre></div>
 <p>至此，我们就完成了工作空间的创建、编译和配置。</p>
 <h2 id="_7"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html">https://docs.ros.org/en/</a><a href="https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html">humble</a><a href="https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html" target="_blank">/Tutorials/Workspace/Creating-A-Workspace.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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       <meta charset="utf-8">
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-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
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+        <link rel="prev" href="../2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/">
+      
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+        <link rel="next" href="../2.3_%E8%8A%82%E7%82%B9/">
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+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
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+<header class="md-header md-header--shadow" data-md-component="header">
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+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
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-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
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-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
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+        
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+  <span class="md-ellipsis">
+    视频课程
+  </span>
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@@ -778,14 +1428,19 @@
     
       
       
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@@ -793,14 +1448,19 @@
     
       
       
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       <a href="../../../about/" class="md-nav__link">
-        关于我们
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@@ -834,21 +1494,27 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    创建功能包
+    <span class="md-ellipsis">
+      创建功能包
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    编译功能包
+    <span class="md-ellipsis">
+      编译功能包
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    功能包的结构
+    <span class="md-ellipsis">
+      功能包的结构
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="功能包的结构">
@@ -856,14 +1522,18 @@
         
           <li class="md-nav__item">
   <a href="#c" class="md-nav__link">
-    C++功能包
+    <span class="md-ellipsis">
+      C++功能包
+    </span>
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 </li>
         
           <li class="md-nav__item">
   <a href="#python" class="md-nav__link">
-    Python功能包
+    <span class="md-ellipsis">
+      Python功能包
+    </span>
   </a>
   
 </li>
@@ -875,7 +1545,9 @@
       
         <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -888,10 +1560,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1"><strong>功能包：开发过程的大本营</strong></h1>
@@ -903,7 +1576,7 @@ <h1 id="_1"><strong>功能包：开发过程的大本营</strong></h1>
 <p>所以功能包的机制，是提高ROS中软件复用率的重要方法之一。</p>
 <h2 id="_2"><strong>创建功能包</strong></h2>
 <p>如何在ROS2中创建一个功能包呢？我们可以使用这个指令：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 pkg create --build-type &lt;build-type&gt; &lt;package_name&gt;
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>pkg<span class="w"> </span>create<span class="w"> </span>--build-type<span class="w"> </span>&lt;build-type&gt;<span class="w"> </span>&lt;package_name&gt;
 </code></pre></div>
 <p>ros2命令中：</p>
 <ul>
@@ -913,15 +1586,15 @@ <h2 id="_2"><strong>创建功能包</strong></h2>
 <li><strong>package_name</strong>：新建功能包的名字。</li>
 </ul>
 <p>比如在终端中分别创建C++和Python版本的功能包：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ <span class="nb">cd</span> ~/dev_ws/src
-<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$ ros2 pkg create --build-type ament_cmake learning_pkg_c               <span class="c1"># C++</span>
-<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>$ ros2 pkg create --build-type ament_python learning_pkg_python <span class="c1"># Python</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>pkg<span class="w"> </span>create<span class="w"> </span>--build-type<span class="w"> </span>ament_cmake<span class="w"> </span>learning_pkg_c<span class="w">               </span><span class="c1"># C++</span>
+<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>pkg<span class="w"> </span>create<span class="w"> </span>--build-type<span class="w"> </span>ament_python<span class="w"> </span>learning_pkg_python<span class="w"> </span><span class="c1"># Python</span>
 </code></pre></div>
 <h2 id="_3"><strong>编译功能包</strong></h2>
 <p>在创建好的功能包中，我们可以继续完成代码的编写，之后需要编译和配置环境变量，才能正常运行：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ <span class="nb">cd</span> ~/dev_ws
-<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$ colcon build   <span class="c1"># 编译工作空间所有功能包</span>
-<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$ <span class="nb">source</span> install/local_setup.bash
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>colcon<span class="w"> </span>build<span class="w">   </span><span class="c1"># 编译工作空间所有功能包</span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>install/local_setup.bash
 </code></pre></div>
 <h2 id="_4"><strong>功能包的结构</strong></h2>
 <p>功能包并不是普通的文件夹，那如何判断一个文件夹是否是功能包呢？我们来分析下刚才新创建两个功能包的结构。</p>
@@ -944,50 +1617,32 @@ <h2 id="_5"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Creating-Your-First-ROS2-Package.html">https://docs.ros.org/en/</a><a href="https://docs.ros.org/en/humble/Tutorials/Creating-Your-First-ROS2-Package.html">humble</a><a href="https://docs.ros.org/en/humble/Tutorials/Creating-Your-First-ROS2-Package.html" target="_blank">/Tutorials/Creating-Your-First-ROS2-Package.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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@@ -1061,10 +1726,12 @@ <h2 id="_5"><strong>参考链接</strong></h2>
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       <div class="md-dialog__inner md-typeset"></div>
     </div>
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-      <script src="../../../assets/javascripts/bundle.a6c66575.min.js"></script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.6ce7567c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    
+    
+      <script src="../../../assets/javascripts/bundle.83f73b43.min.js"></script>
       
         <script src="../../../assets/js/baidu-tongji.js"></script>
       
diff --git "a/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.3_\350\212\202\347\202\271/index.html" "b/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.3_\350\212\202\347\202\271/index.html"
index a98442a..d3ba058 100644
--- "a/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.3_\350\212\202\347\202\271/index.html"
+++ "b/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.3_\350\212\202\347\202\271/index.html"
@@ -6,28 +6,39 @@
       <meta charset="utf-8">
       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/">
       
+      
+        <link rel="prev" href="../2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/">
+      
+      
+        <link rel="next" href="../2.4_%E8%AF%9D%E9%A2%98/">
+      
+      
       <link rel="icon" href="../../../assets/img/favicon.png">
-      <meta name="generator" content="mkdocs-1.3.0, mkdocs-material-8.2.15">
+      <meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.5.47">
     
     
       
-        <title>节点 - ROS2入门教程</title>
+        <title>节点 - 图书资源</title>
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.c382b1dc.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.cc9b2e1e.min.css">
-        
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.06af60db.min.css">
       
+      
+
+
+    
     
+      
     
     
       
@@ -39,12 +50,13 @@
       
     
     
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+    <script>__md_scope=new URL("../../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
     
     
+    
   </head>
   
   
@@ -55,12 +67,9 @@
     
     
     
-    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="blue" data-md-color-accent="blue">
+    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue">
   
     
-    
-      <script>var palette=__md_get("__palette");if(palette&&"object"==typeof palette.color)for(var key of Object.keys(palette.color))document.body.setAttribute("data-md-color-"+key,palette.color[key])</script>
-    
     <input class="md-toggle" data-md-toggle="drawer" type="checkbox" id="__drawer" autocomplete="off">
     <input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
     <label class="md-overlay" for="__drawer"></label>
@@ -79,21 +88,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="../../../assets/img/favicon.png" alt="logo">
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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-            ROS2入门教程
+            图书资源
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         <div class="md-header__topic" data-md-component="header-topic">
@@ -106,32 +118,40 @@
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-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6zm0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4zM7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3z"/></svg>
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+        <form class="md-header__option" data-md-component="palette">
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+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
+      </label>
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+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
+      </label>
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+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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@@ -139,24 +159,27 @@
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+              
+                
+  
+  
+  
+  
+    
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+        
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+
       </a>
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+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
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+    ROS2对比ROS1
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+
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+
+              
             
               
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     <li class="md-nav__item">
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+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
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+
       </a>
     </li>
   
 
-            
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     <li class="md-nav__item">
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+  
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+
       </a>
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-            
-          
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-        ROS2开发环境配置
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+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
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+
       </a>
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+              
             
-          
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+          </ul>
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     </li>
   
 
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-      
-      
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-
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+          <label class="md-nav__title" for="__nav_2_3">
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+                
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-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
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+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
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+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          节点
+          
+  
+  <span class="md-ellipsis">
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+
           <span class="md-nav__icon md-icon"></span>
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       <a href="./" class="md-nav__link md-nav__link--active">
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+  
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+  
+
       </a>
       
         
@@ -454,14 +987,18 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
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+    <span class="md-ellipsis">
+      通信模型
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 </li>
       
         <li class="md-nav__item">
   <a href="#hello-world" class="md-nav__link">
-    案例一：Hello World节点（面向过程）
+    <span class="md-ellipsis">
+      案例一：Hello World节点（面向过程）
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   </a>
   
     <nav class="md-nav" aria-label="案例一：Hello World节点（面向过程）">
@@ -469,21 +1006,27 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
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+    <span class="md-ellipsis">
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   </a>
   
 </li>
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         <li class="md-nav__item">
   <a href="#hello-world_1" class="md-nav__link">
-    案例二：Hello World节点（面向对象）
+    <span class="md-ellipsis">
+      案例二：Hello World节点（面向对象）
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：Hello World节点（面向对象）">
@@ -503,21 +1048,27 @@
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    创建节点流程
+    <span class="md-ellipsis">
+      创建节点流程
+    </span>
   </a>
   
 </li>
@@ -529,7 +1080,9 @@
       
         <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    案例三：物体识别节点
+    <span class="md-ellipsis">
+      案例三：物体识别节点
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例三：物体识别节点">
@@ -537,14 +1090,18 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
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   </a>
   
 </li>
@@ -556,7 +1113,9 @@
       
         <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    案例四：机器视觉识别节点
+    <span class="md-ellipsis">
+      案例四：机器视觉识别节点
+    </span>
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     <nav class="md-nav" aria-label="案例四：机器视觉识别节点">
@@ -564,14 +1123,18 @@
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
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   </a>
   
 </li>
@@ -583,21 +1146,27 @@
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    节点命令行操作
+    <span class="md-ellipsis">
+      节点命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    思考题
+    <span class="md-ellipsis">
+      思考题
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -609,270 +1178,375 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
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-
+              
+            
+              
+                
+  
   
   
   
     
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-          常用工具
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+        
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+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+  
+  <span class="md-ellipsis">
+    常用工具
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+  
+
+            <span class="md-nav__icon md-icon"></span>
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+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -880,14 +1554,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -895,14 +1574,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -936,14 +1620,18 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#hello-world" class="md-nav__link">
-    案例一：Hello World节点（面向过程）
+    <span class="md-ellipsis">
+      案例一：Hello World节点（面向过程）
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例一：Hello World节点（面向过程）">
@@ -951,21 +1639,27 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    创建节点流程
+    <span class="md-ellipsis">
+      创建节点流程
+    </span>
   </a>
   
 </li>
@@ -977,7 +1671,9 @@
       
         <li class="md-nav__item">
   <a href="#hello-world_1" class="md-nav__link">
-    案例二：Hello World节点（面向对象）
+    <span class="md-ellipsis">
+      案例二：Hello World节点（面向对象）
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：Hello World节点（面向对象）">
@@ -985,21 +1681,27 @@
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    创建节点流程
+    <span class="md-ellipsis">
+      创建节点流程
+    </span>
   </a>
   
 </li>
@@ -1011,7 +1713,9 @@
       
         <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    案例三：物体识别节点
+    <span class="md-ellipsis">
+      案例三：物体识别节点
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例三：物体识别节点">
@@ -1019,14 +1723,18 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
@@ -1038,7 +1746,9 @@
       
         <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    案例四：机器视觉识别节点
+    <span class="md-ellipsis">
+      案例四：机器视觉识别节点
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例四：机器视觉识别节点">
@@ -1046,14 +1756,18 @@
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
@@ -1065,21 +1779,27 @@
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    节点命令行操作
+    <span class="md-ellipsis">
+      节点命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    思考题
+    <span class="md-ellipsis">
+      思考题
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1092,10 +1812,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1"><strong>节点</strong></h1>
@@ -1133,7 +1854,7 @@ <h2 id="hello-world"><strong>案例一：Hello World节点（面向过程）</st
 <p>ROS2中节点的实现当然是需要编写程序了，我们从Hello World例程开始，先来实现一个最为简单的节点，功能并不复杂，就是循环打印一个“Hello World”字符串到终端中。</p>
 <h3 id="_3"><strong>运行效果</strong></h3>
 <p>大家先不要着急看代码，是骡子是马，先拉出来溜溜，我们通过ros2 run命令，运行编译好的课程代码，看下这个节点执行的效果如何，然后再来分析代码的实现过程，做到知其然也知其所以然。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run learning_node node_helloworld
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_node<span class="w"> </span>node_helloworld
 </code></pre></div>
 <p>运行成功后，可以在终端中看到循环打印“Hello World”字符串的效果。</p>
 <p><img alt="image-20220526231556483" src="../image/2.3_%E8%8A%82%E7%82%B9/image-20220526231556483.png" /></p>
@@ -1183,7 +1904,7 @@ <h2 id="hello-world_1"><strong>案例二：Hello World节点（面向对象）</
 <p>所以在ROS2的开发中，我们更<strong>推荐大家使用面向对象的编程方式</strong>，比如刚才的代码就可以改成这样，虽然看上去复杂了一些，但是代码会具备更好的可读性和可移植性，调试起来也会更加方便。</p>
 <h3 id="_6"><strong>运行效果</strong></h3>
 <p>接下来运行一下调整后的节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ ros2 run learning_node node_helloworld_class
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_node<span class="w"> </span>node_helloworld_class
 </code></pre></div>
 <p>运行成功后，可以还是可以在终端中看到循环打印“Hello World”字符串的效果。</p>
 <p><img alt="image-20220527083908311" src="../image/2.3_%E8%8A%82%E7%82%B9/image-20220527083908311.png" /></p>
@@ -1242,10 +1963,10 @@ <h2 id="_9"><strong>案例三：物体识别节点</strong></h2>
 <p>我们先从网上找到一张苹果的图片，通过编写一个节点来识别图片中的苹果。</p>
 <h3 id="_10"><strong>运行效果</strong></h3>
 <p>在这个例程中，我们将用到一个图像处理的库——OpenCV，运行前请使用如下指令安装：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$ sudo apt install python3-opencv
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>python3-opencv
 </code></pre></div>
 <p>然后就可以运行例程啦：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$ ros2 run learning_node node_object    <span class="c1">#注意修改图片路径后重新编译</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_node<span class="w"> </span>node_object<span class="w">    </span><span class="c1">#注意修改图片路径后重新编译</span>
 </code></pre></div>
 <details class="attention" open="open">
 <summary>Attention</summary>
@@ -1317,7 +2038,7 @@ <h2 id="_12"><strong>案例四：机器视觉识别节点</strong></h2>
 <p>用图片进行识别好像还不太合理，机器人应该有眼睛呀，没问题，接下来我们就让节点读取摄像头的图像，动态识别其中的苹果，或者类似颜色的物体。</p>
 <h3 id="_13"><strong>运行效果</strong></h3>
 <p>启动一个终端，运行如下节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$ ros2 run learning_node node_object_webcam <span class="c1">#注意设置摄像头</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_node<span class="w"> </span>node_object_webcam<span class="w"> </span><span class="c1">#注意设置摄像头</span>
 </code></pre></div>
 <details class="attention" open="open">
 <summary>Attention</summary>
@@ -1394,8 +2115,8 @@ <h3 id="_14"><strong>代码解析</strong></h3>
 <h2 id="_15"><strong>节点命令行操作</strong></h2>
 <p><img alt="image-20220527103004411" src="../image/2.3_%E8%8A%82%E7%82%B9/image-20220527103004411.png" /></p>
 <p>节点命令的常用操作如下：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>$ ros2 node list               <span class="c1"># 查看节点列表</span>
-<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>$ ros2 node info &lt;node_name&gt;   <span class="c1"># 查看节点信息</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>node<span class="w"> </span>list<span class="w">               </span><span class="c1"># 查看节点列表</span>
+<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>node<span class="w"> </span>info<span class="w"> </span>&lt;node_name&gt;<span class="w">   </span><span class="c1"># 查看节点信息</span>
 </code></pre></div>
 <p><img alt="image-20220527102838748" src="../image/2.3_%E8%8A%82%E7%82%B9/image-20220527102838748.png" /></p>
 <hr />
@@ -1410,50 +2131,32 @@ <h2 id="_17"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Understanding-ROS2-Nodes.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Understanding-ROS2-Nodes.html</a></p>
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-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
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+      
+        <link rel="prev" href="../2.3_%E8%8A%82%E7%82%B9/">
+      
+      
+        <link rel="next" href="../2.5_%E6%9C%8D%E5%8A%A1/">
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@@ -79,21 +88,24 @@
     
       
 
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+  
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+<header class="md-header md-header--shadow" data-md-component="header">
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-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+
+      </a>
+    </li>
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+              
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+  
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+        
+  
+  <span class="md-ellipsis">
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+      </a>
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+              
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
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+      </a>
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+              
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+      <a href="../../.." class="md-nav__link">
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+              
+                
+  
+  
+  
+  
+    
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+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
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+  
+
       </a>
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+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
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+
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+              
             
               
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
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+
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+              
             
               
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+  
   
   
   
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+  
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+    ROS2命令行操作
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+
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+  
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+    ROS2开发环境配置
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+  
+  <span class="md-ellipsis">
+    概念总览
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+
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+              
             
               
+                
+  
   
   
   
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+  
+  <span class="md-ellipsis">
+    工作空间
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+
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+              
             
               
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+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
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+              
             
               
+                
+  
   
   
   
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       <a href="../2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
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+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
   
   
     
   
   
+  
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         <label class="md-nav__link md-nav__link--active" for="__toc">
-          话题
+          
+  
+  <span class="md-ellipsis">
+    话题
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+  
+
           <span class="md-nav__icon md-icon"></span>
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       <a href="./" class="md-nav__link md-nav__link--active">
-        话题
+        
+  
+  <span class="md-ellipsis">
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+  </span>
+  
+
       </a>
       
         
@@ -468,7 +1008,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
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+    <span class="md-ellipsis">
+      通信模型
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     <nav class="md-nav" aria-label="通信模型">
@@ -476,28 +1018,36 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
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+    <span class="md-ellipsis">
+      发布/订阅模型
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 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    多对多通信
+    <span class="md-ellipsis">
+      多对多通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    异步通信
+    <span class="md-ellipsis">
+      异步通信
+    </span>
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 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
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+    <span class="md-ellipsis">
+      消息接口
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         <li class="md-nav__item">
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-    案例一：Hello World话题通信
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     <nav class="md-nav" aria-label="案例一：Hello World话题通信">
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           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
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   </a>
   
 </li>
         
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   <a href="#_8" class="md-nav__link">
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+    <span class="md-ellipsis">
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     <nav class="md-nav" aria-label="发布者代码解析">
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           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
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+      程序实现
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   <a href="#_10" class="md-nav__link">
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@@ -551,7 +1111,9 @@
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    订阅者代码解析
+    <span class="md-ellipsis">
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     <nav class="md-nav" aria-label="订阅者代码解析">
@@ -559,14 +1121,18 @@
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    程序实现
+    <span class="md-ellipsis">
+      程序实现
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 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
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 </li>
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         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    案例二：机器视觉识别
+    <span class="md-ellipsis">
+      案例二：机器视觉识别
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   </a>
   
     <nav class="md-nav" aria-label="案例二：机器视觉识别">
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           <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    发布者代码解析
+    <span class="md-ellipsis">
+      发布者代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    订阅者代码解析
+    <span class="md-ellipsis">
+      订阅者代码解析
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 </li>
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         <li class="md-nav__item">
   <a href="#_18" class="md-nav__link">
-    案例三：机器视觉识别优化
+    <span class="md-ellipsis">
+      案例三：机器视觉识别优化
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_19" class="md-nav__link">
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+    <span class="md-ellipsis">
+      话题命令行操作
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   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_20" class="md-nav__link">
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+    <span class="md-ellipsis">
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   <a href="#_21" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
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 </li>
@@ -650,256 +1232,354 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
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-    
-      
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+            
+              
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+  
   
   
   
     
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-          常用工具
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
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-            
-          
+              
             
               
+                
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-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
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-            
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+              
             
               
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-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -907,14 +1587,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -922,14 +1607,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -963,7 +1653,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="通信模型">
@@ -971,28 +1663,36 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    发布/订阅模型
+    <span class="md-ellipsis">
+      发布/订阅模型
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    多对多通信
+    <span class="md-ellipsis">
+      多对多通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    异步通信
+    <span class="md-ellipsis">
+      异步通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    消息接口
+    <span class="md-ellipsis">
+      消息接口
+    </span>
   </a>
   
 </li>
@@ -1004,7 +1704,9 @@
       
         <li class="md-nav__item">
   <a href="#hello-world" class="md-nav__link">
-    案例一：Hello World话题通信
+    <span class="md-ellipsis">
+      案例一：Hello World话题通信
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例一：Hello World话题通信">
@@ -1012,14 +1714,18 @@
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    发布者代码解析
+    <span class="md-ellipsis">
+      发布者代码解析
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="发布者代码解析">
@@ -1027,14 +1733,18 @@
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    程序实现
+    <span class="md-ellipsis">
+      程序实现
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    流程总结
+    <span class="md-ellipsis">
+      流程总结
+    </span>
   </a>
   
 </li>
@@ -1046,7 +1756,9 @@
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    订阅者代码解析
+    <span class="md-ellipsis">
+      订阅者代码解析
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="订阅者代码解析">
@@ -1054,14 +1766,18 @@
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    程序实现
+    <span class="md-ellipsis">
+      程序实现
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    流程总结
+    <span class="md-ellipsis">
+      流程总结
+    </span>
   </a>
   
 </li>
@@ -1078,7 +1794,9 @@
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    案例二：机器视觉识别
+    <span class="md-ellipsis">
+      案例二：机器视觉识别
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：机器视觉识别">
@@ -1086,21 +1804,27 @@
         
           <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    发布者代码解析
+    <span class="md-ellipsis">
+      发布者代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    订阅者代码解析
+    <span class="md-ellipsis">
+      订阅者代码解析
+    </span>
   </a>
   
 </li>
@@ -1112,28 +1836,36 @@
       
         <li class="md-nav__item">
   <a href="#_18" class="md-nav__link">
-    案例三：机器视觉识别优化
+    <span class="md-ellipsis">
+      案例三：机器视觉识别优化
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_19" class="md-nav__link">
-    话题命令行操作
+    <span class="md-ellipsis">
+      话题命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_20" class="md-nav__link">
-    思考题
+    <span class="md-ellipsis">
+      思考题
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_21" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1146,10 +1878,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1"><strong>话题</strong></h1>
@@ -1194,11 +1927,11 @@ <h2 id="hello-world"><strong>案例一：Hello World话题通信</strong></h2>
 <p>还是从Hello World例程开始，我们来创建一个发布者，发布话题“chatter”，周期发送“Hello World”这个字符串，消息类型是ROS中标准定义的String，再创建一个订阅者，订阅“chatter”这个话题，从而接收到“Hello World”这个字符串。</p>
 <h3 id="_7"><strong>运行效果</strong></h3>
 <p>启动第一个终端，运行话题的发布者节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run learning_topic topic_helloworld_pub
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_helloworld_pub
 </code></pre></div>
 <p><img alt="image-20220524141606868" src="../image/2.4_%E8%AF%9D%E9%A2%98/image-20220524141606868.png" /></p>
 <p>启动第二个终端，运行话题的订阅者节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 run learning_topic topic_helloworld_sub
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_helloworld_sub
 </code></pre></div>
 <p><img alt="image-20220524141614633" src="../image/2.4_%E8%AF%9D%E9%A2%98/image-20220524141614633.png" /></p>
 <p>可以看到发布者循环发布“Hello World”字符串消息，订阅者也以几乎同样的频率收到该话题的消息数据。</p>
@@ -1320,8 +2053,8 @@ <h3 id="_15"><strong>运行效果</strong></h3>
 <p>这个图像消息在ROS中是标准定义好的，如果未来要更换另一个相机，只需要修改驱动节点，视觉识别节点完全是软件功能，就可以保持不变了，这种模块化的设计思想，可以更好的保证软件的可移植性。</p>
 <p>好啦，说干就干，我们先来看下效果如何？</p>
 <p>启动两个终端，分别运行以下两个节点，第一个节点驱动相机并发布图像话题，第二个节点订阅图像话题并实现视觉识别。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$ ros2 run learning_topic topic_webcam_pub
-<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$ ros2 run learning_topic topic_webcam_sub
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_webcam_pub
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_webcam_sub
 </code></pre></div>
 <p>将红色物体放入相机范围内，即可看到识别效果。</p>
 <p><img alt="image-20220527231048652" src="../image/2.4_%E8%AF%9D%E9%A2%98/image-20220527231048652.png" /></p>
@@ -1453,22 +2186,22 @@ <h2 id="_18"><strong>案例三：机器视觉识别优化</strong></h2>
 <p>通过话题对原本节点功能的解耦，似乎让视觉识别的例程焕然一新了，不过似乎还有哪里不太对劲，大家有感觉到么？</p>
 <p>ROS的目标不是提高软件复用率么，现在视觉识别的节点可以复用了，相机驱动节点好像不行呀，每换一个相机，是不是都得换一个驱动节点？这当然是不可能的！</p>
 <p>常用的usb相机驱动一般都是通用的，ROS中也集成了usb相机的标准驱动，我们只需要通过这样一行指令，就可以安装好，无论你用什么样的相机，只要符合usb接口协议，就可以直接使用ROS中的相机驱动节点，发布标准的图像话题了。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$ sudo apt install ros-humble-usb-cam
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-usb-cam
 </code></pre></div>
 <p>这样，我们的代码又得到了进一步精简，刚才自己写的图像发布节点换成了这样一句指令，视觉识别节点不需要做任何变化。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a>$ ros2 run usb_cam usb_cam_node_exe
-<a id="__codelineno-12-2" name="__codelineno-12-2" href="#__codelineno-12-2"></a>$ ros2 run learning_topic topic_webcam_sub
+<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe
+<a id="__codelineno-12-2" name="__codelineno-12-2" href="#__codelineno-12-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_webcam_sub
 </code></pre></div>
 <p><img alt="image-20220527231048652" src="../image/2.4_%E8%AF%9D%E9%A2%98/image-20220527231048652.png" /></p>
 <hr />
 <h2 id="_19"><strong>话题命令行操作</strong></h2>
 <p>话题命令的常用操作如下：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>$ ros2 topic list                <span class="c1"># 查看话题列表</span>
-<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>$ ros2 topic info &lt;topic_name&gt;   <span class="c1"># 查看话题信息</span>
-<a id="__codelineno-13-3" name="__codelineno-13-3" href="#__codelineno-13-3"></a>$ ros2 topic hz &lt;topic_name&gt;     <span class="c1"># 查看话题发布频率</span>
-<a id="__codelineno-13-4" name="__codelineno-13-4" href="#__codelineno-13-4"></a>$ ros2 topic bw &lt;topic_name&gt;     <span class="c1"># 查看话题传输带宽</span>
-<a id="__codelineno-13-5" name="__codelineno-13-5" href="#__codelineno-13-5"></a>$ ros2 topic <span class="nb">echo</span> &lt;topic_name&gt;   <span class="c1"># 查看话题数据</span>
-<a id="__codelineno-13-6" name="__codelineno-13-6" href="#__codelineno-13-6"></a>$ ros2 topic pub &lt;topic_name&gt; &lt;msg_type&gt; &lt;msg_data&gt;   <span class="c1"># 发布话题消息</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>list<span class="w">                </span><span class="c1"># 查看话题列表</span>
+<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>info<span class="w"> </span>&lt;topic_name&gt;<span class="w">   </span><span class="c1"># 查看话题信息</span>
+<a id="__codelineno-13-3" name="__codelineno-13-3" href="#__codelineno-13-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>hz<span class="w"> </span>&lt;topic_name&gt;<span class="w">     </span><span class="c1"># 查看话题发布频率</span>
+<a id="__codelineno-13-4" name="__codelineno-13-4" href="#__codelineno-13-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>bw<span class="w"> </span>&lt;topic_name&gt;<span class="w">     </span><span class="c1"># 查看话题传输带宽</span>
+<a id="__codelineno-13-5" name="__codelineno-13-5" href="#__codelineno-13-5"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>&lt;topic_name&gt;<span class="w">   </span><span class="c1"># 查看话题数据</span>
+<a id="__codelineno-13-6" name="__codelineno-13-6" href="#__codelineno-13-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>&lt;topic_name&gt;<span class="w"> </span>&lt;msg_type&gt;<span class="w"> </span>&lt;msg_data&gt;<span class="w">   </span><span class="c1"># 发布话题消息</span>
 </code></pre></div>
 <p><img alt="image-20220524141906673" src="../image/2.4_%E8%AF%9D%E9%A2%98/image-20220524141906673.png" /></p>
 <h2 id="_20"><strong>思考题</strong></h2>
@@ -1478,50 +2211,32 @@ <h2 id="_21"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Topics/Understanding-ROS2-Topics.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Topics/Understanding-ROS2-Topics.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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 </div>
@@ -1595,10 +2320,12 @@ <h2 id="_21"><strong>参考链接</strong></h2>
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       <div class="md-dialog__inner md-typeset"></div>
     </div>
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.2a1c317c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.config.lang": "ja", "search.config.pipeline": "trimmer, stemmer", "search.config.separator": "[\\s\\-\uff0c\u3002]+", "search.placeholder": "\u641c\u7d22", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version.title": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
-      <script src="../../../assets/javascripts/bundle.a6c66575.min.js"></script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.6ce7567c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    
+    
+      <script src="../../../assets/javascripts/bundle.83f73b43.min.js"></script>
       
         <script src="../../../assets/js/baidu-tongji.js"></script>
       
diff --git "a/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.5_\346\234\215\345\212\241/index.html" "b/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.5_\346\234\215\345\212\241/index.html"
index ec97a51..647eaab 100644
--- "a/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.5_\346\234\215\345\212\241/index.html"
+++ "b/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.5_\346\234\215\345\212\241/index.html"
@@ -6,28 +6,39 @@
       <meta charset="utf-8">
       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/">
       
+      
+        <link rel="prev" href="../2.4_%E8%AF%9D%E9%A2%98/">
+      
+      
+        <link rel="next" href="../2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/">
+      
+      
       <link rel="icon" href="../../../assets/img/favicon.png">
-      <meta name="generator" content="mkdocs-1.3.0, mkdocs-material-8.2.15">
+      <meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.5.47">
     
     
       
-        <title>服务 - ROS2入门教程</title>
+        <title>服务 - 图书资源</title>
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.c382b1dc.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.cc9b2e1e.min.css">
-        
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.06af60db.min.css">
       
+      
+
+
+    
     
+      
     
     
       
@@ -39,12 +50,13 @@
       
     
     
-    <script>__md_scope=new URL("../../..",location),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
     
     
+    
   </head>
   
   
@@ -55,12 +67,9 @@
     
     
     
-    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="blue" data-md-color-accent="blue">
+    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue">
   
     
-    
-      <script>var palette=__md_get("__palette");if(palette&&"object"==typeof palette.color)for(var key of Object.keys(palette.color))document.body.setAttribute("data-md-color-"+key,palette.color[key])</script>
-    
     <input class="md-toggle" data-md-toggle="drawer" type="checkbox" id="__drawer" autocomplete="off">
     <input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
     <label class="md-overlay" for="__drawer"></label>
@@ -79,21 +88,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="../../../assets/img/favicon.png" alt="logo">
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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       <div class="md-header__ellipsis">
         <div class="md-header__topic">
           <span class="md-ellipsis">
-            ROS2入门教程
+            图书资源
           </span>
         </div>
         <div class="md-header__topic" data-md-component="header-topic">
@@ -106,32 +118,40 @@
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-          
-            <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_2" hidden>
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-          
-            <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_1" hidden>
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6zm0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4zM7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3z"/></svg>
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+      
+        <form class="md-header__option" data-md-component="palette">
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
+      </label>
+    
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
+      </label>
+    
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+</form>
+      
+    
+    
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -139,24 +159,27 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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       <nav class="md-search__options" aria-label="查找">
         
-        <button type="reset" class="md-search__icon md-icon" aria-label="清空当前内容" tabindex="-1">
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
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+    ROS和ROS2是什么
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+        
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+      </a>
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
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-          
+              
             
               
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+  
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+
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-        ROS2开发环境配置
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+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
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+
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+  
+  <span class="md-ellipsis">
+    概念总览
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+
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-            
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+              
             
               
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+        
+  
+  <span class="md-ellipsis">
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+
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-            
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+              
             
               
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+    功能包
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+
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-            
-          
+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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+  
+
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-            
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+              
             
               
+                
   
   
     
   
   
+  
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-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
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         <label class="md-nav__link md-nav__link--active" for="__toc">
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+          
+  
+  <span class="md-ellipsis">
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         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
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     <nav class="md-nav" aria-label="通信模型">
@@ -490,28 +1039,36 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    客户端/服务器模型
+    <span class="md-ellipsis">
+      客户端/服务器模型
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    同步通信
+    <span class="md-ellipsis">
+      同步通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    一对多通信
+    <span class="md-ellipsis">
+      一对多通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    服务接口
+    <span class="md-ellipsis">
+      服务接口
+    </span>
   </a>
   
 </li>
@@ -523,7 +1080,9 @@
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    案例一：加法求解器
+    <span class="md-ellipsis">
+      案例一：加法求解器
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例一：加法求解器">
@@ -531,14 +1090,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    客户端代码解析
+    <span class="md-ellipsis">
+      客户端代码解析
+    </span>
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     <nav class="md-nav" aria-label="客户端代码解析">
@@ -546,14 +1109,18 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    程序实现
+    <span class="md-ellipsis">
+      程序实现
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    流程总结
+    <span class="md-ellipsis">
+      流程总结
+    </span>
   </a>
   
 </li>
@@ -565,7 +1132,9 @@
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    服务端代码解析
+    <span class="md-ellipsis">
+      服务端代码解析
+    </span>
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     <nav class="md-nav" aria-label="服务端代码解析">
@@ -573,14 +1142,18 @@
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    程序实现
+    <span class="md-ellipsis">
+      程序实现
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    流程总结
+    <span class="md-ellipsis">
+      流程总结
+    </span>
   </a>
   
 </li>
@@ -597,7 +1170,9 @@
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    案例二：机器视觉识别
+    <span class="md-ellipsis">
+      案例二：机器视觉识别
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：机器视觉识别">
@@ -605,21 +1180,27 @@
         
           <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    客户端代码解析
+    <span class="md-ellipsis">
+      客户端代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_18" class="md-nav__link">
-    服务端代码解析
+    <span class="md-ellipsis">
+      服务端代码解析
+    </span>
   </a>
   
 </li>
@@ -631,21 +1212,27 @@
       
         <li class="md-nav__item">
   <a href="#_19" class="md-nav__link">
-    服务命令行操作
+    <span class="md-ellipsis">
+      服务命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_20" class="md-nav__link">
-    思考题
+    <span class="md-ellipsis">
+      思考题
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_21" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
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   </a>
   
 </li>
@@ -657,242 +1244,333 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
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+              
+            
+              
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+  
   
   
   
     
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+  
+  <span class="md-ellipsis">
+    常用工具
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+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -900,14 +1578,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -915,14 +1598,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -956,7 +1644,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="通信模型">
@@ -964,28 +1654,36 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    客户端/服务器模型
+    <span class="md-ellipsis">
+      客户端/服务器模型
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    同步通信
+    <span class="md-ellipsis">
+      同步通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    一对多通信
+    <span class="md-ellipsis">
+      一对多通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    服务接口
+    <span class="md-ellipsis">
+      服务接口
+    </span>
   </a>
   
 </li>
@@ -997,7 +1695,9 @@
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    案例一：加法求解器
+    <span class="md-ellipsis">
+      案例一：加法求解器
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例一：加法求解器">
@@ -1005,14 +1705,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    客户端代码解析
+    <span class="md-ellipsis">
+      客户端代码解析
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="客户端代码解析">
@@ -1020,14 +1724,18 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    程序实现
+    <span class="md-ellipsis">
+      程序实现
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    流程总结
+    <span class="md-ellipsis">
+      流程总结
+    </span>
   </a>
   
 </li>
@@ -1039,7 +1747,9 @@
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    服务端代码解析
+    <span class="md-ellipsis">
+      服务端代码解析
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="服务端代码解析">
@@ -1047,14 +1757,18 @@
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    程序实现
+    <span class="md-ellipsis">
+      程序实现
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    流程总结
+    <span class="md-ellipsis">
+      流程总结
+    </span>
   </a>
   
 </li>
@@ -1071,7 +1785,9 @@
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    案例二：机器视觉识别
+    <span class="md-ellipsis">
+      案例二：机器视觉识别
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：机器视觉识别">
@@ -1079,21 +1795,27 @@
         
           <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    客户端代码解析
+    <span class="md-ellipsis">
+      客户端代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_18" class="md-nav__link">
-    服务端代码解析
+    <span class="md-ellipsis">
+      服务端代码解析
+    </span>
   </a>
   
 </li>
@@ -1105,21 +1827,27 @@
       
         <li class="md-nav__item">
   <a href="#_19" class="md-nav__link">
-    服务命令行操作
+    <span class="md-ellipsis">
+      服务命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_20" class="md-nav__link">
-    思考题
+    <span class="md-ellipsis">
+      思考题
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_21" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1132,10 +1860,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1"><strong>服务</strong></h1>
@@ -1175,8 +1904,8 @@ <h2 id="_7"><strong>案例一：加法求解器</strong></h2>
 <h3 id="_8"><strong>运行效果</strong></h3>
 <p>我们一起操作下这个例程，并且看下代码的实现原理。</p>
 <p>启动两个终端，并运行如下节点，第一个节点是服务端，等待请求数据并提供求和功能，第二个节点是客户端，发送传入的两个加数并等待求和结果。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run learning_service service_adder_server
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ ros2 run learning_service service_adder_client <span class="m">2</span> <span class="m">3</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_adder_server
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_adder_client<span class="w"> </span><span class="m">2</span><span class="w"> </span><span class="m">3</span>
 </code></pre></div>
 <p><img alt="image-20220527233928009" src="../image/2.5_%E6%9C%8D%E5%8A%A1/image-20220527233928009.png" /></p>
 <p><img alt="image-20220527233916665" src="../image/2.5_%E6%9C%8D%E5%8A%A1/image-20220527233916665.png" /></p>
@@ -1313,9 +2042,9 @@ <h3 id="_16"><strong>运行效果</strong></h3>
 <li><strong>客户端节点</strong>，我们可以认为是一个机器人目标跟踪的节点，当需要根据目标运动时，就发送一次请求，然后拿到一个当前的目标位置。</li>
 </ol>
 <p>启动三个终端，分别运行上述三个节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 run usb_cam usb_cam_node_exe
-<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$ ros2 run learning_service service_object_server
-<a id="__codelineno-5-3" name="__codelineno-5-3" href="#__codelineno-5-3"></a>$ ros2 run learning_service service_object_client
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_object_server
+<a id="__codelineno-5-3" name="__codelineno-5-3" href="#__codelineno-5-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_object_client
 </code></pre></div>
 <p><img alt="image-20220527235144680" src="../image/2.5_%E6%9C%8D%E5%8A%A1/image-20220527235144680.png" /></p>
 <p><img alt="image-20220527235132847" src="../image/2.5_%E6%9C%8D%E5%8A%A1/image-20220527235132847.png" /></p>
@@ -1468,9 +2197,9 @@ <h3 id="_18"><strong>服务端代码解析</strong></h3>
 </code></pre></div>
 <h2 id="_19"><strong>服务命令行操作</strong></h2>
 <p>服务命令的常用操作如下：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$ ros2 service list                  <span class="c1"># 查看服务列表</span>
-<a id="__codelineno-10-2" name="__codelineno-10-2" href="#__codelineno-10-2"></a>$ ros2 service <span class="nb">type</span> &lt;service_name&gt;   <span class="c1"># 查看服务数据类型</span>
-<a id="__codelineno-10-3" name="__codelineno-10-3" href="#__codelineno-10-3"></a>$ ros2 service call &lt;service_name&gt; &lt;service_type&gt; &lt;service_data&gt;   <span class="c1"># 发送服务请求</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>list<span class="w">                  </span><span class="c1"># 查看服务列表</span>
+<a id="__codelineno-10-2" name="__codelineno-10-2" href="#__codelineno-10-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span><span class="nb">type</span><span class="w"> </span>&lt;service_name&gt;<span class="w">   </span><span class="c1"># 查看服务数据类型</span>
+<a id="__codelineno-10-3" name="__codelineno-10-3" href="#__codelineno-10-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>&lt;service_name&gt;<span class="w"> </span>&lt;service_type&gt;<span class="w"> </span>&lt;service_data&gt;<span class="w">   </span><span class="c1"># 发送服务请求</span>
 </code></pre></div>
 <p><img alt="image-20220527235949170" src="../image/2.5_%E6%9C%8D%E5%8A%A1/image-20220527235949170.png" /></p>
 <h2 id="_20"><strong>思考题</strong></h2>
@@ -1481,50 +2210,32 @@ <h2 id="_21"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Services/Understanding-ROS2-Services.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Services/Understanding-ROS2-Services.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
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+            
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+  
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+  
+    <li class="md-nav__item">
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+  
+
+      </a>
+    </li>
+  
+
+              
+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
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+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
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+
+      </a>
+    </li>
+  
+
+              
+            
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+    </li>
+  
+
+              
+            
+          </ul>
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-          系统架构
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+  <span class="md-ellipsis">
+    ROS2入门21讲
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+          <label class="md-nav__title" for="__nav_2">
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+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
       </a>
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+              
             
+              
+                
+  
+  
+  
+  
+    
+    
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+    
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+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
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+  
+
+              
             
               
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+  
   
   
   
     <li class="md-nav__item">
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
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+  
+
       </a>
     </li>
   
 
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-          
+              
             
               
+                
+  
   
   
   
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
     </li>
   
 
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+          </ul>
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+  
+  <span class="md-ellipsis">
+    概念总览
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+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
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+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          通信接口
+          
+  
+  <span class="md-ellipsis">
+    通信接口
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+  
+
           <span class="md-nav__icon md-icon"></span>
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       <a href="./" class="md-nav__link md-nav__link--active">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
       
         
@@ -496,14 +1050,18 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
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+    <span class="md-ellipsis">
+      接口的定义
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ros" class="md-nav__link">
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+    <span class="md-ellipsis">
+      ROS通信接口
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     <nav class="md-nav" aria-label="ROS通信接口">
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           <li class="md-nav__item">
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+    <span class="md-ellipsis">
+      语言无关
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 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
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+    <span class="md-ellipsis">
+      标准接口
+    </span>
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 </li>
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         <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    案例一：服务接口的定义与使用
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+      案例一：服务接口的定义与使用
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例一：服务接口的定义与使用">
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           <li class="md-nav__item">
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+    <span class="md-ellipsis">
+      接口定义
+    </span>
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 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
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+    <span class="md-ellipsis">
+      程序调用
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     <nav class="md-nav" aria-label="程序调用">
@@ -553,14 +1121,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    客户端接口调用
+    <span class="md-ellipsis">
+      客户端接口调用
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    服务端接口调用
+    <span class="md-ellipsis">
+      服务端接口调用
+    </span>
   </a>
   
 </li>
@@ -577,7 +1149,9 @@
       
         <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    案例二：话题接口的定义与使用
+    <span class="md-ellipsis">
+      案例二：话题接口的定义与使用
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   </a>
   
     <nav class="md-nav" aria-label="案例二：话题接口的定义与使用">
@@ -585,21 +1159,27 @@
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    接口定义
+    <span class="md-ellipsis">
+      接口定义
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 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    程序调用
+    <span class="md-ellipsis">
+      程序调用
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     <nav class="md-nav" aria-label="程序调用">
@@ -607,14 +1187,18 @@
         
           <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    发布者接口调用
+    <span class="md-ellipsis">
+      发布者接口调用
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   </a>
   
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           <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    订阅者接口调用
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   </a>
   
 </li>
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         <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    接口命令行操作
+    <span class="md-ellipsis">
+      接口命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -650,228 +1238,312 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
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-      
-      
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+            
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+  
   
   
   
     
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-          <span class="md-nav__icon md-icon"></span>
-          常用工具
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
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-      
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+            
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+  
   
   
   
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       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -879,14 +1551,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -894,14 +1571,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -935,14 +1617,18 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    接口的定义
+    <span class="md-ellipsis">
+      接口的定义
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ros" class="md-nav__link">
-    ROS通信接口
+    <span class="md-ellipsis">
+      ROS通信接口
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="ROS通信接口">
@@ -950,14 +1636,18 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    语言无关
+    <span class="md-ellipsis">
+      语言无关
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    标准接口
+    <span class="md-ellipsis">
+      标准接口
+    </span>
   </a>
   
 </li>
@@ -969,7 +1659,9 @@
       
         <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    案例一：服务接口的定义与使用
+    <span class="md-ellipsis">
+      案例一：服务接口的定义与使用
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例一：服务接口的定义与使用">
@@ -977,14 +1669,18 @@
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    接口定义
+    <span class="md-ellipsis">
+      接口定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    程序调用
+    <span class="md-ellipsis">
+      程序调用
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="程序调用">
@@ -992,14 +1688,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    客户端接口调用
+    <span class="md-ellipsis">
+      客户端接口调用
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    服务端接口调用
+    <span class="md-ellipsis">
+      服务端接口调用
+    </span>
   </a>
   
 </li>
@@ -1016,7 +1716,9 @@
       
         <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    案例二：话题接口的定义与使用
+    <span class="md-ellipsis">
+      案例二：话题接口的定义与使用
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：话题接口的定义与使用">
@@ -1024,21 +1726,27 @@
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    接口定义
+    <span class="md-ellipsis">
+      接口定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    程序调用
+    <span class="md-ellipsis">
+      程序调用
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="程序调用">
@@ -1046,14 +1754,18 @@
         
           <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    发布者接口调用
+    <span class="md-ellipsis">
+      发布者接口调用
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    订阅者接口调用
+    <span class="md-ellipsis">
+      订阅者接口调用
+    </span>
   </a>
   
 </li>
@@ -1070,14 +1782,18 @@
       
         <li class="md-nav__item">
   <a href="#_16" class="md-nav__link">
-    接口命令行操作
+    <span class="md-ellipsis">
+      接口命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_17" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1090,10 +1806,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1"><strong>通信接口</strong></h1>
@@ -1154,10 +1871,10 @@ <h2 id="_5"><strong>案例一：服务接口的定义与使用</strong></h2>
 <h3 id="_6"><strong>接口定义</strong></h3>
 <p>在这个例程中，我们使用GetObjectPosition.srv定义了服务通信的接口：</p>
 <p>learning_interface/srv/GetObjectPosition.srv</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a><span class="l l-Scalar l-Scalar-Plain">bool get</span><span class="w">      </span><span class="c1"># 获取目标位置的指令</span><span class="w"></span>
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a><span class="nn">---</span><span class="w"></span>
-<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a><span class="l l-Scalar l-Scalar-Plain">int32 x</span><span class="w">       </span><span class="c1"># 目标的X坐标</span><span class="w"></span>
-<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a><span class="l l-Scalar l-Scalar-Plain">int32 y</span><span class="w">       </span><span class="c1"># 目标的Y坐标</span><span class="w"></span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a><span class="l l-Scalar l-Scalar-Plain">bool get</span><span class="w">      </span><span class="c1"># 获取目标位置的指令</span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a><span class="nn">---</span>
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a><span class="l l-Scalar l-Scalar-Plain">int32 x</span><span class="w">       </span><span class="c1"># 目标的X坐标</span>
+<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a><span class="l l-Scalar l-Scalar-Plain">int32 y</span><span class="w">       </span><span class="c1"># 目标的Y坐标</span>
 </code></pre></div>
 <p>定义中有两个部分，上边是获取目标位置的指令，get为true的话，就表示我们需要一次位置，服务端就会反馈这个x、y坐标了。</p>
 <p>完成定义后，还需要在功能包的CMakeLists.txt中配置编译选项，让编译器在编译过程中，根据接口定义，自动生成不同语言的代码：</p>
@@ -1172,13 +1889,13 @@ <h3 id="_6"><strong>接口定义</strong></h3>
 <a id="__codelineno-1-9" name="__codelineno-1-9" href="#__codelineno-1-9"></a><span class="err">...</span>
 </code></pre></div>
 <p>功能包的package.xml文件中也需要添加代码生成的功能依赖：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a> ...
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a><span class="w"> </span>...
 <a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>
-<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a> <span class="nt">&lt;build_depend&gt;</span>rosidl_default_generators<span class="nt">&lt;/build_depend&gt;</span>
-<a id="__codelineno-2-4" name="__codelineno-2-4" href="#__codelineno-2-4"></a> <span class="nt">&lt;exec_depend&gt;</span>rosidl_default_runtime<span class="nt">&lt;/exec_depend&gt;</span>
-<a id="__codelineno-2-5" name="__codelineno-2-5" href="#__codelineno-2-5"></a> <span class="nt">&lt;member_of_group&gt;</span>rosidl_interface_packages<span class="nt">&lt;/member_of_group&gt;</span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a><span class="w"> </span><span class="nt">&lt;build_depend&gt;</span>rosidl_default_generators<span class="nt">&lt;/build_depend&gt;</span>
+<a id="__codelineno-2-4" name="__codelineno-2-4" href="#__codelineno-2-4"></a><span class="w"> </span><span class="nt">&lt;exec_depend&gt;</span>rosidl_default_runtime<span class="nt">&lt;/exec_depend&gt;</span>
+<a id="__codelineno-2-5" name="__codelineno-2-5" href="#__codelineno-2-5"></a><span class="w"> </span><span class="nt">&lt;member_of_group&gt;</span>rosidl_interface_packages<span class="nt">&lt;/member_of_group&gt;</span>
 <a id="__codelineno-2-6" name="__codelineno-2-6" href="#__codelineno-2-6"></a>
-<a id="__codelineno-2-7" name="__codelineno-2-7" href="#__codelineno-2-7"></a> ...
+<a id="__codelineno-2-7" name="__codelineno-2-7" href="#__codelineno-2-7"></a><span class="w"> </span>...
 </code></pre></div>
 <h3 id="_7">程序调用</h3>
 <p>我们在代码中再来重点看下接口的使用方法。</p>
@@ -1321,16 +2038,16 @@ <h3 id="_11"><strong>运行效果</strong></h3>
 <li>第三个节点，订阅位置话题，打印到终端中。</li>
 </ul>
 <p>启动三个终端，分别运行以上节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 run usb_cam usb_cam_node_exe
-<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$ ros2 run learning_topic interface_object_pub
-<a id="__codelineno-5-3" name="__codelineno-5-3" href="#__codelineno-5-3"></a>$ ros2 run learning_topic interface_object_sub
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>interface_object_pub
+<a id="__codelineno-5-3" name="__codelineno-5-3" href="#__codelineno-5-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>interface_object_sub
 </code></pre></div>
 <p><img alt="image-20220528003829553" src="../image/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/image-20220528003829553.png" /></p>
 <h3 id="_12"><strong>接口定义</strong></h3>
 <p>在这个例程中，我们使用ObjectPosition.msg定义了服务通信的接口：</p>
 <p>learning_interface/msg/ObjectPosition.msg</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a><span class="l l-Scalar l-Scalar-Plain">int32 x</span><span class="w">      </span><span class="c1"># 表示目标的X坐标</span><span class="w"></span>
-<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a><span class="l l-Scalar l-Scalar-Plain">int32 y</span><span class="w">      </span><span class="c1"># 表示目标的Y坐标</span><span class="w"></span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a><span class="l l-Scalar l-Scalar-Plain">int32 x</span><span class="w">      </span><span class="c1"># 表示目标的X坐标</span>
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a><span class="l l-Scalar l-Scalar-Plain">int32 y</span><span class="w">      </span><span class="c1"># 表示目标的Y坐标</span>
 </code></pre></div>
 <p>话题消息的内容是一个位置，我们使用x、y坐标值进行描述。</p>
 <p>完成定义后，还需要在功能包的CMakeLists.txt中配置编译选项，让编译器在编译过程中，根据接口定义，自动生成不同语言的代码：</p>
@@ -1456,9 +2173,9 @@ <h4 id="_15"><strong>订阅者接口调用</strong></h4>
 </code></pre></div>
 <h2 id="_16">接口命令行操作</h2>
 <p>接口命令的常用操作如下：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$ ros2 interface list                    <span class="c1"># 查看系统接口列表</span>
-<a id="__codelineno-10-2" name="__codelineno-10-2" href="#__codelineno-10-2"></a>$ ros2 interface show &lt;interface_name&gt;   <span class="c1"># 查看某个接口的详细定义</span>
-<a id="__codelineno-10-3" name="__codelineno-10-3" href="#__codelineno-10-3"></a>$ ros2 interface package &lt;package_name&gt;  <span class="c1"># 查看某个功能包中的接口定义</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>list<span class="w">                    </span><span class="c1"># 查看系统接口列表</span>
+<a id="__codelineno-10-2" name="__codelineno-10-2" href="#__codelineno-10-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>show<span class="w"> </span>&lt;interface_name&gt;<span class="w">   </span><span class="c1"># 查看某个接口的详细定义</span>
+<a id="__codelineno-10-3" name="__codelineno-10-3" href="#__codelineno-10-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>package<span class="w"> </span>&lt;package_name&gt;<span class="w">  </span><span class="c1"># 查看某个功能包中的接口定义</span>
 </code></pre></div>
 <p><img alt="image-20220528004610983" src="../image/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/image-20220528004610983.png" /></p>
 <p><img alt="image-20220528004525471" src="../image/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/image-20220528004525471.png" /></p>
@@ -1468,50 +2185,32 @@ <h2 id="_17"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Single-Package-Define-And-Use-Interface.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Single-Package-Define-And-Use-Interface.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
-              
-            </article>
-          </div>
+
+
+
+
+
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+  
+  
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+                
+              </article>
+            </div>
+          
+          
+<script>var target=document.getElementById(location.hash.slice(1));target&&target.name&&(target.checked=target.name.startsWith("__tabbed_"))</script>
         </div>
         
       </main>
       
         <footer class="md-footer">
   
-    <nav class="md-footer__inner md-grid" aria-label="页脚">
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@@ -1532,47 +2231,57 @@ <h2 id="_17"><strong>参考链接</strong></h2>
   
     
     
+    
+    
       
       
     
     <a href="https://www.guyuehome.com" target="_blank" rel="noopener" title="www.guyuehome.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M217.6 96.1c-12.95-.625-24.66 9.156-25.52 22.37-.88 13.23 9.12 24.63 22.32 24.63 79.53 5.188 148.4 74.09 153.6 153.6.828 12.69 11.39 22.43 23.94 22.43.516 0 1.047-.031 1.578-.063 13.22-.843 23.25-12.28 22.39-25.5C409.3 191.8 320.3 102.8 217.6 96.1zM224 0c-17.7 0-32 14.31-32 32s14.33 32 32 32c123.5 0 224 100.5 224 224 0 17.69 14.33 32 32 32s32-14.31 32-32C512 129.2 382.8 0 224 0zm-51.7 226.8c-14.6-2.9-28.3 9-28.3 23.8v50.37c0 10.25 7.127 18.37 16.75 21.1 18.13 6.75 31.26 24.38 31.26 44.1 0 26.5-21.5 47.1-48.01 47.1-26.5 0-48.01-21.5-48.01-47.1V120c0-13.25-10.75-23.1-24.01-23.1l-48.01.008C10.75 96.02 0 106.8 0 120v247.1c0 89.5 82.14 160.2 175 140.7 54.38-11.5 98.27-55.5 109.8-109.7 17.4-82-37-156.3-112.5-171.3z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M192 32c0 17.7 14.3 32 32 32 123.7 0 224 100.3 224 224 0 17.7 14.3 32 32 32s32-14.3 32-32C512 128.9 383.1 0 224 0c-17.7 0-32 14.3-32 32m0 96c0 17.7 14.3 32 32 32 70.7 0 128 57.3 128 128 0 17.7 14.3 32 32 32s32-14.3 32-32c0-106-86-192-192-192-17.7 0-32 14.3-32 32m-96 16c0-26.5-21.5-48-48-48S0 117.5 0 144v224c0 79.5 64.5 144 144 144s144-64.5 144-144-64.5-144-144-144h-16v96h16c26.5 0 48 21.5 48 48s-21.5 48-48 48-48-21.5-48-48z"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://class.guyuehome.com" target="_blank" rel="noopener" title="class.guyuehome.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 576 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M144.3 32.04c-37.4-.75-80.6 9.4-125.7 29.25C7.18 66.316 0 77.96 0 90.44v357.6c0 11.55 11.99 19.55 22.45 14.65 126.3-59.14 219.8 11 223.8 14.01 2.85 2.2 6.25 3.3 9.75 3.3 12.4 0 16-11.38 16-15.98V80.04c0-5.203-2.531-10.08-6.781-13.08C263.3 65.58 216.7 33.35 144.3 32.04zm413.1 29.25c-45.11-19.79-88.48-29.61-125.7-29.26-72.44 1.312-118.1 33.55-120.9 34.92-4.3 3.01-6.8 7.88-6.8 13.09v383.1c0 5.26 3.5 16.86 16 16.86 3.484 0 6.938-1.125 9.781-3.328 3.925-3.018 97.44-73.16 223.8-14 10.46 4.896 22.45-3.105 22.45-14.65v-357.6C575.1 77.97 568.8 66.31 557.4 61.29z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 576 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M249.6 471.5c10.8 3.8 22.4-4.1 22.4-15.5V78.6c0-4.2-1.6-8.4-5-11C247.4 52 202.4 32 144 32 93.5 32 46.3 45.3 18.1 56.1 6.8 60.5 0 71.7 0 83.8v370.3c0 11.9 12.8 20.2 24.1 16.5C55.6 460.1 105.5 448 144 448c33.9 0 79 14 105.6 23.5m76.8 0C353 462 398.1 448 432 448c38.5 0 88.4 12.1 119.9 22.6 11.3 3.8 24.1-4.6 24.1-16.5V83.8c0-12.1-6.8-23.3-18.1-27.6C529.7 45.3 482.5 32 432 32c-58.4 0-103.4 20-123 35.6-3.3 2.6-5 6.8-5 11V456c0 11.4 11.7 19.3 22.4 15.5"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://space.bilibili.com/386919562" target="_blank" rel="noopener" title="space.bilibili.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M488.6 104.1c16.7 18.1 24.4 39.7 23.3 65.7v202.4c-.4 26.4-9.2 48.1-26.5 65.1-17.2 17-39.1 25.9-65.5 26.7H92.02c-26.45-.8-48.21-9.8-65.28-27.2C9.682 419.4.767 396.5 0 368.2V169.8c.767-26 9.682-47.6 26.74-65.7C43.81 87.75 65.57 78.77 92.02 78h29.38L96.05 52.19c-5.75-5.73-8.63-13-8.63-21.79 0-8.8 2.88-16.06 8.63-21.797C101.8 2.868 109.1 0 117.9 0s16.1 2.868 21.9 8.603L213.1 78h88l74.5-69.397C381.7 2.868 389.2 0 398 0c8.8 0 16.1 2.868 21.9 8.603 5.7 5.737 8.6 12.997 8.6 21.797 0 8.79-2.9 16.06-8.6 21.79L394.6 78h29.3c26.4.77 48 9.75 64.7 26.1zm-38.8 69.7c-.4-9.6-3.7-17.4-10.7-23.5-5.2-6.1-14-9.4-22.7-9.8H96.05c-9.59.4-17.45 3.7-23.58 9.8-6.14 6.1-9.4 13.9-9.78 23.5v194.4c0 9.2 3.26 17 9.78 23.5s14.38 9.8 23.58 9.8H416.4c9.2 0 17-3.3 23.3-9.8 6.3-6.5 9.7-14.3 10.1-23.5V173.8zm-264.3 42.7c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.2 6.3-14 9.5-23.6 9.5-9.6 0-17.5-3.2-23.6-9.5-6.1-6.3-9.4-14-9.8-23.2v-33.3c.4-9.1 3.8-16.9 10.1-23.2 6.3-6.3 13.2-9.6 23.3-10 9.2.4 17 3.7 23.3 10zm191.5 0c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.1 6.3-14 9.5-23.6 9.5-9.6 0-17.4-3.2-23.6-9.5-7-6.3-9.4-14-9.7-23.2v-33.3c.3-9.1 3.7-16.9 10-23.2 6.3-6.3 14.1-9.6 23.3-10 9.2.4 17 3.7 23.3 10z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M488.6 104.1c16.7 18.1 24.4 39.7 23.3 65.7v202.4c-.4 26.4-9.2 48.1-26.5 65.1-17.2 17-39.1 25.9-65.5 26.7H92.02c-26.45-.8-48.21-9.8-65.28-27.2C9.682 419.4.767 396.5 0 368.2V169.8c.767-26 9.682-47.6 26.74-65.7C43.81 87.75 65.57 78.77 92.02 78h29.38L96.05 52.19c-5.75-5.73-8.63-13-8.63-21.79 0-8.8 2.88-16.06 8.63-21.797C101.8 2.868 109.1 0 117.9 0q13.2 0 21.9 8.603L213.1 78h88l74.5-69.397C381.7 2.868 389.2 0 398 0q13.2 0 21.9 8.603c5.7 5.737 8.6 12.997 8.6 21.797 0 8.79-2.9 16.06-8.6 21.79L394.6 78h29.3c26.4.77 48 9.75 64.7 26.1m-38.8 69.7c-.4-9.6-3.7-17.4-10.7-23.5-5.2-6.1-14-9.4-22.7-9.8H96.05c-9.59.4-17.45 3.7-23.58 9.8-6.14 6.1-9.4 13.9-9.78 23.5v194.4c0 9.2 3.26 17 9.78 23.5s14.38 9.8 23.58 9.8H416.4c9.2 0 17-3.3 23.3-9.8s9.7-14.3 10.1-23.5zm-264.3 42.7c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.2 6.3-14 9.5-23.6 9.5s-17.5-3.2-23.6-9.5-9.4-14-9.8-23.2v-33.3c.4-9.1 3.8-16.9 10.1-23.2s13.2-9.6 23.3-10c9.2.4 17 3.7 23.3 10m191.5 0c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2s-14 9.5-23.6 9.5-17.4-3.2-23.6-9.5c-7-6.3-9.4-14-9.7-23.2v-33.3c.3-9.1 3.7-16.9 10-23.2s14.1-9.6 23.3-10c9.2.4 17 3.7 23.3 10"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://gitee.com/guyuehome" target="_blank" rel="noopener" title="gitee.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://github.com/guyuehome" target="_blank" rel="noopener" title="github.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
     </a>
   
 </div>
@@ -1585,10 +2294,12 @@ <h2 id="_17"><strong>参考链接</strong></h2>
     <div class="md-dialog" data-md-component="dialog">
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index 4ec7ea2..3522232 100644
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-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
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+      
+        <link rel="prev" href="../2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/">
+      
+      
+        <link rel="next" href="../2.8_%E5%8F%82%E6%95%B0/">
+      
+      
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-      <meta name="generator" content="mkdocs-1.3.0, mkdocs-material-8.2.15">
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-        <title>动作 - ROS2入门教程</title>
+        <title>动作 - 图书资源</title>
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.c382b1dc.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.cc9b2e1e.min.css">
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+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.06af60db.min.css">
       
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+    
     
+      
     
     
       
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@@ -79,21 +88,24 @@
     
       
 
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-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
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-            ROS2入门教程
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+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
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-      <div class="md-search__scrollwrap" data-md-scrollfix>
+      <div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
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+        
+          
+          <label class="md-nav__link" for="__nav_1" id="__nav_1_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2智能机器人开发实践
+  </span>
+  
 
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2智能机器人开发实践
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
-      <a href="../../.." class="md-nav__link">
-        引言
+      <a href="../../../ROS2_Book/0.%E5%89%8D%E8%A8%80/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
+
       </a>
     </li>
   
 
+              
+            
+              
+                
+  
+  
+  
+  
     
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
-      
+    </li>
+  
 
+              
+            
+              
+                
   
   
   
+  
+    
+    
+    
     
     <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
+
+    
       
       
-        <label class="md-nav__link" for="__nav_2">
-          系统架构
-          <span class="md-nav__icon md-icon"></span>
-        </label>
+  
+  
+    
+  
+  
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+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
-      <nav class="md-nav" aria-label="系统架构" data-md-level="1">
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-          系统架构
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
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+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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-      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
-        ROS和ROS2是什么
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
           
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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-      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
-        ROS2对比ROS1
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
   
   
     
   
   
+  
+    
+    
+    
     
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2_3">
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+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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       <a href="../2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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       <a href="../2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
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-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
       </a>
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-            
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+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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       <a href="../2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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       <a href="../2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          动作
+          
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="./" class="md-nav__link md-nav__link--active">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
       
         
@@ -510,7 +1071,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="通信模型">
@@ -518,28 +1081,36 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    客户端/服务器模型
+    <span class="md-ellipsis">
+      客户端/服务器模型
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    一对多通信
+    <span class="md-ellipsis">
+      一对多通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    同步通信
+    <span class="md-ellipsis">
+      同步通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    由服务和话题合成
+    <span class="md-ellipsis">
+      由服务和话题合成
+    </span>
   </a>
   
 </li>
@@ -551,14 +1122,18 @@
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    案例一：小海龟的动作
+    <span class="md-ellipsis">
+      案例一：小海龟的动作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    案例二：机器人画圆
+    <span class="md-ellipsis">
+      案例二：机器人画圆
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：机器人画圆">
@@ -566,35 +1141,45 @@
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    接口定义
+    <span class="md-ellipsis">
+      接口定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    服务端代码解析
+    <span class="md-ellipsis">
+      服务端代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    客户端代码解析
+    <span class="md-ellipsis">
+      客户端代码解析
+    </span>
   </a>
   
 </li>
@@ -606,14 +1191,18 @@
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    动作命令行操作
+    <span class="md-ellipsis">
+      动作命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -625,214 +1214,291 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
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+  
   
   
   
     
+    
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+  <span class="md-ellipsis">
+    常用工具
+  </span>
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+
+            <span class="md-nav__icon md-icon"></span>
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+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
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-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -840,14 +1506,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -855,14 +1526,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -896,7 +1572,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="通信模型">
@@ -904,28 +1582,36 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    客户端/服务器模型
+    <span class="md-ellipsis">
+      客户端/服务器模型
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    一对多通信
+    <span class="md-ellipsis">
+      一对多通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    同步通信
+    <span class="md-ellipsis">
+      同步通信
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    由服务和话题合成
+    <span class="md-ellipsis">
+      由服务和话题合成
+    </span>
   </a>
   
 </li>
@@ -937,14 +1623,18 @@
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    案例一：小海龟的动作
+    <span class="md-ellipsis">
+      案例一：小海龟的动作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    案例二：机器人画圆
+    <span class="md-ellipsis">
+      案例二：机器人画圆
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：机器人画圆">
@@ -952,35 +1642,45 @@
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    接口定义
+    <span class="md-ellipsis">
+      接口定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    服务端代码解析
+    <span class="md-ellipsis">
+      服务端代码解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    客户端代码解析
+    <span class="md-ellipsis">
+      客户端代码解析
+    </span>
   </a>
   
 </li>
@@ -992,14 +1692,18 @@
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    动作命令行操作
+    <span class="md-ellipsis">
+      动作命令行操作
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1012,10 +1716,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1">动作</h1>
@@ -1053,11 +1758,11 @@ <h3 id="_6"><strong>由服务和话题合成</strong></h3>
 <h2 id="_7"><strong>案例一：小海龟的动作</strong></h2>
 <p>我们再用小海龟的案例加深对动作概念的理解。</p>
 <p>按照以下命令启动小海龟仿真器，接下来使用action命令控制小海龟的动作，可以让海龟运动到某一指定的姿态：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run turtlesim turtlesim_node
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ ros2 run turtlesim turtle_teleop_key
-<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$ ros2 action info /turtle1/rotate_absolute
-<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute <span class="s2">&quot;{theta: -1.57}&quot;</span>
-<a id="__codelineno-0-5" name="__codelineno-0-5" href="#__codelineno-0-5"></a>$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute <span class="s2">&quot;{theta: -1.57}&quot;</span> --feedback
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>info<span class="w"> </span>/turtle1/rotate_absolute
+<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>send_goal<span class="w"> </span>/turtle1/rotate_absolute<span class="w"> </span>turtlesim/action/RotateAbsolute<span class="w"> </span><span class="s2">&quot;{theta: -1.57}&quot;</span>
+<a id="__codelineno-0-5" name="__codelineno-0-5" href="#__codelineno-0-5"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>send_goal<span class="w"> </span>/turtle1/rotate_absolute<span class="w"> </span>turtlesim/action/RotateAbsolute<span class="w"> </span><span class="s2">&quot;{theta: -1.57}&quot;</span><span class="w"> </span>--feedback
 </code></pre></div>
 <p><img alt="image-20220528005909408" src="../image/2.7_%E5%8A%A8%E4%BD%9C/image-20220528005909408.png" /></p>
 <p><img alt="image-20220528005935269" src="../image/2.7_%E5%8A%A8%E4%BD%9C/image-20220528005935269.png" /></p>
@@ -1068,8 +1773,8 @@ <h2 id="_8"><strong>案例二：机器人画圆</strong></h2>
 <p>假设我们有一个机器人，我们希望通过动作的通信方法，让机器人转个圈，请编程实现动作通信中，客户端和服务器端的实现过程。</p>
 <h3 id="_9"><strong>运行效果</strong></h3>
 <p>启动两个终端，分别运行一下命令，启动动作示例的服务端和客户端：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 run learning_action action_move_server 
-<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$ ros2 run learning_action action_move_client
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_action<span class="w"> </span>action_move_server<span class="w"> </span>
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_action<span class="w"> </span>action_move_client
 </code></pre></div>
 <p><img alt="image-20220528010905277" src="../image/2.7_%E5%8A%A8%E4%BD%9C/image-20220528010905277.png" /></p>
 <p><img alt="image-20220528010845943" src="../image/2.7_%E5%8A%A8%E4%BD%9C/image-20220528010845943.png" /></p>
@@ -1078,11 +1783,11 @@ <h3 id="_9"><strong>运行效果</strong></h3>
 <h3 id="_10"><strong>接口定义</strong></h3>
 <p>例程使用的动作并不是ROS中的标准定义，我们通过MoveCircle.action进行自定义：</p>
 <p>learning_interface/action/MoveCircle.action</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a><span class="l l-Scalar l-Scalar-Plain">bool enable</span><span class="w">     </span><span class="c1"># 定义动作的目标，表示动作开始的指令</span><span class="w"></span>
-<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a><span class="nn">---</span><span class="w"></span>
-<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a><span class="l l-Scalar l-Scalar-Plain">bool finish</span><span class="w">     </span><span class="c1"># 定义动作的结果，表示是否成功执行</span><span class="w"></span>
-<a id="__codelineno-2-4" name="__codelineno-2-4" href="#__codelineno-2-4"></a><span class="nn">---</span><span class="w"></span>
-<a id="__codelineno-2-5" name="__codelineno-2-5" href="#__codelineno-2-5"></a><span class="l l-Scalar l-Scalar-Plain">int32 state</span><span class="w">     </span><span class="c1"># 定义动作的反馈，表示当前执行到的位置</span><span class="w"></span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a><span class="l l-Scalar l-Scalar-Plain">bool enable</span><span class="w">     </span><span class="c1"># 定义动作的目标，表示动作开始的指令</span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a><span class="nn">---</span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a><span class="l l-Scalar l-Scalar-Plain">bool finish</span><span class="w">     </span><span class="c1"># 定义动作的结果，表示是否成功执行</span>
+<a id="__codelineno-2-4" name="__codelineno-2-4" href="#__codelineno-2-4"></a><span class="nn">---</span>
+<a id="__codelineno-2-5" name="__codelineno-2-5" href="#__codelineno-2-5"></a><span class="l l-Scalar l-Scalar-Plain">int32 state</span><span class="w">     </span><span class="c1"># 定义动作的反馈，表示当前执行到的位置</span>
 </code></pre></div>
 <p>包含三个部分：</p>
 <ul>
@@ -1230,59 +1935,41 @@ <h3 id="_13"><strong>客户端代码解析</strong></h3>
 </code></pre></div>
 <h2 id="_14"><strong>动作命令行操作</strong></h2>
 <p>动作命令的常用操作如下：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$ ros2 action list                  <span class="c1"># 查看服务列表</span>
-<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$ ros2 action info &lt;action_name&gt;    <span class="c1"># 查看服务数据类型</span>
-<a id="__codelineno-8-3" name="__codelineno-8-3" href="#__codelineno-8-3"></a>$ ros2 action send_goal &lt;action_name&gt; &lt;action_type&gt; &lt;action_data&gt;   <span class="c1"># 发送服务请求</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>list<span class="w">                  </span><span class="c1"># 查看服务列表</span>
+<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>info<span class="w"> </span>&lt;action_name&gt;<span class="w">    </span><span class="c1"># 查看服务数据类型</span>
+<a id="__codelineno-8-3" name="__codelineno-8-3" href="#__codelineno-8-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>send_goal<span class="w"> </span>&lt;action_name&gt;<span class="w"> </span>&lt;action_type&gt;<span class="w"> </span>&lt;action_data&gt;<span class="w">   </span><span class="c1"># 发送服务请求</span>
 </code></pre></div>
 <p><img alt="image-20220528005935269" src="../image/2.7_%E5%8A%A8%E4%BD%9C/image-20220528005935269.png" /></p>
 <h2 id="_15"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Understanding-ROS2-Actions.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Understanding-ROS2-Actions.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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 </div>
@@ -1356,10 +2053,12 @@ <h2 id="_15"><strong>参考链接</strong></h2>
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       <div class="md-dialog__inner md-typeset"></div>
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-      <script src="../../../assets/javascripts/bundle.a6c66575.min.js"></script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.6ce7567c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    
+    
+      <script src="../../../assets/javascripts/bundle.83f73b43.min.js"></script>
       
         <script src="../../../assets/js/baidu-tongji.js"></script>
       
diff --git "a/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.8_\345\217\202\346\225\260/index.html" "b/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.8_\345\217\202\346\225\260/index.html"
index c461486..8579596 100644
--- "a/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.8_\345\217\202\346\225\260/index.html"
+++ "b/ROS2/2.\346\240\270\345\277\203\346\246\202\345\277\265/2.8_\345\217\202\346\225\260/index.html"
@@ -6,28 +6,39 @@
       <meta charset="utf-8">
       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/">
       
+      
+        <link rel="prev" href="../2.7_%E5%8A%A8%E4%BD%9C/">
+      
+      
+        <link rel="next" href="../2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/">
+      
+      
       <link rel="icon" href="../../../assets/img/favicon.png">
-      <meta name="generator" content="mkdocs-1.3.0, mkdocs-material-8.2.15">
+      <meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.5.47">
     
     
       
-        <title>参数 - ROS2入门教程</title>
+        <title>参数 - 图书资源</title>
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.c382b1dc.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.cc9b2e1e.min.css">
-        
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.06af60db.min.css">
       
+      
+
+
+    
     
+      
     
     
       
@@ -39,12 +50,13 @@
       
     
     
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+    <script>__md_scope=new URL("../../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
     
     
+    
   </head>
   
   
@@ -55,12 +67,9 @@
     
     
     
-    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="blue" data-md-color-accent="blue">
+    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue">
   
     
-    
-      <script>var palette=__md_get("__palette");if(palette&&"object"==typeof palette.color)for(var key of Object.keys(palette.color))document.body.setAttribute("data-md-color-"+key,palette.color[key])</script>
-    
     <input class="md-toggle" data-md-toggle="drawer" type="checkbox" id="__drawer" autocomplete="off">
     <input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
     <label class="md-overlay" for="__drawer"></label>
@@ -79,21 +88,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="../../../assets/img/favicon.png" alt="logo">
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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       <div class="md-header__ellipsis">
         <div class="md-header__topic">
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-            ROS2入门教程
+            图书资源
           </span>
         </div>
         <div class="md-header__topic" data-md-component="header-topic">
@@ -106,32 +118,40 @@
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+        <form class="md-header__option" data-md-component="palette">
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+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
+      </label>
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+  
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+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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@@ -139,24 +159,27 @@
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
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-        <button type="reset" class="md-search__icon md-icon" aria-label="清空当前内容" tabindex="-1">
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+    ROS和ROS2是什么
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+        
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@@ -532,14 +1102,18 @@
         
           <li class="md-nav__item">
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-    全局字典
+    <span class="md-ellipsis">
+      全局字典
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+    <span class="md-ellipsis">
+      可动态监控
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 </li>
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         <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    案例一：小海龟例程中的参数
+    <span class="md-ellipsis">
+      案例一：小海龟例程中的参数
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           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
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+      查看参数列表
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 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
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 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
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+      参数文件保存与加载
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   <a href="#_9" class="md-nav__link">
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+      运行效果
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+    <span class="md-ellipsis">
+      代码解析
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 </li>
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         <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    案例三：机器视觉应用
+    <span class="md-ellipsis">
+      案例三：机器视觉应用
+    </span>
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     <nav class="md-nav" aria-label="案例三：机器视觉应用">
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           <li class="md-nav__item">
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+      运行效果
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   <a href="#_14" class="md-nav__link">
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+    <span class="md-ellipsis">
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         <li class="md-nav__item">
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+      参考链接
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 </li>
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-            
-          
+              
             
               
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+  
   
   
   
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-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
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+              
             
-          
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-      </nav>
+          </ul>
+        </nav>
+      
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+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
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-            
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+              
             
               
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-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
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+  
+
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-            
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+              
             
               
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-        URDF
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+  
+  <span class="md-ellipsis">
+    URDF
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+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    Gazebo
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+  
+
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-            
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+              
             
               
+                
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-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
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-      
-
+              
+            
+              
+                
+  
   
   
   
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-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
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+  
+
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-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
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-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
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+  
   
   
   
     <li class="md-nav__item">
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-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
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+  
+
       </a>
     </li>
   
@@ -867,14 +1538,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -908,7 +1584,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    通信模型
+    <span class="md-ellipsis">
+      通信模型
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="通信模型">
@@ -916,14 +1594,18 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    全局字典
+    <span class="md-ellipsis">
+      全局字典
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    可动态监控
+    <span class="md-ellipsis">
+      可动态监控
+    </span>
   </a>
   
 </li>
@@ -935,7 +1617,9 @@
       
         <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    案例一：小海龟例程中的参数
+    <span class="md-ellipsis">
+      案例一：小海龟例程中的参数
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例一：小海龟例程中的参数">
@@ -943,21 +1627,27 @@
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    查看参数列表
+    <span class="md-ellipsis">
+      查看参数列表
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    参数查询与修改
+    <span class="md-ellipsis">
+      参数查询与修改
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    参数文件保存与加载
+    <span class="md-ellipsis">
+      参数文件保存与加载
+    </span>
   </a>
   
 </li>
@@ -969,7 +1659,9 @@
       
         <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    案例二：参数编程
+    <span class="md-ellipsis">
+      案例二：参数编程
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="案例二：参数编程">
@@ -977,14 +1669,18 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
@@ -996,7 +1692,9 @@
       
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-    案例三：机器视觉应用
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+      案例三：机器视觉应用
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-    运行效果
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+      代码解析
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+                  
 
 
 <h1 id="_1"><strong>参数</strong></h1>
@@ -1070,33 +1775,33 @@ <h3 id="_4"><strong>可动态监控</strong></h3>
 <h2 id="_5"><strong>案例一：小海龟例程中的参数</strong></h2>
 <p>在小海龟的例程中，仿真器也提供了不少参数，我们一起来通过这个例程，熟悉下参数的含义和命令行的使用方法。</p>
 <p>启动两个终端，分别运行小海龟仿真器和键盘控制节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run turtlesim turtlesim_node
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ ros2 run turtlesim turtle_teleop_key
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key
 </code></pre></div>
 <p><img alt="image-20220528013639558" src="../image/2.8_%E5%8F%82%E6%95%B0/image-20220528013639558.png" /></p>
 <h3 id="_6"><strong>查看参数列表</strong></h3>
 <p>当前系统中有哪些参数呢？我们可以启动一个终端，并使用如下命令查询：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 param list
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>list
 </code></pre></div>
 <p><img alt="image-20220528013700730" src="../image/2.8_%E5%8F%82%E6%95%B0/image-20220528013700730-16536730268421.png" /></p>
 <h3 id="_7"><strong>参数查询与修改</strong></h3>
 <p>如果想要查询或者修改某个参数的值，可以在param命令后边跟get或者set子命令：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ ros2 param describe turtlesim background_b   <span class="c1"># 查看某个参数的描述信息</span>
-<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$ ros2 param get turtlesim background_b        <span class="c1"># 查询某个参数的值</span>
-<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$ ros2 param <span class="nb">set</span> turtlesim background_b <span class="m">10</span>     <span class="c1"># 修改某个参数的值</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>describe<span class="w"> </span>turtlesim<span class="w"> </span>background_b<span class="w">   </span><span class="c1"># 查看某个参数的描述信息</span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>get<span class="w"> </span>turtlesim<span class="w"> </span>background_b<span class="w">        </span><span class="c1"># 查询某个参数的值</span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span><span class="nb">set</span><span class="w"> </span>turtlesim<span class="w"> </span>background_b<span class="w"> </span><span class="m">10</span><span class="w">     </span><span class="c1"># 修改某个参数的值</span>
 </code></pre></div>
 <h3 id="_8"><strong>参数文件保存与加载</strong></h3>
 <p>一个一个查询/修改参数太麻烦了，不如试一试参数文件，ROS中的参数文件使用yaml格式，可以在param命令后边跟dump子命令，将某个节点的参数都保存到文件中，或者通过load命令一次性加载某个参数文件中的所有内容：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ ros2 param dump turtlesim &gt;&gt; turtlesim.yaml  <span class="c1"># 将某个节点的参数保存到参数文件中</span>
-<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$ ros2 param load turtlesim turtlesim.yaml     <span class="c1"># 一次性加载某一个文件中的所有参数</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>dump<span class="w"> </span>turtlesim<span class="w"> </span>&gt;&gt;<span class="w"> </span>turtlesim.yaml<span class="w">  </span><span class="c1"># 将某个节点的参数保存到参数文件中</span>
+<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>load<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim.yaml<span class="w">     </span><span class="c1"># 一次性加载某一个文件中的所有参数</span>
 </code></pre></div>
 <p><img alt="image-20220528013752068" src="../image/2.8_%E5%8F%82%E6%95%B0/image-20220528013752068.png" /></p>
 <h2 id="_9"><strong>案例二：参数编程</strong></h2>
 <p>接下来就要开始写程序了，在程序中设置参数和读取参数都比较简单，一两句函数就可以实现，我们先来体验一下这几个函数的使用方法。</p>
 <h3 id="_10"><strong>运行效果</strong></h3>
 <p>启动一个终端，先运行第一句指令，启动param_declare节点，终端中可以看到循环打印的日志信息，其中的“mbot”就是我们设置的一个参数值，参数名称是“robot_name”，通过命令行修改这个参数，看下终端中会发生什么？</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$ ros2 run learning_parameter param_declare
-<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$ ros2 param <span class="nb">set</span> param_declare robot_name turtle
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_parameter<span class="w"> </span>param_declare
+<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span><span class="nb">set</span><span class="w"> </span>param_declare<span class="w"> </span>robot_name<span class="w"> </span>turtle
 </code></pre></div>
 <p><img alt="image-20220528014153014" src="../image/2.8_%E5%8F%82%E6%95%B0/image-20220528014153014.png" /></p>
 <h3 id="_11"><strong>代码解析</strong></h3>
@@ -1154,9 +1859,9 @@ <h3 id="_13">运行效果</h3>
 <li>视觉识别节点</li>
 <li>修改红色阈值</li>
 </ol>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$ ros2 run usb_cam usb_cam_node_exe 
-<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a>$ ros2 run learning_parameter param_object_detect
-<a id="__codelineno-7-3" name="__codelineno-7-3" href="#__codelineno-7-3"></a>$ ros2 param <span class="nb">set</span> param_object_detect red_h_upper <span class="m">180</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w"> </span>
+<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_parameter<span class="w"> </span>param_object_detect
+<a id="__codelineno-7-3" name="__codelineno-7-3" href="#__codelineno-7-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span><span class="nb">set</span><span class="w"> </span>param_object_detect<span class="w"> </span>red_h_upper<span class="w"> </span><span class="m">180</span>
 </code></pre></div>
 <p>在启动的视觉识别节点中，我们故意将视觉识别中红色阈值的上限设置为0，如果不修改参数，将无法实现目标识别。</p>
 <p><img alt="image-20220530160304929" src="../image/2.8_%E5%8F%82%E6%95%B0/image-20220530160304929.png" /></p>
@@ -1240,50 +1945,32 @@ <h2 id="_15"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Parameters/Understanding-ROS2-Parameters.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Parameters/Understanding-ROS2-Parameters.html</a></p>
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-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
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+      
+        <link rel="prev" href="../2.8_%E5%8F%82%E6%95%B0/">
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-        <title>分布式通信 - ROS2入门教程</title>
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+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
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+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
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+  
+
+            <span class="md-nav__icon md-icon"></span>
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+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
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+            
+              
+                
+  
+  
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
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+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+
+      </a>
+    </li>
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+
+              
+            
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+  
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+        
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+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
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+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
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+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
+
+              
+            
+          </ul>
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+  
+
+    
       
       
-        <label class="md-nav__link" for="__nav_2">
-          系统架构
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+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
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+  <span class="md-ellipsis">
+    ROS2入门21讲
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+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
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-        ROS和ROS2是什么
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
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+  
+
       </a>
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+              
             
+              
+                
+  
+  
+  
+  
+    
+    
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+    <li class="md-nav__item md-nav__item--nested">
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+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
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+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
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+  
+
+              
             
               
+                
+  
   
   
   
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-        ROS2对比ROS1
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
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+              
             
               
+                
+  
   
   
   
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-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
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-          
+              
             
               
+                
+  
   
   
   
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
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+              
             
-          
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+          </ul>
+        </nav>
+      
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+              
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+              
+                
   
   
     
   
   
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+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
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+  
+  <span class="md-ellipsis">
+    核心概念
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+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2_3">
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+                
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-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    工作空间
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+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
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+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
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+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          分布式通信
+          
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
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       <a href="./" class="md-nav__link md-nav__link--active">
-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
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@@ -538,14 +1113,18 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    分布式通信
+    <span class="md-ellipsis">
+      分布式通信
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
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+    <span class="md-ellipsis">
+      分布式网络搭建
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="分布式网络搭建">
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           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    树莓派配置
+    <span class="md-ellipsis">
+      树莓派配置
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     <nav class="md-nav" aria-label="树莓派配置">
@@ -561,28 +1142,36 @@
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    装系统
+    <span class="md-ellipsis">
+      装系统
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#ros2" class="md-nav__link">
-    安装ROS2
+    <span class="md-ellipsis">
+      安装ROS2
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    编译代码
+    <span class="md-ellipsis">
+      编译代码
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    远程桌面
+    <span class="md-ellipsis">
+      远程桌面
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 </li>
@@ -594,14 +1183,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    分布式数据传输
+    <span class="md-ellipsis">
+      分布式数据传输
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    分布式网络分组
+    <span class="md-ellipsis">
+      分布式网络分组
+    </span>
   </a>
   
 </li>
@@ -613,35 +1206,45 @@
       
         <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    案例一：小海龟分布式控制
+    <span class="md-ellipsis">
+      案例一：小海龟分布式控制
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    案例二：话题分布式通信
+    <span class="md-ellipsis">
+      案例二：话题分布式通信
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    案例三：服务分布式通信
+    <span class="md-ellipsis">
+      案例三：服务分布式通信
+    </span>
   </a>
   
 </li>
       
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   <a href="#_13" class="md-nav__link">
-    案例四：机器视觉分布式应用
+    <span class="md-ellipsis">
+      案例四：机器视觉分布式应用
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -653,186 +1256,249 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
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-      
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+            
+              
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+  
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+            <span class="md-nav__icon md-icon"></span>
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+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
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-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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+        
+  
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+        
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+    Gazebo
+  </span>
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+
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-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
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+              
             
               
+                
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       <a href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
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+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
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-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
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+
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-    
-      
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+              
+            
+          </ul>
+        </nav>
       
-
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-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
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@@ -840,14 +1506,19 @@
     
       
       
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+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
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@@ -855,14 +1526,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -896,14 +1572,18 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    分布式通信
+    <span class="md-ellipsis">
+      分布式通信
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    分布式网络搭建
+    <span class="md-ellipsis">
+      分布式网络搭建
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="分布式网络搭建">
@@ -911,7 +1591,9 @@
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    树莓派配置
+    <span class="md-ellipsis">
+      树莓派配置
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="树莓派配置">
@@ -919,28 +1601,36 @@
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    装系统
+    <span class="md-ellipsis">
+      装系统
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#ros2" class="md-nav__link">
-    安装ROS2
+    <span class="md-ellipsis">
+      安装ROS2
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    编译代码
+    <span class="md-ellipsis">
+      编译代码
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    远程桌面
+    <span class="md-ellipsis">
+      远程桌面
+    </span>
   </a>
   
 </li>
@@ -952,14 +1642,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    分布式数据传输
+    <span class="md-ellipsis">
+      分布式数据传输
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    分布式网络分组
+    <span class="md-ellipsis">
+      分布式网络分组
+    </span>
   </a>
   
 </li>
@@ -971,35 +1665,45 @@
       
         <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    案例一：小海龟分布式控制
+    <span class="md-ellipsis">
+      案例一：小海龟分布式控制
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    案例二：话题分布式通信
+    <span class="md-ellipsis">
+      案例二：话题分布式通信
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    案例三：服务分布式通信
+    <span class="md-ellipsis">
+      案例三：服务分布式通信
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    案例四：机器视觉分布式应用
+    <span class="md-ellipsis">
+      案例四：机器视觉分布式应用
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1012,10 +1716,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1"><strong>分布式通信</strong></h1>
@@ -1068,18 +1773,18 @@ <h3 id="_8"><strong>分布式数据传输</strong></h3>
 <p>如使用虚拟机，请将虚拟机网络修改为<strong>桥接模式</strong></p>
 </details>
 <p>在树莓派端，使用如下命令启动一个发布者节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run demo_nodes_cpp talker  <span class="c1">#树莓派端</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>demo_nodes_cpp<span class="w"> </span>talker<span class="w">  </span><span class="c1">#树莓派端</span>
 </code></pre></div>
 <p><img alt="image-20220528015555968" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528015555968.jpg" /></p>
 <p>接下来在电脑端，使用如下命令启动一个订阅者节点：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 run demo_nodes_py listener <span class="c1">#PC端</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>demo_nodes_py<span class="w"> </span>listener<span class="w"> </span><span class="c1">#PC端</span>
 </code></pre></div>
 <p><img alt="image-20220528015604383" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528015604383.jpg" /></p>
 <p>神奇的事情就这样发生了，只要两个计算机安装好ROS2，并且处于同一网络中，他们就可以实现之前讲过的话题、服务、动作等通信了，感觉就像在一个电脑里一样。</p>
 <p>不过这也会带来一个问题，如果一个网络中有很多个计算机，我们并不希望他们都可以互通互联，而是可以分组通信，小组之间是无法实现通信的。</p>
 <h3 id="_9"><strong>分布式网络分组</strong></h3>
 <p>没问题，ROS2提供了一个DOMAIN的机制，就类似分组一样，处于同一个DOMAIN中的计算机才能通信，我们可以在电脑和树莓派端的.bashrc中加入这样一句配置，即可将两者分配到一个小组中：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ <span class="nb">export</span> <span class="nv">ROS_DOMAIN_ID</span><span class="o">=</span>&lt;your_domain_id&gt;
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">ROS_DOMAIN_ID</span><span class="o">=</span>&lt;your_domain_id&gt;
 </code></pre></div>
 <p><img alt="image-20220528015831296" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528015831296.jpg" /></p>
 <p>如果分配的ID不同，则两者无法实现通信。</p>
@@ -1087,16 +1792,16 @@ <h2 id="_10"><strong>案例一：小海龟分布式控制</strong></h2>
 <p>分布式通信网络似乎已经建立成功了，是否真有我们想的这么神奇，我们继续测试之前学习过的一些例程。</p>
 <p>先来试试ROS中的经典案例——小海龟。</p>
 <p>我们可以在电脑端启动小海龟仿真器，树莓派上启动键盘控制节点，或者反过来也可以，依然可以流畅的控制小海龟运动：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ ros2 run turtlesim turtlesim_node      <span class="c1"># PC端</span>
-<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$ ros2 run turtlesim turtle_teleop_key   <span class="c1"># 树莓派端</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w">      </span><span class="c1"># PC端</span>
+<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w">   </span><span class="c1"># 树莓派端</span>
 </code></pre></div>
 <p><img alt="image-20220528020030460" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020030460.jpg" /></p>
 <h2 id="_11"><strong>案例二：话题分布式通信</strong></h2>
 <p>我们之前编写的例程是否可以在不修改任何代码的情况下，直接使用呢？</p>
 <p><img alt="image-20220528020152073" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020152073.jpg" /></p>
 <p>先试试话题通信，树莓派作为发布者，发布Hello World字符串，电脑作为订阅者，订阅Hello World字符串：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$ ros2 run learning_topic topic_helloworld_pub  <span class="c1"># 树莓派端</span>
-<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$ ros2 run learning_topic topic_helloworld_sub  <span class="c1"># PC端</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_helloworld_pub<span class="w">  </span><span class="c1"># 树莓派端</span>
+<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_helloworld_sub<span class="w">  </span><span class="c1"># PC端</span>
 </code></pre></div>
 <p><img alt="image-20220528020226552" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020226552.jpg" /></p>
 <p><img alt="image-20220528020236580" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020236580.jpg" /></p>
@@ -1104,8 +1809,8 @@ <h2 id="_12"><strong>案例三：服务分布式通信</strong></h2>
 <p>话题没有问题，服务也不在话下。</p>
 <p><img alt="image-20220528020302983" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020302983.jpg" /></p>
 <p>我们电脑端运行服务器程序，树莓派端运行客户端程序，还是可以顺利实现加法求和功能：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 run learning_service service_adder_server        <span class="c1"># PC端</span>
-<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$ ros2 run learning_service service_adder_client <span class="m">2</span> <span class="m">3</span>    <span class="c1"># 树莓派端</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_adder_server<span class="w">        </span><span class="c1"># PC端</span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_adder_client<span class="w"> </span><span class="m">2</span><span class="w"> </span><span class="m">3</span><span class="w">    </span><span class="c1"># 树莓派端</span>
 </code></pre></div>
 <p><img alt="image-20220528020326594" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020326594.jpg" /></p>
 <p><img alt="image-20220528020332776" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020332776.jpg" /></p>
@@ -1113,8 +1818,8 @@ <h2 id="_13"><strong>案例四：机器视觉分布式应用</strong></h2>
 <p>以上这些功能还不够复杂？没问题，视觉识别的例程安排上。</p>
 <p><img alt="image-20220528020414866" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020414866.jpg" /></p>
 <p>接下来，我们将使用树莓派连接摄像头，模拟一个小型机器人，可以采集实时图像，然后再通过分布式网络，将图像发给电脑端的处理节点，识别图像中的红色物体：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$ ros2 run usb_cam usb_cam_node_exe           <span class="c1"># 树莓派端</span>
-<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$ ros2 run learning_topic topic_webcam_sub    <span class="c1"># PC端</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w">           </span><span class="c1"># 树莓派端</span>
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_webcam_sub<span class="w">    </span><span class="c1"># PC端</span>
 </code></pre></div>
 <p>没有任何问题，视觉识别的效果如下。</p>
 <p><img alt="image-20220528020538737" src="../image/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/image-20220528020538737.jpg" /></p>
@@ -1123,50 +1828,32 @@ <h2 id="_14"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html" target="_blank">https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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@@ -1187,47 +1874,57 @@ <h2 id="_14"><strong>参考链接</strong></h2>
   
     
     
+    
+    
       
       
     
     <a href="https://www.guyuehome.com" target="_blank" rel="noopener" title="www.guyuehome.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M217.6 96.1c-12.95-.625-24.66 9.156-25.52 22.37-.88 13.23 9.12 24.63 22.32 24.63 79.53 5.188 148.4 74.09 153.6 153.6.828 12.69 11.39 22.43 23.94 22.43.516 0 1.047-.031 1.578-.063 13.22-.843 23.25-12.28 22.39-25.5C409.3 191.8 320.3 102.8 217.6 96.1zM224 0c-17.7 0-32 14.31-32 32s14.33 32 32 32c123.5 0 224 100.5 224 224 0 17.69 14.33 32 32 32s32-14.31 32-32C512 129.2 382.8 0 224 0zm-51.7 226.8c-14.6-2.9-28.3 9-28.3 23.8v50.37c0 10.25 7.127 18.37 16.75 21.1 18.13 6.75 31.26 24.38 31.26 44.1 0 26.5-21.5 47.1-48.01 47.1-26.5 0-48.01-21.5-48.01-47.1V120c0-13.25-10.75-23.1-24.01-23.1l-48.01.008C10.75 96.02 0 106.8 0 120v247.1c0 89.5 82.14 160.2 175 140.7 54.38-11.5 98.27-55.5 109.8-109.7 17.4-82-37-156.3-112.5-171.3z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M192 32c0 17.7 14.3 32 32 32 123.7 0 224 100.3 224 224 0 17.7 14.3 32 32 32s32-14.3 32-32C512 128.9 383.1 0 224 0c-17.7 0-32 14.3-32 32m0 96c0 17.7 14.3 32 32 32 70.7 0 128 57.3 128 128 0 17.7 14.3 32 32 32s32-14.3 32-32c0-106-86-192-192-192-17.7 0-32 14.3-32 32m-96 16c0-26.5-21.5-48-48-48S0 117.5 0 144v224c0 79.5 64.5 144 144 144s144-64.5 144-144-64.5-144-144-144h-16v96h16c26.5 0 48 21.5 48 48s-21.5 48-48 48-48-21.5-48-48z"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://class.guyuehome.com" target="_blank" rel="noopener" title="class.guyuehome.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 576 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M144.3 32.04c-37.4-.75-80.6 9.4-125.7 29.25C7.18 66.316 0 77.96 0 90.44v357.6c0 11.55 11.99 19.55 22.45 14.65 126.3-59.14 219.8 11 223.8 14.01 2.85 2.2 6.25 3.3 9.75 3.3 12.4 0 16-11.38 16-15.98V80.04c0-5.203-2.531-10.08-6.781-13.08C263.3 65.58 216.7 33.35 144.3 32.04zm413.1 29.25c-45.11-19.79-88.48-29.61-125.7-29.26-72.44 1.312-118.1 33.55-120.9 34.92-4.3 3.01-6.8 7.88-6.8 13.09v383.1c0 5.26 3.5 16.86 16 16.86 3.484 0 6.938-1.125 9.781-3.328 3.925-3.018 97.44-73.16 223.8-14 10.46 4.896 22.45-3.105 22.45-14.65v-357.6C575.1 77.97 568.8 66.31 557.4 61.29z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 576 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M249.6 471.5c10.8 3.8 22.4-4.1 22.4-15.5V78.6c0-4.2-1.6-8.4-5-11C247.4 52 202.4 32 144 32 93.5 32 46.3 45.3 18.1 56.1 6.8 60.5 0 71.7 0 83.8v370.3c0 11.9 12.8 20.2 24.1 16.5C55.6 460.1 105.5 448 144 448c33.9 0 79 14 105.6 23.5m76.8 0C353 462 398.1 448 432 448c38.5 0 88.4 12.1 119.9 22.6 11.3 3.8 24.1-4.6 24.1-16.5V83.8c0-12.1-6.8-23.3-18.1-27.6C529.7 45.3 482.5 32 432 32c-58.4 0-103.4 20-123 35.6-3.3 2.6-5 6.8-5 11V456c0 11.4 11.7 19.3 22.4 15.5"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://space.bilibili.com/386919562" target="_blank" rel="noopener" title="space.bilibili.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M488.6 104.1c16.7 18.1 24.4 39.7 23.3 65.7v202.4c-.4 26.4-9.2 48.1-26.5 65.1-17.2 17-39.1 25.9-65.5 26.7H92.02c-26.45-.8-48.21-9.8-65.28-27.2C9.682 419.4.767 396.5 0 368.2V169.8c.767-26 9.682-47.6 26.74-65.7C43.81 87.75 65.57 78.77 92.02 78h29.38L96.05 52.19c-5.75-5.73-8.63-13-8.63-21.79 0-8.8 2.88-16.06 8.63-21.797C101.8 2.868 109.1 0 117.9 0s16.1 2.868 21.9 8.603L213.1 78h88l74.5-69.397C381.7 2.868 389.2 0 398 0c8.8 0 16.1 2.868 21.9 8.603 5.7 5.737 8.6 12.997 8.6 21.797 0 8.79-2.9 16.06-8.6 21.79L394.6 78h29.3c26.4.77 48 9.75 64.7 26.1zm-38.8 69.7c-.4-9.6-3.7-17.4-10.7-23.5-5.2-6.1-14-9.4-22.7-9.8H96.05c-9.59.4-17.45 3.7-23.58 9.8-6.14 6.1-9.4 13.9-9.78 23.5v194.4c0 9.2 3.26 17 9.78 23.5s14.38 9.8 23.58 9.8H416.4c9.2 0 17-3.3 23.3-9.8 6.3-6.5 9.7-14.3 10.1-23.5V173.8zm-264.3 42.7c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.2 6.3-14 9.5-23.6 9.5-9.6 0-17.5-3.2-23.6-9.5-6.1-6.3-9.4-14-9.8-23.2v-33.3c.4-9.1 3.8-16.9 10.1-23.2 6.3-6.3 13.2-9.6 23.3-10 9.2.4 17 3.7 23.3 10zm191.5 0c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.1 6.3-14 9.5-23.6 9.5-9.6 0-17.4-3.2-23.6-9.5-7-6.3-9.4-14-9.7-23.2v-33.3c.3-9.1 3.7-16.9 10-23.2 6.3-6.3 14.1-9.6 23.3-10 9.2.4 17 3.7 23.3 10z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M488.6 104.1c16.7 18.1 24.4 39.7 23.3 65.7v202.4c-.4 26.4-9.2 48.1-26.5 65.1-17.2 17-39.1 25.9-65.5 26.7H92.02c-26.45-.8-48.21-9.8-65.28-27.2C9.682 419.4.767 396.5 0 368.2V169.8c.767-26 9.682-47.6 26.74-65.7C43.81 87.75 65.57 78.77 92.02 78h29.38L96.05 52.19c-5.75-5.73-8.63-13-8.63-21.79 0-8.8 2.88-16.06 8.63-21.797C101.8 2.868 109.1 0 117.9 0q13.2 0 21.9 8.603L213.1 78h88l74.5-69.397C381.7 2.868 389.2 0 398 0q13.2 0 21.9 8.603c5.7 5.737 8.6 12.997 8.6 21.797 0 8.79-2.9 16.06-8.6 21.79L394.6 78h29.3c26.4.77 48 9.75 64.7 26.1m-38.8 69.7c-.4-9.6-3.7-17.4-10.7-23.5-5.2-6.1-14-9.4-22.7-9.8H96.05c-9.59.4-17.45 3.7-23.58 9.8-6.14 6.1-9.4 13.9-9.78 23.5v194.4c0 9.2 3.26 17 9.78 23.5s14.38 9.8 23.58 9.8H416.4c9.2 0 17-3.3 23.3-9.8s9.7-14.3 10.1-23.5zm-264.3 42.7c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.2 6.3-14 9.5-23.6 9.5s-17.5-3.2-23.6-9.5-9.4-14-9.8-23.2v-33.3c.4-9.1 3.8-16.9 10.1-23.2s13.2-9.6 23.3-10c9.2.4 17 3.7 23.3 10m191.5 0c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2s-14 9.5-23.6 9.5-17.4-3.2-23.6-9.5c-7-6.3-9.4-14-9.7-23.2v-33.3c.3-9.1 3.7-16.9 10-23.2s14.1-9.6 23.3-10c9.2.4 17 3.7 23.3 10"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://gitee.com/guyuehome" target="_blank" rel="noopener" title="gitee.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://github.com/guyuehome" target="_blank" rel="noopener" title="github.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
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     </a>
   
 </div>
@@ -1240,10 +1937,12 @@ <h2 id="_14"><strong>参考链接</strong></h2>
     <div class="md-dialog" data-md-component="dialog">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
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@@ -219,479 +243,1087 @@
     
       
       
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+  
+  
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+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1" >
+        
+          
+          <label class="md-nav__link" for="__nav_1" id="__nav_1_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2智能机器人开发实践
+  </span>
+  
 
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2智能机器人开发实践
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
-      <a href="../../.." class="md-nav__link">
-        引言
+      <a href="../../../ROS2_Book/0.%E5%89%8D%E8%A8%80/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
+
       </a>
     </li>
   
 
+              
+            
+              
+                
+  
+  
+  
+  
     
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
-      
+    </li>
+  
 
+              
+            
+              
+                
   
   
   
+  
+    
+    
+    
     
     <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
+
+              
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+    </li>
+  
+
+    
       
       
-        <label class="md-nav__link" for="__nav_2">
-          系统架构
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+  
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
-      <nav class="md-nav" aria-label="系统架构" data-md-level="1">
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+        
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
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+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
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+            <span class="md-nav__icon md-icon"></span>
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+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
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+  
   
   
   
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-      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
-        ROS和ROS2是什么
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
           
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
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+            系统架构
+          </label>
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+  
   
   
   
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-      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
-        ROS2对比ROS1
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
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+              
             
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+          </ul>
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+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
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+    核心概念
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-        概念总览
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+    概念总览
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+    工作空间
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+    功能包
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-        节点
+        
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+    节点
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+    话题
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-        <meta name="description" content="ROS2入门教程·古月居">
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+        <link rel="prev" href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/">
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+            
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+  
+  
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+  
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+              
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+        
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+              
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+      </a>
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+              
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+              
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+    ROS和ROS2是什么
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+              
             
-          
+              
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+  
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+    ROS2安装方法
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       </a>
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+        
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+                
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+        
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-        通信接口
+        
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+
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+  
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+          </ul>
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-          常用工具
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+        
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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         <label class="md-nav__link md-nav__link--active" for="__toc">
-          Launch
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+
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         <li class="md-nav__item">
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     <nav class="md-nav" aria-label="多节点启动">
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         <li class="md-nav__item">
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@@ -642,14 +1250,18 @@
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
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           <li class="md-nav__item">
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         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
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+    <span class="md-ellipsis">
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@@ -669,14 +1283,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
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+    <span class="md-ellipsis">
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           <li class="md-nav__item">
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@@ -688,7 +1306,9 @@
       
         <li class="md-nav__item">
   <a href="#ros" class="md-nav__link">
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+    <span class="md-ellipsis">
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           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
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+    <span class="md-ellipsis">
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 </li>
         
           <li class="md-nav__item">
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-    文件解析
+    <span class="md-ellipsis">
+      文件解析
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   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    加载参数文件
+    <span class="md-ellipsis">
+      加载参数文件
+    </span>
   </a>
   
 </li>
@@ -722,7 +1348,9 @@
       
         <li class="md-nav__item">
   <a href="#launch_2" class="md-nav__link">
-    Launch文件包含
+    <span class="md-ellipsis">
+      Launch文件包含
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Launch文件包含">
@@ -730,7 +1358,9 @@
         
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   <a href="#_13" class="md-nav__link">
-    文件解析
+    <span class="md-ellipsis">
+      文件解析
+    </span>
   </a>
   
 </li>
@@ -742,14 +1372,18 @@
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    功能包编译配置
+    <span class="md-ellipsis">
+      功能包编译配置
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -761,124 +1395,164 @@
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       <a href="../3.2_TF/" class="md-nav__link">
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+  
+
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+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.3_URDF/" class="md-nav__link">
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     <li class="md-nav__item">
       <a href="../3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
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     <li class="md-nav__item">
       <a href="../3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
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+    Rviz
+  </span>
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       <a href="../3.6_Rqt/" class="md-nav__link">
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-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
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-    
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-        视频课程
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-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
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+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
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@@ -886,14 +1560,19 @@
     
       
       
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       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
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@@ -901,14 +1580,19 @@
     
       
       
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       <a href="../../../about/" class="md-nav__link">
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@@ -942,14 +1626,18 @@
       
         <li class="md-nav__item">
   <a href="#launch_1" class="md-nav__link">
-    Launch文件
+    <span class="md-ellipsis">
+      Launch文件
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    多节点启动
+    <span class="md-ellipsis">
+      多节点启动
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="多节点启动">
@@ -957,14 +1645,18 @@
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
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   </a>
   
 </li>
         
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   <a href="#_3" class="md-nav__link">
-    文件解析
+    <span class="md-ellipsis">
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 </li>
@@ -976,7 +1668,9 @@
       
         <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    命令行参数配置
+    <span class="md-ellipsis">
+      命令行参数配置
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="命令行参数配置">
@@ -984,14 +1678,18 @@
         
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   <a href="#_5" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
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 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    文件解析
+    <span class="md-ellipsis">
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 </li>
@@ -1003,7 +1701,9 @@
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    资源重映射
+    <span class="md-ellipsis">
+      资源重映射
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="资源重映射">
@@ -1011,14 +1711,18 @@
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    文件解析
+    <span class="md-ellipsis">
+      文件解析
+    </span>
   </a>
   
 </li>
@@ -1030,7 +1734,9 @@
       
         <li class="md-nav__item">
   <a href="#ros" class="md-nav__link">
-    ROS参数设置
+    <span class="md-ellipsis">
+      ROS参数设置
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="ROS参数设置">
@@ -1038,21 +1744,27 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    文件解析
+    <span class="md-ellipsis">
+      文件解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    加载参数文件
+    <span class="md-ellipsis">
+      加载参数文件
+    </span>
   </a>
   
 </li>
@@ -1064,7 +1776,9 @@
       
         <li class="md-nav__item">
   <a href="#launch_2" class="md-nav__link">
-    Launch文件包含
+    <span class="md-ellipsis">
+      Launch文件包含
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Launch文件包含">
@@ -1072,7 +1786,9 @@
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    文件解析
+    <span class="md-ellipsis">
+      文件解析
+    </span>
   </a>
   
 </li>
@@ -1084,14 +1800,18 @@
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    功能包编译配置
+    <span class="md-ellipsis">
+      功能包编译配置
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_15" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1104,10 +1824,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="launch"><strong>Launch：多节点启动与配置脚本</strong></h1>
@@ -1133,7 +1854,7 @@ <h2 id="_1"><strong>多节点启动</strong></h2>
 <p>先来看看如何启动多个节点。</p>
 <h3 id="_2"><strong>运行效果</strong></h3>
 <p>启动终端，使用ros2中的launch命令来启动第一个launch文件示例：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 launch learning_launch simple.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>simple.launch.py
 </code></pre></div>
 <p>运行成功后，就可以在终端中看到发布者和订阅者两个节点的日志信息啦。</p>
 <p><img alt="image-20220530163837942" src="../image/3.1_Launch/image-20220530163837942.png" /></p>
@@ -1159,10 +1880,10 @@ <h2 id="_4"><strong>命令行参数配置</strong></h2>
 <p>我们使用ros2命令在终端中启动节点时，还可以在命令后配置一些传入程序的参数，使用launch文件一样可以做到。</p>
 <h3 id="_5"><strong>运行效果</strong></h3>
 <p>比如我们想要运行一个Rviz可视化上位机，并且加载某一个配置文件，使用命令行的话，是这样的：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ ros2 run rviz2 rviz2 -d &lt;PACKAGE-PATH&gt;/rviz/turtle_rviz.rviz
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2<span class="w"> </span>-d<span class="w"> </span>&lt;PACKAGE-PATH&gt;/rviz/turtle_rviz.rviz
 </code></pre></div>
 <p>命令后边还得跟一长串配置文件的路径，如果放在launch文件里，启动就优雅很多了：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ ros2 launch learning_launch rviz.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>rviz.launch.py
 </code></pre></div>
 <p><img alt="image-20220530164738675" src="../image/3.1_Launch/image-20220530164738675.png" /></p>
 <h3 id="_6"><strong>文件解析</strong></h3>
@@ -1197,8 +1918,8 @@ <h2 id="_7"><strong>资源重映射</strong></h2>
 <p>为了提高软件的复用性，ROS提供了资源重映射的机制，可以帮助我们解决类似的问题。</p>
 <h3 id="_8"><strong>运行效果</strong></h3>
 <p>启动一个终端，运行如下例程，很快会看到出现了两个小海龟仿真器界面；再打开一个终端，发布如下话题，让海龟1动起来，海龟2也会一起运动：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 launch learning_launch rviz.launch.py
-<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$ ros2 topic pub --rate <span class="m">1</span> /turtle1/cmd_vel geometry_msgs/msg/Twist <span class="s2">&quot;{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}&quot;</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>rviz.launch.py
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>--rate<span class="w"> </span><span class="m">1</span><span class="w"> </span>/turtle1/cmd_vel<span class="w"> </span>geometry_msgs/msg/Twist<span class="w"> </span><span class="s2">&quot;{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}&quot;</span>
 </code></pre></div>
 <p><img alt="image-20220530165536359" src="../image/3.1_Launch/image-20220530165536359.png" /></p>
 <h3 id="_9"><strong>文件解析</strong></h3>
@@ -1237,7 +1958,7 @@ <h2 id="ros"><strong>ROS参数设置</strong></h2>
 <p>ROS系统中的参数，也可以在Launch文件中设置。</p>
 <h3 id="_10"><strong>运行效果</strong></h3>
 <p>启动一个终端，运行如下命令：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$ ros2 launch learning_launch parameters.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>parameters.launch.py
 </code></pre></div>
 <p>在启动的海龟仿真器中，我们看到背景颜色被改变了，这个颜色参数的设置就是在launch文件中完成的。</p>
 <p><img alt="image-20220530170726913" src="../image/3.1_Launch/image-20220530170726913.png" /></p>
@@ -1362,50 +2083,32 @@ <h2 id="_15"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Launch/Using-ROS2-Launch-For-Large-Projects.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Launch/Using-ROS2-Launch-For-Large-Projects.html</a></p>
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-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
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@@ -1479,10 +2192,12 @@ <h2 id="_15"><strong>参考链接</strong></h2>
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
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+    </li>
+  
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+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
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+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
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+            
+              
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
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+      </a>
+    </li>
+  
+
+              
+            
+              
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+  
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
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+    </li>
+  
+
+              
+            
+              
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
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+        </nav>
+      
+    </li>
+  
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+    <li class="md-nav__item md-nav__item--nested">
       
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+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
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+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+  
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+    </li>
+  
+
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+            
+              
+                
+  
+  
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
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+      </a>
+    </li>
+  
+
+              
+            
+              
+                
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+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
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+    </li>
+  
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+            
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-        ROS和ROS2是什么
+      <a href="../../.." class="md-nav__link">
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+  </span>
+  
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+    
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+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
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+          </label>
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+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
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-        ROS2对比ROS1
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
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+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+                
+  
   
   
   
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
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-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
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+                
+  
   
   
   
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
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+          </ul>
+        </nav>
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+        
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
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+  <span class="md-ellipsis">
+    核心概念
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+  
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+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
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+            核心概念
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-        概念总览
+        
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+    概念总览
+  </span>
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-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
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+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
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-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
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-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
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+              
             
               
+                
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-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
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-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
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-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
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-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
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+        
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+    分布式通信
+  </span>
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+        
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+  <span class="md-ellipsis">
+    DDS
+  </span>
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-          常用工具
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          TF
+          
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="./" class="md-nav__link md-nav__link--active">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
       
         
@@ -614,14 +1219,18 @@
       
         <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    机器人中的坐标系
+    <span class="md-ellipsis">
+      机器人中的坐标系
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#tf_1" class="md-nav__link">
-    TF命令行操作
+    <span class="md-ellipsis">
+      TF命令行操作
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="TF命令行操作">
@@ -629,28 +1238,36 @@
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    小海龟跟随例程
+    <span class="md-ellipsis">
+      小海龟跟随例程
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#tf_2" class="md-nav__link">
-    查看TF树
+    <span class="md-ellipsis">
+      查看TF树
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    查询坐标变换信息
+    <span class="md-ellipsis">
+      查询坐标变换信息
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    坐标系可视化
+    <span class="md-ellipsis">
+      坐标系可视化
+    </span>
   </a>
   
 </li>
@@ -662,7 +1279,9 @@
       
         <li class="md-nav__item">
   <a href="#tf_3" class="md-nav__link">
-    静态TF广播
+    <span class="md-ellipsis">
+      静态TF广播
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="静态TF广播">
@@ -670,14 +1289,18 @@
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
@@ -689,7 +1312,9 @@
       
         <li class="md-nav__item">
   <a href="#tf_4" class="md-nav__link">
-    TF监听
+    <span class="md-ellipsis">
+      TF监听
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="TF监听">
@@ -697,14 +1322,18 @@
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
@@ -716,7 +1345,9 @@
       
         <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    海龟跟随功能解析
+    <span class="md-ellipsis">
+      海龟跟随功能解析
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="海龟跟随功能解析">
@@ -724,35 +1355,45 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    原理解析
+    <span class="md-ellipsis">
+      原理解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#launch" class="md-nav__link">
-    Launch文件解析
+    <span class="md-ellipsis">
+      Launch文件解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    坐标系动态广播
+    <span class="md-ellipsis">
+      坐标系动态广播
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    海龟跟随
+    <span class="md-ellipsis">
+      海龟跟随
+    </span>
   </a>
   
 </li>
@@ -764,7 +1405,9 @@
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -776,110 +1419,143 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -887,14 +1563,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -902,14 +1583,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -943,14 +1629,18 @@
       
         <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    机器人中的坐标系
+    <span class="md-ellipsis">
+      机器人中的坐标系
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#tf_1" class="md-nav__link">
-    TF命令行操作
+    <span class="md-ellipsis">
+      TF命令行操作
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="TF命令行操作">
@@ -958,28 +1648,36 @@
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    小海龟跟随例程
+    <span class="md-ellipsis">
+      小海龟跟随例程
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#tf_2" class="md-nav__link">
-    查看TF树
+    <span class="md-ellipsis">
+      查看TF树
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    查询坐标变换信息
+    <span class="md-ellipsis">
+      查询坐标变换信息
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    坐标系可视化
+    <span class="md-ellipsis">
+      坐标系可视化
+    </span>
   </a>
   
 </li>
@@ -991,7 +1689,9 @@
       
         <li class="md-nav__item">
   <a href="#tf_3" class="md-nav__link">
-    静态TF广播
+    <span class="md-ellipsis">
+      静态TF广播
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="静态TF广播">
@@ -999,14 +1699,18 @@
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
@@ -1018,7 +1722,9 @@
       
         <li class="md-nav__item">
   <a href="#tf_4" class="md-nav__link">
-    TF监听
+    <span class="md-ellipsis">
+      TF监听
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="TF监听">
@@ -1026,14 +1732,18 @@
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    代码解析
+    <span class="md-ellipsis">
+      代码解析
+    </span>
   </a>
   
 </li>
@@ -1045,7 +1755,9 @@
       
         <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    海龟跟随功能解析
+    <span class="md-ellipsis">
+      海龟跟随功能解析
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="海龟跟随功能解析">
@@ -1053,35 +1765,45 @@
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    运行效果
+    <span class="md-ellipsis">
+      运行效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    原理解析
+    <span class="md-ellipsis">
+      原理解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#launch" class="md-nav__link">
-    Launch文件解析
+    <span class="md-ellipsis">
+      Launch文件解析
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    坐标系动态广播
+    <span class="md-ellipsis">
+      坐标系动态广播
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    海龟跟随
+    <span class="md-ellipsis">
+      海龟跟随
+    </span>
   </a>
   
 </li>
@@ -1093,7 +1815,9 @@
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1106,10 +1830,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="tf"><strong>TF：机器人坐标系管理神器</strong></h1>
@@ -1141,30 +1866,30 @@ <h2 id="tf_1"><strong>TF命令行操作</strong></h2>
 <p>ROS中的TF该如何使用呢？我们先通过两只小海龟的示例，了解下基于坐标系的一种机器人跟随算法。</p>
 <h3 id="_2"><strong>小海龟跟随例程</strong></h3>
 <p>这个示例需要我们先安装相应的功能包，然后就可以通过一个launch文件启动，之后我们可以控制其中的一只小海龟，另外一只小海龟会自动跟随运动。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ sudo apt install ros-humble-turtle-tf2-py ros-humble-tf2-tools
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ sudo pip3 install transforms3d
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-turtle-tf2-py<span class="w"> </span>ros-humble-tf2-tools
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>pip3<span class="w"> </span>install<span class="w"> </span>transforms3d
 </code></pre></div>
 <p>具体运行的效果如何？我们来试一试。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 launch turtle_tf2_py turtle_tf2_demo.launch.py
-<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$ ros2 run turtlesim turtle_teleop_key
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>turtle_tf2_py<span class="w"> </span>turtle_tf2_demo.launch.py
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key
 </code></pre></div>
 <p>当我们控制一只海龟运动时，另外一只海龟也会跟随运动。</p>
 <p><img alt="image-20220528142340425" src="../image/3.2_TF/image-20220528142340425.png" /></p>
 <h3 id="tf_2"><strong>查看TF树</strong></h3>
 <p>在当前运行的两只海龟中，有哪些坐标系呢，我们可以通过这个小工具来做查看。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ ros2 run tf2_tools view_frames 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames<span class="w"> </span>
 </code></pre></div>
 <p>默认在当前终端路径下生成了一个frames.pdf文件，打开之后，就可以看到系统中各个坐标系的关系了。</p>
 <p><img alt="image-20220528142507581" src="../image/3.2_TF/image-20220528142507581.png" /></p>
 <h3 id="_3"><strong>查询坐标变换信息</strong></h3>
 <p>只看到坐标系的结构还不行，如果我们想要知道某两个坐标系之间的具体关系，可以通过tf2_echo这个工具查看：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ ros2 run tf2_ros tf2_echo turtle2 turtle1
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_ros<span class="w"> </span>tf2_echo<span class="w"> </span>turtle2<span class="w"> </span>turtle1
 </code></pre></div>
 <p>运行成功后，终端中就会循环打印坐标系的变换数值了，由平移和旋转两个部分组成，还有旋转矩阵。</p>
 <p><img alt="image-20220530173017084" src="../image/3.2_TF/image-20220530173017084.png" /></p>
 <h3 id="_4"><strong>坐标系可视化</strong></h3>
 <p>看数值还不直观？可以试试用可视化软件来做显示：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$ ros2 run rviz2 rviz2 -d <span class="k">$(</span>ros2 pkg prefix --share turtle_tf2_py<span class="k">)</span>/rviz/turtle_rviz.rviz
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2<span class="w"> </span>-d<span class="w"> </span><span class="k">$(</span>ros2<span class="w"> </span>pkg<span class="w"> </span>prefix<span class="w"> </span>--share<span class="w"> </span>turtle_tf2_py<span class="k">)</span>/rviz/turtle_rviz.rviz
 </code></pre></div>
 <p>再让小海龟动起来，Rviz中的坐标轴就会开始运动，这样是不是更加直观了呢！</p>
 <p><img alt="image-20220528142546418" src="../image/3.2_TF/image-20220528142546418.png" /></p>
@@ -1176,8 +1901,8 @@ <h2 id="tf_3"><strong>静态TF广播</strong></h2>
 <p>在TF中，这种情况也称之为<strong>静态TF变换</strong>，我们来看看在程序中该如何实现？</p>
 <h3 id="_5"><strong>运行效果</strong></h3>
 <p>启动终端，运行如下命令：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 run learning_tf static_tf_broadcaster
-<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$ ros2 run tf2_tools view_frames 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>static_tf_broadcaster
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames<span class="w"> </span>
 </code></pre></div>
 <p>可以看到当前系统中存在两个坐标系，一个是world，一个是house，两者之间的相对位置不会发生改变，通过一个静态的TF对象进行维护。</p>
 <p><img alt="image-20220528142707675" src="../image/3.2_TF/image-20220528142707675.png" /></p>
@@ -1237,7 +1962,7 @@ <h2 id="tf_4"><strong>TF监听</strong></h2>
 <p>我们再来学习下如何查询两个坐标系之间的位置关系。</p>
 <h3 id="_7"><strong>运行效果</strong></h3>
 <p>启动一个终端，运行如下节点，就可以在终端中看到周期显示的坐标关系了。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$ ros2 run learning_tf tf_listener
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>tf_listener
 </code></pre></div>
 <p><img alt="image-20220528143704578" src="../image/3.2_TF/image-20220528143704578.png" /></p>
 <h3 id="_8"><strong>代码解析</strong></h3>
@@ -1314,8 +2039,8 @@ <h2 id="_9"><strong>海龟跟随功能解析</strong></h2>
 <p>还是之前小海龟跟随的示例，我们自己通过代码来实现一下。</p>
 <h3 id="_10"><strong>运行效果</strong></h3>
 <p>先看下实现的效果，启动终端后，通过如下命令启动例程：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$ ros2 launch learning_tf turtle_following_demo.launch.py
-<a id="__codelineno-11-2" name="__codelineno-11-2" href="#__codelineno-11-2"></a>$ ros2 run turtlesim turtle_teleop_key
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_tf<span class="w"> </span>turtle_following_demo.launch.py
+<a id="__codelineno-11-2" name="__codelineno-11-2" href="#__codelineno-11-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key
 </code></pre></div>
 <p>看到的效果和ROS自带的例程相同。</p>
 <p><img alt="image-20220528142340425" src="../image/3.2_TF/image-20220528142340425.png" /></p>
@@ -1458,91 +2183,91 @@ <h3 id="_13"><strong>海龟跟随</strong></h3>
 <a id="__codelineno-15-6" name="__codelineno-15-6" href="#__codelineno-15-6"></a><span class="s2">@说明: ROS2 TF示例-通过坐标变化实现海龟跟随功能</span>
 <a id="__codelineno-15-7" name="__codelineno-15-7" href="#__codelineno-15-7"></a><span class="s2">&quot;&quot;&quot;</span>
 <a id="__codelineno-15-8" name="__codelineno-15-8" href="#__codelineno-15-8"></a>
-<a id="__codelineno-15-9" name="__codelineno-15-9" href="#__codelineno-15-9"></a>import math
-<a id="__codelineno-15-10" name="__codelineno-15-10" href="#__codelineno-15-10"></a>import rclpy                                              <span class="c1"># ROS2 Python接口库</span>
-<a id="__codelineno-15-11" name="__codelineno-15-11" href="#__codelineno-15-11"></a>from rclpy.node import Node                               <span class="c1"># ROS2 节点类</span>
-<a id="__codelineno-15-12" name="__codelineno-15-12" href="#__codelineno-15-12"></a>import tf_transformations                                 <span class="c1"># TF坐标变换库</span>
-<a id="__codelineno-15-13" name="__codelineno-15-13" href="#__codelineno-15-13"></a>from tf2_ros import TransformException                    <span class="c1"># TF左边变换的异常类</span>
-<a id="__codelineno-15-14" name="__codelineno-15-14" href="#__codelineno-15-14"></a>from tf2_ros.buffer import Buffer                         <span class="c1"># 存储坐标变换信息的缓冲类</span>
-<a id="__codelineno-15-15" name="__codelineno-15-15" href="#__codelineno-15-15"></a>from tf2_ros.transform_listener import TransformListener  <span class="c1"># 监听坐标变换的监听器类</span>
-<a id="__codelineno-15-16" name="__codelineno-15-16" href="#__codelineno-15-16"></a>from geometry_msgs.msg import Twist                       <span class="c1"># ROS2 速度控制消息</span>
-<a id="__codelineno-15-17" name="__codelineno-15-17" href="#__codelineno-15-17"></a>from turtlesim.srv import Spawn                           <span class="c1"># 海龟生成的服务接口</span>
-<a id="__codelineno-15-18" name="__codelineno-15-18" href="#__codelineno-15-18"></a>class TurtleFollowing<span class="o">(</span>Node<span class="o">)</span>:
+<a id="__codelineno-15-9" name="__codelineno-15-9" href="#__codelineno-15-9"></a>import<span class="w"> </span>math
+<a id="__codelineno-15-10" name="__codelineno-15-10" href="#__codelineno-15-10"></a>import<span class="w"> </span>rclpy<span class="w">                                              </span><span class="c1"># ROS2 Python接口库</span>
+<a id="__codelineno-15-11" name="__codelineno-15-11" href="#__codelineno-15-11"></a>from<span class="w"> </span>rclpy.node<span class="w"> </span>import<span class="w"> </span>Node<span class="w">                               </span><span class="c1"># ROS2 节点类</span>
+<a id="__codelineno-15-12" name="__codelineno-15-12" href="#__codelineno-15-12"></a>import<span class="w"> </span>tf_transformations<span class="w">                                 </span><span class="c1"># TF坐标变换库</span>
+<a id="__codelineno-15-13" name="__codelineno-15-13" href="#__codelineno-15-13"></a>from<span class="w"> </span>tf2_ros<span class="w"> </span>import<span class="w"> </span>TransformException<span class="w">                    </span><span class="c1"># TF左边变换的异常类</span>
+<a id="__codelineno-15-14" name="__codelineno-15-14" href="#__codelineno-15-14"></a>from<span class="w"> </span>tf2_ros.buffer<span class="w"> </span>import<span class="w"> </span>Buffer<span class="w">                         </span><span class="c1"># 存储坐标变换信息的缓冲类</span>
+<a id="__codelineno-15-15" name="__codelineno-15-15" href="#__codelineno-15-15"></a>from<span class="w"> </span>tf2_ros.transform_listener<span class="w"> </span>import<span class="w"> </span>TransformListener<span class="w">  </span><span class="c1"># 监听坐标变换的监听器类</span>
+<a id="__codelineno-15-16" name="__codelineno-15-16" href="#__codelineno-15-16"></a>from<span class="w"> </span>geometry_msgs.msg<span class="w"> </span>import<span class="w"> </span>Twist<span class="w">                       </span><span class="c1"># ROS2 速度控制消息</span>
+<a id="__codelineno-15-17" name="__codelineno-15-17" href="#__codelineno-15-17"></a>from<span class="w"> </span>turtlesim.srv<span class="w"> </span>import<span class="w"> </span>Spawn<span class="w">                           </span><span class="c1"># 海龟生成的服务接口</span>
+<a id="__codelineno-15-18" name="__codelineno-15-18" href="#__codelineno-15-18"></a>class<span class="w"> </span>TurtleFollowing<span class="o">(</span>Node<span class="o">)</span>:
 <a id="__codelineno-15-19" name="__codelineno-15-19" href="#__codelineno-15-19"></a>
-<a id="__codelineno-15-20" name="__codelineno-15-20" href="#__codelineno-15-20"></a>    def __init__<span class="o">(</span>self, name<span class="o">)</span>:
-<a id="__codelineno-15-21" name="__codelineno-15-21" href="#__codelineno-15-21"></a>        super<span class="o">()</span>.__init__<span class="o">(</span>name<span class="o">)</span>                                      <span class="c1"># ROS2节点父类初始化</span>
+<a id="__codelineno-15-20" name="__codelineno-15-20" href="#__codelineno-15-20"></a><span class="w">    </span>def<span class="w"> </span>__init__<span class="o">(</span>self,<span class="w"> </span>name<span class="o">)</span>:
+<a id="__codelineno-15-21" name="__codelineno-15-21" href="#__codelineno-15-21"></a><span class="w">        </span>super<span class="o">()</span>.__init__<span class="o">(</span>name<span class="o">)</span><span class="w">                                      </span><span class="c1"># ROS2节点父类初始化</span>
 <a id="__codelineno-15-22" name="__codelineno-15-22" href="#__codelineno-15-22"></a>
-<a id="__codelineno-15-23" name="__codelineno-15-23" href="#__codelineno-15-23"></a>        self.declare_parameter<span class="o">(</span><span class="s1">&#39;source_frame&#39;</span>, <span class="s1">&#39;turtle1&#39;</span><span class="o">)</span>           <span class="c1"># 创建一个源坐标系名的参数</span>
-<a id="__codelineno-15-24" name="__codelineno-15-24" href="#__codelineno-15-24"></a>        self.source_frame <span class="o">=</span> self.get_parameter<span class="o">(</span>                     <span class="c1"># 优先使用外部设置的参数值，否则用默认值</span>
-<a id="__codelineno-15-25" name="__codelineno-15-25" href="#__codelineno-15-25"></a>            <span class="s1">&#39;source_frame&#39;</span><span class="o">)</span>.get_parameter_value<span class="o">()</span>.string_value
+<a id="__codelineno-15-23" name="__codelineno-15-23" href="#__codelineno-15-23"></a><span class="w">        </span>self.declare_parameter<span class="o">(</span><span class="s1">&#39;source_frame&#39;</span>,<span class="w"> </span><span class="s1">&#39;turtle1&#39;</span><span class="o">)</span><span class="w">           </span><span class="c1"># 创建一个源坐标系名的参数</span>
+<a id="__codelineno-15-24" name="__codelineno-15-24" href="#__codelineno-15-24"></a><span class="w">        </span>self.source_frame<span class="w"> </span><span class="o">=</span><span class="w"> </span>self.get_parameter<span class="o">(</span><span class="w">                     </span><span class="c1"># 优先使用外部设置的参数值，否则用默认值</span>
+<a id="__codelineno-15-25" name="__codelineno-15-25" href="#__codelineno-15-25"></a><span class="w">            </span><span class="s1">&#39;source_frame&#39;</span><span class="o">)</span>.get_parameter_value<span class="o">()</span>.string_value
 <a id="__codelineno-15-26" name="__codelineno-15-26" href="#__codelineno-15-26"></a>
-<a id="__codelineno-15-27" name="__codelineno-15-27" href="#__codelineno-15-27"></a>        self.tf_buffer <span class="o">=</span> Buffer<span class="o">()</span>                                   <span class="c1"># 创建保存坐标变换信息的缓冲区</span>
-<a id="__codelineno-15-28" name="__codelineno-15-28" href="#__codelineno-15-28"></a>        self.tf_listener <span class="o">=</span> TransformListener<span class="o">(</span>self.tf_buffer, self<span class="o">)</span>  <span class="c1"># 创建坐标变换的监听器</span>
+<a id="__codelineno-15-27" name="__codelineno-15-27" href="#__codelineno-15-27"></a><span class="w">        </span>self.tf_buffer<span class="w"> </span><span class="o">=</span><span class="w"> </span>Buffer<span class="o">()</span><span class="w">                                   </span><span class="c1"># 创建保存坐标变换信息的缓冲区</span>
+<a id="__codelineno-15-28" name="__codelineno-15-28" href="#__codelineno-15-28"></a><span class="w">        </span>self.tf_listener<span class="w"> </span><span class="o">=</span><span class="w"> </span>TransformListener<span class="o">(</span>self.tf_buffer,<span class="w"> </span>self<span class="o">)</span><span class="w">  </span><span class="c1"># 创建坐标变换的监听器</span>
 <a id="__codelineno-15-29" name="__codelineno-15-29" href="#__codelineno-15-29"></a>
-<a id="__codelineno-15-30" name="__codelineno-15-30" href="#__codelineno-15-30"></a>        self.spawner <span class="o">=</span> self.create_client<span class="o">(</span>Spawn, <span class="s1">&#39;spawn&#39;</span><span class="o">)</span>           <span class="c1"># 创建一个请求产生海龟的客户端</span>
-<a id="__codelineno-15-31" name="__codelineno-15-31" href="#__codelineno-15-31"></a>        self.turtle_spawning_service_ready <span class="o">=</span> False                  <span class="c1"># 是否已经请求海龟生成服务的标志位</span>
-<a id="__codelineno-15-32" name="__codelineno-15-32" href="#__codelineno-15-32"></a>        self.turtle_spawned <span class="o">=</span> False                                 <span class="c1"># 海龟是否产生成功的标志位</span>
+<a id="__codelineno-15-30" name="__codelineno-15-30" href="#__codelineno-15-30"></a><span class="w">        </span>self.spawner<span class="w"> </span><span class="o">=</span><span class="w"> </span>self.create_client<span class="o">(</span>Spawn,<span class="w"> </span><span class="s1">&#39;spawn&#39;</span><span class="o">)</span><span class="w">           </span><span class="c1"># 创建一个请求产生海龟的客户端</span>
+<a id="__codelineno-15-31" name="__codelineno-15-31" href="#__codelineno-15-31"></a><span class="w">        </span>self.turtle_spawning_service_ready<span class="w"> </span><span class="o">=</span><span class="w"> </span>False<span class="w">                  </span><span class="c1"># 是否已经请求海龟生成服务的标志位</span>
+<a id="__codelineno-15-32" name="__codelineno-15-32" href="#__codelineno-15-32"></a><span class="w">        </span>self.turtle_spawned<span class="w"> </span><span class="o">=</span><span class="w"> </span>False<span class="w">                                 </span><span class="c1"># 海龟是否产生成功的标志位</span>
 <a id="__codelineno-15-33" name="__codelineno-15-33" href="#__codelineno-15-33"></a>
-<a id="__codelineno-15-34" name="__codelineno-15-34" href="#__codelineno-15-34"></a>        self.publisher <span class="o">=</span> self.create_publisher<span class="o">(</span>Twist, <span class="s1">&#39;turtle2/cmd_vel&#39;</span>, <span class="m">1</span><span class="o">)</span> <span class="c1"># 创建跟随运动海龟的速度话题</span>
+<a id="__codelineno-15-34" name="__codelineno-15-34" href="#__codelineno-15-34"></a><span class="w">        </span>self.publisher<span class="w"> </span><span class="o">=</span><span class="w"> </span>self.create_publisher<span class="o">(</span>Twist,<span class="w"> </span><span class="s1">&#39;turtle2/cmd_vel&#39;</span>,<span class="w"> </span><span class="m">1</span><span class="o">)</span><span class="w"> </span><span class="c1"># 创建跟随运动海龟的速度话题</span>
 <a id="__codelineno-15-35" name="__codelineno-15-35" href="#__codelineno-15-35"></a>
-<a id="__codelineno-15-36" name="__codelineno-15-36" href="#__codelineno-15-36"></a>        self.timer <span class="o">=</span> self.create_timer<span class="o">(</span><span class="m">1</span>.0, self.on_timer<span class="o">)</span>         <span class="c1"># 创建一个固定周期的定时器，控制跟随海龟的运动</span>
+<a id="__codelineno-15-36" name="__codelineno-15-36" href="#__codelineno-15-36"></a><span class="w">        </span>self.timer<span class="w"> </span><span class="o">=</span><span class="w"> </span>self.create_timer<span class="o">(</span><span class="m">1</span>.0,<span class="w"> </span>self.on_timer<span class="o">)</span><span class="w">         </span><span class="c1"># 创建一个固定周期的定时器，控制跟随海龟的运动</span>
 <a id="__codelineno-15-37" name="__codelineno-15-37" href="#__codelineno-15-37"></a>
-<a id="__codelineno-15-38" name="__codelineno-15-38" href="#__codelineno-15-38"></a>    def on_timer<span class="o">(</span>self<span class="o">)</span>:
-<a id="__codelineno-15-39" name="__codelineno-15-39" href="#__codelineno-15-39"></a>        <span class="nv">from_frame_rel</span> <span class="o">=</span> self.source_frame                         <span class="c1"># 源坐标系</span>
-<a id="__codelineno-15-40" name="__codelineno-15-40" href="#__codelineno-15-40"></a>        <span class="nv">to_frame_rel</span>   <span class="o">=</span> <span class="s1">&#39;turtle2&#39;</span>                                 <span class="c1"># 目标坐标系</span>
+<a id="__codelineno-15-38" name="__codelineno-15-38" href="#__codelineno-15-38"></a><span class="w">    </span>def<span class="w"> </span>on_timer<span class="o">(</span>self<span class="o">)</span>:
+<a id="__codelineno-15-39" name="__codelineno-15-39" href="#__codelineno-15-39"></a><span class="w">        </span><span class="nv">from_frame_rel</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>self.source_frame<span class="w">                         </span><span class="c1"># 源坐标系</span>
+<a id="__codelineno-15-40" name="__codelineno-15-40" href="#__codelineno-15-40"></a><span class="w">        </span><span class="nv">to_frame_rel</span><span class="w">   </span><span class="o">=</span><span class="w"> </span><span class="s1">&#39;turtle2&#39;</span><span class="w">                                 </span><span class="c1"># 目标坐标系</span>
 <a id="__codelineno-15-41" name="__codelineno-15-41" href="#__codelineno-15-41"></a>
-<a id="__codelineno-15-42" name="__codelineno-15-42" href="#__codelineno-15-42"></a>        <span class="k">if</span> self.turtle_spawning_service_ready:                     <span class="c1"># 如果已经请求海龟生成服务</span>
-<a id="__codelineno-15-43" name="__codelineno-15-43" href="#__codelineno-15-43"></a>            <span class="k">if</span> self.turtle_spawned:                                <span class="c1"># 如果跟随海龟已经生成</span>
-<a id="__codelineno-15-44" name="__codelineno-15-44" href="#__codelineno-15-44"></a>                try:
-<a id="__codelineno-15-45" name="__codelineno-15-45" href="#__codelineno-15-45"></a>                    <span class="nv">now</span> <span class="o">=</span> rclpy.time.Time<span class="o">()</span>                        <span class="c1"># 获取ROS系统的当前时间</span>
-<a id="__codelineno-15-46" name="__codelineno-15-46" href="#__codelineno-15-46"></a>                    <span class="nv">trans</span> <span class="o">=</span> self.tf_buffer.lookup_transform<span class="o">(</span>       <span class="c1"># 监听当前时刻源坐标系到目标坐标系的坐标变换</span>
-<a id="__codelineno-15-47" name="__codelineno-15-47" href="#__codelineno-15-47"></a>                        to_frame_rel,
-<a id="__codelineno-15-48" name="__codelineno-15-48" href="#__codelineno-15-48"></a>                        from_frame_rel,
-<a id="__codelineno-15-49" name="__codelineno-15-49" href="#__codelineno-15-49"></a>                        now<span class="o">)</span>
-<a id="__codelineno-15-50" name="__codelineno-15-50" href="#__codelineno-15-50"></a>                except TransformException as ex:                   <span class="c1"># 如果坐标变换获取失败，进入异常报告</span>
-<a id="__codelineno-15-51" name="__codelineno-15-51" href="#__codelineno-15-51"></a>                    self.get_logger<span class="o">()</span>.info<span class="o">(</span>
-<a id="__codelineno-15-52" name="__codelineno-15-52" href="#__codelineno-15-52"></a>                        f<span class="s1">&#39;Could not transform {to_frame_rel} to {from_frame_rel}: {ex}&#39;</span><span class="o">)</span>
-<a id="__codelineno-15-53" name="__codelineno-15-53" href="#__codelineno-15-53"></a>                    <span class="k">return</span>
+<a id="__codelineno-15-42" name="__codelineno-15-42" href="#__codelineno-15-42"></a><span class="w">        </span><span class="k">if</span><span class="w"> </span>self.turtle_spawning_service_ready:<span class="w">                     </span><span class="c1"># 如果已经请求海龟生成服务</span>
+<a id="__codelineno-15-43" name="__codelineno-15-43" href="#__codelineno-15-43"></a><span class="w">            </span><span class="k">if</span><span class="w"> </span>self.turtle_spawned:<span class="w">                                </span><span class="c1"># 如果跟随海龟已经生成</span>
+<a id="__codelineno-15-44" name="__codelineno-15-44" href="#__codelineno-15-44"></a><span class="w">                </span>try:
+<a id="__codelineno-15-45" name="__codelineno-15-45" href="#__codelineno-15-45"></a><span class="w">                    </span><span class="nv">now</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>rclpy.time.Time<span class="o">()</span><span class="w">                        </span><span class="c1"># 获取ROS系统的当前时间</span>
+<a id="__codelineno-15-46" name="__codelineno-15-46" href="#__codelineno-15-46"></a><span class="w">                    </span><span class="nv">trans</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>self.tf_buffer.lookup_transform<span class="o">(</span><span class="w">       </span><span class="c1"># 监听当前时刻源坐标系到目标坐标系的坐标变换</span>
+<a id="__codelineno-15-47" name="__codelineno-15-47" href="#__codelineno-15-47"></a><span class="w">                        </span>to_frame_rel,
+<a id="__codelineno-15-48" name="__codelineno-15-48" href="#__codelineno-15-48"></a><span class="w">                        </span>from_frame_rel,
+<a id="__codelineno-15-49" name="__codelineno-15-49" href="#__codelineno-15-49"></a><span class="w">                        </span>now<span class="o">)</span>
+<a id="__codelineno-15-50" name="__codelineno-15-50" href="#__codelineno-15-50"></a><span class="w">                </span>except<span class="w"> </span>TransformException<span class="w"> </span>as<span class="w"> </span>ex:<span class="w">                   </span><span class="c1"># 如果坐标变换获取失败，进入异常报告</span>
+<a id="__codelineno-15-51" name="__codelineno-15-51" href="#__codelineno-15-51"></a><span class="w">                    </span>self.get_logger<span class="o">()</span>.info<span class="o">(</span>
+<a id="__codelineno-15-52" name="__codelineno-15-52" href="#__codelineno-15-52"></a><span class="w">                        </span>f<span class="s1">&#39;Could not transform {to_frame_rel} to {from_frame_rel}: {ex}&#39;</span><span class="o">)</span>
+<a id="__codelineno-15-53" name="__codelineno-15-53" href="#__codelineno-15-53"></a><span class="w">                    </span><span class="k">return</span>
 <a id="__codelineno-15-54" name="__codelineno-15-54" href="#__codelineno-15-54"></a>
-<a id="__codelineno-15-55" name="__codelineno-15-55" href="#__codelineno-15-55"></a>                <span class="nv">msg</span> <span class="o">=</span> Twist<span class="o">()</span>                                      <span class="c1"># 创建速度控制消息</span>
-<a id="__codelineno-15-56" name="__codelineno-15-56" href="#__codelineno-15-56"></a>                <span class="nv">scale_rotation_rate</span> <span class="o">=</span> <span class="m">1</span>.0                          <span class="c1"># 根据海龟角度，计算角速度</span>
-<a id="__codelineno-15-57" name="__codelineno-15-57" href="#__codelineno-15-57"></a>                msg.angular.z <span class="o">=</span> scale_rotation_rate * math.atan2<span class="o">(</span>
-<a id="__codelineno-15-58" name="__codelineno-15-58" href="#__codelineno-15-58"></a>                    trans.transform.translation.y,
-<a id="__codelineno-15-59" name="__codelineno-15-59" href="#__codelineno-15-59"></a>                    trans.transform.translation.x<span class="o">)</span>
+<a id="__codelineno-15-55" name="__codelineno-15-55" href="#__codelineno-15-55"></a><span class="w">                </span><span class="nv">msg</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>Twist<span class="o">()</span><span class="w">                                      </span><span class="c1"># 创建速度控制消息</span>
+<a id="__codelineno-15-56" name="__codelineno-15-56" href="#__codelineno-15-56"></a><span class="w">                </span><span class="nv">scale_rotation_rate</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">1</span>.0<span class="w">                          </span><span class="c1"># 根据海龟角度，计算角速度</span>
+<a id="__codelineno-15-57" name="__codelineno-15-57" href="#__codelineno-15-57"></a><span class="w">                </span>msg.angular.z<span class="w"> </span><span class="o">=</span><span class="w"> </span>scale_rotation_rate<span class="w"> </span>*<span class="w"> </span>math.atan2<span class="o">(</span>
+<a id="__codelineno-15-58" name="__codelineno-15-58" href="#__codelineno-15-58"></a><span class="w">                    </span>trans.transform.translation.y,
+<a id="__codelineno-15-59" name="__codelineno-15-59" href="#__codelineno-15-59"></a><span class="w">                    </span>trans.transform.translation.x<span class="o">)</span>
 <a id="__codelineno-15-60" name="__codelineno-15-60" href="#__codelineno-15-60"></a>
-<a id="__codelineno-15-61" name="__codelineno-15-61" href="#__codelineno-15-61"></a>                <span class="nv">scale_forward_speed</span> <span class="o">=</span> <span class="m">0</span>.5                          <span class="c1"># 根据海龟距离，计算线速度</span>
-<a id="__codelineno-15-62" name="__codelineno-15-62" href="#__codelineno-15-62"></a>                msg.linear.x <span class="o">=</span> scale_forward_speed * math.sqrt<span class="o">(</span>
-<a id="__codelineno-15-63" name="__codelineno-15-63" href="#__codelineno-15-63"></a>                    trans.transform.translation.x ** <span class="m">2</span> +
-<a id="__codelineno-15-64" name="__codelineno-15-64" href="#__codelineno-15-64"></a>                    trans.transform.translation.y ** <span class="m">2</span><span class="o">)</span>
+<a id="__codelineno-15-61" name="__codelineno-15-61" href="#__codelineno-15-61"></a><span class="w">                </span><span class="nv">scale_forward_speed</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="m">0</span>.5<span class="w">                          </span><span class="c1"># 根据海龟距离，计算线速度</span>
+<a id="__codelineno-15-62" name="__codelineno-15-62" href="#__codelineno-15-62"></a><span class="w">                </span>msg.linear.x<span class="w"> </span><span class="o">=</span><span class="w"> </span>scale_forward_speed<span class="w"> </span>*<span class="w"> </span>math.sqrt<span class="o">(</span>
+<a id="__codelineno-15-63" name="__codelineno-15-63" href="#__codelineno-15-63"></a><span class="w">                    </span>trans.transform.translation.x<span class="w"> </span>**<span class="w"> </span><span class="m">2</span><span class="w"> </span>+
+<a id="__codelineno-15-64" name="__codelineno-15-64" href="#__codelineno-15-64"></a><span class="w">                    </span>trans.transform.translation.y<span class="w"> </span>**<span class="w"> </span><span class="m">2</span><span class="o">)</span>
 <a id="__codelineno-15-65" name="__codelineno-15-65" href="#__codelineno-15-65"></a>
-<a id="__codelineno-15-66" name="__codelineno-15-66" href="#__codelineno-15-66"></a>                self.publisher.publish<span class="o">(</span>msg<span class="o">)</span>                        <span class="c1"># 发布速度指令，海龟跟随运动</span>
-<a id="__codelineno-15-67" name="__codelineno-15-67" href="#__codelineno-15-67"></a>            <span class="k">else</span>:                                                  <span class="c1"># 如果跟随海龟没有生成</span>
-<a id="__codelineno-15-68" name="__codelineno-15-68" href="#__codelineno-15-68"></a>                <span class="k">if</span> self.result.done<span class="o">()</span>:                             <span class="c1"># 查看海龟是否生成</span>
-<a id="__codelineno-15-69" name="__codelineno-15-69" href="#__codelineno-15-69"></a>                    self.get_logger<span class="o">()</span>.info<span class="o">(</span>
-<a id="__codelineno-15-70" name="__codelineno-15-70" href="#__codelineno-15-70"></a>                        f<span class="s1">&#39;Successfully spawned {self.result.result().name}&#39;</span><span class="o">)</span>
-<a id="__codelineno-15-71" name="__codelineno-15-71" href="#__codelineno-15-71"></a>                    self.turtle_spawned <span class="o">=</span> True                     
-<a id="__codelineno-15-72" name="__codelineno-15-72" href="#__codelineno-15-72"></a>                <span class="k">else</span>:                                              <span class="c1"># 依然没有生成跟随海龟</span>
-<a id="__codelineno-15-73" name="__codelineno-15-73" href="#__codelineno-15-73"></a>                    self.get_logger<span class="o">()</span>.info<span class="o">(</span><span class="s1">&#39;Spawn is not finished&#39;</span><span class="o">)</span>
-<a id="__codelineno-15-74" name="__codelineno-15-74" href="#__codelineno-15-74"></a>        <span class="k">else</span>:                                                      <span class="c1"># 如果没有请求海龟生成服务</span>
-<a id="__codelineno-15-75" name="__codelineno-15-75" href="#__codelineno-15-75"></a>            <span class="k">if</span> self.spawner.service_is_ready<span class="o">()</span>:                    <span class="c1"># 如果海龟生成服务器已经准备就绪</span>
-<a id="__codelineno-15-76" name="__codelineno-15-76" href="#__codelineno-15-76"></a>                <span class="nv">request</span> <span class="o">=</span> Spawn.Request<span class="o">()</span>                          <span class="c1"># 创建一个请求的数据</span>
-<a id="__codelineno-15-77" name="__codelineno-15-77" href="#__codelineno-15-77"></a>                request.name <span class="o">=</span> <span class="s1">&#39;turtle2&#39;</span>                           <span class="c1"># 设置请求数据的内容，包括海龟名、xy位置、姿态</span>
-<a id="__codelineno-15-78" name="__codelineno-15-78" href="#__codelineno-15-78"></a>                request.x <span class="o">=</span> float<span class="o">(</span><span class="m">4</span><span class="o">)</span>
-<a id="__codelineno-15-79" name="__codelineno-15-79" href="#__codelineno-15-79"></a>                request.y <span class="o">=</span> float<span class="o">(</span><span class="m">2</span><span class="o">)</span>
-<a id="__codelineno-15-80" name="__codelineno-15-80" href="#__codelineno-15-80"></a>                request.theta <span class="o">=</span> float<span class="o">(</span><span class="m">0</span><span class="o">)</span>
+<a id="__codelineno-15-66" name="__codelineno-15-66" href="#__codelineno-15-66"></a><span class="w">                </span>self.publisher.publish<span class="o">(</span>msg<span class="o">)</span><span class="w">                        </span><span class="c1"># 发布速度指令，海龟跟随运动</span>
+<a id="__codelineno-15-67" name="__codelineno-15-67" href="#__codelineno-15-67"></a><span class="w">            </span><span class="k">else</span>:<span class="w">                                                  </span><span class="c1"># 如果跟随海龟没有生成</span>
+<a id="__codelineno-15-68" name="__codelineno-15-68" href="#__codelineno-15-68"></a><span class="w">                </span><span class="k">if</span><span class="w"> </span>self.result.done<span class="o">()</span>:<span class="w">                             </span><span class="c1"># 查看海龟是否生成</span>
+<a id="__codelineno-15-69" name="__codelineno-15-69" href="#__codelineno-15-69"></a><span class="w">                    </span>self.get_logger<span class="o">()</span>.info<span class="o">(</span>
+<a id="__codelineno-15-70" name="__codelineno-15-70" href="#__codelineno-15-70"></a><span class="w">                        </span>f<span class="s1">&#39;Successfully spawned {self.result.result().name}&#39;</span><span class="o">)</span>
+<a id="__codelineno-15-71" name="__codelineno-15-71" href="#__codelineno-15-71"></a><span class="w">                    </span>self.turtle_spawned<span class="w"> </span><span class="o">=</span><span class="w"> </span>True<span class="w">                     </span>
+<a id="__codelineno-15-72" name="__codelineno-15-72" href="#__codelineno-15-72"></a><span class="w">                </span><span class="k">else</span>:<span class="w">                                              </span><span class="c1"># 依然没有生成跟随海龟</span>
+<a id="__codelineno-15-73" name="__codelineno-15-73" href="#__codelineno-15-73"></a><span class="w">                    </span>self.get_logger<span class="o">()</span>.info<span class="o">(</span><span class="s1">&#39;Spawn is not finished&#39;</span><span class="o">)</span>
+<a id="__codelineno-15-74" name="__codelineno-15-74" href="#__codelineno-15-74"></a><span class="w">        </span><span class="k">else</span>:<span class="w">                                                      </span><span class="c1"># 如果没有请求海龟生成服务</span>
+<a id="__codelineno-15-75" name="__codelineno-15-75" href="#__codelineno-15-75"></a><span class="w">            </span><span class="k">if</span><span class="w"> </span>self.spawner.service_is_ready<span class="o">()</span>:<span class="w">                    </span><span class="c1"># 如果海龟生成服务器已经准备就绪</span>
+<a id="__codelineno-15-76" name="__codelineno-15-76" href="#__codelineno-15-76"></a><span class="w">                </span><span class="nv">request</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>Spawn.Request<span class="o">()</span><span class="w">                          </span><span class="c1"># 创建一个请求的数据</span>
+<a id="__codelineno-15-77" name="__codelineno-15-77" href="#__codelineno-15-77"></a><span class="w">                </span>request.name<span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="s1">&#39;turtle2&#39;</span><span class="w">                           </span><span class="c1"># 设置请求数据的内容，包括海龟名、xy位置、姿态</span>
+<a id="__codelineno-15-78" name="__codelineno-15-78" href="#__codelineno-15-78"></a><span class="w">                </span>request.x<span class="w"> </span><span class="o">=</span><span class="w"> </span>float<span class="o">(</span><span class="m">4</span><span class="o">)</span>
+<a id="__codelineno-15-79" name="__codelineno-15-79" href="#__codelineno-15-79"></a><span class="w">                </span>request.y<span class="w"> </span><span class="o">=</span><span class="w"> </span>float<span class="o">(</span><span class="m">2</span><span class="o">)</span>
+<a id="__codelineno-15-80" name="__codelineno-15-80" href="#__codelineno-15-80"></a><span class="w">                </span>request.theta<span class="w"> </span><span class="o">=</span><span class="w"> </span>float<span class="o">(</span><span class="m">0</span><span class="o">)</span>
 <a id="__codelineno-15-81" name="__codelineno-15-81" href="#__codelineno-15-81"></a>
-<a id="__codelineno-15-82" name="__codelineno-15-82" href="#__codelineno-15-82"></a>                self.result <span class="o">=</span> self.spawner.call_async<span class="o">(</span>request<span class="o">)</span>     <span class="c1"># 发送服务请求</span>
-<a id="__codelineno-15-83" name="__codelineno-15-83" href="#__codelineno-15-83"></a>                self.turtle_spawning_service_ready <span class="o">=</span> True          <span class="c1"># 设置标志位，表示已经发送请求</span>
-<a id="__codelineno-15-84" name="__codelineno-15-84" href="#__codelineno-15-84"></a>            <span class="k">else</span>:
-<a id="__codelineno-15-85" name="__codelineno-15-85" href="#__codelineno-15-85"></a>                self.get_logger<span class="o">()</span>.info<span class="o">(</span><span class="s1">&#39;Service is not ready&#39;</span><span class="o">)</span>     <span class="c1"># 海龟生成服务器还没准备就绪的提示</span>
+<a id="__codelineno-15-82" name="__codelineno-15-82" href="#__codelineno-15-82"></a><span class="w">                </span>self.result<span class="w"> </span><span class="o">=</span><span class="w"> </span>self.spawner.call_async<span class="o">(</span>request<span class="o">)</span><span class="w">     </span><span class="c1"># 发送服务请求</span>
+<a id="__codelineno-15-83" name="__codelineno-15-83" href="#__codelineno-15-83"></a><span class="w">                </span>self.turtle_spawning_service_ready<span class="w"> </span><span class="o">=</span><span class="w"> </span>True<span class="w">          </span><span class="c1"># 设置标志位，表示已经发送请求</span>
+<a id="__codelineno-15-84" name="__codelineno-15-84" href="#__codelineno-15-84"></a><span class="w">            </span><span class="k">else</span>:
+<a id="__codelineno-15-85" name="__codelineno-15-85" href="#__codelineno-15-85"></a><span class="w">                </span>self.get_logger<span class="o">()</span>.info<span class="o">(</span><span class="s1">&#39;Service is not ready&#39;</span><span class="o">)</span><span class="w">     </span><span class="c1"># 海龟生成服务器还没准备就绪的提示</span>
 <a id="__codelineno-15-86" name="__codelineno-15-86" href="#__codelineno-15-86"></a>
 <a id="__codelineno-15-87" name="__codelineno-15-87" href="#__codelineno-15-87"></a>
-<a id="__codelineno-15-88" name="__codelineno-15-88" href="#__codelineno-15-88"></a>def main<span class="o">(</span><span class="nv">args</span><span class="o">=</span>None<span class="o">)</span>:
-<a id="__codelineno-15-89" name="__codelineno-15-89" href="#__codelineno-15-89"></a>    rclpy.init<span class="o">(</span><span class="nv">args</span><span class="o">=</span>args<span class="o">)</span>                       <span class="c1"># ROS2 Python接口初始化</span>
-<a id="__codelineno-15-90" name="__codelineno-15-90" href="#__codelineno-15-90"></a>    <span class="nv">node</span> <span class="o">=</span> TurtleFollowing<span class="o">(</span><span class="s2">&quot;turtle_following&quot;</span><span class="o">)</span>  <span class="c1"># 创建ROS2节点对象并进行初始化</span>
-<a id="__codelineno-15-91" name="__codelineno-15-91" href="#__codelineno-15-91"></a>    rclpy.spin<span class="o">(</span>node<span class="o">)</span>                            <span class="c1"># 循环等待ROS2退出</span>
-<a id="__codelineno-15-92" name="__codelineno-15-92" href="#__codelineno-15-92"></a>    node.destroy_node<span class="o">()</span>                         <span class="c1"># 销毁节点对象</span>
-<a id="__codelineno-15-93" name="__codelineno-15-93" href="#__codelineno-15-93"></a>    rclpy.shutdown<span class="o">()</span>                            <span class="c1"># 关闭ROS2 Python接口</span>
+<a id="__codelineno-15-88" name="__codelineno-15-88" href="#__codelineno-15-88"></a>def<span class="w"> </span>main<span class="o">(</span><span class="nv">args</span><span class="o">=</span>None<span class="o">)</span>:
+<a id="__codelineno-15-89" name="__codelineno-15-89" href="#__codelineno-15-89"></a><span class="w">    </span>rclpy.init<span class="o">(</span><span class="nv">args</span><span class="o">=</span>args<span class="o">)</span><span class="w">                       </span><span class="c1"># ROS2 Python接口初始化</span>
+<a id="__codelineno-15-90" name="__codelineno-15-90" href="#__codelineno-15-90"></a><span class="w">    </span><span class="nv">node</span><span class="w"> </span><span class="o">=</span><span class="w"> </span>TurtleFollowing<span class="o">(</span><span class="s2">&quot;turtle_following&quot;</span><span class="o">)</span><span class="w">  </span><span class="c1"># 创建ROS2节点对象并进行初始化</span>
+<a id="__codelineno-15-91" name="__codelineno-15-91" href="#__codelineno-15-91"></a><span class="w">    </span>rclpy.spin<span class="o">(</span>node<span class="o">)</span><span class="w">                            </span><span class="c1"># 循环等待ROS2退出</span>
+<a id="__codelineno-15-92" name="__codelineno-15-92" href="#__codelineno-15-92"></a><span class="w">    </span>node.destroy_node<span class="o">()</span><span class="w">                         </span><span class="c1"># 销毁节点对象</span>
+<a id="__codelineno-15-93" name="__codelineno-15-93" href="#__codelineno-15-93"></a><span class="w">    </span>rclpy.shutdown<span class="o">()</span><span class="w">                            </span><span class="c1"># 关闭ROS2 Python接口</span>
 </code></pre></div>
 <p>完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置：</p>
 <div class="highlight"><pre><span></span><code><a id="__codelineno-16-1" name="__codelineno-16-1" href="#__codelineno-16-1"></a>    <span class="n">entry_points</span><span class="o">=</span><span class="p">{</span>
@@ -1558,50 +2283,32 @@ <h2 id="_14"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Tf2/Tf2-Main.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Tf2/Tf2-Main.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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     </a>
   
 </div>
@@ -1675,10 +2392,12 @@ <h2 id="_14"><strong>参考链接</strong></h2>
     <div class="md-dialog" data-md-component="dialog">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
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-      <script src="../../../assets/javascripts/bundle.a6c66575.min.js"></script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.6ce7567c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    
+    
+      <script src="../../../assets/javascripts/bundle.83f73b43.min.js"></script>
       
         <script src="../../../assets/js/baidu-tongji.js"></script>
       
diff --git "a/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.3_URDF/index.html" "b/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.3_URDF/index.html"
index d948c05..20f434b 100644
--- "a/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.3_URDF/index.html"
+++ "b/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.3_URDF/index.html"
@@ -6,28 +6,39 @@
       <meta charset="utf-8">
       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/">
       
+      
+        <link rel="prev" href="../3.2_TF/">
+      
+      
+        <link rel="next" href="../3.4_Gazebo/">
+      
+      
       <link rel="icon" href="../../../assets/img/favicon.png">
-      <meta name="generator" content="mkdocs-1.3.0, mkdocs-material-8.2.15">
+      <meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.5.47">
     
     
       
-        <title>URDF - ROS2入门教程</title>
+        <title>URDF - 图书资源</title>
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.c382b1dc.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.cc9b2e1e.min.css">
-        
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.06af60db.min.css">
       
+      
+
+
+    
     
+      
     
     
       
@@ -39,12 +50,13 @@
       
     
     
-    <script>__md_scope=new URL("../../..",location),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
     
     
+    
   </head>
   
   
@@ -55,12 +67,9 @@
     
     
     
-    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="blue" data-md-color-accent="blue">
+    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue">
   
     
-    
-      <script>var palette=__md_get("__palette");if(palette&&"object"==typeof palette.color)for(var key of Object.keys(palette.color))document.body.setAttribute("data-md-color-"+key,palette.color[key])</script>
-    
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     <input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
     <label class="md-overlay" for="__drawer"></label>
@@ -79,21 +88,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="../../../assets/img/favicon.png" alt="logo">
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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       <div class="md-header__ellipsis">
         <div class="md-header__topic">
           <span class="md-ellipsis">
-            ROS2入门教程
+            图书资源
           </span>
         </div>
         <div class="md-header__topic" data-md-component="header-topic">
@@ -106,32 +118,40 @@
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     </div>
     
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-          
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-          
-            <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_1" hidden>
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6zm0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4zM7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3z"/></svg>
-            </label>
-          
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-      </form>
+      
+        <form class="md-header__option" data-md-component="palette">
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
+      </label>
+    
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
+      </label>
+    
+  
+</form>
+      
+    
+    
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
       </label>
       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -139,24 +159,27 @@
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       <input type="text" class="md-search__input" name="query" aria-label="搜索" placeholder="搜索" autocapitalize="off" autocorrect="off" autocomplete="off" spellcheck="false" data-md-component="search-query" required>
       <label class="md-search__icon md-icon" for="__search">
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="查找">
         
-        <button type="reset" class="md-search__icon md-icon" aria-label="清空当前内容" tabindex="-1">
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+        <button type="reset" class="md-search__icon md-icon" title="清空当前内容" aria-label="清空当前内容" tabindex="-1">
+          
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
     </form>
     <div class="md-search__output">
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+        
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+  
   
   
   
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-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
       </a>
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
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+  
+
       </a>
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+              
             
-          
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+          </ul>
+        </nav>
+      
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-    
-      
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-
+              
+            
+              
+                
   
   
   
+  
+    
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-          核心概念
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
   
   
     
   
   
+  
+    
+    
+    
     
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-      
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-      
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-        <label class="md-nav__title" for="__nav_4">
-          <span class="md-nav__icon md-icon"></span>
-          常用工具
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          URDF
+          
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="./" class="md-nav__link md-nav__link--active">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
       
         
@@ -628,14 +1240,18 @@
       
         <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    机器人的组成
+    <span class="md-ellipsis">
+      机器人的组成
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#urdf_1" class="md-nav__link">
-    URDF
+    <span class="md-ellipsis">
+      URDF
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="URDF">
@@ -643,21 +1259,27 @@
         
           <li class="md-nav__item">
   <a href="#link" class="md-nav__link">
-    连杆Link的描述
+    <span class="md-ellipsis">
+      连杆Link的描述
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#joint" class="md-nav__link">
-    关节Joint描述
+    <span class="md-ellipsis">
+      关节Joint描述
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    完整机器人模型
+    <span class="md-ellipsis">
+      完整机器人模型
+    </span>
   </a>
   
 </li>
@@ -669,7 +1291,9 @@
       
         <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    创建机器人模型
+    <span class="md-ellipsis">
+      创建机器人模型
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="创建机器人模型">
@@ -677,28 +1301,36 @@
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    功能包结构
+    <span class="md-ellipsis">
+      功能包结构
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    模型可视化效果
+    <span class="md-ellipsis">
+      模型可视化效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#urdf_2" class="md-nav__link">
-    查看URDF模型结构
+    <span class="md-ellipsis">
+      查看URDF模型结构
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    模型文件解析
+    <span class="md-ellipsis">
+      模型文件解析
+    </span>
   </a>
   
 </li>
@@ -710,7 +1342,9 @@
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -722,96 +1356,122 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -819,14 +1479,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -834,14 +1499,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -875,14 +1545,18 @@
       
         <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    机器人的组成
+    <span class="md-ellipsis">
+      机器人的组成
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#urdf_1" class="md-nav__link">
-    URDF
+    <span class="md-ellipsis">
+      URDF
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="URDF">
@@ -890,21 +1564,27 @@
         
           <li class="md-nav__item">
   <a href="#link" class="md-nav__link">
-    连杆Link的描述
+    <span class="md-ellipsis">
+      连杆Link的描述
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#joint" class="md-nav__link">
-    关节Joint描述
+    <span class="md-ellipsis">
+      关节Joint描述
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    完整机器人模型
+    <span class="md-ellipsis">
+      完整机器人模型
+    </span>
   </a>
   
 </li>
@@ -916,7 +1596,9 @@
       
         <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    创建机器人模型
+    <span class="md-ellipsis">
+      创建机器人模型
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="创建机器人模型">
@@ -924,28 +1606,36 @@
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    功能包结构
+    <span class="md-ellipsis">
+      功能包结构
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    模型可视化效果
+    <span class="md-ellipsis">
+      模型可视化效果
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#urdf_2" class="md-nav__link">
-    查看URDF模型结构
+    <span class="md-ellipsis">
+      查看URDF模型结构
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    模型文件解析
+    <span class="md-ellipsis">
+      模型文件解析
+    </span>
   </a>
   
 </li>
@@ -957,7 +1647,9 @@
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -970,10 +1662,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="urdf"><strong>URDF：机器人建模方法</strong></h1>
@@ -1008,24 +1701,24 @@ <h2 id="urdf_1"><strong>URDF</strong></h2>
 <p>URDF模型文件使用的是<strong>XML格式</strong>，右侧就是一个机器人的URDF描述，乍看上去，有点像网页开发的源代码，都是由一系列尖括号包围的标签和其中的属性组合而成。</p>
 <p>如何使用这样一个文件描述机器人呢？比如这个机械臂，大家可以看下自己的手臂，我们的手臂是由大臂和小臂组成，他们独自是无法运动的，必须通过一个手肘关节连接之后，才能通过肌肉驱动，产生相对运动。</p>
 <p>在建模中，大臂和小臂就类似机器人的这些独立的刚体部分，称为<strong>连杆Link</strong>，手肘就类似于机器人电机驱动部分，称为<strong>关节joint</strong>。</p>
-<p>所以在URDF建模过程中，关键任务就是通过这里的&lt;link>和&lt;joint>，理清楚每一个连杆和关节的描述信息。</p>
+<p>所以在URDF建模过程中，关键任务就是通过这里的&lt;link&gt;和&lt;joint&gt;，理清楚每一个连杆和关节的描述信息。</p>
 <h3 id="link"><strong>连杆Link的描述</strong></h3>
-<p>&lt;link>标签用来描述机器人某个刚体部分的<strong>外观和物理属性</strong>，外观包括尺寸、颜色、形状，物理属性包括质量、惯性矩阵、碰撞参数等。</p>
+<p>&lt;link&gt;标签用来描述机器人某个刚体部分的<strong>外观和物理属性</strong>，外观包括尺寸、颜色、形状，物理属性包括质量、惯性矩阵、碰撞参数等。</p>
 <p><img alt="image-20220528144534685" src="../image/3.3_URDF/image-20220528144534685.png" /></p>
 <p>以这个机械臂连杆为例，它的link描述如下：</p>
 <p><img alt="image-20220528144549092" src="../image/3.3_URDF/image-20220528144549092.png" /></p>
 <p>link标签中的name表示该连杆的名称，我们可以自定义，未来joint连接link的时候，会使用到这个名称。</p>
-<p>link里边的&lt;visual>部分用来描述机器人的外观，比如：</p>
+<p>link里边的&lt;visual&gt;部分用来描述机器人的外观，比如：</p>
 <ul>
-<li>&lt;geometry>表示<strong>几何形状</strong>，里边使用&lt;mesh>调用了一个在三维软件中提前设计好的蓝色外观，就是这个stl文件，看上去和真实机器人是一致的</li>
-<li>&lt;origin>表示<strong>坐标系相对初始位置的偏移</strong>，分别是x、y、z方向上的平移，和roll、pitch、raw旋转，不需要偏移的话，就全为0。</li>
+<li>&lt;geometry&gt;表示<strong>几何形状</strong>，里边使用&lt;mesh&gt;调用了一个在三维软件中提前设计好的蓝色外观，就是这个stl文件，看上去和真实机器人是一致的</li>
+<li>&lt;origin&gt;表示<strong>坐标系相对初始位置的偏移</strong>，分别是x、y、z方向上的平移，和roll、pitch、raw旋转，不需要偏移的话，就全为0。</li>
 </ul>
-<p>第二个部分&lt;collision>，描述<strong>碰撞参数</strong>，里边的内容似乎和&lt;visual>一样，也有&lt;geometry>和&lt;origin>，看似相同，其实区别还是比较大的。</p>
+<p>第二个部分&lt;collision&gt;，描述<strong>碰撞参数</strong>，里边的内容似乎和&lt;visual&gt;一样，也有&lt;geometry&gt;和&lt;origin&gt;，看似相同，其实区别还是比较大的。</p>
 <ul>
-<li>&lt;visual>部分重在描述机器人看上去的状态，也就是视觉效果；</li>
-<li>&lt;collision>部分则是描述机器人运动过程中的状态，比如机器人与外界如何接触算作碰撞。</li>
+<li>&lt;visual&gt;部分重在描述机器人看上去的状态，也就是视觉效果；</li>
+<li>&lt;collision&gt;部分则是描述机器人运动过程中的状态，比如机器人与外界如何接触算作碰撞。</li>
 </ul>
-<p>在这个机器人模型中，蓝色部分是通过&lt;visual>来描述的，在实际控制过程中，这样复杂的外观在计算碰撞检测时，要求的算力较高，为了简化计算，我们将碰撞检测用的模型简化为了绿色框的圆柱体，也就是&lt;collision>里边&lt;geometry>描述的形状。&lt;origin>坐标系偏移也是类似，可以描述刚体质心的偏移。</p>
+<p>在这个机器人模型中，蓝色部分是通过&lt;visual&gt;来描述的，在实际控制过程中，这样复杂的外观在计算碰撞检测时，要求的算力较高，为了简化计算，我们将碰撞检测用的模型简化为了绿色框的圆柱体，也就是&lt;collision&gt;里边&lt;geometry&gt;描述的形状。&lt;origin&gt;坐标系偏移也是类似，可以描述刚体质心的偏移。</p>
 <p><img alt="image-20220528144603646" src="../image/3.3_URDF/image-20220528144603646.png" /></p>
 <p>如果是移动机器人的话，link也可以用来描述小车的车体、轮子等部分。</p>
 <h3 id="joint"><strong>关节Joint描述</strong></h3>
@@ -1073,14 +1766,14 @@ <h3 id="_4"><strong>功能包结构</strong></h3>
 </ul>
 <h3 id="_5"><strong>模型可视化效果</strong></h3>
 <p>我们先来看下这个模型的效果，尝试逆向分下一下机器人的结构。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 launch learning_urdf display.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_urdf<span class="w"> </span>display.launch.py
 </code></pre></div>
 <p>很快就可以看到Rviz中显示的机器人模型啦，大家可以使用鼠标拖拽观察。</p>
 <p><img alt="image-20220530175131389" src="../image/3.3_URDF/image-20220530175131389.png" /></p>
 <p>从可视化的效果来看，这个机器人由五个link和4个joint组成。</p>
 <h3 id="urdf_2"><strong>查看URDF模型结构</strong></h3>
 <p>我们分析的对不对呢，可以在模型文件的路径下，使用urdf_to_graphviz这个小工具来分析下。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ urdf_to_graphviz mbot_base.urdf  <span class="c1"># 在模型文件夹下运行</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>urdf_to_graphviz<span class="w"> </span>mbot_base.urdf<span class="w">  </span><span class="c1"># 在模型文件夹下运行</span>
 </code></pre></div>
 <p>运行成功后会产生一个pdf文件，打开之后就可以看到URDF模型分析的结果啦，是不是和我们的猜测完全相同呢！</p>
 <p><img alt="image-20220528145132111" src="../image/3.3_URDF/image-20220528145132111.png" /></p>
@@ -1088,95 +1781,95 @@ <h3 id="_6"><strong>模型文件解析</strong></h3>
 <p>具体URDF模型什么样的，还是要打开模型来研究。</p>
 <p>learning_urdf/urdf/mbot_base.urdf</p>
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+<a id="__codelineno-2-29" name="__codelineno-2-29" href="#__codelineno-2-29"></a><span class="w">            </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;white&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-30" name="__codelineno-2-30" href="#__codelineno-2-30"></a><span class="w">                </span><span class="nt">&lt;color</span><span class="w"> </span><span class="na">rgba=</span><span class="s">&quot;1 1 1 0.9&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-31" name="__codelineno-2-31" href="#__codelineno-2-31"></a><span class="w">            </span><span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-2-32" name="__codelineno-2-32" href="#__codelineno-2-32"></a><span class="w">        </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-2-33" name="__codelineno-2-33" href="#__codelineno-2-33"></a><span class="w">    </span><span class="nt">&lt;/link&gt;</span>
 <a id="__codelineno-2-34" name="__codelineno-2-34" href="#__codelineno-2-34"></a>
-<a id="__codelineno-2-35" name="__codelineno-2-35" href="#__codelineno-2-35"></a>    <span class="nt">&lt;joint</span> <span class="na">name=</span><span class="s">&quot;right_wheel_joint&quot;</span> <span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-36" name="__codelineno-2-36" href="#__codelineno-2-36"></a>        <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 -0.19 -0.05&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-37" name="__codelineno-2-37" href="#__codelineno-2-37"></a>        <span class="nt">&lt;parent</span> <span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-38" name="__codelineno-2-38" href="#__codelineno-2-38"></a>        <span class="nt">&lt;child</span> <span class="na">link=</span><span class="s">&quot;right_wheel_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-39" name="__codelineno-2-39" href="#__codelineno-2-39"></a>        <span class="nt">&lt;axis</span> <span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-40" name="__codelineno-2-40" href="#__codelineno-2-40"></a>    <span class="nt">&lt;/joint&gt;</span>
+<a id="__codelineno-2-35" name="__codelineno-2-35" href="#__codelineno-2-35"></a><span class="w">    </span><span class="nt">&lt;joint</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;right_wheel_joint&quot;</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-36" name="__codelineno-2-36" href="#__codelineno-2-36"></a><span class="w">        </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 -0.19 -0.05&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-37" name="__codelineno-2-37" href="#__codelineno-2-37"></a><span class="w">        </span><span class="nt">&lt;parent</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-38" name="__codelineno-2-38" href="#__codelineno-2-38"></a><span class="w">        </span><span class="nt">&lt;child</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;right_wheel_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-39" name="__codelineno-2-39" href="#__codelineno-2-39"></a><span class="w">        </span><span class="nt">&lt;axis</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-40" name="__codelineno-2-40" href="#__codelineno-2-40"></a><span class="w">    </span><span class="nt">&lt;/joint&gt;</span>
 <a id="__codelineno-2-41" name="__codelineno-2-41" href="#__codelineno-2-41"></a>
-<a id="__codelineno-2-42" name="__codelineno-2-42" href="#__codelineno-2-42"></a>    <span class="nt">&lt;link</span> <span class="na">name=</span><span class="s">&quot;right_wheel_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-43" name="__codelineno-2-43" href="#__codelineno-2-43"></a>        <span class="nt">&lt;visual&gt;</span>
-<a id="__codelineno-2-44" name="__codelineno-2-44" href="#__codelineno-2-44"></a>            <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;1.5707 0 0&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-2-45" name="__codelineno-2-45" href="#__codelineno-2-45"></a>            <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-2-46" name="__codelineno-2-46" href="#__codelineno-2-46"></a>                <span class="nt">&lt;cylinder</span> <span class="na">radius=</span><span class="s">&quot;0.06&quot;</span> <span class="na">length =</span> <span class="s">&quot;0.025&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-47" name="__codelineno-2-47" href="#__codelineno-2-47"></a>            <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-2-48" name="__codelineno-2-48" href="#__codelineno-2-48"></a>            <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;white&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-49" name="__codelineno-2-49" href="#__codelineno-2-49"></a>                <span class="nt">&lt;color</span> <span class="na">rgba=</span><span class="s">&quot;1 1 1 0.9&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-50" name="__codelineno-2-50" href="#__codelineno-2-50"></a>            <span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-2-51" name="__codelineno-2-51" href="#__codelineno-2-51"></a>        <span class="nt">&lt;/visual&gt;</span>
-<a id="__codelineno-2-52" name="__codelineno-2-52" href="#__codelineno-2-52"></a>    <span class="nt">&lt;/link&gt;</span>
+<a id="__codelineno-2-42" name="__codelineno-2-42" href="#__codelineno-2-42"></a><span class="w">    </span><span class="nt">&lt;link</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;right_wheel_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-43" name="__codelineno-2-43" href="#__codelineno-2-43"></a><span class="w">        </span><span class="nt">&lt;visual&gt;</span>
+<a id="__codelineno-2-44" name="__codelineno-2-44" href="#__codelineno-2-44"></a><span class="w">            </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;1.5707 0 0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-45" name="__codelineno-2-45" href="#__codelineno-2-45"></a><span class="w">            </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-2-46" name="__codelineno-2-46" href="#__codelineno-2-46"></a><span class="w">                </span><span class="nt">&lt;cylinder</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;0.06&quot;</span><span class="w"> </span><span class="na">length =</span><span class="w"> </span><span class="s">&quot;0.025&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-47" name="__codelineno-2-47" href="#__codelineno-2-47"></a><span class="w">            </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-2-48" name="__codelineno-2-48" href="#__codelineno-2-48"></a><span class="w">            </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;white&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-49" name="__codelineno-2-49" href="#__codelineno-2-49"></a><span class="w">                </span><span class="nt">&lt;color</span><span class="w"> </span><span class="na">rgba=</span><span class="s">&quot;1 1 1 0.9&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-50" name="__codelineno-2-50" href="#__codelineno-2-50"></a><span class="w">            </span><span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-2-51" name="__codelineno-2-51" href="#__codelineno-2-51"></a><span class="w">        </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-2-52" name="__codelineno-2-52" href="#__codelineno-2-52"></a><span class="w">    </span><span class="nt">&lt;/link&gt;</span>
 <a id="__codelineno-2-53" name="__codelineno-2-53" href="#__codelineno-2-53"></a>
-<a id="__codelineno-2-54" name="__codelineno-2-54" href="#__codelineno-2-54"></a>    <span class="nt">&lt;joint</span> <span class="na">name=</span><span class="s">&quot;front_caster_joint&quot;</span> <span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-55" name="__codelineno-2-55" href="#__codelineno-2-55"></a>        <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0.18 0 -0.095&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-56" name="__codelineno-2-56" href="#__codelineno-2-56"></a>        <span class="nt">&lt;parent</span> <span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-57" name="__codelineno-2-57" href="#__codelineno-2-57"></a>        <span class="nt">&lt;child</span> <span class="na">link=</span><span class="s">&quot;front_caster_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-58" name="__codelineno-2-58" href="#__codelineno-2-58"></a>        <span class="nt">&lt;axis</span> <span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-59" name="__codelineno-2-59" href="#__codelineno-2-59"></a>    <span class="nt">&lt;/joint&gt;</span>
+<a id="__codelineno-2-54" name="__codelineno-2-54" href="#__codelineno-2-54"></a><span class="w">    </span><span class="nt">&lt;joint</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;front_caster_joint&quot;</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-55" name="__codelineno-2-55" href="#__codelineno-2-55"></a><span class="w">        </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0.18 0 -0.095&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-56" name="__codelineno-2-56" href="#__codelineno-2-56"></a><span class="w">        </span><span class="nt">&lt;parent</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-57" name="__codelineno-2-57" href="#__codelineno-2-57"></a><span class="w">        </span><span class="nt">&lt;child</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;front_caster_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-58" name="__codelineno-2-58" href="#__codelineno-2-58"></a><span class="w">        </span><span class="nt">&lt;axis</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-59" name="__codelineno-2-59" href="#__codelineno-2-59"></a><span class="w">    </span><span class="nt">&lt;/joint&gt;</span>
 <a id="__codelineno-2-60" name="__codelineno-2-60" href="#__codelineno-2-60"></a>
-<a id="__codelineno-2-61" name="__codelineno-2-61" href="#__codelineno-2-61"></a>    <span class="nt">&lt;link</span> <span class="na">name=</span><span class="s">&quot;front_caster_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-62" name="__codelineno-2-62" href="#__codelineno-2-62"></a>        <span class="nt">&lt;visual&gt;</span>
-<a id="__codelineno-2-63" name="__codelineno-2-63" href="#__codelineno-2-63"></a>            <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-64" name="__codelineno-2-64" href="#__codelineno-2-64"></a>            <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-2-65" name="__codelineno-2-65" href="#__codelineno-2-65"></a>                <span class="nt">&lt;sphere</span> <span class="na">radius=</span><span class="s">&quot;0.015&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-2-66" name="__codelineno-2-66" href="#__codelineno-2-66"></a>            <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-2-67" name="__codelineno-2-67" href="#__codelineno-2-67"></a>            <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;black&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-68" name="__codelineno-2-68" href="#__codelineno-2-68"></a>                <span class="nt">&lt;color</span> <span class="na">rgba=</span><span class="s">&quot;0 0 0 0.95&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-69" name="__codelineno-2-69" href="#__codelineno-2-69"></a>            <span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-2-70" name="__codelineno-2-70" href="#__codelineno-2-70"></a>        <span class="nt">&lt;/visual&gt;</span>
-<a id="__codelineno-2-71" name="__codelineno-2-71" href="#__codelineno-2-71"></a>    <span class="nt">&lt;/link&gt;</span>
+<a id="__codelineno-2-61" name="__codelineno-2-61" href="#__codelineno-2-61"></a><span class="w">    </span><span class="nt">&lt;link</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;front_caster_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-62" name="__codelineno-2-62" href="#__codelineno-2-62"></a><span class="w">        </span><span class="nt">&lt;visual&gt;</span>
+<a id="__codelineno-2-63" name="__codelineno-2-63" href="#__codelineno-2-63"></a><span class="w">            </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-64" name="__codelineno-2-64" href="#__codelineno-2-64"></a><span class="w">            </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-2-65" name="__codelineno-2-65" href="#__codelineno-2-65"></a><span class="w">                </span><span class="nt">&lt;sphere</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;0.015&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-66" name="__codelineno-2-66" href="#__codelineno-2-66"></a><span class="w">            </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-2-67" name="__codelineno-2-67" href="#__codelineno-2-67"></a><span class="w">            </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;black&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-68" name="__codelineno-2-68" href="#__codelineno-2-68"></a><span class="w">                </span><span class="nt">&lt;color</span><span class="w"> </span><span class="na">rgba=</span><span class="s">&quot;0 0 0 0.95&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-69" name="__codelineno-2-69" href="#__codelineno-2-69"></a><span class="w">            </span><span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-2-70" name="__codelineno-2-70" href="#__codelineno-2-70"></a><span class="w">        </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-2-71" name="__codelineno-2-71" href="#__codelineno-2-71"></a><span class="w">    </span><span class="nt">&lt;/link&gt;</span>
 <a id="__codelineno-2-72" name="__codelineno-2-72" href="#__codelineno-2-72"></a>
-<a id="__codelineno-2-73" name="__codelineno-2-73" href="#__codelineno-2-73"></a>    <span class="nt">&lt;joint</span> <span class="na">name=</span><span class="s">&quot;back_caster_joint&quot;</span> <span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-74" name="__codelineno-2-74" href="#__codelineno-2-74"></a>        <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;-0.18 0 -0.095&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-75" name="__codelineno-2-75" href="#__codelineno-2-75"></a>        <span class="nt">&lt;parent</span> <span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-76" name="__codelineno-2-76" href="#__codelineno-2-76"></a>        <span class="nt">&lt;child</span> <span class="na">link=</span><span class="s">&quot;back_caster_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-77" name="__codelineno-2-77" href="#__codelineno-2-77"></a>        <span class="nt">&lt;axis</span> <span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-78" name="__codelineno-2-78" href="#__codelineno-2-78"></a>    <span class="nt">&lt;/joint&gt;</span>
+<a id="__codelineno-2-73" name="__codelineno-2-73" href="#__codelineno-2-73"></a><span class="w">    </span><span class="nt">&lt;joint</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;back_caster_joint&quot;</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-74" name="__codelineno-2-74" href="#__codelineno-2-74"></a><span class="w">        </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;-0.18 0 -0.095&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-75" name="__codelineno-2-75" href="#__codelineno-2-75"></a><span class="w">        </span><span class="nt">&lt;parent</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-76" name="__codelineno-2-76" href="#__codelineno-2-76"></a><span class="w">        </span><span class="nt">&lt;child</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;back_caster_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-77" name="__codelineno-2-77" href="#__codelineno-2-77"></a><span class="w">        </span><span class="nt">&lt;axis</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-78" name="__codelineno-2-78" href="#__codelineno-2-78"></a><span class="w">    </span><span class="nt">&lt;/joint&gt;</span>
 <a id="__codelineno-2-79" name="__codelineno-2-79" href="#__codelineno-2-79"></a>
-<a id="__codelineno-2-80" name="__codelineno-2-80" href="#__codelineno-2-80"></a>    <span class="nt">&lt;link</span> <span class="na">name=</span><span class="s">&quot;back_caster_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-81" name="__codelineno-2-81" href="#__codelineno-2-81"></a>        <span class="nt">&lt;visual&gt;</span>
-<a id="__codelineno-2-82" name="__codelineno-2-82" href="#__codelineno-2-82"></a>            <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-83" name="__codelineno-2-83" href="#__codelineno-2-83"></a>            <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-2-84" name="__codelineno-2-84" href="#__codelineno-2-84"></a>                <span class="nt">&lt;sphere</span> <span class="na">radius=</span><span class="s">&quot;0.015&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-2-85" name="__codelineno-2-85" href="#__codelineno-2-85"></a>            <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-2-86" name="__codelineno-2-86" href="#__codelineno-2-86"></a>            <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;black&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-2-87" name="__codelineno-2-87" href="#__codelineno-2-87"></a>                <span class="nt">&lt;color</span> <span class="na">rgba=</span><span class="s">&quot;0 0 0 0.95&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-2-88" name="__codelineno-2-88" href="#__codelineno-2-88"></a>            <span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-2-89" name="__codelineno-2-89" href="#__codelineno-2-89"></a>        <span class="nt">&lt;/visual&gt;</span>
-<a id="__codelineno-2-90" name="__codelineno-2-90" href="#__codelineno-2-90"></a>    <span class="nt">&lt;/link&gt;</span>
+<a id="__codelineno-2-80" name="__codelineno-2-80" href="#__codelineno-2-80"></a><span class="w">    </span><span class="nt">&lt;link</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;back_caster_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-81" name="__codelineno-2-81" href="#__codelineno-2-81"></a><span class="w">        </span><span class="nt">&lt;visual&gt;</span>
+<a id="__codelineno-2-82" name="__codelineno-2-82" href="#__codelineno-2-82"></a><span class="w">            </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-83" name="__codelineno-2-83" href="#__codelineno-2-83"></a><span class="w">            </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-2-84" name="__codelineno-2-84" href="#__codelineno-2-84"></a><span class="w">                </span><span class="nt">&lt;sphere</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;0.015&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-85" name="__codelineno-2-85" href="#__codelineno-2-85"></a><span class="w">            </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-2-86" name="__codelineno-2-86" href="#__codelineno-2-86"></a><span class="w">            </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;black&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-2-87" name="__codelineno-2-87" href="#__codelineno-2-87"></a><span class="w">                </span><span class="nt">&lt;color</span><span class="w"> </span><span class="na">rgba=</span><span class="s">&quot;0 0 0 0.95&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-2-88" name="__codelineno-2-88" href="#__codelineno-2-88"></a><span class="w">            </span><span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-2-89" name="__codelineno-2-89" href="#__codelineno-2-89"></a><span class="w">        </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-2-90" name="__codelineno-2-90" href="#__codelineno-2-90"></a><span class="w">    </span><span class="nt">&lt;/link&gt;</span>
 <a id="__codelineno-2-91" name="__codelineno-2-91" href="#__codelineno-2-91"></a>
 <a id="__codelineno-2-92" name="__codelineno-2-92" href="#__codelineno-2-92"></a><span class="nt">&lt;/robot&gt;</span>
 </code></pre></div>
@@ -1184,50 +1877,32 @@ <h2 id="_7"><strong>参考链接</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/URDF/URDF-Main.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/URDF/URDF-Main.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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@@ -1248,47 +1923,57 @@ <h2 id="_7"><strong>参考链接</strong></h2>
   
     
     
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     </a>
   
 </div>
@@ -1301,10 +1986,12 @@ <h2 id="_7"><strong>参考链接</strong></h2>
     <div class="md-dialog" data-md-component="dialog">
       <div class="md-dialog__inner md-typeset"></div>
     </div>
-    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.2a1c317c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.config.lang": "ja", "search.config.pipeline": "trimmer, stemmer", "search.config.separator": "[\\s\\-\uff0c\u3002]+", "search.placeholder": "\u641c\u7d22", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version.title": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
     
     
-      <script src="../../../assets/javascripts/bundle.a6c66575.min.js"></script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.6ce7567c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    
+    
+      <script src="../../../assets/javascripts/bundle.83f73b43.min.js"></script>
       
         <script src="../../../assets/js/baidu-tongji.js"></script>
       
diff --git "a/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.4_Gazebo/index.html" "b/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.4_Gazebo/index.html"
index 94fc5dc..2dea6d4 100644
--- "a/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.4_Gazebo/index.html"
+++ "b/ROS2/3.\345\270\270\347\224\250\345\267\245\345\205\267/3.4_Gazebo/index.html"
@@ -6,28 +6,39 @@
       <meta charset="utf-8">
       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/">
       
+      
+        <link rel="prev" href="../3.3_URDF/">
+      
+      
+        <link rel="next" href="../3.5_Rviz/">
+      
+      
       <link rel="icon" href="../../../assets/img/favicon.png">
-      <meta name="generator" content="mkdocs-1.3.0, mkdocs-material-8.2.15">
+      <meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.5.47">
     
     
       
-        <title>Gazebo - ROS2入门教程</title>
+        <title>Gazebo - 图书资源</title>
       
     
     
-      <link rel="stylesheet" href="../../../assets/stylesheets/main.c382b1dc.min.css">
+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.cc9b2e1e.min.css">
-        
+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.06af60db.min.css">
       
+      
+
+
+    
     
+      
     
     
       
@@ -39,12 +50,13 @@
       
     
     
-    <script>__md_scope=new URL("../../..",location),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
+    <script>__md_scope=new URL("../../..",location),__md_hash=e=>[...e].reduce(((e,_)=>(e<<5)-e+_.charCodeAt(0)),0),__md_get=(e,_=localStorage,t=__md_scope)=>JSON.parse(_.getItem(t.pathname+"."+e)),__md_set=(e,_,t=localStorage,a=__md_scope)=>{try{t.setItem(a.pathname+"."+e,JSON.stringify(_))}catch(e){}}</script>
     
       
 
     
     
+    
   </head>
   
   
@@ -55,12 +67,9 @@
     
     
     
-    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="blue" data-md-color-accent="blue">
+    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue">
   
     
-    
-      <script>var palette=__md_get("__palette");if(palette&&"object"==typeof palette.color)for(var key of Object.keys(palette.color))document.body.setAttribute("data-md-color-"+key,palette.color[key])</script>
-    
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     <input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
     <label class="md-overlay" for="__drawer"></label>
@@ -79,21 +88,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="../../../assets/img/favicon.png" alt="logo">
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
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       <div class="md-header__ellipsis">
         <div class="md-header__topic">
           <span class="md-ellipsis">
-            ROS2入门教程
+            图书资源
           </span>
         </div>
         <div class="md-header__topic" data-md-component="header-topic">
@@ -106,32 +118,40 @@
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     </div>
     
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-          
-            <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_2" hidden>
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3Z"/></svg>
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-          
-            <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_1" hidden>
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6zm0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4zM7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3z"/></svg>
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-          
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-      </form>
+      
+        <form class="md-header__option" data-md-component="palette">
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
+      </label>
+    
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
+      </label>
+    
+  
+</form>
+      
+    
+    
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -139,24 +159,27 @@
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-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="查找">
         
-        <button type="reset" class="md-search__icon md-icon" aria-label="清空当前内容" tabindex="-1">
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+        <button type="reset" class="md-search__icon md-icon" title="清空当前内容" aria-label="清空当前内容" tabindex="-1">
+          
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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     </form>
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
   
   
   
+  
+    
+    
+    
     
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-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
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-          <span class="md-nav__icon md-icon"></span>
-          核心概念
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
   
   
     
   
   
+  
+    
+    
+    
     
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
-      
-      
-      
-      
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-          常用工具
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-        </label>
-      
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-        <label class="md-nav__title" for="__nav_4">
-          <span class="md-nav__icon md-icon"></span>
-          常用工具
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          Gazebo
+          
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="./" class="md-nav__link md-nav__link--active">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
       
         
@@ -642,7 +1261,9 @@
       
         <li class="md-nav__item">
   <a href="#gazebo_1" class="md-nav__link">
-    Gazebo仿真平台
+    <span class="md-ellipsis">
+      Gazebo仿真平台
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Gazebo仿真平台">
@@ -650,21 +1271,27 @@
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    介绍
+    <span class="md-ellipsis">
+      介绍
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    安装
+    <span class="md-ellipsis">
+      安装
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    运行
+    <span class="md-ellipsis">
+      运行
+    </span>
   </a>
   
 </li>
@@ -676,7 +1303,9 @@
       
         <li class="md-nav__item">
   <a href="#xacro" class="md-nav__link">
-    XACRO机器人模型优化
+    <span class="md-ellipsis">
+      XACRO机器人模型优化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="XACRO机器人模型优化">
@@ -684,28 +1313,36 @@
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    常量定义
+    <span class="md-ellipsis">
+      常量定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    数学计算
+    <span class="md-ellipsis">
+      数学计算
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    宏定义
+    <span class="md-ellipsis">
+      宏定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    文件包含
+    <span class="md-ellipsis">
+      文件包含
+    </span>
   </a>
   
 </li>
@@ -717,7 +1354,9 @@
       
         <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    机器人仿真模型配置
+    <span class="md-ellipsis">
+      机器人仿真模型配置
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="机器人仿真模型配置">
@@ -725,28 +1364,36 @@
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    完善物理参数
+    <span class="md-ellipsis">
+      完善物理参数
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#gazebo_2" class="md-nav__link">
-    添加Gazebo标签
+    <span class="md-ellipsis">
+      添加Gazebo标签
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    配置传动装置
+    <span class="md-ellipsis">
+      配置传动装置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    添加控制器插件
+    <span class="md-ellipsis">
+      添加控制器插件
+    </span>
   </a>
   
 </li>
@@ -758,28 +1405,36 @@
       
         <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    构建仿真环境
+    <span class="md-ellipsis">
+      构建仿真环境
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    机器人运动仿真
+    <span class="md-ellipsis">
+      机器人运动仿真
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ignitiongazebo" class="md-nav__link">
-    Ignition：下一代Gazebo
+    <span class="md-ellipsis">
+      Ignition：下一代Gazebo
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    附录：机器人完整模型
+    <span class="md-ellipsis">
+      附录：机器人完整模型
+    </span>
   </a>
   
 </li>
@@ -791,82 +1446,101 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -874,14 +1548,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -889,14 +1568,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -930,7 +1614,9 @@
       
         <li class="md-nav__item">
   <a href="#gazebo_1" class="md-nav__link">
-    Gazebo仿真平台
+    <span class="md-ellipsis">
+      Gazebo仿真平台
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Gazebo仿真平台">
@@ -938,21 +1624,27 @@
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    介绍
+    <span class="md-ellipsis">
+      介绍
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    安装
+    <span class="md-ellipsis">
+      安装
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    运行
+    <span class="md-ellipsis">
+      运行
+    </span>
   </a>
   
 </li>
@@ -964,7 +1656,9 @@
       
         <li class="md-nav__item">
   <a href="#xacro" class="md-nav__link">
-    XACRO机器人模型优化
+    <span class="md-ellipsis">
+      XACRO机器人模型优化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="XACRO机器人模型优化">
@@ -972,28 +1666,36 @@
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    常量定义
+    <span class="md-ellipsis">
+      常量定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    数学计算
+    <span class="md-ellipsis">
+      数学计算
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    宏定义
+    <span class="md-ellipsis">
+      宏定义
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    文件包含
+    <span class="md-ellipsis">
+      文件包含
+    </span>
   </a>
   
 </li>
@@ -1005,7 +1707,9 @@
       
         <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    机器人仿真模型配置
+    <span class="md-ellipsis">
+      机器人仿真模型配置
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="机器人仿真模型配置">
@@ -1013,28 +1717,36 @@
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    完善物理参数
+    <span class="md-ellipsis">
+      完善物理参数
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#gazebo_2" class="md-nav__link">
-    添加Gazebo标签
+    <span class="md-ellipsis">
+      添加Gazebo标签
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    配置传动装置
+    <span class="md-ellipsis">
+      配置传动装置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    添加控制器插件
+    <span class="md-ellipsis">
+      添加控制器插件
+    </span>
   </a>
   
 </li>
@@ -1046,28 +1758,36 @@
       
         <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    构建仿真环境
+    <span class="md-ellipsis">
+      构建仿真环境
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    机器人运动仿真
+    <span class="md-ellipsis">
+      机器人运动仿真
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#ignitiongazebo" class="md-nav__link">
-    Ignition：下一代Gazebo
+    <span class="md-ellipsis">
+      Ignition：下一代Gazebo
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    附录：机器人完整模型
+    <span class="md-ellipsis">
+      附录：机器人完整模型
+    </span>
   </a>
   
 </li>
@@ -1080,10 +1800,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="gazebo"><strong>Gazebo：三维物理仿真平台</strong></h1>
@@ -1109,11 +1830,11 @@ <h3 id="_1"><strong>介绍</strong></h3>
 <h3 id="_2"><strong>安装</strong></h3>
 <p>Gazebo如何使用呢？我们不妨先把它给跑起来，互相认识一下。</p>
 <p>为了确保系统中已经完整安装了Gazebo相关的功能包，大家可以通过这样一个命令，简单直接的把和gazebo相关的包都给装上：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ sudo apt install ros-humble-gazebo-*
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-gazebo-*
 </code></pre></div>
 <h3 id="_3"><strong>运行</strong></h3>
 <p>通过这句命令就可以启动啦：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$ ros2 launch gazebo_ros gazebo.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>gazebo_ros<span class="w"> </span>gazebo.launch.py
 </code></pre></div>
 <p><img alt="image-20220528145818827" src="../image/3.4_Gazebo/image-20220528145818827.png" /></p>
 <details class="attention" open="open">
@@ -1141,12 +1862,12 @@ <h2 id="xacro"><strong>XACRO机器人模型优化</strong></h2>
 </ul>
 <p>XACRO建模过程就像写代码一样，功能更为丰富了。</p>
 <p>接下来，我们就通过XACRO文件对移动机器人的模型做一下优化，大家先要使用这句命令安装必要的功能包。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ sudo apt install ros-humble-xacro
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-xacro
 </code></pre></div>
 <p>以下是一些常用的XACRO文件语法，大家了解下。</p>
 <h3 id="_4"><strong>常量定义</strong></h3>
 <p><img alt="image-20220528150321426" src="../image/3.4_Gazebo/image-20220528150321426.png" /></p>
-<p>&lt;xacro:property>标签用来定义一些常量，比如这样定义一个PI的常量名为“M_PI”，值为“3.14159”，在调用的时候，通过$加大括号，里边就可以使用定义好的常量了。</p>
+<p>&lt;xacro:property&gt;标签用来定义一些常量，比如这样定义一个PI的常量名为“M_PI”，值为“3.14159”，在调用的时候，通过$加大括号，里边就可以使用定义好的常量了。</p>
 <p><img alt="image-20220528150331042" src="../image/3.4_Gazebo/image-20220528150331042.png" /></p>
 <p>针对原本移动机器人的URDF文件，我们就可以把底盘的质量、尺寸，轮子的质量、尺寸、安装位置，这些不会变化的数据，都通过常量定义，未来需要修改的时候也很方便，就不需要在模型文件中一行一行找了。</p>
 <p><img alt="image-20220528150338969" src="../image/3.4_Gazebo/image-20220528150338969.png" /></p>
@@ -1161,7 +1882,7 @@ <h3 id="_5"><strong>数学计算</strong></h3>
 </details>
 <h3 id="_6"><strong>宏定义</strong></h3>
 <p><img alt="image-20220528150542643" src="../image/3.4_Gazebo/image-20220528150542643.png" /></p>
-<p>机器人的轮子我们也做成宏定义，定义方式是通过这个&lt;xacro:macro>标签描述的，还可以像函数一样，设置里边会用到的一些参数，比如这里的A、B、C。</p>
+<p>机器人的轮子我们也做成宏定义，定义方式是通过这个&lt;xacro:macro&gt;标签描述的，还可以像函数一样，设置里边会用到的一些参数，比如这里的A、B、C。</p>
 <p>当需要使用这个宏的时候，就可以像这样，通过宏名字的标签，来调用，同时要记得把几个参数设置好。</p>
 <p><img alt="image-20220528150603346" src="../image/3.4_Gazebo/image-20220528150603346.png" /></p>
 <p>比如在模型中，轮子的宏定义是这样的，包含了link描述和joint关节设置，link的名称和关节的位置，是通过输入的参数来区分的，在使用的时候，通过这两句调用，两个轮子就出现了。</p>
@@ -1254,8 +1975,8 @@ <h2 id="_12"><strong>构建仿真环境</strong></h2>
 <h2 id="_13"><strong>机器人运动仿真</strong></h2>
 <p>万事俱备，接下来就是见证奇迹的时刻。</p>
 <p>我们需要运行两句命令，第一句启动仿真环境，第二句启动键盘控制节点。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$ ros2 launch learning_gazebo load_urdf_into_gazebo.launch.py
-<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$ ros2 run teleop_twist_keyboard teleop_twist_keyboard 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo<span class="w"> </span>load_urdf_into_gazebo.launch.py
+<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>
 </code></pre></div>
 <p><img alt="image-20220528151226864" src="../image/3.4_Gazebo/image-20220528151226864.png" /></p>
 <details class="attention" open="open">
@@ -1268,8 +1989,8 @@ <h2 id="_13"><strong>机器人运动仿真</strong></h2>
 <p>以上就是Gazebo机器人的仿真的基本流程。</p>
 <h2 id="ignitiongazebo"><strong>Ignition：下一代Gazebo</strong></h2>
 <p>随着技术的进步，Gazebo仿真平台也在不断迭代，新一代的Gazebo命名为<strong>Ignition</strong>，从渲染效果和仿真流畅度上都有较大的变化，我们不妨也来试一下。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ sudo apt install ros-humble-ros-ign 
-<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$ ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-ros-ign<span class="w"> </span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>ros_ign_gazebo_demos<span class="w"> </span>rgbd_camera_bridge.launch.py
 </code></pre></div>
 <p>运行成功后，会打开Ignition的仿真界面和Rviz上位机，我们可以看到RGBD相机仿真后发布的图像数据。</p>
 <p><img alt="image-20220528151350359" src="../image/3.4_Gazebo/image-20220528151350359.png" /></p>
@@ -1281,11 +2002,11 @@ <h2 id="_14"><strong>附录：机器人完整模型</strong></h2>
 <li>learning_gazebo/urdf/mbot_gazebo.xacro</li>
 </ul>
 <div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a><span class="cp">&lt;?xml version=&quot;1.0&quot;?&gt;</span>
-<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a><span class="nt">&lt;robot</span> <span class="na">name=</span><span class="s">&quot;mbot&quot;</span> <span class="na">xmlns:xacro=</span><span class="s">&quot;http://www.ros.org/wiki/xacro&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a><span class="nt">&lt;robot</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;mbot&quot;</span><span class="w"> </span><span class="na">xmlns:xacro=</span><span class="s">&quot;http://www.ros.org/wiki/xacro&quot;</span><span class="nt">&gt;</span>
 <a id="__codelineno-6-3" name="__codelineno-6-3" href="#__codelineno-6-3"></a>
-<a id="__codelineno-6-4" name="__codelineno-6-4" href="#__codelineno-6-4"></a>    <span class="nt">&lt;xacro:include</span> <span class="na">filename=</span><span class="s">&quot;$(find learning_gazebo)/urdf/mbot_base_gazebo.xacro&quot;</span> <span class="nt">/&gt;</span>
+<a id="__codelineno-6-4" name="__codelineno-6-4" href="#__codelineno-6-4"></a><span class="w">    </span><span class="nt">&lt;xacro:include</span><span class="w"> </span><span class="na">filename=</span><span class="s">&quot;$(find learning_gazebo)/urdf/mbot_base_gazebo.xacro&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
 <a id="__codelineno-6-5" name="__codelineno-6-5" href="#__codelineno-6-5"></a>
-<a id="__codelineno-6-6" name="__codelineno-6-6" href="#__codelineno-6-6"></a>    <span class="nt">&lt;xacro:mbot_base_gazebo/&gt;</span>
+<a id="__codelineno-6-6" name="__codelineno-6-6" href="#__codelineno-6-6"></a><span class="w">    </span><span class="nt">&lt;xacro:mbot_base_gazebo/&gt;</span>
 <a id="__codelineno-6-7" name="__codelineno-6-7" href="#__codelineno-6-7"></a>
 <a id="__codelineno-6-8" name="__codelineno-6-8" href="#__codelineno-6-8"></a><span class="nt">&lt;/robot&gt;</span>
 </code></pre></div>
@@ -1293,244 +2014,226 @@ <h2 id="_14"><strong>附录：机器人完整模型</strong></h2>
 <li>learning_gazebo/urdf/mbot_base_gazebo.xacro</li>
 </ul>
 <div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a><span class="cp">&lt;?xml version=&quot;1.0&quot;?&gt;</span>
-<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a><span class="nt">&lt;robot</span> <span class="na">name=</span><span class="s">&quot;mbot&quot;</span> <span class="na">xmlns:xacro=</span><span class="s">&quot;http://www.ros.org/wiki/xacro&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a><span class="nt">&lt;robot</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;mbot&quot;</span><span class="w"> </span><span class="na">xmlns:xacro=</span><span class="s">&quot;http://www.ros.org/wiki/xacro&quot;</span><span class="nt">&gt;</span>
 <a id="__codelineno-7-3" name="__codelineno-7-3" href="#__codelineno-7-3"></a>
-<a id="__codelineno-7-4" name="__codelineno-7-4" href="#__codelineno-7-4"></a>    <span class="cm">&lt;!-- PROPERTY LIST --&gt;</span>
-<a id="__codelineno-7-5" name="__codelineno-7-5" href="#__codelineno-7-5"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;M_PI&quot;</span> <span class="na">value=</span><span class="s">&quot;3.1415926&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-6" name="__codelineno-7-6" href="#__codelineno-7-6"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;base_mass&quot;</span>   <span class="na">value=</span><span class="s">&quot;1&quot;</span> <span class="nt">/&gt;</span> 
-<a id="__codelineno-7-7" name="__codelineno-7-7" href="#__codelineno-7-7"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;base_radius&quot;</span> <span class="na">value=</span><span class="s">&quot;0.20&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-8" name="__codelineno-7-8" href="#__codelineno-7-8"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;base_length&quot;</span> <span class="na">value=</span><span class="s">&quot;0.16&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-4" name="__codelineno-7-4" href="#__codelineno-7-4"></a><span class="w">    </span><span class="cm">&lt;!-- PROPERTY LIST --&gt;</span>
+<a id="__codelineno-7-5" name="__codelineno-7-5" href="#__codelineno-7-5"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;M_PI&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;3.1415926&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-6" name="__codelineno-7-6" href="#__codelineno-7-6"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;base_mass&quot;</span><span class="w">   </span><span class="na">value=</span><span class="s">&quot;1&quot;</span><span class="w"> </span><span class="nt">/&gt;</span><span class="w"> </span>
+<a id="__codelineno-7-7" name="__codelineno-7-7" href="#__codelineno-7-7"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;base_radius&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.20&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-8" name="__codelineno-7-8" href="#__codelineno-7-8"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;base_length&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.16&quot;</span><span class="nt">/&gt;</span>
 <a id="__codelineno-7-9" name="__codelineno-7-9" href="#__codelineno-7-9"></a>
-<a id="__codelineno-7-10" name="__codelineno-7-10" href="#__codelineno-7-10"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;wheel_mass&quot;</span>   <span class="na">value=</span><span class="s">&quot;0.2&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-11" name="__codelineno-7-11" href="#__codelineno-7-11"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;wheel_radius&quot;</span> <span class="na">value=</span><span class="s">&quot;0.06&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-12" name="__codelineno-7-12" href="#__codelineno-7-12"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;wheel_length&quot;</span> <span class="na">value=</span><span class="s">&quot;0.025&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-13" name="__codelineno-7-13" href="#__codelineno-7-13"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;wheel_joint_y&quot;</span> <span class="na">value=</span><span class="s">&quot;0.19&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-14" name="__codelineno-7-14" href="#__codelineno-7-14"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;wheel_joint_z&quot;</span> <span class="na">value=</span><span class="s">&quot;0.05&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-10" name="__codelineno-7-10" href="#__codelineno-7-10"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;wheel_mass&quot;</span><span class="w">   </span><span class="na">value=</span><span class="s">&quot;0.2&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-11" name="__codelineno-7-11" href="#__codelineno-7-11"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;wheel_radius&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.06&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-12" name="__codelineno-7-12" href="#__codelineno-7-12"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;wheel_length&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.025&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-13" name="__codelineno-7-13" href="#__codelineno-7-13"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;wheel_joint_y&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.19&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-14" name="__codelineno-7-14" href="#__codelineno-7-14"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;wheel_joint_z&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.05&quot;</span><span class="nt">/&gt;</span>
 <a id="__codelineno-7-15" name="__codelineno-7-15" href="#__codelineno-7-15"></a>
-<a id="__codelineno-7-16" name="__codelineno-7-16" href="#__codelineno-7-16"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;caster_mass&quot;</span>    <span class="na">value=</span><span class="s">&quot;0.2&quot;</span> <span class="nt">/&gt;</span> 
-<a id="__codelineno-7-17" name="__codelineno-7-17" href="#__codelineno-7-17"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;caster_radius&quot;</span>  <span class="na">value=</span><span class="s">&quot;0.015&quot;</span><span class="nt">/&gt;</span> <span class="cm">&lt;!-- wheel_radius - ( base_length/2 - wheel_joint_z) --&gt;</span>
-<a id="__codelineno-7-18" name="__codelineno-7-18" href="#__codelineno-7-18"></a>    <span class="nt">&lt;xacro:property</span> <span class="na">name=</span><span class="s">&quot;caster_joint_x&quot;</span> <span class="na">value=</span><span class="s">&quot;0.18&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-16" name="__codelineno-7-16" href="#__codelineno-7-16"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;caster_mass&quot;</span><span class="w">    </span><span class="na">value=</span><span class="s">&quot;0.2&quot;</span><span class="w"> </span><span class="nt">/&gt;</span><span class="w"> </span>
+<a id="__codelineno-7-17" name="__codelineno-7-17" href="#__codelineno-7-17"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;caster_radius&quot;</span><span class="w">  </span><span class="na">value=</span><span class="s">&quot;0.015&quot;</span><span class="nt">/&gt;</span><span class="w"> </span><span class="cm">&lt;!-- wheel_radius - ( base_length/2 - wheel_joint_z) --&gt;</span>
+<a id="__codelineno-7-18" name="__codelineno-7-18" href="#__codelineno-7-18"></a><span class="w">    </span><span class="nt">&lt;xacro:property</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;caster_joint_x&quot;</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;0.18&quot;</span><span class="nt">/&gt;</span>
 <a id="__codelineno-7-19" name="__codelineno-7-19" href="#__codelineno-7-19"></a>
-<a id="__codelineno-7-20" name="__codelineno-7-20" href="#__codelineno-7-20"></a>    <span class="cm">&lt;!-- Defining the colors used in this robot --&gt;</span>
-<a id="__codelineno-7-21" name="__codelineno-7-21" href="#__codelineno-7-21"></a>    <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;yellow&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-22" name="__codelineno-7-22" href="#__codelineno-7-22"></a>        <span class="nt">&lt;color</span> <span class="na">rgba=</span><span class="s">&quot;1 0.4 0 1&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-23" name="__codelineno-7-23" href="#__codelineno-7-23"></a>    <span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-7-24" name="__codelineno-7-24" href="#__codelineno-7-24"></a>    <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;black&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-25" name="__codelineno-7-25" href="#__codelineno-7-25"></a>        <span class="nt">&lt;color</span> <span class="na">rgba=</span><span class="s">&quot;0 0 0 0.95&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-26" name="__codelineno-7-26" href="#__codelineno-7-26"></a>    <span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-7-27" name="__codelineno-7-27" href="#__codelineno-7-27"></a>    <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;gray&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-28" name="__codelineno-7-28" href="#__codelineno-7-28"></a>        <span class="nt">&lt;color</span> <span class="na">rgba=</span><span class="s">&quot;0.75 0.75 0.75 1&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-29" name="__codelineno-7-29" href="#__codelineno-7-29"></a>    <span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-7-20" name="__codelineno-7-20" href="#__codelineno-7-20"></a><span class="w">    </span><span class="cm">&lt;!-- Defining the colors used in this robot --&gt;</span>
+<a id="__codelineno-7-21" name="__codelineno-7-21" href="#__codelineno-7-21"></a><span class="w">    </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;yellow&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-22" name="__codelineno-7-22" href="#__codelineno-7-22"></a><span class="w">        </span><span class="nt">&lt;color</span><span class="w"> </span><span class="na">rgba=</span><span class="s">&quot;1 0.4 0 1&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-23" name="__codelineno-7-23" href="#__codelineno-7-23"></a><span class="w">    </span><span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-7-24" name="__codelineno-7-24" href="#__codelineno-7-24"></a><span class="w">    </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;black&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-25" name="__codelineno-7-25" href="#__codelineno-7-25"></a><span class="w">        </span><span class="nt">&lt;color</span><span class="w"> </span><span class="na">rgba=</span><span class="s">&quot;0 0 0 0.95&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-26" name="__codelineno-7-26" href="#__codelineno-7-26"></a><span class="w">    </span><span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-7-27" name="__codelineno-7-27" href="#__codelineno-7-27"></a><span class="w">    </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;gray&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-28" name="__codelineno-7-28" href="#__codelineno-7-28"></a><span class="w">        </span><span class="nt">&lt;color</span><span class="w"> </span><span class="na">rgba=</span><span class="s">&quot;0.75 0.75 0.75 1&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-29" name="__codelineno-7-29" href="#__codelineno-7-29"></a><span class="w">    </span><span class="nt">&lt;/material&gt;</span>
 <a id="__codelineno-7-30" name="__codelineno-7-30" href="#__codelineno-7-30"></a>
-<a id="__codelineno-7-31" name="__codelineno-7-31" href="#__codelineno-7-31"></a>    <span class="cm">&lt;!-- Macro for inertia matrix --&gt;</span>
-<a id="__codelineno-7-32" name="__codelineno-7-32" href="#__codelineno-7-32"></a>    <span class="nt">&lt;xacro:macro</span> <span class="na">name=</span><span class="s">&quot;sphere_inertial_matrix&quot;</span> <span class="na">params=</span><span class="s">&quot;m r&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-33" name="__codelineno-7-33" href="#__codelineno-7-33"></a>        <span class="nt">&lt;inertial&gt;</span>
-<a id="__codelineno-7-34" name="__codelineno-7-34" href="#__codelineno-7-34"></a>            <span class="nt">&lt;mass</span> <span class="na">value=</span><span class="s">&quot;${m}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-35" name="__codelineno-7-35" href="#__codelineno-7-35"></a>            <span class="nt">&lt;inertia</span> <span class="na">ixx=</span><span class="s">&quot;${2*m*r*r/5}&quot;</span> <span class="na">ixy=</span><span class="s">&quot;0&quot;</span> <span class="na">ixz=</span><span class="s">&quot;0&quot;</span>
-<a id="__codelineno-7-36" name="__codelineno-7-36" href="#__codelineno-7-36"></a>                <span class="na">iyy=</span><span class="s">&quot;${2*m*r*r/5}&quot;</span> <span class="na">iyz=</span><span class="s">&quot;0&quot;</span> 
-<a id="__codelineno-7-37" name="__codelineno-7-37" href="#__codelineno-7-37"></a>                <span class="na">izz=</span><span class="s">&quot;${2*m*r*r/5}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-38" name="__codelineno-7-38" href="#__codelineno-7-38"></a>        <span class="nt">&lt;/inertial&gt;</span>
-<a id="__codelineno-7-39" name="__codelineno-7-39" href="#__codelineno-7-39"></a>    <span class="nt">&lt;/xacro:macro&gt;</span>
+<a id="__codelineno-7-31" name="__codelineno-7-31" href="#__codelineno-7-31"></a><span class="w">    </span><span class="cm">&lt;!-- Macro for inertia matrix --&gt;</span>
+<a id="__codelineno-7-32" name="__codelineno-7-32" href="#__codelineno-7-32"></a><span class="w">    </span><span class="nt">&lt;xacro:macro</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;sphere_inertial_matrix&quot;</span><span class="w"> </span><span class="na">params=</span><span class="s">&quot;m r&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-33" name="__codelineno-7-33" href="#__codelineno-7-33"></a><span class="w">        </span><span class="nt">&lt;inertial&gt;</span>
+<a id="__codelineno-7-34" name="__codelineno-7-34" href="#__codelineno-7-34"></a><span class="w">            </span><span class="nt">&lt;mass</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;${m}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-35" name="__codelineno-7-35" href="#__codelineno-7-35"></a><span class="w">            </span><span class="nt">&lt;inertia</span><span class="w"> </span><span class="na">ixx=</span><span class="s">&quot;${2*m*r*r/5}&quot;</span><span class="w"> </span><span class="na">ixy=</span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">ixz=</span><span class="s">&quot;0&quot;</span>
+<a id="__codelineno-7-36" name="__codelineno-7-36" href="#__codelineno-7-36"></a><span class="w">                </span><span class="na">iyy=</span><span class="s">&quot;${2*m*r*r/5}&quot;</span><span class="w"> </span><span class="na">iyz=</span><span class="s">&quot;0&quot;</span><span class="w"> </span>
+<a id="__codelineno-7-37" name="__codelineno-7-37" href="#__codelineno-7-37"></a><span class="w">                </span><span class="na">izz=</span><span class="s">&quot;${2*m*r*r/5}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-38" name="__codelineno-7-38" href="#__codelineno-7-38"></a><span class="w">        </span><span class="nt">&lt;/inertial&gt;</span>
+<a id="__codelineno-7-39" name="__codelineno-7-39" href="#__codelineno-7-39"></a><span class="w">    </span><span class="nt">&lt;/xacro:macro&gt;</span>
 <a id="__codelineno-7-40" name="__codelineno-7-40" href="#__codelineno-7-40"></a>
-<a id="__codelineno-7-41" name="__codelineno-7-41" href="#__codelineno-7-41"></a>    <span class="nt">&lt;xacro:macro</span> <span class="na">name=</span><span class="s">&quot;cylinder_inertial_matrix&quot;</span> <span class="na">params=</span><span class="s">&quot;m r h&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-42" name="__codelineno-7-42" href="#__codelineno-7-42"></a>        <span class="nt">&lt;inertial&gt;</span>
-<a id="__codelineno-7-43" name="__codelineno-7-43" href="#__codelineno-7-43"></a>            <span class="nt">&lt;mass</span> <span class="na">value=</span><span class="s">&quot;${m}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-44" name="__codelineno-7-44" href="#__codelineno-7-44"></a>            <span class="nt">&lt;inertia</span> <span class="na">ixx=</span><span class="s">&quot;${m*(3*r*r+h*h)/12}&quot;</span> <span class="na">ixy =</span> <span class="s">&quot;0&quot;</span> <span class="na">ixz =</span> <span class="s">&quot;0&quot;</span>
-<a id="__codelineno-7-45" name="__codelineno-7-45" href="#__codelineno-7-45"></a>                <span class="na">iyy=</span><span class="s">&quot;${m*(3*r*r+h*h)/12}&quot;</span> <span class="na">iyz =</span> <span class="s">&quot;0&quot;</span>
-<a id="__codelineno-7-46" name="__codelineno-7-46" href="#__codelineno-7-46"></a>                <span class="na">izz=</span><span class="s">&quot;${m*r*r/2}&quot;</span> <span class="nt">/&gt;</span> 
-<a id="__codelineno-7-47" name="__codelineno-7-47" href="#__codelineno-7-47"></a>        <span class="nt">&lt;/inertial&gt;</span>
-<a id="__codelineno-7-48" name="__codelineno-7-48" href="#__codelineno-7-48"></a>    <span class="nt">&lt;/xacro:macro&gt;</span>
+<a id="__codelineno-7-41" name="__codelineno-7-41" href="#__codelineno-7-41"></a><span class="w">    </span><span class="nt">&lt;xacro:macro</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;cylinder_inertial_matrix&quot;</span><span class="w"> </span><span class="na">params=</span><span class="s">&quot;m r h&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-42" name="__codelineno-7-42" href="#__codelineno-7-42"></a><span class="w">        </span><span class="nt">&lt;inertial&gt;</span>
+<a id="__codelineno-7-43" name="__codelineno-7-43" href="#__codelineno-7-43"></a><span class="w">            </span><span class="nt">&lt;mass</span><span class="w"> </span><span class="na">value=</span><span class="s">&quot;${m}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-44" name="__codelineno-7-44" href="#__codelineno-7-44"></a><span class="w">            </span><span class="nt">&lt;inertia</span><span class="w"> </span><span class="na">ixx=</span><span class="s">&quot;${m*(3*r*r+h*h)/12}&quot;</span><span class="w"> </span><span class="na">ixy =</span><span class="w"> </span><span class="s">&quot;0&quot;</span><span class="w"> </span><span class="na">ixz =</span><span class="w"> </span><span class="s">&quot;0&quot;</span>
+<a id="__codelineno-7-45" name="__codelineno-7-45" href="#__codelineno-7-45"></a><span class="w">                </span><span class="na">iyy=</span><span class="s">&quot;${m*(3*r*r+h*h)/12}&quot;</span><span class="w"> </span><span class="na">iyz =</span><span class="w"> </span><span class="s">&quot;0&quot;</span>
+<a id="__codelineno-7-46" name="__codelineno-7-46" href="#__codelineno-7-46"></a><span class="w">                </span><span class="na">izz=</span><span class="s">&quot;${m*r*r/2}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span><span class="w"> </span>
+<a id="__codelineno-7-47" name="__codelineno-7-47" href="#__codelineno-7-47"></a><span class="w">        </span><span class="nt">&lt;/inertial&gt;</span>
+<a id="__codelineno-7-48" name="__codelineno-7-48" href="#__codelineno-7-48"></a><span class="w">    </span><span class="nt">&lt;/xacro:macro&gt;</span>
 <a id="__codelineno-7-49" name="__codelineno-7-49" href="#__codelineno-7-49"></a>
-<a id="__codelineno-7-50" name="__codelineno-7-50" href="#__codelineno-7-50"></a>    <span class="cm">&lt;!-- Macro for robot wheel --&gt;</span>
-<a id="__codelineno-7-51" name="__codelineno-7-51" href="#__codelineno-7-51"></a>    <span class="nt">&lt;xacro:macro</span> <span class="na">name=</span><span class="s">&quot;wheel&quot;</span> <span class="na">params=</span><span class="s">&quot;prefix reflect&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-52" name="__codelineno-7-52" href="#__codelineno-7-52"></a>        <span class="nt">&lt;joint</span> <span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint&quot;</span> <span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-53" name="__codelineno-7-53" href="#__codelineno-7-53"></a>            <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 ${reflect*wheel_joint_y} ${-wheel_joint_z}&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-54" name="__codelineno-7-54" href="#__codelineno-7-54"></a>            <span class="nt">&lt;parent</span> <span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-55" name="__codelineno-7-55" href="#__codelineno-7-55"></a>            <span class="nt">&lt;child</span> <span class="na">link=</span><span class="s">&quot;${prefix}_wheel_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-56" name="__codelineno-7-56" href="#__codelineno-7-56"></a>            <span class="nt">&lt;axis</span> <span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-57" name="__codelineno-7-57" href="#__codelineno-7-57"></a>        <span class="nt">&lt;/joint&gt;</span>
+<a id="__codelineno-7-50" name="__codelineno-7-50" href="#__codelineno-7-50"></a><span class="w">    </span><span class="cm">&lt;!-- Macro for robot wheel --&gt;</span>
+<a id="__codelineno-7-51" name="__codelineno-7-51" href="#__codelineno-7-51"></a><span class="w">    </span><span class="nt">&lt;xacro:macro</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;wheel&quot;</span><span class="w"> </span><span class="na">params=</span><span class="s">&quot;prefix reflect&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-52" name="__codelineno-7-52" href="#__codelineno-7-52"></a><span class="w">        </span><span class="nt">&lt;joint</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint&quot;</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;continuous&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-53" name="__codelineno-7-53" href="#__codelineno-7-53"></a><span class="w">            </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 ${reflect*wheel_joint_y} ${-wheel_joint_z}&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-54" name="__codelineno-7-54" href="#__codelineno-7-54"></a><span class="w">            </span><span class="nt">&lt;parent</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-55" name="__codelineno-7-55" href="#__codelineno-7-55"></a><span class="w">            </span><span class="nt">&lt;child</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;${prefix}_wheel_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-56" name="__codelineno-7-56" href="#__codelineno-7-56"></a><span class="w">            </span><span class="nt">&lt;axis</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 1 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-57" name="__codelineno-7-57" href="#__codelineno-7-57"></a><span class="w">        </span><span class="nt">&lt;/joint&gt;</span>
 <a id="__codelineno-7-58" name="__codelineno-7-58" href="#__codelineno-7-58"></a>
-<a id="__codelineno-7-59" name="__codelineno-7-59" href="#__codelineno-7-59"></a>        <span class="nt">&lt;link</span> <span class="na">name=</span><span class="s">&quot;${prefix}_wheel_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-60" name="__codelineno-7-60" href="#__codelineno-7-60"></a>            <span class="nt">&lt;visual&gt;</span>
-<a id="__codelineno-7-61" name="__codelineno-7-61" href="#__codelineno-7-61"></a>                <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;${M_PI/2} 0 0&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-62" name="__codelineno-7-62" href="#__codelineno-7-62"></a>                <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-7-63" name="__codelineno-7-63" href="#__codelineno-7-63"></a>                    <span class="nt">&lt;cylinder</span> <span class="na">radius=</span><span class="s">&quot;${wheel_radius}&quot;</span> <span class="na">length =</span> <span class="s">&quot;${wheel_length}&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-64" name="__codelineno-7-64" href="#__codelineno-7-64"></a>                <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-7-65" name="__codelineno-7-65" href="#__codelineno-7-65"></a>                <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;gray&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-66" name="__codelineno-7-66" href="#__codelineno-7-66"></a>            <span class="nt">&lt;/visual&gt;</span>
-<a id="__codelineno-7-67" name="__codelineno-7-67" href="#__codelineno-7-67"></a>            <span class="nt">&lt;collision&gt;</span>
-<a id="__codelineno-7-68" name="__codelineno-7-68" href="#__codelineno-7-68"></a>                <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;${M_PI/2} 0 0&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-69" name="__codelineno-7-69" href="#__codelineno-7-69"></a>                <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-7-70" name="__codelineno-7-70" href="#__codelineno-7-70"></a>                    <span class="nt">&lt;cylinder</span> <span class="na">radius=</span><span class="s">&quot;${wheel_radius}&quot;</span> <span class="na">length =</span> <span class="s">&quot;${wheel_length}&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-71" name="__codelineno-7-71" href="#__codelineno-7-71"></a>                <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-7-72" name="__codelineno-7-72" href="#__codelineno-7-72"></a>            <span class="nt">&lt;/collision&gt;</span>
-<a id="__codelineno-7-73" name="__codelineno-7-73" href="#__codelineno-7-73"></a>            <span class="nt">&lt;xacro:cylinder_inertial_matrix</span>  <span class="na">m=</span><span class="s">&quot;${wheel_mass}&quot;</span> <span class="na">r=</span><span class="s">&quot;${wheel_radius}&quot;</span> <span class="na">h=</span><span class="s">&quot;${wheel_length}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-74" name="__codelineno-7-74" href="#__codelineno-7-74"></a>        <span class="nt">&lt;/link&gt;</span>
+<a id="__codelineno-7-59" name="__codelineno-7-59" href="#__codelineno-7-59"></a><span class="w">        </span><span class="nt">&lt;link</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_wheel_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-60" name="__codelineno-7-60" href="#__codelineno-7-60"></a><span class="w">            </span><span class="nt">&lt;visual&gt;</span>
+<a id="__codelineno-7-61" name="__codelineno-7-61" href="#__codelineno-7-61"></a><span class="w">                </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;${M_PI/2} 0 0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-62" name="__codelineno-7-62" href="#__codelineno-7-62"></a><span class="w">                </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-7-63" name="__codelineno-7-63" href="#__codelineno-7-63"></a><span class="w">                    </span><span class="nt">&lt;cylinder</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;${wheel_radius}&quot;</span><span class="w"> </span><span class="na">length =</span><span class="w"> </span><span class="s">&quot;${wheel_length}&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-64" name="__codelineno-7-64" href="#__codelineno-7-64"></a><span class="w">                </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-7-65" name="__codelineno-7-65" href="#__codelineno-7-65"></a><span class="w">                </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;gray&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-66" name="__codelineno-7-66" href="#__codelineno-7-66"></a><span class="w">            </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-7-67" name="__codelineno-7-67" href="#__codelineno-7-67"></a><span class="w">            </span><span class="nt">&lt;collision&gt;</span>
+<a id="__codelineno-7-68" name="__codelineno-7-68" href="#__codelineno-7-68"></a><span class="w">                </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;${M_PI/2} 0 0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-69" name="__codelineno-7-69" href="#__codelineno-7-69"></a><span class="w">                </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-7-70" name="__codelineno-7-70" href="#__codelineno-7-70"></a><span class="w">                    </span><span class="nt">&lt;cylinder</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;${wheel_radius}&quot;</span><span class="w"> </span><span class="na">length =</span><span class="w"> </span><span class="s">&quot;${wheel_length}&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-71" name="__codelineno-7-71" href="#__codelineno-7-71"></a><span class="w">                </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-7-72" name="__codelineno-7-72" href="#__codelineno-7-72"></a><span class="w">            </span><span class="nt">&lt;/collision&gt;</span>
+<a id="__codelineno-7-73" name="__codelineno-7-73" href="#__codelineno-7-73"></a><span class="w">            </span><span class="nt">&lt;xacro:cylinder_inertial_matrix</span><span class="w">  </span><span class="na">m=</span><span class="s">&quot;${wheel_mass}&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;${wheel_radius}&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;${wheel_length}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-74" name="__codelineno-7-74" href="#__codelineno-7-74"></a><span class="w">        </span><span class="nt">&lt;/link&gt;</span>
 <a id="__codelineno-7-75" name="__codelineno-7-75" href="#__codelineno-7-75"></a>
-<a id="__codelineno-7-76" name="__codelineno-7-76" href="#__codelineno-7-76"></a>        <span class="nt">&lt;gazebo</span> <span class="na">reference=</span><span class="s">&quot;${prefix}_wheel_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-77" name="__codelineno-7-77" href="#__codelineno-7-77"></a>            <span class="nt">&lt;material&gt;</span>Gazebo/Gray<span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-7-78" name="__codelineno-7-78" href="#__codelineno-7-78"></a>        <span class="nt">&lt;/gazebo&gt;</span>
+<a id="__codelineno-7-76" name="__codelineno-7-76" href="#__codelineno-7-76"></a><span class="w">        </span><span class="nt">&lt;gazebo</span><span class="w"> </span><span class="na">reference=</span><span class="s">&quot;${prefix}_wheel_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-77" name="__codelineno-7-77" href="#__codelineno-7-77"></a><span class="w">            </span><span class="nt">&lt;material&gt;</span>Gazebo/Gray<span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-7-78" name="__codelineno-7-78" href="#__codelineno-7-78"></a><span class="w">        </span><span class="nt">&lt;/gazebo&gt;</span>
 <a id="__codelineno-7-79" name="__codelineno-7-79" href="#__codelineno-7-79"></a>
-<a id="__codelineno-7-80" name="__codelineno-7-80" href="#__codelineno-7-80"></a>        <span class="cm">&lt;!-- Transmission is important to link the joints and the controller --&gt;</span>
-<a id="__codelineno-7-81" name="__codelineno-7-81" href="#__codelineno-7-81"></a>        <span class="nt">&lt;transmission</span> <span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint_trans&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-82" name="__codelineno-7-82" href="#__codelineno-7-82"></a>            <span class="nt">&lt;type&gt;</span>transmission_interface/SimpleTransmission<span class="nt">&lt;/type&gt;</span>
-<a id="__codelineno-7-83" name="__codelineno-7-83" href="#__codelineno-7-83"></a>            <span class="nt">&lt;joint</span> <span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint&quot;</span> <span class="nt">&gt;</span>
-<a id="__codelineno-7-84" name="__codelineno-7-84" href="#__codelineno-7-84"></a>                <span class="nt">&lt;hardwareInterface&gt;</span>hardware_interface/VelocityJointInterface<span class="nt">&lt;/hardwareInterface&gt;</span>
-<a id="__codelineno-7-85" name="__codelineno-7-85" href="#__codelineno-7-85"></a>            <span class="nt">&lt;/joint&gt;</span>
-<a id="__codelineno-7-86" name="__codelineno-7-86" href="#__codelineno-7-86"></a>            <span class="nt">&lt;actuator</span> <span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint_motor&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-87" name="__codelineno-7-87" href="#__codelineno-7-87"></a>                <span class="nt">&lt;hardwareInterface&gt;</span>hardware_interface/VelocityJointInterface<span class="nt">&lt;/hardwareInterface&gt;</span>
-<a id="__codelineno-7-88" name="__codelineno-7-88" href="#__codelineno-7-88"></a>                <span class="nt">&lt;mechanicalReduction&gt;</span>1<span class="nt">&lt;/mechanicalReduction&gt;</span>
-<a id="__codelineno-7-89" name="__codelineno-7-89" href="#__codelineno-7-89"></a>            <span class="nt">&lt;/actuator&gt;</span>
-<a id="__codelineno-7-90" name="__codelineno-7-90" href="#__codelineno-7-90"></a>        <span class="nt">&lt;/transmission&gt;</span>
-<a id="__codelineno-7-91" name="__codelineno-7-91" href="#__codelineno-7-91"></a>    <span class="nt">&lt;/xacro:macro&gt;</span>
+<a id="__codelineno-7-80" name="__codelineno-7-80" href="#__codelineno-7-80"></a><span class="w">        </span><span class="cm">&lt;!-- Transmission is important to link the joints and the controller --&gt;</span>
+<a id="__codelineno-7-81" name="__codelineno-7-81" href="#__codelineno-7-81"></a><span class="w">        </span><span class="nt">&lt;transmission</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint_trans&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-82" name="__codelineno-7-82" href="#__codelineno-7-82"></a><span class="w">            </span><span class="nt">&lt;type&gt;</span>transmission_interface/SimpleTransmission<span class="nt">&lt;/type&gt;</span>
+<a id="__codelineno-7-83" name="__codelineno-7-83" href="#__codelineno-7-83"></a><span class="w">            </span><span class="nt">&lt;joint</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint&quot;</span><span class="w"> </span><span class="nt">&gt;</span>
+<a id="__codelineno-7-84" name="__codelineno-7-84" href="#__codelineno-7-84"></a><span class="w">                </span><span class="nt">&lt;hardwareInterface&gt;</span>hardware_interface/VelocityJointInterface<span class="nt">&lt;/hardwareInterface&gt;</span>
+<a id="__codelineno-7-85" name="__codelineno-7-85" href="#__codelineno-7-85"></a><span class="w">            </span><span class="nt">&lt;/joint&gt;</span>
+<a id="__codelineno-7-86" name="__codelineno-7-86" href="#__codelineno-7-86"></a><span class="w">            </span><span class="nt">&lt;actuator</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_wheel_joint_motor&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-87" name="__codelineno-7-87" href="#__codelineno-7-87"></a><span class="w">                </span><span class="nt">&lt;hardwareInterface&gt;</span>hardware_interface/VelocityJointInterface<span class="nt">&lt;/hardwareInterface&gt;</span>
+<a id="__codelineno-7-88" name="__codelineno-7-88" href="#__codelineno-7-88"></a><span class="w">                </span><span class="nt">&lt;mechanicalReduction&gt;</span>1<span class="nt">&lt;/mechanicalReduction&gt;</span>
+<a id="__codelineno-7-89" name="__codelineno-7-89" href="#__codelineno-7-89"></a><span class="w">            </span><span class="nt">&lt;/actuator&gt;</span>
+<a id="__codelineno-7-90" name="__codelineno-7-90" href="#__codelineno-7-90"></a><span class="w">        </span><span class="nt">&lt;/transmission&gt;</span>
+<a id="__codelineno-7-91" name="__codelineno-7-91" href="#__codelineno-7-91"></a><span class="w">    </span><span class="nt">&lt;/xacro:macro&gt;</span>
 <a id="__codelineno-7-92" name="__codelineno-7-92" href="#__codelineno-7-92"></a>
-<a id="__codelineno-7-93" name="__codelineno-7-93" href="#__codelineno-7-93"></a>    <span class="cm">&lt;!-- Macro for robot caster --&gt;</span>
-<a id="__codelineno-7-94" name="__codelineno-7-94" href="#__codelineno-7-94"></a>    <span class="nt">&lt;xacro:macro</span> <span class="na">name=</span><span class="s">&quot;caster&quot;</span> <span class="na">params=</span><span class="s">&quot;prefix reflect&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-95" name="__codelineno-7-95" href="#__codelineno-7-95"></a>        <span class="nt">&lt;joint</span> <span class="na">name=</span><span class="s">&quot;${prefix}_caster_joint&quot;</span> <span class="na">type=</span><span class="s">&quot;fixed&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-96" name="__codelineno-7-96" href="#__codelineno-7-96"></a>            <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-97" name="__codelineno-7-97" href="#__codelineno-7-97"></a>            <span class="nt">&lt;parent</span> <span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-98" name="__codelineno-7-98" href="#__codelineno-7-98"></a>            <span class="nt">&lt;child</span> <span class="na">link=</span><span class="s">&quot;${prefix}_caster_link&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-99" name="__codelineno-7-99" href="#__codelineno-7-99"></a>        <span class="nt">&lt;/joint&gt;</span>
+<a id="__codelineno-7-93" name="__codelineno-7-93" href="#__codelineno-7-93"></a><span class="w">    </span><span class="cm">&lt;!-- Macro for robot caster --&gt;</span>
+<a id="__codelineno-7-94" name="__codelineno-7-94" href="#__codelineno-7-94"></a><span class="w">    </span><span class="nt">&lt;xacro:macro</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;caster&quot;</span><span class="w"> </span><span class="na">params=</span><span class="s">&quot;prefix reflect&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-95" name="__codelineno-7-95" href="#__codelineno-7-95"></a><span class="w">        </span><span class="nt">&lt;joint</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_caster_joint&quot;</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;fixed&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-96" name="__codelineno-7-96" href="#__codelineno-7-96"></a><span class="w">            </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-97" name="__codelineno-7-97" href="#__codelineno-7-97"></a><span class="w">            </span><span class="nt">&lt;parent</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-98" name="__codelineno-7-98" href="#__codelineno-7-98"></a><span class="w">            </span><span class="nt">&lt;child</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;${prefix}_caster_link&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-99" name="__codelineno-7-99" href="#__codelineno-7-99"></a><span class="w">        </span><span class="nt">&lt;/joint&gt;</span>
 <a id="__codelineno-7-100" name="__codelineno-7-100" href="#__codelineno-7-100"></a>
-<a id="__codelineno-7-101" name="__codelineno-7-101" href="#__codelineno-7-101"></a>        <span class="nt">&lt;link</span> <span class="na">name=</span><span class="s">&quot;${prefix}_caster_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-102" name="__codelineno-7-102" href="#__codelineno-7-102"></a>            <span class="nt">&lt;visual&gt;</span>
-<a id="__codelineno-7-103" name="__codelineno-7-103" href="#__codelineno-7-103"></a>                <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-104" name="__codelineno-7-104" href="#__codelineno-7-104"></a>                <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-7-105" name="__codelineno-7-105" href="#__codelineno-7-105"></a>                    <span class="nt">&lt;sphere</span> <span class="na">radius=</span><span class="s">&quot;${caster_radius}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-106" name="__codelineno-7-106" href="#__codelineno-7-106"></a>                <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-7-107" name="__codelineno-7-107" href="#__codelineno-7-107"></a>                <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;black&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-108" name="__codelineno-7-108" href="#__codelineno-7-108"></a>            <span class="nt">&lt;/visual&gt;</span>
-<a id="__codelineno-7-109" name="__codelineno-7-109" href="#__codelineno-7-109"></a>            <span class="nt">&lt;collision&gt;</span>
-<a id="__codelineno-7-110" name="__codelineno-7-110" href="#__codelineno-7-110"></a>                <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-111" name="__codelineno-7-111" href="#__codelineno-7-111"></a>                <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-7-112" name="__codelineno-7-112" href="#__codelineno-7-112"></a>                    <span class="nt">&lt;sphere</span> <span class="na">radius=</span><span class="s">&quot;${caster_radius}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-113" name="__codelineno-7-113" href="#__codelineno-7-113"></a>                <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-7-114" name="__codelineno-7-114" href="#__codelineno-7-114"></a>            <span class="nt">&lt;/collision&gt;</span>      
-<a id="__codelineno-7-115" name="__codelineno-7-115" href="#__codelineno-7-115"></a>            <span class="nt">&lt;xacro:sphere_inertial_matrix</span>  <span class="na">m=</span><span class="s">&quot;${caster_mass}&quot;</span> <span class="na">r=</span><span class="s">&quot;${caster_radius}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-116" name="__codelineno-7-116" href="#__codelineno-7-116"></a>        <span class="nt">&lt;/link&gt;</span>
+<a id="__codelineno-7-101" name="__codelineno-7-101" href="#__codelineno-7-101"></a><span class="w">        </span><span class="nt">&lt;link</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_caster_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-102" name="__codelineno-7-102" href="#__codelineno-7-102"></a><span class="w">            </span><span class="nt">&lt;visual&gt;</span>
+<a id="__codelineno-7-103" name="__codelineno-7-103" href="#__codelineno-7-103"></a><span class="w">                </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-104" name="__codelineno-7-104" href="#__codelineno-7-104"></a><span class="w">                </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-7-105" name="__codelineno-7-105" href="#__codelineno-7-105"></a><span class="w">                    </span><span class="nt">&lt;sphere</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;${caster_radius}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-106" name="__codelineno-7-106" href="#__codelineno-7-106"></a><span class="w">                </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-7-107" name="__codelineno-7-107" href="#__codelineno-7-107"></a><span class="w">                </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;black&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-108" name="__codelineno-7-108" href="#__codelineno-7-108"></a><span class="w">            </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-7-109" name="__codelineno-7-109" href="#__codelineno-7-109"></a><span class="w">            </span><span class="nt">&lt;collision&gt;</span>
+<a id="__codelineno-7-110" name="__codelineno-7-110" href="#__codelineno-7-110"></a><span class="w">                </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-111" name="__codelineno-7-111" href="#__codelineno-7-111"></a><span class="w">                </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-7-112" name="__codelineno-7-112" href="#__codelineno-7-112"></a><span class="w">                    </span><span class="nt">&lt;sphere</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;${caster_radius}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-113" name="__codelineno-7-113" href="#__codelineno-7-113"></a><span class="w">                </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-7-114" name="__codelineno-7-114" href="#__codelineno-7-114"></a><span class="w">            </span><span class="nt">&lt;/collision&gt;</span><span class="w">      </span>
+<a id="__codelineno-7-115" name="__codelineno-7-115" href="#__codelineno-7-115"></a><span class="w">            </span><span class="nt">&lt;xacro:sphere_inertial_matrix</span><span class="w">  </span><span class="na">m=</span><span class="s">&quot;${caster_mass}&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;${caster_radius}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-116" name="__codelineno-7-116" href="#__codelineno-7-116"></a><span class="w">        </span><span class="nt">&lt;/link&gt;</span>
 <a id="__codelineno-7-117" name="__codelineno-7-117" href="#__codelineno-7-117"></a>
-<a id="__codelineno-7-118" name="__codelineno-7-118" href="#__codelineno-7-118"></a>        <span class="nt">&lt;gazebo</span> <span class="na">reference=</span><span class="s">&quot;${prefix}_caster_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-119" name="__codelineno-7-119" href="#__codelineno-7-119"></a>            <span class="nt">&lt;material&gt;</span>Gazebo/Black<span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-7-120" name="__codelineno-7-120" href="#__codelineno-7-120"></a>        <span class="nt">&lt;/gazebo&gt;</span>
-<a id="__codelineno-7-121" name="__codelineno-7-121" href="#__codelineno-7-121"></a>    <span class="nt">&lt;/xacro:macro&gt;</span>
+<a id="__codelineno-7-118" name="__codelineno-7-118" href="#__codelineno-7-118"></a><span class="w">        </span><span class="nt">&lt;gazebo</span><span class="w"> </span><span class="na">reference=</span><span class="s">&quot;${prefix}_caster_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-119" name="__codelineno-7-119" href="#__codelineno-7-119"></a><span class="w">            </span><span class="nt">&lt;material&gt;</span>Gazebo/Black<span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-7-120" name="__codelineno-7-120" href="#__codelineno-7-120"></a><span class="w">        </span><span class="nt">&lt;/gazebo&gt;</span>
+<a id="__codelineno-7-121" name="__codelineno-7-121" href="#__codelineno-7-121"></a><span class="w">    </span><span class="nt">&lt;/xacro:macro&gt;</span>
 <a id="__codelineno-7-122" name="__codelineno-7-122" href="#__codelineno-7-122"></a>
-<a id="__codelineno-7-123" name="__codelineno-7-123" href="#__codelineno-7-123"></a>    <span class="nt">&lt;xacro:macro</span> <span class="na">name=</span><span class="s">&quot;mbot_base_gazebo&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-124" name="__codelineno-7-124" href="#__codelineno-7-124"></a>        <span class="nt">&lt;link</span> <span class="na">name=</span><span class="s">&quot;base_footprint&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-125" name="__codelineno-7-125" href="#__codelineno-7-125"></a>            <span class="nt">&lt;visual&gt;</span>
-<a id="__codelineno-7-126" name="__codelineno-7-126" href="#__codelineno-7-126"></a>                <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-127" name="__codelineno-7-127" href="#__codelineno-7-127"></a>                <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-7-128" name="__codelineno-7-128" href="#__codelineno-7-128"></a>                    <span class="nt">&lt;box</span> <span class="na">size=</span><span class="s">&quot;0.001 0.001 0.001&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-129" name="__codelineno-7-129" href="#__codelineno-7-129"></a>                <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-7-130" name="__codelineno-7-130" href="#__codelineno-7-130"></a>            <span class="nt">&lt;/visual&gt;</span>
-<a id="__codelineno-7-131" name="__codelineno-7-131" href="#__codelineno-7-131"></a>        <span class="nt">&lt;/link&gt;</span>
-<a id="__codelineno-7-132" name="__codelineno-7-132" href="#__codelineno-7-132"></a>        <span class="nt">&lt;gazebo</span> <span class="na">reference=</span><span class="s">&quot;base_footprint&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-133" name="__codelineno-7-133" href="#__codelineno-7-133"></a>            <span class="nt">&lt;turnGravityOff&gt;</span>false<span class="nt">&lt;/turnGravityOff&gt;</span>
-<a id="__codelineno-7-134" name="__codelineno-7-134" href="#__codelineno-7-134"></a>        <span class="nt">&lt;/gazebo&gt;</span>
+<a id="__codelineno-7-123" name="__codelineno-7-123" href="#__codelineno-7-123"></a><span class="w">    </span><span class="nt">&lt;xacro:macro</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;mbot_base_gazebo&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-124" name="__codelineno-7-124" href="#__codelineno-7-124"></a><span class="w">        </span><span class="nt">&lt;link</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;base_footprint&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-125" name="__codelineno-7-125" href="#__codelineno-7-125"></a><span class="w">            </span><span class="nt">&lt;visual&gt;</span>
+<a id="__codelineno-7-126" name="__codelineno-7-126" href="#__codelineno-7-126"></a><span class="w">                </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-127" name="__codelineno-7-127" href="#__codelineno-7-127"></a><span class="w">                </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-7-128" name="__codelineno-7-128" href="#__codelineno-7-128"></a><span class="w">                    </span><span class="nt">&lt;box</span><span class="w"> </span><span class="na">size=</span><span class="s">&quot;0.001 0.001 0.001&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-129" name="__codelineno-7-129" href="#__codelineno-7-129"></a><span class="w">                </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-7-130" name="__codelineno-7-130" href="#__codelineno-7-130"></a><span class="w">            </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-7-131" name="__codelineno-7-131" href="#__codelineno-7-131"></a><span class="w">        </span><span class="nt">&lt;/link&gt;</span>
+<a id="__codelineno-7-132" name="__codelineno-7-132" href="#__codelineno-7-132"></a><span class="w">        </span><span class="nt">&lt;gazebo</span><span class="w"> </span><span class="na">reference=</span><span class="s">&quot;base_footprint&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-133" name="__codelineno-7-133" href="#__codelineno-7-133"></a><span class="w">            </span><span class="nt">&lt;turnGravityOff&gt;</span>false<span class="nt">&lt;/turnGravityOff&gt;</span>
+<a id="__codelineno-7-134" name="__codelineno-7-134" href="#__codelineno-7-134"></a><span class="w">        </span><span class="nt">&lt;/gazebo&gt;</span>
 <a id="__codelineno-7-135" name="__codelineno-7-135" href="#__codelineno-7-135"></a>
-<a id="__codelineno-7-136" name="__codelineno-7-136" href="#__codelineno-7-136"></a>        <span class="nt">&lt;joint</span> <span class="na">name=</span><span class="s">&quot;base_footprint_joint&quot;</span> <span class="na">type=</span><span class="s">&quot;fixed&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-137" name="__codelineno-7-137" href="#__codelineno-7-137"></a>            <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot;0 0 ${base_length/2 + caster_radius*2}&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span> <span class="nt">/&gt;</span>        
-<a id="__codelineno-7-138" name="__codelineno-7-138" href="#__codelineno-7-138"></a>            <span class="nt">&lt;parent</span> <span class="na">link=</span><span class="s">&quot;base_footprint&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-139" name="__codelineno-7-139" href="#__codelineno-7-139"></a>            <span class="nt">&lt;child</span> <span class="na">link=</span><span class="s">&quot;base_link&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-140" name="__codelineno-7-140" href="#__codelineno-7-140"></a>        <span class="nt">&lt;/joint&gt;</span>
+<a id="__codelineno-7-136" name="__codelineno-7-136" href="#__codelineno-7-136"></a><span class="w">        </span><span class="nt">&lt;joint</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;base_footprint_joint&quot;</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;fixed&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-137" name="__codelineno-7-137" href="#__codelineno-7-137"></a><span class="w">            </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot;0 0 ${base_length/2 + caster_radius*2}&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span><span class="w">        </span>
+<a id="__codelineno-7-138" name="__codelineno-7-138" href="#__codelineno-7-138"></a><span class="w">            </span><span class="nt">&lt;parent</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;base_footprint&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-139" name="__codelineno-7-139" href="#__codelineno-7-139"></a><span class="w">            </span><span class="nt">&lt;child</span><span class="w"> </span><span class="na">link=</span><span class="s">&quot;base_link&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-140" name="__codelineno-7-140" href="#__codelineno-7-140"></a><span class="w">        </span><span class="nt">&lt;/joint&gt;</span>
 <a id="__codelineno-7-141" name="__codelineno-7-141" href="#__codelineno-7-141"></a>
-<a id="__codelineno-7-142" name="__codelineno-7-142" href="#__codelineno-7-142"></a>        <span class="nt">&lt;link</span> <span class="na">name=</span><span class="s">&quot;base_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-143" name="__codelineno-7-143" href="#__codelineno-7-143"></a>            <span class="nt">&lt;visual&gt;</span>
-<a id="__codelineno-7-144" name="__codelineno-7-144" href="#__codelineno-7-144"></a>                <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot; 0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-145" name="__codelineno-7-145" href="#__codelineno-7-145"></a>                <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-7-146" name="__codelineno-7-146" href="#__codelineno-7-146"></a>                    <span class="nt">&lt;cylinder</span> <span class="na">length=</span><span class="s">&quot;${base_length}&quot;</span> <span class="na">radius=</span><span class="s">&quot;${base_radius}&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-147" name="__codelineno-7-147" href="#__codelineno-7-147"></a>                <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-7-148" name="__codelineno-7-148" href="#__codelineno-7-148"></a>                <span class="nt">&lt;material</span> <span class="na">name=</span><span class="s">&quot;yellow&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-149" name="__codelineno-7-149" href="#__codelineno-7-149"></a>            <span class="nt">&lt;/visual&gt;</span>
-<a id="__codelineno-7-150" name="__codelineno-7-150" href="#__codelineno-7-150"></a>            <span class="nt">&lt;collision&gt;</span>
-<a id="__codelineno-7-151" name="__codelineno-7-151" href="#__codelineno-7-151"></a>                <span class="nt">&lt;origin</span> <span class="na">xyz=</span><span class="s">&quot; 0 0 0&quot;</span> <span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-152" name="__codelineno-7-152" href="#__codelineno-7-152"></a>                <span class="nt">&lt;geometry&gt;</span>
-<a id="__codelineno-7-153" name="__codelineno-7-153" href="#__codelineno-7-153"></a>                    <span class="nt">&lt;cylinder</span> <span class="na">length=</span><span class="s">&quot;${base_length}&quot;</span> <span class="na">radius=</span><span class="s">&quot;${base_radius}&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-154" name="__codelineno-7-154" href="#__codelineno-7-154"></a>                <span class="nt">&lt;/geometry&gt;</span>
-<a id="__codelineno-7-155" name="__codelineno-7-155" href="#__codelineno-7-155"></a>            <span class="nt">&lt;/collision&gt;</span>   
-<a id="__codelineno-7-156" name="__codelineno-7-156" href="#__codelineno-7-156"></a>            <span class="nt">&lt;xacro:cylinder_inertial_matrix</span>  <span class="na">m=</span><span class="s">&quot;${base_mass}&quot;</span> <span class="na">r=</span><span class="s">&quot;${base_radius}&quot;</span> <span class="na">h=</span><span class="s">&quot;${base_length}&quot;</span> <span class="nt">/&gt;</span>
-<a id="__codelineno-7-157" name="__codelineno-7-157" href="#__codelineno-7-157"></a>        <span class="nt">&lt;/link&gt;</span>
+<a id="__codelineno-7-142" name="__codelineno-7-142" href="#__codelineno-7-142"></a><span class="w">        </span><span class="nt">&lt;link</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;base_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-143" name="__codelineno-7-143" href="#__codelineno-7-143"></a><span class="w">            </span><span class="nt">&lt;visual&gt;</span>
+<a id="__codelineno-7-144" name="__codelineno-7-144" href="#__codelineno-7-144"></a><span class="w">                </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot; 0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-145" name="__codelineno-7-145" href="#__codelineno-7-145"></a><span class="w">                </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-7-146" name="__codelineno-7-146" href="#__codelineno-7-146"></a><span class="w">                    </span><span class="nt">&lt;cylinder</span><span class="w"> </span><span class="na">length=</span><span class="s">&quot;${base_length}&quot;</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;${base_radius}&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-147" name="__codelineno-7-147" href="#__codelineno-7-147"></a><span class="w">                </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-7-148" name="__codelineno-7-148" href="#__codelineno-7-148"></a><span class="w">                </span><span class="nt">&lt;material</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;yellow&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-149" name="__codelineno-7-149" href="#__codelineno-7-149"></a><span class="w">            </span><span class="nt">&lt;/visual&gt;</span>
+<a id="__codelineno-7-150" name="__codelineno-7-150" href="#__codelineno-7-150"></a><span class="w">            </span><span class="nt">&lt;collision&gt;</span>
+<a id="__codelineno-7-151" name="__codelineno-7-151" href="#__codelineno-7-151"></a><span class="w">                </span><span class="nt">&lt;origin</span><span class="w"> </span><span class="na">xyz=</span><span class="s">&quot; 0 0 0&quot;</span><span class="w"> </span><span class="na">rpy=</span><span class="s">&quot;0 0 0&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-152" name="__codelineno-7-152" href="#__codelineno-7-152"></a><span class="w">                </span><span class="nt">&lt;geometry&gt;</span>
+<a id="__codelineno-7-153" name="__codelineno-7-153" href="#__codelineno-7-153"></a><span class="w">                    </span><span class="nt">&lt;cylinder</span><span class="w"> </span><span class="na">length=</span><span class="s">&quot;${base_length}&quot;</span><span class="w"> </span><span class="na">radius=</span><span class="s">&quot;${base_radius}&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-154" name="__codelineno-7-154" href="#__codelineno-7-154"></a><span class="w">                </span><span class="nt">&lt;/geometry&gt;</span>
+<a id="__codelineno-7-155" name="__codelineno-7-155" href="#__codelineno-7-155"></a><span class="w">            </span><span class="nt">&lt;/collision&gt;</span><span class="w">   </span>
+<a id="__codelineno-7-156" name="__codelineno-7-156" href="#__codelineno-7-156"></a><span class="w">            </span><span class="nt">&lt;xacro:cylinder_inertial_matrix</span><span class="w">  </span><span class="na">m=</span><span class="s">&quot;${base_mass}&quot;</span><span class="w"> </span><span class="na">r=</span><span class="s">&quot;${base_radius}&quot;</span><span class="w"> </span><span class="na">h=</span><span class="s">&quot;${base_length}&quot;</span><span class="w"> </span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-157" name="__codelineno-7-157" href="#__codelineno-7-157"></a><span class="w">        </span><span class="nt">&lt;/link&gt;</span>
 <a id="__codelineno-7-158" name="__codelineno-7-158" href="#__codelineno-7-158"></a>
-<a id="__codelineno-7-159" name="__codelineno-7-159" href="#__codelineno-7-159"></a>        <span class="nt">&lt;gazebo</span> <span class="na">reference=</span><span class="s">&quot;base_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-160" name="__codelineno-7-160" href="#__codelineno-7-160"></a>            <span class="nt">&lt;material&gt;</span>Gazebo/Blue<span class="nt">&lt;/material&gt;</span>
-<a id="__codelineno-7-161" name="__codelineno-7-161" href="#__codelineno-7-161"></a>        <span class="nt">&lt;/gazebo&gt;</span>
+<a id="__codelineno-7-159" name="__codelineno-7-159" href="#__codelineno-7-159"></a><span class="w">        </span><span class="nt">&lt;gazebo</span><span class="w"> </span><span class="na">reference=</span><span class="s">&quot;base_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-160" name="__codelineno-7-160" href="#__codelineno-7-160"></a><span class="w">            </span><span class="nt">&lt;material&gt;</span>Gazebo/Blue<span class="nt">&lt;/material&gt;</span>
+<a id="__codelineno-7-161" name="__codelineno-7-161" href="#__codelineno-7-161"></a><span class="w">        </span><span class="nt">&lt;/gazebo&gt;</span>
 <a id="__codelineno-7-162" name="__codelineno-7-162" href="#__codelineno-7-162"></a>
-<a id="__codelineno-7-163" name="__codelineno-7-163" href="#__codelineno-7-163"></a>        <span class="nt">&lt;xacro:wheel</span> <span class="na">prefix=</span><span class="s">&quot;left&quot;</span>  <span class="na">reflect=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-164" name="__codelineno-7-164" href="#__codelineno-7-164"></a>        <span class="nt">&lt;xacro:wheel</span> <span class="na">prefix=</span><span class="s">&quot;right&quot;</span> <span class="na">reflect=</span><span class="s">&quot;-1&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-163" name="__codelineno-7-163" href="#__codelineno-7-163"></a><span class="w">        </span><span class="nt">&lt;xacro:wheel</span><span class="w"> </span><span class="na">prefix=</span><span class="s">&quot;left&quot;</span><span class="w">  </span><span class="na">reflect=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-164" name="__codelineno-7-164" href="#__codelineno-7-164"></a><span class="w">        </span><span class="nt">&lt;xacro:wheel</span><span class="w"> </span><span class="na">prefix=</span><span class="s">&quot;right&quot;</span><span class="w"> </span><span class="na">reflect=</span><span class="s">&quot;-1&quot;</span><span class="nt">/&gt;</span>
 <a id="__codelineno-7-165" name="__codelineno-7-165" href="#__codelineno-7-165"></a>
-<a id="__codelineno-7-166" name="__codelineno-7-166" href="#__codelineno-7-166"></a>        <span class="nt">&lt;xacro:caster</span> <span class="na">prefix=</span><span class="s">&quot;front&quot;</span> <span class="na">reflect=</span><span class="s">&quot;-1&quot;</span><span class="nt">/&gt;</span>
-<a id="__codelineno-7-167" name="__codelineno-7-167" href="#__codelineno-7-167"></a>        <span class="nt">&lt;xacro:caster</span> <span class="na">prefix=</span><span class="s">&quot;back&quot;</span>  <span class="na">reflect=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-166" name="__codelineno-7-166" href="#__codelineno-7-166"></a><span class="w">        </span><span class="nt">&lt;xacro:caster</span><span class="w"> </span><span class="na">prefix=</span><span class="s">&quot;front&quot;</span><span class="w"> </span><span class="na">reflect=</span><span class="s">&quot;-1&quot;</span><span class="nt">/&gt;</span>
+<a id="__codelineno-7-167" name="__codelineno-7-167" href="#__codelineno-7-167"></a><span class="w">        </span><span class="nt">&lt;xacro:caster</span><span class="w"> </span><span class="na">prefix=</span><span class="s">&quot;back&quot;</span><span class="w">  </span><span class="na">reflect=</span><span class="s">&quot;1&quot;</span><span class="nt">/&gt;</span>
 <a id="__codelineno-7-168" name="__codelineno-7-168" href="#__codelineno-7-168"></a>
-<a id="__codelineno-7-169" name="__codelineno-7-169" href="#__codelineno-7-169"></a>        <span class="cm">&lt;!-- controller --&gt;</span>
-<a id="__codelineno-7-170" name="__codelineno-7-170" href="#__codelineno-7-170"></a>        <span class="nt">&lt;gazebo&gt;</span>
-<a id="__codelineno-7-171" name="__codelineno-7-171" href="#__codelineno-7-171"></a>            <span class="nt">&lt;plugin</span> <span class="na">name=</span><span class="s">&quot;differential_drive_controller&quot;</span> 
-<a id="__codelineno-7-172" name="__codelineno-7-172" href="#__codelineno-7-172"></a>                    <span class="na">filename=</span><span class="s">&quot;libgazebo_ros_diff_drive.so&quot;</span><span class="nt">&gt;</span>                
-<a id="__codelineno-7-173" name="__codelineno-7-173" href="#__codelineno-7-173"></a>                  <span class="nt">&lt;update_rate&gt;</span>30<span class="nt">&lt;/update_rate&gt;</span>
-<a id="__codelineno-7-174" name="__codelineno-7-174" href="#__codelineno-7-174"></a>                  <span class="nt">&lt;left_joint&gt;</span>left_wheel_joint<span class="nt">&lt;/left_joint&gt;</span>
-<a id="__codelineno-7-175" name="__codelineno-7-175" href="#__codelineno-7-175"></a>                  <span class="nt">&lt;right_joint&gt;</span>right_wheel_joint<span class="nt">&lt;/right_joint&gt;</span>
-<a id="__codelineno-7-176" name="__codelineno-7-176" href="#__codelineno-7-176"></a>                  <span class="nt">&lt;wheel_separation&gt;</span>${wheel_joint_y*2}<span class="nt">&lt;/wheel_separation&gt;</span>
-<a id="__codelineno-7-177" name="__codelineno-7-177" href="#__codelineno-7-177"></a>                  <span class="nt">&lt;wheel_diameter&gt;</span>${2*wheel_radius}<span class="nt">&lt;/wheel_diameter&gt;</span>
-<a id="__codelineno-7-178" name="__codelineno-7-178" href="#__codelineno-7-178"></a>                  <span class="nt">&lt;max_wheel_torque&gt;</span>20<span class="nt">&lt;/max_wheel_torque&gt;</span>
-<a id="__codelineno-7-179" name="__codelineno-7-179" href="#__codelineno-7-179"></a>                  <span class="nt">&lt;max_wheel_acceleration&gt;</span>1.0<span class="nt">&lt;/max_wheel_acceleration&gt;</span>
-<a id="__codelineno-7-180" name="__codelineno-7-180" href="#__codelineno-7-180"></a>                  <span class="nt">&lt;command_topic&gt;</span>cmd_vel<span class="nt">&lt;/command_topic&gt;</span>
-<a id="__codelineno-7-181" name="__codelineno-7-181" href="#__codelineno-7-181"></a>                  <span class="nt">&lt;publish_odom&gt;</span>true<span class="nt">&lt;/publish_odom&gt;</span>
-<a id="__codelineno-7-182" name="__codelineno-7-182" href="#__codelineno-7-182"></a>                  <span class="nt">&lt;publish_odom_tf&gt;</span>true<span class="nt">&lt;/publish_odom_tf&gt;</span>
-<a id="__codelineno-7-183" name="__codelineno-7-183" href="#__codelineno-7-183"></a>                  <span class="nt">&lt;publish_wheel_tf&gt;</span>true<span class="nt">&lt;/publish_wheel_tf&gt;</span>
-<a id="__codelineno-7-184" name="__codelineno-7-184" href="#__codelineno-7-184"></a>                  <span class="nt">&lt;odometry_topic&gt;</span>odom<span class="nt">&lt;/odometry_topic&gt;</span>
-<a id="__codelineno-7-185" name="__codelineno-7-185" href="#__codelineno-7-185"></a>                  <span class="nt">&lt;odometry_frame&gt;</span>odom<span class="nt">&lt;/odometry_frame&gt;</span>
-<a id="__codelineno-7-186" name="__codelineno-7-186" href="#__codelineno-7-186"></a>                  <span class="nt">&lt;robot_base_frame&gt;</span>base_footprint<span class="nt">&lt;/robot_base_frame&gt;</span>
-<a id="__codelineno-7-187" name="__codelineno-7-187" href="#__codelineno-7-187"></a>                  <span class="nt">&lt;odometry_source&gt;</span>1<span class="nt">&lt;/odometry_source&gt;</span>
-<a id="__codelineno-7-188" name="__codelineno-7-188" href="#__codelineno-7-188"></a>            <span class="nt">&lt;/plugin&gt;</span>
-<a id="__codelineno-7-189" name="__codelineno-7-189" href="#__codelineno-7-189"></a>        <span class="nt">&lt;/gazebo&gt;</span> 
-<a id="__codelineno-7-190" name="__codelineno-7-190" href="#__codelineno-7-190"></a>    <span class="nt">&lt;/xacro:macro&gt;</span>
+<a id="__codelineno-7-169" name="__codelineno-7-169" href="#__codelineno-7-169"></a><span class="w">        </span><span class="cm">&lt;!-- controller --&gt;</span>
+<a id="__codelineno-7-170" name="__codelineno-7-170" href="#__codelineno-7-170"></a><span class="w">        </span><span class="nt">&lt;gazebo&gt;</span>
+<a id="__codelineno-7-171" name="__codelineno-7-171" href="#__codelineno-7-171"></a><span class="w">            </span><span class="nt">&lt;plugin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;differential_drive_controller&quot;</span><span class="w"> </span>
+<a id="__codelineno-7-172" name="__codelineno-7-172" href="#__codelineno-7-172"></a><span class="w">                    </span><span class="na">filename=</span><span class="s">&quot;libgazebo_ros_diff_drive.so&quot;</span><span class="nt">&gt;</span><span class="w">                </span>
+<a id="__codelineno-7-173" name="__codelineno-7-173" href="#__codelineno-7-173"></a><span class="w">                  </span><span class="nt">&lt;update_rate&gt;</span>30<span class="nt">&lt;/update_rate&gt;</span>
+<a id="__codelineno-7-174" name="__codelineno-7-174" href="#__codelineno-7-174"></a><span class="w">                  </span><span class="nt">&lt;left_joint&gt;</span>left_wheel_joint<span class="nt">&lt;/left_joint&gt;</span>
+<a id="__codelineno-7-175" name="__codelineno-7-175" href="#__codelineno-7-175"></a><span class="w">                  </span><span class="nt">&lt;right_joint&gt;</span>right_wheel_joint<span class="nt">&lt;/right_joint&gt;</span>
+<a id="__codelineno-7-176" name="__codelineno-7-176" href="#__codelineno-7-176"></a><span class="w">                  </span><span class="nt">&lt;wheel_separation&gt;</span>${wheel_joint_y*2}<span class="nt">&lt;/wheel_separation&gt;</span>
+<a id="__codelineno-7-177" name="__codelineno-7-177" href="#__codelineno-7-177"></a><span class="w">                  </span><span class="nt">&lt;wheel_diameter&gt;</span>${2*wheel_radius}<span class="nt">&lt;/wheel_diameter&gt;</span>
+<a id="__codelineno-7-178" name="__codelineno-7-178" href="#__codelineno-7-178"></a><span class="w">                  </span><span class="nt">&lt;max_wheel_torque&gt;</span>20<span class="nt">&lt;/max_wheel_torque&gt;</span>
+<a id="__codelineno-7-179" name="__codelineno-7-179" href="#__codelineno-7-179"></a><span class="w">                  </span><span class="nt">&lt;max_wheel_acceleration&gt;</span>1.0<span class="nt">&lt;/max_wheel_acceleration&gt;</span>
+<a id="__codelineno-7-180" name="__codelineno-7-180" href="#__codelineno-7-180"></a><span class="w">                  </span><span class="nt">&lt;command_topic&gt;</span>cmd_vel<span class="nt">&lt;/command_topic&gt;</span>
+<a id="__codelineno-7-181" name="__codelineno-7-181" href="#__codelineno-7-181"></a><span class="w">                  </span><span class="nt">&lt;publish_odom&gt;</span>true<span class="nt">&lt;/publish_odom&gt;</span>
+<a id="__codelineno-7-182" name="__codelineno-7-182" href="#__codelineno-7-182"></a><span class="w">                  </span><span class="nt">&lt;publish_odom_tf&gt;</span>true<span class="nt">&lt;/publish_odom_tf&gt;</span>
+<a id="__codelineno-7-183" name="__codelineno-7-183" href="#__codelineno-7-183"></a><span class="w">                  </span><span class="nt">&lt;publish_wheel_tf&gt;</span>true<span class="nt">&lt;/publish_wheel_tf&gt;</span>
+<a id="__codelineno-7-184" name="__codelineno-7-184" href="#__codelineno-7-184"></a><span class="w">                  </span><span class="nt">&lt;odometry_topic&gt;</span>odom<span class="nt">&lt;/odometry_topic&gt;</span>
+<a id="__codelineno-7-185" name="__codelineno-7-185" href="#__codelineno-7-185"></a><span class="w">                  </span><span class="nt">&lt;odometry_frame&gt;</span>odom<span class="nt">&lt;/odometry_frame&gt;</span>
+<a id="__codelineno-7-186" name="__codelineno-7-186" href="#__codelineno-7-186"></a><span class="w">                  </span><span class="nt">&lt;robot_base_frame&gt;</span>base_footprint<span class="nt">&lt;/robot_base_frame&gt;</span>
+<a id="__codelineno-7-187" name="__codelineno-7-187" href="#__codelineno-7-187"></a><span class="w">                  </span><span class="nt">&lt;odometry_source&gt;</span>1<span class="nt">&lt;/odometry_source&gt;</span>
+<a id="__codelineno-7-188" name="__codelineno-7-188" href="#__codelineno-7-188"></a><span class="w">            </span><span class="nt">&lt;/plugin&gt;</span>
+<a id="__codelineno-7-189" name="__codelineno-7-189" href="#__codelineno-7-189"></a><span class="w">        </span><span class="nt">&lt;/gazebo&gt;</span><span class="w"> </span>
+<a id="__codelineno-7-190" name="__codelineno-7-190" href="#__codelineno-7-190"></a><span class="w">    </span><span class="nt">&lt;/xacro:macro&gt;</span>
 <a id="__codelineno-7-191" name="__codelineno-7-191" href="#__codelineno-7-191"></a>
 <a id="__codelineno-7-192" name="__codelineno-7-192" href="#__codelineno-7-192"></a><span class="nt">&lt;/robot&gt;</span>
 </code></pre></div>
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@@ -1551,47 +2254,57 @@ <h2 id="_14"><strong>附录：机器人完整模型</strong></h2>
   
     
     
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+    
       
       
     
     <a href="https://www.guyuehome.com" target="_blank" rel="noopener" title="www.guyuehome.com" class="md-social__link">
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+        <link rel="prev" href="../3.4_Gazebo/">
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+              
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
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+    </li>
+  
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+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
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+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
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+            
+              
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
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+      </a>
+    </li>
+  
+
+              
+            
+              
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+  
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
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+    </li>
+  
+
+              
+            
+              
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
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+        </nav>
+      
+    </li>
+  
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+    <li class="md-nav__item md-nav__item--nested">
       
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+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
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+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+  
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+    </li>
+  
+
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+            
+              
+                
+  
+  
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
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+      </a>
+    </li>
+  
+
+              
+            
+              
+                
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+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
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+    </li>
+  
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+            
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-        ROS和ROS2是什么
+      <a href="../../.." class="md-nav__link">
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+  </span>
+  
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+    
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+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
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+          </label>
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+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
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-        ROS2对比ROS1
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
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+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+                
+  
   
   
   
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
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-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
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+                
+  
   
   
   
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
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+          </ul>
+        </nav>
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+        
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
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+  <span class="md-ellipsis">
+    核心概念
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+  
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+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
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+            核心概念
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-        概念总览
+        
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+    概念总览
+  </span>
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-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
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+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
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-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
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-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
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+              
             
               
+                
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-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
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-            
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+              
             
               
+                
+  
   
   
   
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-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
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-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
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-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
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+        
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+    分布式通信
+  </span>
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+        
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+  <span class="md-ellipsis">
+    DDS
+  </span>
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-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          Rviz
+          
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="./" class="md-nav__link md-nav__link--active">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
       
         
@@ -656,7 +1282,9 @@
       
         <li class="md-nav__item">
   <a href="#rviz_1" class="md-nav__link">
-    Rviz三维可视化平台
+    <span class="md-ellipsis">
+      Rviz三维可视化平台
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Rviz三维可视化平台">
@@ -664,14 +1292,18 @@
         
           <li class="md-nav__item">
   <a href="#rviz_2" class="md-nav__link">
-    Rviz介绍
+    <span class="md-ellipsis">
+      Rviz介绍
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    运行方法
+    <span class="md-ellipsis">
+      运行方法
+    </span>
   </a>
   
 </li>
@@ -683,7 +1315,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    彩色相机仿真与可视化
+    <span class="md-ellipsis">
+      彩色相机仿真与可视化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="彩色相机仿真与可视化">
@@ -691,21 +1325,27 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    仿真插件配置
+    <span class="md-ellipsis">
+      仿真插件配置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    运行仿真环境
+    <span class="md-ellipsis">
+      运行仿真环境
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    图像数据可视化
+    <span class="md-ellipsis">
+      图像数据可视化
+    </span>
   </a>
   
 </li>
@@ -717,7 +1357,9 @@
       
         <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    三维相机仿真与可视化
+    <span class="md-ellipsis">
+      三维相机仿真与可视化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="三维相机仿真与可视化">
@@ -725,21 +1367,27 @@
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    仿真插件配置
+    <span class="md-ellipsis">
+      仿真插件配置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    运行仿真环境
+    <span class="md-ellipsis">
+      运行仿真环境
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    点云数据可视化
+    <span class="md-ellipsis">
+      点云数据可视化
+    </span>
   </a>
   
 </li>
@@ -751,7 +1399,9 @@
       
         <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    激光雷达仿真与可视化
+    <span class="md-ellipsis">
+      激光雷达仿真与可视化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="激光雷达仿真与可视化">
@@ -759,21 +1409,27 @@
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    仿真插件配置
+    <span class="md-ellipsis">
+      仿真插件配置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    运行仿真环境
+    <span class="md-ellipsis">
+      运行仿真环境
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    点云数据可视化
+    <span class="md-ellipsis">
+      点云数据可视化
+    </span>
   </a>
   
 </li>
@@ -785,14 +1441,18 @@
       
         <li class="md-nav__item">
   <a href="#rviz-vs-gazebo" class="md-nav__link">
-    Rviz vs Gazebo
+    <span class="md-ellipsis">
+      Rviz vs Gazebo
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -804,68 +1464,80 @@
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.6_Rqt/" class="md-nav__link">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -873,14 +1545,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -888,14 +1565,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -929,7 +1611,9 @@
       
         <li class="md-nav__item">
   <a href="#rviz_1" class="md-nav__link">
-    Rviz三维可视化平台
+    <span class="md-ellipsis">
+      Rviz三维可视化平台
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="Rviz三维可视化平台">
@@ -937,14 +1621,18 @@
         
           <li class="md-nav__item">
   <a href="#rviz_2" class="md-nav__link">
-    Rviz介绍
+    <span class="md-ellipsis">
+      Rviz介绍
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    运行方法
+    <span class="md-ellipsis">
+      运行方法
+    </span>
   </a>
   
 </li>
@@ -956,7 +1644,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    彩色相机仿真与可视化
+    <span class="md-ellipsis">
+      彩色相机仿真与可视化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="彩色相机仿真与可视化">
@@ -964,21 +1654,27 @@
         
           <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    仿真插件配置
+    <span class="md-ellipsis">
+      仿真插件配置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    运行仿真环境
+    <span class="md-ellipsis">
+      运行仿真环境
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    图像数据可视化
+    <span class="md-ellipsis">
+      图像数据可视化
+    </span>
   </a>
   
 </li>
@@ -990,7 +1686,9 @@
       
         <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    三维相机仿真与可视化
+    <span class="md-ellipsis">
+      三维相机仿真与可视化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="三维相机仿真与可视化">
@@ -998,21 +1696,27 @@
         
           <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    仿真插件配置
+    <span class="md-ellipsis">
+      仿真插件配置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_8" class="md-nav__link">
-    运行仿真环境
+    <span class="md-ellipsis">
+      运行仿真环境
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_9" class="md-nav__link">
-    点云数据可视化
+    <span class="md-ellipsis">
+      点云数据可视化
+    </span>
   </a>
   
 </li>
@@ -1024,7 +1728,9 @@
       
         <li class="md-nav__item">
   <a href="#_10" class="md-nav__link">
-    激光雷达仿真与可视化
+    <span class="md-ellipsis">
+      激光雷达仿真与可视化
+    </span>
   </a>
   
     <nav class="md-nav" aria-label="激光雷达仿真与可视化">
@@ -1032,21 +1738,27 @@
         
           <li class="md-nav__item">
   <a href="#_11" class="md-nav__link">
-    仿真插件配置
+    <span class="md-ellipsis">
+      仿真插件配置
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_12" class="md-nav__link">
-    运行仿真环境
+    <span class="md-ellipsis">
+      运行仿真环境
+    </span>
   </a>
   
 </li>
         
           <li class="md-nav__item">
   <a href="#_13" class="md-nav__link">
-    点云数据可视化
+    <span class="md-ellipsis">
+      点云数据可视化
+    </span>
   </a>
   
 </li>
@@ -1058,14 +1770,18 @@
       
         <li class="md-nav__item">
   <a href="#rviz-vs-gazebo" class="md-nav__link">
-    Rviz vs Gazebo
+    <span class="md-ellipsis">
+      Rviz vs Gazebo
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_14" class="md-nav__link">
-    参考链接
+    <span class="md-ellipsis">
+      参考链接
+    </span>
   </a>
   
 </li>
@@ -1078,10 +1794,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="rviz"><strong>Rviz：三维可视化显示平台</strong></h1>
@@ -1112,7 +1829,7 @@ <h3 id="rviz_2"><strong>Rviz介绍</strong></h3>
 <p>Rviz的核心框架是基于<strong>Qt可视化工具</strong>打造的一个开放式平台，官方出厂就自带了很多机器人常用的可视化显示插件，只要我们按照ROS中的消息发布对应的话题，就可以看到图形化的效果了。如果我们对显示的效果不满意，或者想添加某些新的显示项，也可以在Rviz这个平台中，开发更多可视化效果，方便打造我们自己的上位机。</p>
 <h3 id="_1"><strong>运行方法</strong></h3>
 <p>启动一个终端，使用如下命令即可启动：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ ros2 run rviz2 rviz2
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2
 </code></pre></div>
 <p><img alt="image-20220528152204601" src="../image/3.5_Rviz/image-20220528152204601.jpg" /></p>
 <h2 id="_2"><strong>彩色相机仿真与可视化</strong></h2>
@@ -1120,66 +1837,66 @@ <h2 id="_2"><strong>彩色相机仿真与可视化</strong></h2>
 <h3 id="_3"><strong>仿真插件配置</strong></h3>
 <p>关于传感器的仿真，都需要使用Gazebo提供的插件，摄像头对应的插件叫做libgazebo_ros_camera.so，我们对照模型的代码给大家介绍这个插件的使用方法。</p>
 <p>learning_gazebo/urdf/sensers/camera_gazebo.xacro</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a><span class="nt">&lt;gazebo</span> <span class="na">reference=</span><span class="s">&quot;${prefix}_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>    <span class="nt">&lt;sensor</span> <span class="na">type=</span><span class="s">&quot;camera&quot;</span> <span class="na">name=</span><span class="s">&quot;camera_node&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>        <span class="nt">&lt;update_rate&gt;</span>30.0<span class="nt">&lt;/update_rate&gt;</span>
-<a id="__codelineno-1-4" name="__codelineno-1-4" href="#__codelineno-1-4"></a>        <span class="nt">&lt;camera</span> <span class="na">name=</span><span class="s">&quot;head&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-1-5" name="__codelineno-1-5" href="#__codelineno-1-5"></a>            <span class="nt">&lt;horizontal_fov&gt;</span>1.3962634<span class="nt">&lt;/horizontal_fov&gt;</span>
-<a id="__codelineno-1-6" name="__codelineno-1-6" href="#__codelineno-1-6"></a>            <span class="nt">&lt;image&gt;</span>
-<a id="__codelineno-1-7" name="__codelineno-1-7" href="#__codelineno-1-7"></a>                <span class="nt">&lt;width&gt;</span>1280<span class="nt">&lt;/width&gt;</span>
-<a id="__codelineno-1-8" name="__codelineno-1-8" href="#__codelineno-1-8"></a>                <span class="nt">&lt;height&gt;</span>720<span class="nt">&lt;/height&gt;</span>
-<a id="__codelineno-1-9" name="__codelineno-1-9" href="#__codelineno-1-9"></a>                <span class="nt">&lt;format&gt;</span>R8G8B8<span class="nt">&lt;/format&gt;</span>
-<a id="__codelineno-1-10" name="__codelineno-1-10" href="#__codelineno-1-10"></a>            <span class="nt">&lt;/image&gt;</span>
-<a id="__codelineno-1-11" name="__codelineno-1-11" href="#__codelineno-1-11"></a>            <span class="nt">&lt;clip&gt;</span>
-<a id="__codelineno-1-12" name="__codelineno-1-12" href="#__codelineno-1-12"></a>                <span class="nt">&lt;near&gt;</span>0.02<span class="nt">&lt;/near&gt;</span>
-<a id="__codelineno-1-13" name="__codelineno-1-13" href="#__codelineno-1-13"></a>                <span class="nt">&lt;far&gt;</span>300<span class="nt">&lt;/far&gt;</span>
-<a id="__codelineno-1-14" name="__codelineno-1-14" href="#__codelineno-1-14"></a>            <span class="nt">&lt;/clip&gt;</span>
-<a id="__codelineno-1-15" name="__codelineno-1-15" href="#__codelineno-1-15"></a>            <span class="nt">&lt;noise&gt;</span>
-<a id="__codelineno-1-16" name="__codelineno-1-16" href="#__codelineno-1-16"></a>                <span class="nt">&lt;type&gt;</span>gaussian<span class="nt">&lt;/type&gt;</span>
-<a id="__codelineno-1-17" name="__codelineno-1-17" href="#__codelineno-1-17"></a>                <span class="nt">&lt;mean&gt;</span>0.0<span class="nt">&lt;/mean&gt;</span>
-<a id="__codelineno-1-18" name="__codelineno-1-18" href="#__codelineno-1-18"></a>                <span class="nt">&lt;stddev&gt;</span>0.007<span class="nt">&lt;/stddev&gt;</span>
-<a id="__codelineno-1-19" name="__codelineno-1-19" href="#__codelineno-1-19"></a>            <span class="nt">&lt;/noise&gt;</span>
-<a id="__codelineno-1-20" name="__codelineno-1-20" href="#__codelineno-1-20"></a>        <span class="nt">&lt;/camera&gt;</span>
-<a id="__codelineno-1-21" name="__codelineno-1-21" href="#__codelineno-1-21"></a>        <span class="nt">&lt;plugin</span> <span class="na">name=</span><span class="s">&quot;gazebo_camera&quot;</span> <span class="na">filename=</span><span class="s">&quot;libgazebo_ros_camera.so&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-1-22" name="__codelineno-1-22" href="#__codelineno-1-22"></a>            <span class="nt">&lt;ros&gt;</span>
-<a id="__codelineno-1-23" name="__codelineno-1-23" href="#__codelineno-1-23"></a>                <span class="cm">&lt;!-- &lt;namespace&gt;stereo&lt;/namespace&gt; --&gt;</span>
-<a id="__codelineno-1-24" name="__codelineno-1-24" href="#__codelineno-1-24"></a>                <span class="nt">&lt;remapping&gt;</span>~/image_raw:=image_raw<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-1-25" name="__codelineno-1-25" href="#__codelineno-1-25"></a>                <span class="nt">&lt;remapping&gt;</span>~/camera_info:=camera_info<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-1-26" name="__codelineno-1-26" href="#__codelineno-1-26"></a>            <span class="nt">&lt;/ros&gt;</span>
-<a id="__codelineno-1-27" name="__codelineno-1-27" href="#__codelineno-1-27"></a>            <span class="nt">&lt;camera_name&gt;</span>${prefix}<span class="nt">&lt;/camera_name&gt;</span>
-<a id="__codelineno-1-28" name="__codelineno-1-28" href="#__codelineno-1-28"></a>            <span class="nt">&lt;frame_name&gt;</span>${prefix}_link<span class="nt">&lt;/frame_name&gt;</span>
-<a id="__codelineno-1-29" name="__codelineno-1-29" href="#__codelineno-1-29"></a>            <span class="nt">&lt;hack_baseline&gt;</span>0.2<span class="nt">&lt;/hack_baseline&gt;</span>
-<a id="__codelineno-1-30" name="__codelineno-1-30" href="#__codelineno-1-30"></a>        <span class="nt">&lt;/plugin&gt;</span>
-<a id="__codelineno-1-31" name="__codelineno-1-31" href="#__codelineno-1-31"></a>    <span class="nt">&lt;/sensor&gt;</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a><span class="nt">&lt;gazebo</span><span class="w"> </span><span class="na">reference=</span><span class="s">&quot;${prefix}_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a><span class="w">    </span><span class="nt">&lt;sensor</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;camera&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;camera_node&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a><span class="w">        </span><span class="nt">&lt;update_rate&gt;</span>30.0<span class="nt">&lt;/update_rate&gt;</span>
+<a id="__codelineno-1-4" name="__codelineno-1-4" href="#__codelineno-1-4"></a><span class="w">        </span><span class="nt">&lt;camera</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;head&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-1-5" name="__codelineno-1-5" href="#__codelineno-1-5"></a><span class="w">            </span><span class="nt">&lt;horizontal_fov&gt;</span>1.3962634<span class="nt">&lt;/horizontal_fov&gt;</span>
+<a id="__codelineno-1-6" name="__codelineno-1-6" href="#__codelineno-1-6"></a><span class="w">            </span><span class="nt">&lt;image&gt;</span>
+<a id="__codelineno-1-7" name="__codelineno-1-7" href="#__codelineno-1-7"></a><span class="w">                </span><span class="nt">&lt;width&gt;</span>1280<span class="nt">&lt;/width&gt;</span>
+<a id="__codelineno-1-8" name="__codelineno-1-8" href="#__codelineno-1-8"></a><span class="w">                </span><span class="nt">&lt;height&gt;</span>720<span class="nt">&lt;/height&gt;</span>
+<a id="__codelineno-1-9" name="__codelineno-1-9" href="#__codelineno-1-9"></a><span class="w">                </span><span class="nt">&lt;format&gt;</span>R8G8B8<span class="nt">&lt;/format&gt;</span>
+<a id="__codelineno-1-10" name="__codelineno-1-10" href="#__codelineno-1-10"></a><span class="w">            </span><span class="nt">&lt;/image&gt;</span>
+<a id="__codelineno-1-11" name="__codelineno-1-11" href="#__codelineno-1-11"></a><span class="w">            </span><span class="nt">&lt;clip&gt;</span>
+<a id="__codelineno-1-12" name="__codelineno-1-12" href="#__codelineno-1-12"></a><span class="w">                </span><span class="nt">&lt;near&gt;</span>0.02<span class="nt">&lt;/near&gt;</span>
+<a id="__codelineno-1-13" name="__codelineno-1-13" href="#__codelineno-1-13"></a><span class="w">                </span><span class="nt">&lt;far&gt;</span>300<span class="nt">&lt;/far&gt;</span>
+<a id="__codelineno-1-14" name="__codelineno-1-14" href="#__codelineno-1-14"></a><span class="w">            </span><span class="nt">&lt;/clip&gt;</span>
+<a id="__codelineno-1-15" name="__codelineno-1-15" href="#__codelineno-1-15"></a><span class="w">            </span><span class="nt">&lt;noise&gt;</span>
+<a id="__codelineno-1-16" name="__codelineno-1-16" href="#__codelineno-1-16"></a><span class="w">                </span><span class="nt">&lt;type&gt;</span>gaussian<span class="nt">&lt;/type&gt;</span>
+<a id="__codelineno-1-17" name="__codelineno-1-17" href="#__codelineno-1-17"></a><span class="w">                </span><span class="nt">&lt;mean&gt;</span>0.0<span class="nt">&lt;/mean&gt;</span>
+<a id="__codelineno-1-18" name="__codelineno-1-18" href="#__codelineno-1-18"></a><span class="w">                </span><span class="nt">&lt;stddev&gt;</span>0.007<span class="nt">&lt;/stddev&gt;</span>
+<a id="__codelineno-1-19" name="__codelineno-1-19" href="#__codelineno-1-19"></a><span class="w">            </span><span class="nt">&lt;/noise&gt;</span>
+<a id="__codelineno-1-20" name="__codelineno-1-20" href="#__codelineno-1-20"></a><span class="w">        </span><span class="nt">&lt;/camera&gt;</span>
+<a id="__codelineno-1-21" name="__codelineno-1-21" href="#__codelineno-1-21"></a><span class="w">        </span><span class="nt">&lt;plugin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;gazebo_camera&quot;</span><span class="w"> </span><span class="na">filename=</span><span class="s">&quot;libgazebo_ros_camera.so&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-1-22" name="__codelineno-1-22" href="#__codelineno-1-22"></a><span class="w">            </span><span class="nt">&lt;ros&gt;</span>
+<a id="__codelineno-1-23" name="__codelineno-1-23" href="#__codelineno-1-23"></a><span class="w">                </span><span class="cm">&lt;!-- &lt;namespace&gt;stereo&lt;/namespace&gt; --&gt;</span>
+<a id="__codelineno-1-24" name="__codelineno-1-24" href="#__codelineno-1-24"></a><span class="w">                </span><span class="nt">&lt;remapping&gt;</span>~/image_raw:=image_raw<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-1-25" name="__codelineno-1-25" href="#__codelineno-1-25"></a><span class="w">                </span><span class="nt">&lt;remapping&gt;</span>~/camera_info:=camera_info<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-1-26" name="__codelineno-1-26" href="#__codelineno-1-26"></a><span class="w">            </span><span class="nt">&lt;/ros&gt;</span>
+<a id="__codelineno-1-27" name="__codelineno-1-27" href="#__codelineno-1-27"></a><span class="w">            </span><span class="nt">&lt;camera_name&gt;</span>${prefix}<span class="nt">&lt;/camera_name&gt;</span>
+<a id="__codelineno-1-28" name="__codelineno-1-28" href="#__codelineno-1-28"></a><span class="w">            </span><span class="nt">&lt;frame_name&gt;</span>${prefix}_link<span class="nt">&lt;/frame_name&gt;</span>
+<a id="__codelineno-1-29" name="__codelineno-1-29" href="#__codelineno-1-29"></a><span class="w">            </span><span class="nt">&lt;hack_baseline&gt;</span>0.2<span class="nt">&lt;/hack_baseline&gt;</span>
+<a id="__codelineno-1-30" name="__codelineno-1-30" href="#__codelineno-1-30"></a><span class="w">        </span><span class="nt">&lt;/plugin&gt;</span>
+<a id="__codelineno-1-31" name="__codelineno-1-31" href="#__codelineno-1-31"></a><span class="w">    </span><span class="nt">&lt;/sensor&gt;</span>
 <a id="__codelineno-1-32" name="__codelineno-1-32" href="#__codelineno-1-32"></a><span class="nt">&lt;/gazebo&gt;</span>
 </code></pre></div>
 <p>主要配置项如下：</p>
 <ul>
-<li>&lt;sensor>标签：描述传感器</li>
+<li>&lt;sensor&gt;标签：描述传感器</li>
 </ul>
 <blockquote>
 <p>type：传感器类型，camera</p>
 <p>name：摄像头命名，自由设置</p>
 </blockquote>
 <ul>
-<li>&lt;camera>标签：描述摄像头参数</li>
+<li>&lt;camera&gt;标签：描述摄像头参数</li>
 </ul>
 <blockquote>
 <p>分辨率，编码格式，图像范围，噪音参数等</p>
 </blockquote>
 <ul>
-<li>&lt;plugin>标签：加载摄像头仿真插件</li>
+<li>&lt;plugin&gt;标签：加载摄像头仿真插件</li>
 </ul>
 <h3 id="_4"><strong>运行仿真环境</strong></h3>
 <p>模型已经配置好啦，能不能把摄像头成功仿真出来，并且在Rviz中看到图像信息，我们拭目以待。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$ ros2 launch learning_gazebo load_mbot_camera_into_gazebo.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo<span class="w"> </span>load_mbot_camera_into_gazebo.launch.py
 </code></pre></div>
 <p><img alt="image-20220528152414923" src="../image/3.5_Rviz/image-20220528152414923.jpg" /></p>
 <p>可以使用命令行看下仿真出来的图像话题：</p>
 <p><img alt="image-20220528152456256" src="../image/3.5_Rviz/image-20220528152456256.jpg" /></p>
 <h3 id="_5"><strong>图像数据可视化</strong></h3>
 <p>我们使用Rviz可视化显示图像信息，先来启动Rviz：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$ ros2 run rviz2 rviz2
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2
 </code></pre></div>
 <p>启动成功后，在左侧Displays窗口中点击“Add”，找到Image显示项，OK确认后就可以加入显示列表啦，然后配置好该显示项订阅的图像话题，就可以顺利看到机器人的摄像头图像啦。</p>
 <p><img alt="image-20220528152442483" src="../image/3.5_Rviz/image-20220528152442483.jpg" /></p>
@@ -1188,51 +1905,51 @@ <h2 id="_6"><strong>三维相机仿真与可视化</strong></h2>
 <h3 id="_7"><strong>仿真插件配置</strong></h3>
 <p>三维相机使用的Gazebo插件也是libgazebo_ros_camera.so，配置方法如下：</p>
 <p>learning_gazebo/urdf/sensers/kinect_gazebo.xacro</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a><span class="nt">&lt;gazebo</span> <span class="na">reference=</span><span class="s">&quot;${prefix}_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>    <span class="nt">&lt;sensor</span> <span class="na">type=</span><span class="s">&quot;depth&quot;</span> <span class="na">name=</span><span class="s">&quot;${prefix}&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-4-3" name="__codelineno-4-3" href="#__codelineno-4-3"></a>        <span class="nt">&lt;always_on&gt;</span>true<span class="nt">&lt;/always_on&gt;</span>
-<a id="__codelineno-4-4" name="__codelineno-4-4" href="#__codelineno-4-4"></a>        <span class="nt">&lt;update_rate&gt;</span>15.0<span class="nt">&lt;/update_rate&gt;</span>
-<a id="__codelineno-4-5" name="__codelineno-4-5" href="#__codelineno-4-5"></a>        <span class="nt">&lt;pose&gt;</span>0 0 0 0 0 0<span class="nt">&lt;/pose&gt;</span>
-<a id="__codelineno-4-6" name="__codelineno-4-6" href="#__codelineno-4-6"></a>        <span class="nt">&lt;camera</span> <span class="na">name=</span><span class="s">&quot;kinect&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-4-7" name="__codelineno-4-7" href="#__codelineno-4-7"></a>            <span class="nt">&lt;horizontal_fov&gt;</span>${60.0*M_PI/180.0}<span class="nt">&lt;/horizontal_fov&gt;</span>
-<a id="__codelineno-4-8" name="__codelineno-4-8" href="#__codelineno-4-8"></a>            <span class="nt">&lt;image&gt;</span>
-<a id="__codelineno-4-9" name="__codelineno-4-9" href="#__codelineno-4-9"></a>                <span class="nt">&lt;format&gt;</span>R8G8B8<span class="nt">&lt;/format&gt;</span>
-<a id="__codelineno-4-10" name="__codelineno-4-10" href="#__codelineno-4-10"></a>                <span class="nt">&lt;width&gt;</span>640<span class="nt">&lt;/width&gt;</span>
-<a id="__codelineno-4-11" name="__codelineno-4-11" href="#__codelineno-4-11"></a>                <span class="nt">&lt;height&gt;</span>480<span class="nt">&lt;/height&gt;</span>
-<a id="__codelineno-4-12" name="__codelineno-4-12" href="#__codelineno-4-12"></a>            <span class="nt">&lt;/image&gt;</span>
-<a id="__codelineno-4-13" name="__codelineno-4-13" href="#__codelineno-4-13"></a>            <span class="nt">&lt;clip&gt;</span>
-<a id="__codelineno-4-14" name="__codelineno-4-14" href="#__codelineno-4-14"></a>                <span class="nt">&lt;near&gt;</span>0.05<span class="nt">&lt;/near&gt;</span>
-<a id="__codelineno-4-15" name="__codelineno-4-15" href="#__codelineno-4-15"></a>                <span class="nt">&lt;far&gt;</span>8.0<span class="nt">&lt;/far&gt;</span>
-<a id="__codelineno-4-16" name="__codelineno-4-16" href="#__codelineno-4-16"></a>            <span class="nt">&lt;/clip&gt;</span>
-<a id="__codelineno-4-17" name="__codelineno-4-17" href="#__codelineno-4-17"></a>        <span class="nt">&lt;/camera&gt;</span>
-<a id="__codelineno-4-18" name="__codelineno-4-18" href="#__codelineno-4-18"></a>        <span class="nt">&lt;plugin</span> <span class="na">name=</span><span class="s">&quot;${prefix}_controller&quot;</span> <span class="na">filename=</span><span class="s">&quot;libgazebo_ros_camera.so&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-4-19" name="__codelineno-4-19" href="#__codelineno-4-19"></a>            <span class="nt">&lt;ros&gt;</span>
-<a id="__codelineno-4-20" name="__codelineno-4-20" href="#__codelineno-4-20"></a>                <span class="cm">&lt;!-- &lt;namespace&gt;${prefix}&lt;/namespace&gt; --&gt;</span>
-<a id="__codelineno-4-21" name="__codelineno-4-21" href="#__codelineno-4-21"></a>                <span class="nt">&lt;remapping&gt;</span>${prefix}/image_raw:=rgb/image_raw<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-4-22" name="__codelineno-4-22" href="#__codelineno-4-22"></a>                <span class="nt">&lt;remapping&gt;</span>${prefix}/image_depth:=depth/image_raw<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-4-23" name="__codelineno-4-23" href="#__codelineno-4-23"></a>                <span class="nt">&lt;remapping&gt;</span>${prefix}/camera_info:=rgb/camera_info<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-4-24" name="__codelineno-4-24" href="#__codelineno-4-24"></a>                <span class="nt">&lt;remapping&gt;</span>${prefix}/camera_info_depth:=depth/camera_info<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-4-25" name="__codelineno-4-25" href="#__codelineno-4-25"></a>                <span class="nt">&lt;remapping&gt;</span>${prefix}/points:=depth/points<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-4-26" name="__codelineno-4-26" href="#__codelineno-4-26"></a>            <span class="nt">&lt;/ros&gt;</span>
-<a id="__codelineno-4-27" name="__codelineno-4-27" href="#__codelineno-4-27"></a>            <span class="nt">&lt;camera_name&gt;</span>${prefix}<span class="nt">&lt;/camera_name&gt;</span>
-<a id="__codelineno-4-28" name="__codelineno-4-28" href="#__codelineno-4-28"></a>            <span class="nt">&lt;frame_name&gt;</span>${prefix}_frame_optical<span class="nt">&lt;/frame_name&gt;</span>
-<a id="__codelineno-4-29" name="__codelineno-4-29" href="#__codelineno-4-29"></a>            <span class="nt">&lt;hack_baseline&gt;</span>0.07<span class="nt">&lt;/hack_baseline&gt;</span>
-<a id="__codelineno-4-30" name="__codelineno-4-30" href="#__codelineno-4-30"></a>            <span class="nt">&lt;min_depth&gt;</span>0.001<span class="nt">&lt;/min_depth&gt;</span>
-<a id="__codelineno-4-31" name="__codelineno-4-31" href="#__codelineno-4-31"></a>            <span class="nt">&lt;max_depth&gt;</span>300.0<span class="nt">&lt;/max_depth&gt;</span>
-<a id="__codelineno-4-32" name="__codelineno-4-32" href="#__codelineno-4-32"></a>        <span class="nt">&lt;/plugin&gt;</span>
-<a id="__codelineno-4-33" name="__codelineno-4-33" href="#__codelineno-4-33"></a>    <span class="nt">&lt;/sensor&gt;</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a><span class="nt">&lt;gazebo</span><span class="w"> </span><span class="na">reference=</span><span class="s">&quot;${prefix}_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a><span class="w">    </span><span class="nt">&lt;sensor</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;depth&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-4-3" name="__codelineno-4-3" href="#__codelineno-4-3"></a><span class="w">        </span><span class="nt">&lt;always_on&gt;</span>true<span class="nt">&lt;/always_on&gt;</span>
+<a id="__codelineno-4-4" name="__codelineno-4-4" href="#__codelineno-4-4"></a><span class="w">        </span><span class="nt">&lt;update_rate&gt;</span>15.0<span class="nt">&lt;/update_rate&gt;</span>
+<a id="__codelineno-4-5" name="__codelineno-4-5" href="#__codelineno-4-5"></a><span class="w">        </span><span class="nt">&lt;pose&gt;</span>0<span class="w"> </span>0<span class="w"> </span>0<span class="w"> </span>0<span class="w"> </span>0<span class="w"> </span>0<span class="nt">&lt;/pose&gt;</span>
+<a id="__codelineno-4-6" name="__codelineno-4-6" href="#__codelineno-4-6"></a><span class="w">        </span><span class="nt">&lt;camera</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;kinect&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-4-7" name="__codelineno-4-7" href="#__codelineno-4-7"></a><span class="w">            </span><span class="nt">&lt;horizontal_fov&gt;</span>${60.0*M_PI/180.0}<span class="nt">&lt;/horizontal_fov&gt;</span>
+<a id="__codelineno-4-8" name="__codelineno-4-8" href="#__codelineno-4-8"></a><span class="w">            </span><span class="nt">&lt;image&gt;</span>
+<a id="__codelineno-4-9" name="__codelineno-4-9" href="#__codelineno-4-9"></a><span class="w">                </span><span class="nt">&lt;format&gt;</span>R8G8B8<span class="nt">&lt;/format&gt;</span>
+<a id="__codelineno-4-10" name="__codelineno-4-10" href="#__codelineno-4-10"></a><span class="w">                </span><span class="nt">&lt;width&gt;</span>640<span class="nt">&lt;/width&gt;</span>
+<a id="__codelineno-4-11" name="__codelineno-4-11" href="#__codelineno-4-11"></a><span class="w">                </span><span class="nt">&lt;height&gt;</span>480<span class="nt">&lt;/height&gt;</span>
+<a id="__codelineno-4-12" name="__codelineno-4-12" href="#__codelineno-4-12"></a><span class="w">            </span><span class="nt">&lt;/image&gt;</span>
+<a id="__codelineno-4-13" name="__codelineno-4-13" href="#__codelineno-4-13"></a><span class="w">            </span><span class="nt">&lt;clip&gt;</span>
+<a id="__codelineno-4-14" name="__codelineno-4-14" href="#__codelineno-4-14"></a><span class="w">                </span><span class="nt">&lt;near&gt;</span>0.05<span class="nt">&lt;/near&gt;</span>
+<a id="__codelineno-4-15" name="__codelineno-4-15" href="#__codelineno-4-15"></a><span class="w">                </span><span class="nt">&lt;far&gt;</span>8.0<span class="nt">&lt;/far&gt;</span>
+<a id="__codelineno-4-16" name="__codelineno-4-16" href="#__codelineno-4-16"></a><span class="w">            </span><span class="nt">&lt;/clip&gt;</span>
+<a id="__codelineno-4-17" name="__codelineno-4-17" href="#__codelineno-4-17"></a><span class="w">        </span><span class="nt">&lt;/camera&gt;</span>
+<a id="__codelineno-4-18" name="__codelineno-4-18" href="#__codelineno-4-18"></a><span class="w">        </span><span class="nt">&lt;plugin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;${prefix}_controller&quot;</span><span class="w"> </span><span class="na">filename=</span><span class="s">&quot;libgazebo_ros_camera.so&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-4-19" name="__codelineno-4-19" href="#__codelineno-4-19"></a><span class="w">            </span><span class="nt">&lt;ros&gt;</span>
+<a id="__codelineno-4-20" name="__codelineno-4-20" href="#__codelineno-4-20"></a><span class="w">                </span><span class="cm">&lt;!-- &lt;namespace&gt;${prefix}&lt;/namespace&gt; --&gt;</span>
+<a id="__codelineno-4-21" name="__codelineno-4-21" href="#__codelineno-4-21"></a><span class="w">                </span><span class="nt">&lt;remapping&gt;</span>${prefix}/image_raw:=rgb/image_raw<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-4-22" name="__codelineno-4-22" href="#__codelineno-4-22"></a><span class="w">                </span><span class="nt">&lt;remapping&gt;</span>${prefix}/image_depth:=depth/image_raw<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-4-23" name="__codelineno-4-23" href="#__codelineno-4-23"></a><span class="w">                </span><span class="nt">&lt;remapping&gt;</span>${prefix}/camera_info:=rgb/camera_info<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-4-24" name="__codelineno-4-24" href="#__codelineno-4-24"></a><span class="w">                </span><span class="nt">&lt;remapping&gt;</span>${prefix}/camera_info_depth:=depth/camera_info<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-4-25" name="__codelineno-4-25" href="#__codelineno-4-25"></a><span class="w">                </span><span class="nt">&lt;remapping&gt;</span>${prefix}/points:=depth/points<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-4-26" name="__codelineno-4-26" href="#__codelineno-4-26"></a><span class="w">            </span><span class="nt">&lt;/ros&gt;</span>
+<a id="__codelineno-4-27" name="__codelineno-4-27" href="#__codelineno-4-27"></a><span class="w">            </span><span class="nt">&lt;camera_name&gt;</span>${prefix}<span class="nt">&lt;/camera_name&gt;</span>
+<a id="__codelineno-4-28" name="__codelineno-4-28" href="#__codelineno-4-28"></a><span class="w">            </span><span class="nt">&lt;frame_name&gt;</span>${prefix}_frame_optical<span class="nt">&lt;/frame_name&gt;</span>
+<a id="__codelineno-4-29" name="__codelineno-4-29" href="#__codelineno-4-29"></a><span class="w">            </span><span class="nt">&lt;hack_baseline&gt;</span>0.07<span class="nt">&lt;/hack_baseline&gt;</span>
+<a id="__codelineno-4-30" name="__codelineno-4-30" href="#__codelineno-4-30"></a><span class="w">            </span><span class="nt">&lt;min_depth&gt;</span>0.001<span class="nt">&lt;/min_depth&gt;</span>
+<a id="__codelineno-4-31" name="__codelineno-4-31" href="#__codelineno-4-31"></a><span class="w">            </span><span class="nt">&lt;max_depth&gt;</span>300.0<span class="nt">&lt;/max_depth&gt;</span>
+<a id="__codelineno-4-32" name="__codelineno-4-32" href="#__codelineno-4-32"></a><span class="w">        </span><span class="nt">&lt;/plugin&gt;</span>
+<a id="__codelineno-4-33" name="__codelineno-4-33" href="#__codelineno-4-33"></a><span class="w">    </span><span class="nt">&lt;/sensor&gt;</span>
 <a id="__codelineno-4-34" name="__codelineno-4-34" href="#__codelineno-4-34"></a><span class="nt">&lt;/gazebo&gt;</span>
 </code></pre></div>
 <h3 id="_8"><strong>运行仿真环境</strong></h3>
 <p>使用如下命令启动仿真环境：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$ ros2 launch learning_gazebo load_mbot_rgbd_into_gazebo.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo<span class="w"> </span>load_mbot_rgbd_into_gazebo.launch.py
 </code></pre></div>
 <p><img alt="image-20220528152559248" src="../image/3.5_Rviz/image-20220528152559248.jpg" /></p>
 <p>启动成功后，可以看下当前的话题列表，已经产生了三维相机的相关话题。</p>
 <p><img alt="image-20220528152611362" src="../image/3.5_Rviz/image-20220528152611362.jpg" /></p>
 <h3 id="_9"><strong>点云数据可视化</strong></h3>
 <p>运行Rviz：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$ ros2 run rviz2 rviz2
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2
 </code></pre></div>
 <p>同样的流程，点击Add，添加PointCloud2，设置订阅的点云话题，还要配置Rviz的参考系是odom，就可以看到点云数据啦，每一个点都是由xyz位置和rgb颜色组成。</p>
 <p><img alt="image-20220528152552742" src="../image/3.5_Rviz/image-20220528152552742.jpg" /></p>
@@ -1241,49 +1958,49 @@ <h2 id="_10"><strong>激光雷达仿真与可视化</strong></h2>
 <h3 id="_11"><strong>仿真插件配置</strong></h3>
 <p>雷达使用的Gazebo插件是libgazebo_ros_ray_sensor.so，配置方法如下：</p>
 <p>learning_gazebo/urdf/sensers/lidar_gazebo.xacro</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a><span class="nt">&lt;gazebo</span> <span class="na">reference=</span><span class="s">&quot;${prefix}_link&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a>    <span class="nt">&lt;sensor</span> <span class="na">type=</span><span class="s">&quot;ray&quot;</span> <span class="na">name=</span><span class="s">&quot;rplidar&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-3" name="__codelineno-7-3" href="#__codelineno-7-3"></a>        <span class="nt">&lt;update_rate&gt;</span>20<span class="nt">&lt;/update_rate&gt;</span>
-<a id="__codelineno-7-4" name="__codelineno-7-4" href="#__codelineno-7-4"></a>        <span class="nt">&lt;ray&gt;</span>
-<a id="__codelineno-7-5" name="__codelineno-7-5" href="#__codelineno-7-5"></a>            <span class="nt">&lt;scan&gt;</span>
-<a id="__codelineno-7-6" name="__codelineno-7-6" href="#__codelineno-7-6"></a>              <span class="nt">&lt;horizontal&gt;</span>
-<a id="__codelineno-7-7" name="__codelineno-7-7" href="#__codelineno-7-7"></a>                <span class="nt">&lt;samples&gt;</span>360<span class="nt">&lt;/samples&gt;</span>
-<a id="__codelineno-7-8" name="__codelineno-7-8" href="#__codelineno-7-8"></a>                <span class="nt">&lt;resolution&gt;</span>1<span class="nt">&lt;/resolution&gt;</span>
-<a id="__codelineno-7-9" name="__codelineno-7-9" href="#__codelineno-7-9"></a>                <span class="nt">&lt;min_angle&gt;</span>-3<span class="nt">&lt;/min_angle&gt;</span>
-<a id="__codelineno-7-10" name="__codelineno-7-10" href="#__codelineno-7-10"></a>                <span class="nt">&lt;max_angle&gt;</span>3<span class="nt">&lt;/max_angle&gt;</span>
-<a id="__codelineno-7-11" name="__codelineno-7-11" href="#__codelineno-7-11"></a>              <span class="nt">&lt;/horizontal&gt;</span>
-<a id="__codelineno-7-12" name="__codelineno-7-12" href="#__codelineno-7-12"></a>            <span class="nt">&lt;/scan&gt;</span>
-<a id="__codelineno-7-13" name="__codelineno-7-13" href="#__codelineno-7-13"></a>            <span class="nt">&lt;range&gt;</span>
-<a id="__codelineno-7-14" name="__codelineno-7-14" href="#__codelineno-7-14"></a>              <span class="nt">&lt;min&gt;</span>0.10<span class="nt">&lt;/min&gt;</span>
-<a id="__codelineno-7-15" name="__codelineno-7-15" href="#__codelineno-7-15"></a>              <span class="nt">&lt;max&gt;</span>30.0<span class="nt">&lt;/max&gt;</span>
-<a id="__codelineno-7-16" name="__codelineno-7-16" href="#__codelineno-7-16"></a>              <span class="nt">&lt;resolution&gt;</span>0.01<span class="nt">&lt;/resolution&gt;</span>
-<a id="__codelineno-7-17" name="__codelineno-7-17" href="#__codelineno-7-17"></a>            <span class="nt">&lt;/range&gt;</span>
-<a id="__codelineno-7-18" name="__codelineno-7-18" href="#__codelineno-7-18"></a>            <span class="nt">&lt;noise&gt;</span>
-<a id="__codelineno-7-19" name="__codelineno-7-19" href="#__codelineno-7-19"></a>              <span class="nt">&lt;type&gt;</span>gaussian<span class="nt">&lt;/type&gt;</span>
-<a id="__codelineno-7-20" name="__codelineno-7-20" href="#__codelineno-7-20"></a>              <span class="nt">&lt;mean&gt;</span>0.0<span class="nt">&lt;/mean&gt;</span>
-<a id="__codelineno-7-21" name="__codelineno-7-21" href="#__codelineno-7-21"></a>              <span class="nt">&lt;stddev&gt;</span>0.01<span class="nt">&lt;/stddev&gt;</span>
-<a id="__codelineno-7-22" name="__codelineno-7-22" href="#__codelineno-7-22"></a>            <span class="nt">&lt;/noise&gt;</span>
-<a id="__codelineno-7-23" name="__codelineno-7-23" href="#__codelineno-7-23"></a>        <span class="nt">&lt;/ray&gt;</span>
-<a id="__codelineno-7-24" name="__codelineno-7-24" href="#__codelineno-7-24"></a>        <span class="nt">&lt;plugin</span> <span class="na">name=</span><span class="s">&quot;gazebo_rplidar&quot;</span> <span class="na">filename=</span><span class="s">&quot;libgazebo_ros_ray_sensor.so&quot;</span><span class="nt">&gt;</span>
-<a id="__codelineno-7-25" name="__codelineno-7-25" href="#__codelineno-7-25"></a>      <span class="nt">&lt;ros&gt;</span>
-<a id="__codelineno-7-26" name="__codelineno-7-26" href="#__codelineno-7-26"></a>    <span class="nt">&lt;namespace&gt;</span>/<span class="nt">&lt;/namespace&gt;</span>
-<a id="__codelineno-7-27" name="__codelineno-7-27" href="#__codelineno-7-27"></a>    <span class="nt">&lt;remapping&gt;</span>~/out:=scan<span class="nt">&lt;/remapping&gt;</span>
-<a id="__codelineno-7-28" name="__codelineno-7-28" href="#__codelineno-7-28"></a>      <span class="nt">&lt;/ros&gt;</span>
-<a id="__codelineno-7-29" name="__codelineno-7-29" href="#__codelineno-7-29"></a>      <span class="nt">&lt;output_type&gt;</span>sensor_msgs/LaserScan<span class="nt">&lt;/output_type&gt;</span>
-<a id="__codelineno-7-30" name="__codelineno-7-30" href="#__codelineno-7-30"></a>        <span class="nt">&lt;/plugin&gt;</span>
-<a id="__codelineno-7-31" name="__codelineno-7-31" href="#__codelineno-7-31"></a>    <span class="nt">&lt;/sensor&gt;</span>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a><span class="nt">&lt;gazebo</span><span class="w"> </span><span class="na">reference=</span><span class="s">&quot;${prefix}_link&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a><span class="w">    </span><span class="nt">&lt;sensor</span><span class="w"> </span><span class="na">type=</span><span class="s">&quot;ray&quot;</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;rplidar&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-3" name="__codelineno-7-3" href="#__codelineno-7-3"></a><span class="w">        </span><span class="nt">&lt;update_rate&gt;</span>20<span class="nt">&lt;/update_rate&gt;</span>
+<a id="__codelineno-7-4" name="__codelineno-7-4" href="#__codelineno-7-4"></a><span class="w">        </span><span class="nt">&lt;ray&gt;</span>
+<a id="__codelineno-7-5" name="__codelineno-7-5" href="#__codelineno-7-5"></a><span class="w">            </span><span class="nt">&lt;scan&gt;</span>
+<a id="__codelineno-7-6" name="__codelineno-7-6" href="#__codelineno-7-6"></a><span class="w">              </span><span class="nt">&lt;horizontal&gt;</span>
+<a id="__codelineno-7-7" name="__codelineno-7-7" href="#__codelineno-7-7"></a><span class="w">                </span><span class="nt">&lt;samples&gt;</span>360<span class="nt">&lt;/samples&gt;</span>
+<a id="__codelineno-7-8" name="__codelineno-7-8" href="#__codelineno-7-8"></a><span class="w">                </span><span class="nt">&lt;resolution&gt;</span>1<span class="nt">&lt;/resolution&gt;</span>
+<a id="__codelineno-7-9" name="__codelineno-7-9" href="#__codelineno-7-9"></a><span class="w">                </span><span class="nt">&lt;min_angle&gt;</span>-3<span class="nt">&lt;/min_angle&gt;</span>
+<a id="__codelineno-7-10" name="__codelineno-7-10" href="#__codelineno-7-10"></a><span class="w">                </span><span class="nt">&lt;max_angle&gt;</span>3<span class="nt">&lt;/max_angle&gt;</span>
+<a id="__codelineno-7-11" name="__codelineno-7-11" href="#__codelineno-7-11"></a><span class="w">              </span><span class="nt">&lt;/horizontal&gt;</span>
+<a id="__codelineno-7-12" name="__codelineno-7-12" href="#__codelineno-7-12"></a><span class="w">            </span><span class="nt">&lt;/scan&gt;</span>
+<a id="__codelineno-7-13" name="__codelineno-7-13" href="#__codelineno-7-13"></a><span class="w">            </span><span class="nt">&lt;range&gt;</span>
+<a id="__codelineno-7-14" name="__codelineno-7-14" href="#__codelineno-7-14"></a><span class="w">              </span><span class="nt">&lt;min&gt;</span>0.10<span class="nt">&lt;/min&gt;</span>
+<a id="__codelineno-7-15" name="__codelineno-7-15" href="#__codelineno-7-15"></a><span class="w">              </span><span class="nt">&lt;max&gt;</span>30.0<span class="nt">&lt;/max&gt;</span>
+<a id="__codelineno-7-16" name="__codelineno-7-16" href="#__codelineno-7-16"></a><span class="w">              </span><span class="nt">&lt;resolution&gt;</span>0.01<span class="nt">&lt;/resolution&gt;</span>
+<a id="__codelineno-7-17" name="__codelineno-7-17" href="#__codelineno-7-17"></a><span class="w">            </span><span class="nt">&lt;/range&gt;</span>
+<a id="__codelineno-7-18" name="__codelineno-7-18" href="#__codelineno-7-18"></a><span class="w">            </span><span class="nt">&lt;noise&gt;</span>
+<a id="__codelineno-7-19" name="__codelineno-7-19" href="#__codelineno-7-19"></a><span class="w">              </span><span class="nt">&lt;type&gt;</span>gaussian<span class="nt">&lt;/type&gt;</span>
+<a id="__codelineno-7-20" name="__codelineno-7-20" href="#__codelineno-7-20"></a><span class="w">              </span><span class="nt">&lt;mean&gt;</span>0.0<span class="nt">&lt;/mean&gt;</span>
+<a id="__codelineno-7-21" name="__codelineno-7-21" href="#__codelineno-7-21"></a><span class="w">              </span><span class="nt">&lt;stddev&gt;</span>0.01<span class="nt">&lt;/stddev&gt;</span>
+<a id="__codelineno-7-22" name="__codelineno-7-22" href="#__codelineno-7-22"></a><span class="w">            </span><span class="nt">&lt;/noise&gt;</span>
+<a id="__codelineno-7-23" name="__codelineno-7-23" href="#__codelineno-7-23"></a><span class="w">        </span><span class="nt">&lt;/ray&gt;</span>
+<a id="__codelineno-7-24" name="__codelineno-7-24" href="#__codelineno-7-24"></a><span class="w">        </span><span class="nt">&lt;plugin</span><span class="w"> </span><span class="na">name=</span><span class="s">&quot;gazebo_rplidar&quot;</span><span class="w"> </span><span class="na">filename=</span><span class="s">&quot;libgazebo_ros_ray_sensor.so&quot;</span><span class="nt">&gt;</span>
+<a id="__codelineno-7-25" name="__codelineno-7-25" href="#__codelineno-7-25"></a><span class="w">      </span><span class="nt">&lt;ros&gt;</span>
+<a id="__codelineno-7-26" name="__codelineno-7-26" href="#__codelineno-7-26"></a><span class="w">    </span><span class="nt">&lt;namespace&gt;</span>/<span class="nt">&lt;/namespace&gt;</span>
+<a id="__codelineno-7-27" name="__codelineno-7-27" href="#__codelineno-7-27"></a><span class="w">    </span><span class="nt">&lt;remapping&gt;</span>~/out:=scan<span class="nt">&lt;/remapping&gt;</span>
+<a id="__codelineno-7-28" name="__codelineno-7-28" href="#__codelineno-7-28"></a><span class="w">      </span><span class="nt">&lt;/ros&gt;</span>
+<a id="__codelineno-7-29" name="__codelineno-7-29" href="#__codelineno-7-29"></a><span class="w">      </span><span class="nt">&lt;output_type&gt;</span>sensor_msgs/LaserScan<span class="nt">&lt;/output_type&gt;</span>
+<a id="__codelineno-7-30" name="__codelineno-7-30" href="#__codelineno-7-30"></a><span class="w">        </span><span class="nt">&lt;/plugin&gt;</span>
+<a id="__codelineno-7-31" name="__codelineno-7-31" href="#__codelineno-7-31"></a><span class="w">    </span><span class="nt">&lt;/sensor&gt;</span>
 <a id="__codelineno-7-32" name="__codelineno-7-32" href="#__codelineno-7-32"></a><span class="nt">&lt;/gazebo&gt;</span>
 </code></pre></div>
 <h3 id="_12"><strong>运行仿真环境</strong></h3>
 <p>使用如下命令启动仿真环境：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$ ros2 launch learning_gazebo load_mbot_laser_into_gazebo.launch.py
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo<span class="w"> </span>load_mbot_laser_into_gazebo.launch.py
 </code></pre></div>
 <p><img alt="image-20220528152754541" src="../image/3.5_Rviz/image-20220528152754541.jpg" /></p>
 <p>在话题列表中也可以看到激光雷达啦。</p>
 <p><img alt="image-20220528152810332" src="../image/3.5_Rviz/image-20220528152810332.jpg" /></p>
 <h3 id="_13"><strong>点云数据可视化</strong></h3>
 <p>启动Rviz：</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$ ros2 run rviz2 rviz2
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2
 </code></pre></div>
 <p>点击Add，选择Laserscan，然后配置订阅的话题名，rviz的固定坐标系依然是odom，此时就可以看到激光点啦。</p>
 <p><img alt="image-20220528152821691" src="../image/3.5_Rviz/image-20220528152821691.jpg" /></p>
@@ -1302,50 +2019,32 @@ <h2 id="_14"><strong>参考链接</strong></h2>
 <p><a href="https://www.stereolabs.com/docs/ros2/rviz2/" target="_blank">https://www.stereolabs.com/docs/ros2/rviz2/</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
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-      <script src="../../../assets/javascripts/bundle.a6c66575.min.js"></script>
+    <script id="__config" type="application/json">{"base": "../../..", "features": ["search.highlight"], "search": "../../../assets/javascripts/workers/search.6ce7567c.min.js", "translations": {"clipboard.copied": "\u5df2\u590d\u5236", "clipboard.copy": "\u590d\u5236", "search.result.more.one": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.more.other": "\u5728\u8be5\u9875\u4e0a\u8fd8\u6709 # \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.none": "\u6ca1\u6709\u627e\u5230\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.one": "\u627e\u5230 1 \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.other": "# \u4e2a\u7b26\u5408\u6761\u4ef6\u7684\u7ed3\u679c", "search.result.placeholder": "\u952e\u5165\u4ee5\u5f00\u59cb\u641c\u7d22", "search.result.term.missing": "\u7f3a\u5c11", "select.version": "\u9009\u62e9\u5f53\u524d\u7248\u672c"}}</script>
+    
+    
+      <script src="../../../assets/javascripts/bundle.83f73b43.min.js"></script>
       
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       <meta charset="utf-8">
       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/">
       
+      
+        <link rel="prev" href="../3.5_Rviz/">
+      
+      
+        <link rel="next" href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/">
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-        <title>Rqt - ROS2入门教程</title>
+        <title>Rqt - 图书资源</title>
       
     
     
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+      <link rel="stylesheet" href="../../../assets/stylesheets/main.6f8fc17f.min.css">
       
         
-        <link rel="stylesheet" href="../../../assets/stylesheets/palette.cc9b2e1e.min.css">
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+        <link rel="stylesheet" href="../../../assets/stylesheets/palette.06af60db.min.css">
       
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+    
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@@ -79,21 +88,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="../../.." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="../../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="../../../assets/img/favicon.png" alt="logo">
 
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-            ROS2入门教程
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+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
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+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
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-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
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-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
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-
+              
+            
+              
+                
   
   
   
+  
+    
+    
+    
     
     <li class="md-nav__item md-nav__item--nested">
       
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_3" type="checkbox" id="__nav_3" >
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-          <span class="md-nav__icon md-icon"></span>
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-          <span class="md-nav__icon md-icon"></span>
-          核心概念
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-        <ul class="md-nav__list" data-md-scrollfix>
+        
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
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     </li>
   
 
-            
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+              
             
               
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+  
   
   
   
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-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
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     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
-        通信接口
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
-        动作
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
   
   
     
   
   
+  
+    
+    
+    
     
     <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_4" type="checkbox" id="__nav_4" checked>
-      
-      
-      
-      
-        <label class="md-nav__link" for="__nav_4">
-          常用工具
-          <span class="md-nav__icon md-icon"></span>
-        </label>
-      
-      <nav class="md-nav" aria-label="常用工具" data-md-level="1">
-        <label class="md-nav__title" for="__nav_4">
-          <span class="md-nav__icon md-icon"></span>
-          常用工具
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.4_Gazebo/" class="md-nav__link">
-        Gazebo
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../3.5_Rviz/" class="md-nav__link">
-        Rviz
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
   
   
     
   
   
+  
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          Rqt
+          
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="./" class="md-nav__link md-nav__link--active">
-        Rqt
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
       
         
@@ -670,56 +1303,72 @@
       
         <li class="md-nav__item">
   <a href="#rqt_1" class="md-nav__link">
-    rqt介绍
+    <span class="md-ellipsis">
+      rqt介绍
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    日志显示
+    <span class="md-ellipsis">
+      日志显示
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    图像显示
+    <span class="md-ellipsis">
+      图像显示
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    发布话题数据/调用服务请求
+    <span class="md-ellipsis">
+      发布话题数据/调用服务请求
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    绘制数据曲线
+    <span class="md-ellipsis">
+      绘制数据曲线
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    数据包管理
+    <span class="md-ellipsis">
+      数据包管理
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    节点可视化
+    <span class="md-ellipsis">
+      节点可视化
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    参考资料
+    <span class="md-ellipsis">
+      参考资料
+    </span>
   </a>
   
 </li>
@@ -731,54 +1380,59 @@
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
-        资源汇总
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
       </a>
     </li>
   
 
-    
-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
-  
-  
-  
-    <li class="md-nav__item">
-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
     </li>
   
 
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
       </a>
     </li>
   
@@ -786,14 +1440,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="https://www.guyuehome.com" class="md-nav__link">
-        博客泡圈
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
       </a>
     </li>
   
@@ -801,14 +1460,19 @@
     
       
       
-      
-
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../../about/" class="md-nav__link">
-        关于我们
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
       </a>
     </li>
   
@@ -842,56 +1506,72 @@
       
         <li class="md-nav__item">
   <a href="#rqt_1" class="md-nav__link">
-    rqt介绍
+    <span class="md-ellipsis">
+      rqt介绍
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_1" class="md-nav__link">
-    日志显示
+    <span class="md-ellipsis">
+      日志显示
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    图像显示
+    <span class="md-ellipsis">
+      图像显示
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_3" class="md-nav__link">
-    发布话题数据/调用服务请求
+    <span class="md-ellipsis">
+      发布话题数据/调用服务请求
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_4" class="md-nav__link">
-    绘制数据曲线
+    <span class="md-ellipsis">
+      绘制数据曲线
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_5" class="md-nav__link">
-    数据包管理
+    <span class="md-ellipsis">
+      数据包管理
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_6" class="md-nav__link">
-    节点可视化
+    <span class="md-ellipsis">
+      节点可视化
+    </span>
   </a>
   
 </li>
       
         <li class="md-nav__item">
   <a href="#_7" class="md-nav__link">
-    参考资料
+    <span class="md-ellipsis">
+      参考资料
+    </span>
   </a>
   
 </li>
@@ -904,10 +1584,11 @@
               </div>
             
           
-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="rqt"><strong>RQT：模块化可视化工具</strong></h1>
@@ -927,8 +1608,8 @@ <h1 id="rqt"><strong>RQT：模块化可视化工具</strong></h1>
 <p>此时，我们就会用到ROS提供的另外一种模块化可视化工具——<strong>rqt</strong>。</p>
 <h2 id="rqt_1"><strong>rqt介绍</strong></h2>
 <p>正如RQT的命名，它和Rviz一样，也是基于QT可视化工具开发而来，在使用前，我们需要通过这样一句指令进行安装，然后就可以通过rqt这个命令启动使用了。</p>
-<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$ sudo apt install ros-humble-rqt
-<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$ rqt
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-rqt
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>rqt
 </code></pre></div>
 <p><img alt="image-20220528153119321" src="../image/3.6_Rqt/image-20220528153119321.png" /></p>
 <p>类似这个界面一样，里边可以加载很多小模块，每个模块都可以实现一个具体的小功能，一些常用的功能如下：</p>
@@ -949,50 +1630,32 @@ <h2 id="_7"><strong>参考资料</strong></h2>
 <p><a href="https://docs.ros.org/en/humble/Tutorials/Rqt-Console/Using-Rqt-Console.html" target="_blank">https://docs.ros.org/en/humble/Tutorials/Rqt-Console/Using-Rqt-Console.html</a></p>
 <p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../image/footer.png" /></a></p>
 
-              
-            </article>
-          </div>
+
+
+
+
+
+
+  
+  
+
+
+
+
+
+
+                
+              </article>
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@@ -1013,47 +1676,57 @@ <h2 id="_7"><strong>参考资料</strong></h2>
   
     
     
+    
+    
       
       
     
     <a href="https://www.guyuehome.com" target="_blank" rel="noopener" title="www.guyuehome.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M217.6 96.1c-12.95-.625-24.66 9.156-25.52 22.37-.88 13.23 9.12 24.63 22.32 24.63 79.53 5.188 148.4 74.09 153.6 153.6.828 12.69 11.39 22.43 23.94 22.43.516 0 1.047-.031 1.578-.063 13.22-.843 23.25-12.28 22.39-25.5C409.3 191.8 320.3 102.8 217.6 96.1zM224 0c-17.7 0-32 14.31-32 32s14.33 32 32 32c123.5 0 224 100.5 224 224 0 17.69 14.33 32 32 32s32-14.31 32-32C512 129.2 382.8 0 224 0zm-51.7 226.8c-14.6-2.9-28.3 9-28.3 23.8v50.37c0 10.25 7.127 18.37 16.75 21.1 18.13 6.75 31.26 24.38 31.26 44.1 0 26.5-21.5 47.1-48.01 47.1-26.5 0-48.01-21.5-48.01-47.1V120c0-13.25-10.75-23.1-24.01-23.1l-48.01.008C10.75 96.02 0 106.8 0 120v247.1c0 89.5 82.14 160.2 175 140.7 54.38-11.5 98.27-55.5 109.8-109.7 17.4-82-37-156.3-112.5-171.3z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M192 32c0 17.7 14.3 32 32 32 123.7 0 224 100.3 224 224 0 17.7 14.3 32 32 32s32-14.3 32-32C512 128.9 383.1 0 224 0c-17.7 0-32 14.3-32 32m0 96c0 17.7 14.3 32 32 32 70.7 0 128 57.3 128 128 0 17.7 14.3 32 32 32s32-14.3 32-32c0-106-86-192-192-192-17.7 0-32 14.3-32 32m-96 16c0-26.5-21.5-48-48-48S0 117.5 0 144v224c0 79.5 64.5 144 144 144s144-64.5 144-144-64.5-144-144-144h-16v96h16c26.5 0 48 21.5 48 48s-21.5 48-48 48-48-21.5-48-48z"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://class.guyuehome.com" target="_blank" rel="noopener" title="class.guyuehome.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 576 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M144.3 32.04c-37.4-.75-80.6 9.4-125.7 29.25C7.18 66.316 0 77.96 0 90.44v357.6c0 11.55 11.99 19.55 22.45 14.65 126.3-59.14 219.8 11 223.8 14.01 2.85 2.2 6.25 3.3 9.75 3.3 12.4 0 16-11.38 16-15.98V80.04c0-5.203-2.531-10.08-6.781-13.08C263.3 65.58 216.7 33.35 144.3 32.04zm413.1 29.25c-45.11-19.79-88.48-29.61-125.7-29.26-72.44 1.312-118.1 33.55-120.9 34.92-4.3 3.01-6.8 7.88-6.8 13.09v383.1c0 5.26 3.5 16.86 16 16.86 3.484 0 6.938-1.125 9.781-3.328 3.925-3.018 97.44-73.16 223.8-14 10.46 4.896 22.45-3.105 22.45-14.65v-357.6C575.1 77.97 568.8 66.31 557.4 61.29z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 576 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M249.6 471.5c10.8 3.8 22.4-4.1 22.4-15.5V78.6c0-4.2-1.6-8.4-5-11C247.4 52 202.4 32 144 32 93.5 32 46.3 45.3 18.1 56.1 6.8 60.5 0 71.7 0 83.8v370.3c0 11.9 12.8 20.2 24.1 16.5C55.6 460.1 105.5 448 144 448c33.9 0 79 14 105.6 23.5m76.8 0C353 462 398.1 448 432 448c38.5 0 88.4 12.1 119.9 22.6 11.3 3.8 24.1-4.6 24.1-16.5V83.8c0-12.1-6.8-23.3-18.1-27.6C529.7 45.3 482.5 32 432 32c-58.4 0-103.4 20-123 35.6-3.3 2.6-5 6.8-5 11V456c0 11.4 11.7 19.3 22.4 15.5"/></svg>
     </a>
   
     
     
+    
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     <a href="https://space.bilibili.com/386919562" target="_blank" rel="noopener" title="space.bilibili.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M488.6 104.1c16.7 18.1 24.4 39.7 23.3 65.7v202.4c-.4 26.4-9.2 48.1-26.5 65.1-17.2 17-39.1 25.9-65.5 26.7H92.02c-26.45-.8-48.21-9.8-65.28-27.2C9.682 419.4.767 396.5 0 368.2V169.8c.767-26 9.682-47.6 26.74-65.7C43.81 87.75 65.57 78.77 92.02 78h29.38L96.05 52.19c-5.75-5.73-8.63-13-8.63-21.79 0-8.8 2.88-16.06 8.63-21.797C101.8 2.868 109.1 0 117.9 0s16.1 2.868 21.9 8.603L213.1 78h88l74.5-69.397C381.7 2.868 389.2 0 398 0c8.8 0 16.1 2.868 21.9 8.603 5.7 5.737 8.6 12.997 8.6 21.797 0 8.79-2.9 16.06-8.6 21.79L394.6 78h29.3c26.4.77 48 9.75 64.7 26.1zm-38.8 69.7c-.4-9.6-3.7-17.4-10.7-23.5-5.2-6.1-14-9.4-22.7-9.8H96.05c-9.59.4-17.45 3.7-23.58 9.8-6.14 6.1-9.4 13.9-9.78 23.5v194.4c0 9.2 3.26 17 9.78 23.5s14.38 9.8 23.58 9.8H416.4c9.2 0 17-3.3 23.3-9.8 6.3-6.5 9.7-14.3 10.1-23.5V173.8zm-264.3 42.7c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.2 6.3-14 9.5-23.6 9.5-9.6 0-17.5-3.2-23.6-9.5-6.1-6.3-9.4-14-9.8-23.2v-33.3c.4-9.1 3.8-16.9 10.1-23.2 6.3-6.3 13.2-9.6 23.3-10 9.2.4 17 3.7 23.3 10zm191.5 0c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.1 6.3-14 9.5-23.6 9.5-9.6 0-17.4-3.2-23.6-9.5-7-6.3-9.4-14-9.7-23.2v-33.3c.3-9.1 3.7-16.9 10-23.2 6.3-6.3 14.1-9.6 23.3-10 9.2.4 17 3.7 23.3 10z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 512 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M488.6 104.1c16.7 18.1 24.4 39.7 23.3 65.7v202.4c-.4 26.4-9.2 48.1-26.5 65.1-17.2 17-39.1 25.9-65.5 26.7H92.02c-26.45-.8-48.21-9.8-65.28-27.2C9.682 419.4.767 396.5 0 368.2V169.8c.767-26 9.682-47.6 26.74-65.7C43.81 87.75 65.57 78.77 92.02 78h29.38L96.05 52.19c-5.75-5.73-8.63-13-8.63-21.79 0-8.8 2.88-16.06 8.63-21.797C101.8 2.868 109.1 0 117.9 0q13.2 0 21.9 8.603L213.1 78h88l74.5-69.397C381.7 2.868 389.2 0 398 0q13.2 0 21.9 8.603c5.7 5.737 8.6 12.997 8.6 21.797 0 8.79-2.9 16.06-8.6 21.79L394.6 78h29.3c26.4.77 48 9.75 64.7 26.1m-38.8 69.7c-.4-9.6-3.7-17.4-10.7-23.5-5.2-6.1-14-9.4-22.7-9.8H96.05c-9.59.4-17.45 3.7-23.58 9.8-6.14 6.1-9.4 13.9-9.78 23.5v194.4c0 9.2 3.26 17 9.78 23.5s14.38 9.8 23.58 9.8H416.4c9.2 0 17-3.3 23.3-9.8s9.7-14.3 10.1-23.5zm-264.3 42.7c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2-6.2 6.3-14 9.5-23.6 9.5s-17.5-3.2-23.6-9.5-9.4-14-9.8-23.2v-33.3c.4-9.1 3.8-16.9 10.1-23.2s13.2-9.6 23.3-10c9.2.4 17 3.7 23.3 10m191.5 0c6.3 6.3 9.7 14.1 10.1 23.2V273c-.4 9.2-3.7 16.9-9.8 23.2s-14 9.5-23.6 9.5-17.4-3.2-23.6-9.5c-7-6.3-9.4-14-9.7-23.2v-33.3c.3-9.1 3.7-16.9 10-23.2s14.1-9.6 23.3-10c9.2.4 17 3.7 23.3 10"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://gitee.com/guyuehome" target="_blank" rel="noopener" title="gitee.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81"/></svg>
     </a>
   
     
     
+    
+    
       
       
     
     <a href="https://github.com/guyuehome" target="_blank" rel="noopener" title="github.com" class="md-social__link">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.1.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2022 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6zm-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3zm44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9zM244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8zM97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1zm-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7zm32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1zm-11.4-14.7c-1.6 1-1.6 3.6 0 5.9 1.6 2.3 4.3 3.3 5.6 2.3 1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2z"/></svg>
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 496 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M165.9 397.4c0 2-2.3 3.6-5.2 3.6-3.3.3-5.6-1.3-5.6-3.6 0-2 2.3-3.6 5.2-3.6 3-.3 5.6 1.3 5.6 3.6m-31.1-4.5c-.7 2 1.3 4.3 4.3 4.9 2.6 1 5.6 0 6.2-2s-1.3-4.3-4.3-5.2c-2.6-.7-5.5.3-6.2 2.3m44.2-1.7c-2.9.7-4.9 2.6-4.6 4.9.3 2 2.9 3.3 5.9 2.6 2.9-.7 4.9-2.6 4.6-4.6-.3-1.9-3-3.2-5.9-2.9M244.8 8C106.1 8 0 113.3 0 252c0 110.9 69.8 205.8 169.5 239.2 12.8 2.3 17.3-5.6 17.3-12.1 0-6.2-.3-40.4-.3-61.4 0 0-70 15-84.7-29.8 0 0-11.4-29.1-27.8-36.6 0 0-22.9-15.7 1.6-15.4 0 0 24.9 2 38.6 25.8 21.9 38.6 58.6 27.5 72.9 20.9 2.3-16 8.8-27.1 16-33.7-55.9-6.2-112.3-14.3-112.3-110.5 0-27.5 7.6-41.3 23.6-58.9-2.6-6.5-11.1-33.3 2.6-67.9 20.9-6.5 69 27 69 27 20-5.6 41.5-8.5 62.8-8.5s42.8 2.9 62.8 8.5c0 0 48.1-33.6 69-27 13.7 34.7 5.2 61.4 2.6 67.9 16 17.7 25.8 31.5 25.8 58.9 0 96.5-58.9 104.2-114.8 110.5 9.2 7.9 17 22.9 17 46.4 0 33.7-.3 75.4-.3 83.6 0 6.5 4.6 14.4 17.3 12.1C428.2 457.8 496 362.9 496 252 496 113.3 383.5 8 244.8 8M97.2 352.9c-1.3 1-1 3.3.7 5.2 1.6 1.6 3.9 2.3 5.2 1 1.3-1 1-3.3-.7-5.2-1.6-1.6-3.9-2.3-5.2-1m-10.8-8.1c-.7 1.3.3 2.9 2.3 3.9 1.6 1 3.6.7 4.3-.7.7-1.3-.3-2.9-2.3-3.9-2-.6-3.6-.3-4.3.7m32.4 35.6c-1.6 1.3-1 4.3 1.3 6.2 2.3 2.3 5.2 2.6 6.5 1 1.3-1.3.7-4.3-1.3-6.2-2.2-2.3-5.2-2.6-6.5-1m-11.4-14.7c-1.6 1-1.6 3.6 0 5.9s4.3 3.3 5.6 2.3c1.6-1.3 1.6-3.9 0-6.2-1.4-2.3-4-3.3-5.6-2"/></svg>
     </a>
   
 </div>
@@ -1066,10 +1739,12 @@ <h2 id="_7"><strong>参考资料</strong></h2>
     <div class="md-dialog" data-md-component="dialog">
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+        <link rel="prev" href="../../3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/">
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1" >
+        
+          
+          <label class="md-nav__link" for="__nav_1" id="__nav_1_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2智能机器人开发实践
+  </span>
+  
 
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2智能机器人开发实践
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
   
   
   
     <li class="md-nav__item">
-      <a href="../../.." class="md-nav__link">
-        引言
+      <a href="../../../ROS2_Book/0.%E5%89%8D%E8%A8%80/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
+
       </a>
     </li>
   
 
+              
+            
+              
+                
+  
+  
+  
+  
     
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
-      
+    </li>
+  
 
+              
+            
+              
+                
+  
   
   
   
     
+    
+    
+    
     <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_2" type="checkbox" id="__nav_2" >
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
       
+    </li>
+  
+
+    
       
       
-        <label class="md-nav__link" for="__nav_2">
-          系统架构
-          <span class="md-nav__icon md-icon"></span>
-        </label>
+  
+  
+    
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
       
-      <nav class="md-nav" aria-label="系统架构" data-md-level="1">
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
+        
           
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
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+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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-      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
-        ROS和ROS2是什么
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
           
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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-      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
-        ROS2对比ROS1
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
-        ROS2命令行操作
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="../../1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
-        ROS2开发环境配置
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     
+    
+    
+    
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-      
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+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
           
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
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       <a href="../../2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
-        概念总览
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        工作空间
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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-        话题
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
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-            
-          
+              
             
               
+                
+  
   
   
   
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+
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+<html lang="zh" class="no-js">
+  <head>
+    
+      <meta charset="utf-8">
+      <meta name="viewport" content="width=device-width,initial-scale=1">
+      
+        <meta name="description" content="图书资源·古月居">
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+      
+      
+        <link rel="canonical" href="https://www.guyuehome.com/ROS2_Book/0.%E5%89%8D%E8%A8%80/">
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+      
+        <link rel="next" href="../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/">
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+      <meta name="generator" content="mkdocs-1.6.1, mkdocs-material-9.5.47">
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+        <title>本书使用说明 - 图书资源</title>
+      
+    
+    
+      <link rel="stylesheet" href="../../assets/stylesheets/main.6f8fc17f.min.css">
+      
+        
+        <link rel="stylesheet" href="../../assets/stylesheets/palette.06af60db.min.css">
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+        <link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Roboto:300,300i,400,400i,700,700i%7CRoboto+Mono:400,400i,700,700i&display=fallback">
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+    <label class="md-overlay" for="__drawer"></label>
+    <div data-md-component="skip">
+      
+        
+        <a href="#_1" class="md-skip">
+          跳转至
+        </a>
+      
+    </div>
+    <div data-md-component="announce">
+      
+    </div>
+    
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+      
+
+  
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+<header class="md-header md-header--shadow" data-md-component="header">
+  <nav class="md-header__inner md-grid" aria-label="页眉">
+    <a href="../.." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
+      
+  <img src="../../assets/img/favicon.png" alt="logo">
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+    </a>
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+    <div class="md-header__title" data-md-component="header-title">
+      <div class="md-header__ellipsis">
+        <div class="md-header__topic">
+          <span class="md-ellipsis">
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+        </div>
+        <div class="md-header__topic" data-md-component="header-topic">
+          <span class="md-ellipsis">
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+  </div>
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+    guyuehome
+  </div>
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+  
+  <ul class="md-nav__list" data-md-scrollfix>
+    
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+        
+          
+          <label class="md-nav__link" for="__nav_1" id="__nav_1_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2智能机器人开发实践
+  </span>
+  
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2智能机器人开发实践
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
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+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      前言
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      代码仓库
+    </span>
+  </a>
+  
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+      
+        <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      答疑区
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      本章节后续内容说明
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      购买链接
+    </span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
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+    </li>
+  
+
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+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
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+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
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+  
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+      
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+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
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+  
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+        </nav>
+      
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+  
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+    
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+    <li class="md-nav__item md-nav__item--nested">
+      
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+          
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+    ROS2入门21讲
+  </span>
+  
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+          </label>
+        
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+  
+  
+    <li class="md-nav__item">
+      <a href="../.." class="md-nav__link">
+        
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+  <span class="md-ellipsis">
+    引言
+  </span>
+  
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+    </li>
+  
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+        
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+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
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+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
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+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
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+      </a>
+    </li>
+  
+
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+            
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+  
+  
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+      <a href="../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
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+      </a>
+    </li>
+  
+
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+            
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+  
+  
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+      <a href="../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
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+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
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+        </nav>
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+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
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+    核心概念
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+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
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+    </li>
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+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
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+      </a>
+    </li>
+  
+
+              
+            
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+                
+  
+  
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+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
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+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
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+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+          </ul>
+        </nav>
+      
+    </li>
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+      
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
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+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
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+  
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+  
+    <li class="md-nav__item">
+      <a href="../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
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+    </li>
+  
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+            
+              
+                
+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+              
+                
+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
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+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
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+      <a href="../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
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+      </a>
+    </li>
+  
+
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+            
+              
+                
+  
+  
+  
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+      <a href="../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+              
+                
+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+          </ul>
+        </nav>
+      
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+      <a href="../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
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+    </li>
+  
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+            
+          </ul>
+        </nav>
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+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
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+    <li class="md-nav__item">
+      <a href="https://www.guyuehome.com" class="md-nav__link">
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+  </span>
+  
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+    </li>
+  
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+  
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+      <a href="../../about/" class="md-nav__link">
+        
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+    关于我们
+  </span>
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+</nav>
+                  </div>
+                </div>
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+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
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+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
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+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      前言
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      代码仓库
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      答疑区
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      本章节后续内容说明
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      购买链接
+    </span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="_1"><strong>本书使用说明</strong></h1>
+<h2 id="_2"><strong>前言</strong></h2>
+<p>这本书，讲机器人操作系统（ROS），更讲机器人。 </p>
+<p><strong>ROS缘起</strong> </p>
+<p>2007 年，一群怀揣梦想的年轻人，正在斯坦福大学的机器人实验室里进行一场头脑风暴：
+如果可以开发一款硬件足够强大的机器人，再搭配足够好用的软件系统，那么在此之上开发的应用功能就可以被快速分享了。例如，我做的自主导航功能你可以用，你做的物体抓取功能我也可以用，只需开发一个标准化的软硬件平台，在此之上的应用就会逐渐流行，这将打造机器人领域的一个全新“爆品”。'类似的原理造就了以计算机为平台的计算机时代，和以手机为平台的移动互联网时代，下一个以机器人为核心的智能机器人时代，是否也会遵循这样的逻辑？ </p>
+<p>将近20年过去了，以“事后诸葛亮”的视角来看，当时那群年轻人花重金打造的服务机器
+人并没有走进千家万户。机器人不像计算机或手机，它需要和外界环境产生多种多样的交互，硬件形态非常难以统一，小到纳米医疗机器人、家用娱乐机器人，大到智能驾驶汽车、人形机器人，都是未来会并存的机器人形态。不过，当年遵循“提高机器人软件复用率”思想开发的机器人操作系统——ROS，在2010年开源之后快速发展，助推过去十几年机器人行业的繁荣，逐渐成为智能机器人开发的主流标准。 </p>
+<p>当然，ROS的快速发展也远超那群年轻人的预期，本来只是为一款家用服务机器人设计的
+系统，被逐渐用于巡检、运输、农业等众多领域。需求越来越多，问题也越来越多，为了打造一款能够成为通用机器人标准化软件平台的“操作系统”，ROS 2在2014年第一次被提出，之后推出多个测试版本，并于2017年年底发布第一个正式版本。截至本书定稿时，ROS 2全新的稳定版本Jazzy Jalisco 发布，这也代表着ROS 2走向成熟。 </p>
+<p><strong>智能机器人时代</strong> </p>
+<p>在ROS 2快速迭代的同时，人工智能和机器人行业也发生了天翻地覆的变化。ChatGPT如
+一声惊雷，掀开了人工智能的大模型时代。相比过去的深度学习，大模型有更大的模型规模，就像一个有更多神经元的大脑一样，更加聪明、稳定。在ChatGPT之后，全球涌现了数百种大模型，这些大模型快速与各行各业结合。在机器人领域，原本遭受诸多诟病的智能化问题，也因为大模型的出现，而拥有了新的可能。 </p>
+<p>同时，机器人正在从工厂走向生活，餐厅里有送餐机器人，酒店里有送物机器人，家里有
+扫地机器人，路面上有自动驾驶汽车，再加上已然成为热点的人形机器人，机器人行业从底层硬件，到软件系统，再到智能化应用，正在逐渐成熟，智能机器人时代的序幕已经缓缓拉开。 </p>
+<p>我从2008年开始开发机器人，2011年接触ROS，2012年创办了“古月居”机器人社区，
+2022 年开始打造RDK机器人开发者套件，亲眼见证了ROS与机器人行业的相伴快速成长，也
+有幸和众多伙伴一起助推ROS在国内的普及应用。如今，“古月居”已经成为汇聚了200多万
+名开发者的机器人社区，RDK也正成为智能机器人开发套件的首选，一个全新的智能机器人时
+代正在向大家招手。 </p>
+<p><strong>本书特色和内容</strong> </p>
+<p>本书汇聚了我过去十几年的机器人开发经验，虽然将ROS作为贯穿全书的主线，但更重要
+的是告诉所有读者：ROS既是开发机器人的软件平台，也是软件工具，在开发机器人时，不仅
+要会用这个工具，还要懂机器人开发的诸多原理。所以，本书不仅会详细讲解ROS 2的基本概念，更会介绍如何将这些概念应用在机器人开发中，同时指导读者从零构建一个完整的机器人系统。 </p>
+<p>本书共有9章，分为三部分。 </p>
+<p>第一部分（第1~3章）介绍ROS 2基础原理：主要讲解ROS 2的发展历程、核心原理和组
+件工具，提供大量的编程和使用示例，为读者全面展示ROS 2的基础原理和功能。 </p>
+<p>第二部分（第4~6章）介绍ROS 2机器人设计：主要讲解如何使用ROS 2设计一个仿真机
+器人和实物机器人，有条件的读者甚至可以根据书中内容自己做一个机器人。 </p>
+<p>第三部分（第7~9章）介绍ROS 2机器人应用：主要讲解使用ROS 2开发机器人视觉识别、
+地图构建和自主导航等众多应用的方法，让机器人不仅动得了，还能看懂和理解周围的环境，并且产生进一步的交互运动。 </p>
+<p>本书采用最新稳定版本ROS 2系统和全新一代的Gazebo机器人仿真平台，绝大部分功能
+和源码可以在单独的计算机和Gazebo仿真平台上运行。同时，本书介绍实物机器人的搭建方法，并且在实物机器人上实现相应的功能。配套源码都加入了中文注释，同时针对核心内容提供C++和Python 两个版本，方便读者理解。 </p>
+<p>所以，本书不仅适合希望了解、学习、应用ROS 2的机器人初学者，也适合有一定经验的
+机器人开发工程师，同时可以作为资深机器人开发者的参考手册。 </p>
+<p><strong>致谢</strong> </p>
+<p>本书的出版离不开众多“贵人”的帮助。感谢我的妻子薛先茹，谢谢你陪我辗转多地并一
+直无条件支持我；感谢两个对世界充满好奇的小朋友胡敬然、胡泽然，是你们给了我前进的动力和思考的源泉；感谢电子工业出版社的支持，郑柳洁编辑为本书提供了很多宝贵建议，并组织推动本书顺利出版，张晶老师为本书的编排付出了大量心血；感谢本书的另一位作者李乔龙，配合我完成了全书的写作和修正工作；感谢当年斯坦福那群打造 ROS 的年轻人：Morgan Quigley、Brian Gerkey、Tully Foote 等，是你们大胆的想法和尝试，带来了机器人开发标准化的可能；感谢ROS机器人开发之路上一路同行的伙伴，我们都是智能机器人时代的创造者。要感谢的人太多，无法一一列举，但是我都铭记在心。 </p>
+<p><strong>说明</strong> </p>
+<p>为了方便读者阅读和学习本书，“古月居”机器人社区网站（guyuehome.com）专门设置
+了一个主页（在导航栏中单击“图书”选项进入专属页面），供读者下载配套代码、查看操作指令，还可以学习很多配套的视频教程。 </p>
+<p>机器人系统错综复杂，ROS版本变化繁多，书中难免有不足和错误之处，欢迎读者朋友批
+评指正，相关问题都可以在“古月居”机器人社区交流。 </p>
+<p>最后分享胡适先生的一句名言，愿你我共勉：怕什么真理无穷，进一寸有一寸的欢喜。 </p>
+<h2 id="_3"><strong>代码仓库</strong></h2>
+<table>
+<thead>
+<tr>
+<th>名称</th>
+<th>链接</th>
+<th>说明</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>ros2_21_tutorials</td>
+<td><a href="https://gitee.com/guyuehome/ros2_21_tutorials">https://gitee.com/guyuehome/ros2_21_tutorials</a></td>
+<td>ros2 21讲上手代码</td>
+</tr>
+<tr>
+<td>originbot</td>
+<td><a href="https://gitee.com/guyuehome/originbot">https://gitee.com/guyuehome/originbot</a></td>
+<td>originbot机器人端功能包仓库</td>
+</tr>
+<tr>
+<td>originbot_desktop</td>
+<td><a href="https://gitee.com/guyuehome/originbot_desktop">https://gitee.com/guyuehome/originbot_desktop</a></td>
+<td>originbot电脑端功能包仓库</td>
+</tr>
+<tr>
+<td>originbot_controller</td>
+<td><a href="https://gitee.com/guyuehome/originbot_controller">https://gitee.com/guyuehome/originbot_controller</a></td>
+<td>originbot控制器源码仓库</td>
+</tr>
+</tbody>
+</table>
+<div class="admonition tip">
+<p class="admonition-title">下载代码</p>
+<p>您可以通过以下命令克隆代码仓库：
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/ros2_21_tutorials.git
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/originbot.git
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/originbot_desktop.git
+<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/originbot_controller.git
+</code></pre></div></p>
+</div>
+<h2 id="_4"><strong>答疑区</strong></h2>
+<p>如果您对本书有任何疑问，欢迎到 <a href="https://www.guyuehome.com/interlocution">https://www.guyuehome.com/interlocution</a> 进行提问</p>
+<h2 id="_5"><strong>本章节后续内容说明</strong></h2>
+<p>接下来的四个章节将为大家提供快速复制的指令说明，方便与图书内容配合使用！</p>
+<h2 id="_6"><strong>购买链接</strong></h2>
+<p>点击下图即可购买本书！</p>
+<p><a href="https://item.jd.com/10127114356373.html"><img alt="封面" src="../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/img/%E5%B0%81%E9%9D%A2.jpg" /></a></p>
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+    ROS2智能机器人开发实践
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+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="true">
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+    本书使用说明
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+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
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+    </li>
+  
+
+              
+            
+              
+                
+  
+  
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+      <a href="../ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
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+    <li class="md-nav__item md-nav__item--active">
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+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
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+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#launch" class="md-nav__link">
+    <span class="md-ellipsis">
+      Launch：多节点启动与配置脚本
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Launch：多节点启动与配置脚本">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      多节点启动脚本
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      命令行参数配置
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      资源重映射
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS参数设置
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#tf" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf：机器人坐标系管理系统
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="tf：机器人坐标系管理系统">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#tf_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf 命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfpython" class="md-nav__link">
+    <span class="md-ellipsis">
+      静态tf广播（Python）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfc" class="md-nav__link">
+    <span class="md-ellipsis">
+      静态tf广播（C++）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfpython_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      动态tf广播（Python）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfc_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      动态tf广播（C++）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfpython_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf监听（Python）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tf-c" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf 监听（C++）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#python" class="md-nav__link">
+    <span class="md-ellipsis">
+      海龟跟随（Python）
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#gazebo" class="md-nav__link">
+    <span class="md-ellipsis">
+      Gazebo：机器人三维物理仿真平台
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Gazebo：机器人三维物理仿真平台">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#gazebo_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装Gazebo
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人仿真示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      传感器仿真示例
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rviz" class="md-nav__link">
+    <span class="md-ellipsis">
+      RViz：数据可视化平台
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="RViz：数据可视化平台">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#tf_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf数据可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      图像数据可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rosbag" class="md-nav__link">
+    <span class="md-ellipsis">
+      rosbag：数据记录与回放
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="rosbag：数据记录与回放">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      记录数据
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      回放数据
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rqt" class="md-nav__link">
+    <span class="md-ellipsis">
+      rqt：模块化可视化工具箱
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="rqt：模块化可视化工具箱">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#rqt_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      rqt 安装与使用
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      日志显示
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_10" class="md-nav__link">
+    <span class="md-ellipsis">
+      图像显示
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2开发环境配置
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2开发环境配置">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#git" class="md-nav__link">
+    <span class="md-ellipsis">
+      版本管理软件git
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://www.guyuehome.com" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../about/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#launch" class="md-nav__link">
+    <span class="md-ellipsis">
+      Launch：多节点启动与配置脚本
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Launch：多节点启动与配置脚本">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      多节点启动脚本
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      命令行参数配置
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      资源重映射
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS参数设置
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#tf" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf：机器人坐标系管理系统
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="tf：机器人坐标系管理系统">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#tf_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf 命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfpython" class="md-nav__link">
+    <span class="md-ellipsis">
+      静态tf广播（Python）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfc" class="md-nav__link">
+    <span class="md-ellipsis">
+      静态tf广播（C++）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfpython_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      动态tf广播（Python）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfc_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      动态tf广播（C++）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tfpython_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf监听（Python）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#tf-c" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf 监听（C++）
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#python" class="md-nav__link">
+    <span class="md-ellipsis">
+      海龟跟随（Python）
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#gazebo" class="md-nav__link">
+    <span class="md-ellipsis">
+      Gazebo：机器人三维物理仿真平台
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Gazebo：机器人三维物理仿真平台">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#gazebo_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装Gazebo
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人仿真示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      传感器仿真示例
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rviz" class="md-nav__link">
+    <span class="md-ellipsis">
+      RViz：数据可视化平台
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="RViz：数据可视化平台">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#tf_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      tf数据可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      图像数据可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rosbag" class="md-nav__link">
+    <span class="md-ellipsis">
+      rosbag：数据记录与回放
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="rosbag：数据记录与回放">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      记录数据
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      回放数据
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rqt" class="md-nav__link">
+    <span class="md-ellipsis">
+      rqt：模块化可视化工具箱
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="rqt：模块化可视化工具箱">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#rqt_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      rqt 安装与使用
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      日志显示
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_10" class="md-nav__link">
+    <span class="md-ellipsis">
+      图像显示
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2开发环境配置
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2开发环境配置">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#git" class="md-nav__link">
+    <span class="md-ellipsis">
+      版本管理软件git
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2常用工具：让机器人开发更便捷</strong></h1>
+<h2 id="launch"><strong>Launch：多节点启动与配置脚本</strong></h2>
+<h3 id="_1">多节点启动脚本</h3>
+<blockquote>
+<p>3.1.1  多节点启动方法 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>simple.launch.py
+</code></pre></div>
+<h3 id="_2">命令行参数配置</h3>
+<blockquote>
+<p>3.1.2  命令行参数配置 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>rviz.launch.py
+</code></pre></div>
+<h3 id="_3">资源重映射</h3>
+<blockquote>
+<p>3.1.3  资源重映射 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>remapping.launch.py<span class="w"> </span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>--rate<span class="w"> </span>/turtlesim1/turtle1/cmd_vel<span class="w"> </span>geometry_msgs/msg/Twist<span class="w"> </span><span class="s2">&quot;{linear: {x: </span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a><span class="s2">2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}&quot;</span><span class="w"> </span>
+</code></pre></div>
+<h3 id="ros">ROS参数设置</h3>
+<blockquote>
+<p>3.1.4  ROS参数设置</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_launch<span class="w"> </span>parameters.launch.py<span class="w"> </span>
+</code></pre></div>
+<h2 id="tf">tf：机器人坐标系管理系统</h2>
+<blockquote>
+<p>3.2  tf：机器人坐标系管理系统</p>
+</blockquote>
+<h3 id="tf_1">tf 命令行操作</h3>
+<blockquote>
+<p>3.2.2  tf 命令行操作 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-turtle-tf2-py<span class="w"> </span>ros-jazzy-tf2-tools<span class="w"> </span>
+<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>pip3<span class="w"> </span>install<span class="w"> </span>transforms3d<span class="w"> </span>
+</code></pre></div>
+<p>安装成功后，在终端中输入如下命令，启动海龟跟随示例及键盘控制节点。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>turtle_tf2_py<span class="w"> </span>turtle_tf2_demo.launch.py<span class="w"> </span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+</code></pre></div>
+<blockquote>
+<p>查看tf树</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames<span class="w"> </span>
+</code></pre></div>
+<blockquote>
+<p>查询坐标变换信息</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_ros<span class="w"> </span>tf2_echo<span class="w"> </span>turtle2<span class="w"> </span>turtle1
+</code></pre></div>
+<blockquote>
+<p>坐标系可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2<span class="w"> </span>-d<span class="w"> </span><span class="k">$(</span>ros2<span class="w"> </span>pkg<span class="w"> </span>prefix<span class="w"> </span>--share<span class="w"> </span>turtle_tf2_py<span class="k">)</span>/rviz/turtle_rviz.rviz
+</code></pre></div>
+<h3 id="tfpython">静态tf广播（Python）</h3>
+<blockquote>
+<p>3.2.3  静态tf广播（Python）</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>static_tf_broadcaster<span class="w"> </span>
+<a id="__codelineno-9-2" name="__codelineno-9-2" href="#__codelineno-9-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames<span class="w"> </span>
+</code></pre></div>
+<h3 id="tfc">静态tf广播（C++）</h3>
+<blockquote>
+<p>3.2.4  静态tf广播（C++） </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf_cpp<span class="w"> </span>static_tf_broadcaster<span class="w"> </span>
+<a id="__codelineno-10-2" name="__codelineno-10-2" href="#__codelineno-10-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
+</code></pre></div>
+<h3 id="tfpython_1">动态tf广播（Python）</h3>
+<blockquote>
+<p>3.2.5  动态tf广播（Python） </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w"> </span>
+<a id="__codelineno-11-2" name="__codelineno-11-2" href="#__codelineno-11-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>turtle_tf_broadcaster<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>turtlename:<span class="o">=</span>turtle1<span class="w"> </span>
+<a id="__codelineno-11-3" name="__codelineno-11-3" href="#__codelineno-11-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
+</code></pre></div>
+<h3 id="tfc_1">动态tf广播（C++）</h3>
+<blockquote>
+<p>3.2.6  动态tf广播（C++） </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w"> </span>
+<a id="__codelineno-12-2" name="__codelineno-12-2" href="#__codelineno-12-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf_cpp<span class="w"> </span>turtle_tf_broadcaster<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>turtlename:<span class="o">=</span>turtle1<span class="w"> </span>
+<a id="__codelineno-12-3" name="__codelineno-12-3" href="#__codelineno-12-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
+</code></pre></div>
+<h3 id="tfpython_2">tf监听（Python）</h3>
+<blockquote>
+<p>3.2.7  tf监听（Python） </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>static_tf_broadcaster<span class="w"> </span>
+<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>tf_listener<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-14-1" name="__codelineno-14-1" href="#__codelineno-14-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w"> </span>
+<a id="__codelineno-14-2" name="__codelineno-14-2" href="#__codelineno-14-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>turtle_tf_broadcaster<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>turtlename:<span class="o">=</span>turtle1<span class="w"> </span>
+<a id="__codelineno-14-3" name="__codelineno-14-3" href="#__codelineno-14-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf<span class="w"> </span>tf_listener<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>target_frame:<span class="o">=</span>turtle1<span class="w"> </span>
+<a id="__codelineno-14-4" name="__codelineno-14-4" href="#__codelineno-14-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+</code></pre></div>
+<h3 id="tf-c">tf 监听（C++）</h3>
+<blockquote>
+<p>3.2.8  tf 监听（C++）</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-15-1" name="__codelineno-15-1" href="#__codelineno-15-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf_cpp<span class="w"> </span>static_tf_broadcaster<span class="w"> </span>
+<a id="__codelineno-15-2" name="__codelineno-15-2" href="#__codelineno-15-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf_cpp<span class="w"> </span>tf_listener
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-16-1" name="__codelineno-16-1" href="#__codelineno-16-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w"> </span>
+<a id="__codelineno-16-2" name="__codelineno-16-2" href="#__codelineno-16-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf_cpp<span class="w"> </span>turtle_tf_broadcaster<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>turtlename:<span class="o">=</span>turtle1<span class="w"> </span>
+<a id="__codelineno-16-3" name="__codelineno-16-3" href="#__codelineno-16-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_tf_cpp<span class="w"> </span>tf_listener<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>target_frame:<span class="o">=</span>turtle1<span class="w"> </span>
+<a id="__codelineno-16-4" name="__codelineno-16-4" href="#__codelineno-16-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+</code></pre></div>
+<h3 id="python">海龟跟随（Python）</h3>
+<blockquote>
+<p>3.2.9  tf 综合应用示例：海龟跟随（Python）</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-17-1" name="__codelineno-17-1" href="#__codelineno-17-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_tf<span class="w"> </span>turtle_following_demo.launch.py<span class="w"> </span>
+<a id="__codelineno-17-2" name="__codelineno-17-2" href="#__codelineno-17-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+</code></pre></div>
+<h2 id="gazebo">Gazebo：机器人三维物理仿真平台</h2>
+<blockquote>
+<p>3.3  Gazebo：机器人三维物理仿真平台</p>
+</blockquote>
+<h3 id="gazebo_1">安装Gazebo</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-18-1" name="__codelineno-18-1" href="#__codelineno-18-1"></a><span class="c1"># 安装相关依赖 </span>
+<a id="__codelineno-18-2" name="__codelineno-18-2" href="#__codelineno-18-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt-get<span class="w"> </span>update<span class="w"> </span>
+<a id="__codelineno-18-3" name="__codelineno-18-3" href="#__codelineno-18-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>lsb-release<span class="w"> </span>wget<span class="w"> </span>gnupg<span class="w"> </span>
+<a id="__codelineno-18-4" name="__codelineno-18-4" href="#__codelineno-18-4"></a><span class="c1"># 安装Gazebo Harmonic </span>
+<a id="__codelineno-18-5" name="__codelineno-18-5" href="#__codelineno-18-5"></a>$<span class="w"> </span>sudo<span class="w"> </span>curl<span class="w"> </span>https://packages.osrfoundation.org/gazebo.gpg<span class="w"> </span>--output<span class="w"> </span>/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+<a id="__codelineno-18-6" name="__codelineno-18-6" href="#__codelineno-18-6"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;deb [arch=</span><span class="k">$(</span>dpkg<span class="w"> </span>--print-architecture<span class="k">)</span><span class="s2"> signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable </span><span class="k">$(</span>lsb_release<span class="w"> </span>-cs<span class="k">)</span><span class="s2"> main&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/gazebo-stable.list<span class="w"> </span>&gt;<span class="w"> </span>/dev/null
+<a id="__codelineno-18-7" name="__codelineno-18-7" href="#__codelineno-18-7"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt-get<span class="w"> </span>update
+<a id="__codelineno-18-8" name="__codelineno-18-8" href="#__codelineno-18-8"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt-get<span class="w"> </span>install<span class="w"> </span>gz-harmonic
+<a id="__codelineno-18-9" name="__codelineno-18-9" href="#__codelineno-18-9"></a><span class="c1"># 安装Jazzy gz功能包 </span>
+<a id="__codelineno-18-10" name="__codelineno-18-10" href="#__codelineno-18-10"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-ros-gz<span class="w"> </span>
+</code></pre></div>
+<blockquote>
+<p>启动Gazebo
+<div class="highlight"><pre><span></span><code><a id="__codelineno-19-1" name="__codelineno-19-1" href="#__codelineno-19-1"></a>$<span class="w"> </span>gz<span class="w"> </span>sim<span class="w"> </span>
+</code></pre></div></p>
+</blockquote>
+<h3 id="_4">机器人仿真示例</h3>
+<blockquote>
+<p>3.3.2  机器人仿真示例</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-20-1" name="__codelineno-20-1" href="#__codelineno-20-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>ros_gz_sim_demos<span class="w"> </span>diff_drive.launch.py<span class="w"> </span>
+<a id="__codelineno-20-2" name="__codelineno-20-2" href="#__codelineno-20-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>--ros-args<span class="w"> </span>-r<span class="w"> </span>
+<a id="__codelineno-20-3" name="__codelineno-20-3" href="#__codelineno-20-3"></a>cmd_vel:<span class="o">=</span>model/vehicle_blue/cmd_vel<span class="w"> </span>
+</code></pre></div>
+<h3 id="_5">传感器仿真示例</h3>
+<blockquote>
+<p>3.3.3  传感器仿真示例 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-21-1" name="__codelineno-21-1" href="#__codelineno-21-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>ros_gz_sim_demos<span class="w"> </span>rgbd_camera_bridge.launch.py<span class="w"> </span>
+</code></pre></div>
+<h2 id="rviz">RViz：数据可视化平台</h2>
+<h3 id="tf_2">tf数据可视化</h3>
+<blockquote>
+<p>3.4.3  应用示例一：tf数据可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-22-1" name="__codelineno-22-1" href="#__codelineno-22-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_tf<span class="w"> </span>turtle_following_demo.launch.py<span class="w"> </span>
+<a id="__codelineno-22-2" name="__codelineno-22-2" href="#__codelineno-22-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+</code></pre></div>
+<h3 id="_6">图像数据可视化</h3>
+<blockquote>
+<p>3.4.4  应用示例二：图像数据可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-23-1" name="__codelineno-23-1" href="#__codelineno-23-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w"> </span>
+</code></pre></div>
+<h2 id="rosbag">rosbag：数据记录与回放</h2>
+<h3 id="_7">记录数据</h3>
+<blockquote>
+<p>3.5.1  记录数据</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-24-1" name="__codelineno-24-1" href="#__codelineno-24-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w">  </span>
+<a id="__codelineno-24-2" name="__codelineno-24-2" href="#__codelineno-24-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+<a id="__codelineno-24-3" name="__codelineno-24-3" href="#__codelineno-24-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>list<span class="w"> </span>-v<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-25-1" name="__codelineno-25-1" href="#__codelineno-25-1"></a>$<span class="w"> </span>mkdir<span class="w"> </span>~/bagfiles<span class="w"> </span>
+<a id="__codelineno-25-2" name="__codelineno-25-2" href="#__codelineno-25-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/bagfiles<span class="w"> </span>
+<a id="__codelineno-25-3" name="__codelineno-25-3" href="#__codelineno-25-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/turtle1/cmd_vel<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-26-1" name="__codelineno-26-1" href="#__codelineno-26-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>-o<span class="w"> </span>subset<span class="w"> </span>/turtle1/cmd_vel<span class="w"> </span>/turtle1/pose<span class="w"> </span>
+</code></pre></div>
+<h3 id="_8">回放数据</h3>
+<blockquote>
+<p>3.5.2  回放数据  </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-27-1" name="__codelineno-27-1" href="#__codelineno-27-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>info<span class="w"> </span>&lt;your<span class="w"> </span>bagfile&gt;<span class="w"> </span>
+<a id="__codelineno-27-2" name="__codelineno-27-2" href="#__codelineno-27-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>play<span class="w"> </span>&lt;your<span class="w"> </span>bagfile&gt;
+</code></pre></div>
+<h2 id="rqt">rqt：模块化可视化工具箱</h2>
+<h3 id="rqt_1">rqt 安装与使用</h3>
+<blockquote>
+<p>3.6.1  rqt 介绍 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-28-1" name="__codelineno-28-1" href="#__codelineno-28-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-rqt<span class="w"> </span>
+<a id="__codelineno-28-2" name="__codelineno-28-2" href="#__codelineno-28-2"></a>$<span class="w"> </span>rqt
+</code></pre></div>
+<h3 id="_9">日志显示</h3>
+<blockquote>
+<p>3.6.2  日志显示 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-29-1" name="__codelineno-29-1" href="#__codelineno-29-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rqt_console<span class="w"> </span>rqt_console<span class="w"> </span>
+</code></pre></div>
+<h3 id="_10">图像显示</h3>
+<blockquote>
+<p>3.6.3  图像显示 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-30-1" name="__codelineno-30-1" href="#__codelineno-30-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rqt_image_view<span class="w"> </span>rqt_image_view<span class="w"> </span>
+</code></pre></div>
+<h2 id="ros-2_1">ROS 2开发环境配置</h2>
+<blockquote>
+<p>3.7  ROS 2开发环境配置 </p>
+</blockquote>
+<h3 id="git">版本管理软件git</h3>
+<blockquote>
+<p>3.7.1  版本管理软件git</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-31-1" name="__codelineno-31-1" href="#__codelineno-31-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>git<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-32-1" name="__codelineno-32-1" href="#__codelineno-32-1"></a><span class="c1"># 下载一个项目和它的整个代码历史 </span>
+<a id="__codelineno-32-2" name="__codelineno-32-2" href="#__codelineno-32-2"></a>$<span class="w"> </span>git<span class="w"> </span>clone<span class="w"> </span><span class="o">[</span>url<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-3" name="__codelineno-32-3" href="#__codelineno-32-3"></a>
+<a id="__codelineno-32-4" name="__codelineno-32-4" href="#__codelineno-32-4"></a><span class="c1"># 添加指定文件到暂存区 </span>
+<a id="__codelineno-32-5" name="__codelineno-32-5" href="#__codelineno-32-5"></a>$<span class="w"> </span>git<span class="w"> </span>add<span class="w"> </span><span class="o">[</span>file1<span class="o">]</span><span class="w"> </span><span class="o">[</span>file2<span class="o">]</span><span class="w"> </span>...<span class="w"> </span>
+<a id="__codelineno-32-6" name="__codelineno-32-6" href="#__codelineno-32-6"></a><span class="c1"># 添加指定目录到暂存区，包括子目录 </span>
+<a id="__codelineno-32-7" name="__codelineno-32-7" href="#__codelineno-32-7"></a>$<span class="w"> </span>git<span class="w"> </span>add<span class="w"> </span><span class="o">[</span>dir<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-8" name="__codelineno-32-8" href="#__codelineno-32-8"></a><span class="c1"># 添加当前目录的所有文件到暂存区 </span>
+<a id="__codelineno-32-9" name="__codelineno-32-9" href="#__codelineno-32-9"></a>$<span class="w"> </span>git<span class="w"> </span>add<span class="w"> </span>.<span class="w"> </span>
+<a id="__codelineno-32-10" name="__codelineno-32-10" href="#__codelineno-32-10"></a>
+<a id="__codelineno-32-11" name="__codelineno-32-11" href="#__codelineno-32-11"></a><span class="c1"># 删除工作区文件，并且将删除操作的文件放入暂存区 </span>
+<a id="__codelineno-32-12" name="__codelineno-32-12" href="#__codelineno-32-12"></a>$<span class="w"> </span>git<span class="w"> </span>rm<span class="w"> </span><span class="o">[</span>file1<span class="o">]</span><span class="w"> </span><span class="o">[</span>file2<span class="o">]</span><span class="w"> </span>...<span class="w"> </span>
+<a id="__codelineno-32-13" name="__codelineno-32-13" href="#__codelineno-32-13"></a><span class="c1"># 提交暂存区到仓库区 </span>
+<a id="__codelineno-32-14" name="__codelineno-32-14" href="#__codelineno-32-14"></a>$<span class="w"> </span>git<span class="w"> </span>commit<span class="w"> </span>-m<span class="w"> </span><span class="o">[</span>message<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-15" name="__codelineno-32-15" href="#__codelineno-32-15"></a>
+<a id="__codelineno-32-16" name="__codelineno-32-16" href="#__codelineno-32-16"></a><span class="c1"># 列出所有本地分支 </span>
+<a id="__codelineno-32-17" name="__codelineno-32-17" href="#__codelineno-32-17"></a>$<span class="w"> </span>git<span class="w"> </span>branch<span class="w"> </span>
+<a id="__codelineno-32-18" name="__codelineno-32-18" href="#__codelineno-32-18"></a><span class="c1"># 列出所有远程分支 </span>
+<a id="__codelineno-32-19" name="__codelineno-32-19" href="#__codelineno-32-19"></a>$<span class="w"> </span>git<span class="w"> </span>branch<span class="w"> </span>-r<span class="w"> </span>
+<a id="__codelineno-32-20" name="__codelineno-32-20" href="#__codelineno-32-20"></a><span class="c1"># 列出所有本地分支和远程分支 </span>
+<a id="__codelineno-32-21" name="__codelineno-32-21" href="#__codelineno-32-21"></a>$<span class="w"> </span>git<span class="w"> </span>branch<span class="w"> </span>-a<span class="w"> </span>
+<a id="__codelineno-32-22" name="__codelineno-32-22" href="#__codelineno-32-22"></a><span class="c1"># 新建一个分支，但依然停留在当前分支 </span>
+<a id="__codelineno-32-23" name="__codelineno-32-23" href="#__codelineno-32-23"></a>$<span class="w"> </span>git<span class="w"> </span>branch<span class="w"> </span><span class="o">[</span>branch-name<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-24" name="__codelineno-32-24" href="#__codelineno-32-24"></a><span class="c1"># 新建一个分支，并切换到该分支 </span>
+<a id="__codelineno-32-25" name="__codelineno-32-25" href="#__codelineno-32-25"></a>$<span class="w"> </span>git<span class="w"> </span>checkout<span class="w"> </span>-b<span class="w"> </span><span class="o">[</span>branch<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-26" name="__codelineno-32-26" href="#__codelineno-32-26"></a>
+<a id="__codelineno-32-27" name="__codelineno-32-27" href="#__codelineno-32-27"></a><span class="c1"># 显示有变更的文件 </span>
+<a id="__codelineno-32-28" name="__codelineno-32-28" href="#__codelineno-32-28"></a>$<span class="w"> </span>git<span class="w"> </span>status<span class="w"> </span>
+<a id="__codelineno-32-29" name="__codelineno-32-29" href="#__codelineno-32-29"></a><span class="c1"># 显示当前分支的版本历史 </span>
+<a id="__codelineno-32-30" name="__codelineno-32-30" href="#__codelineno-32-30"></a>$<span class="w"> </span>git<span class="w"> </span>log<span class="w"> </span>
+<a id="__codelineno-32-31" name="__codelineno-32-31" href="#__codelineno-32-31"></a>
+<a id="__codelineno-32-32" name="__codelineno-32-32" href="#__codelineno-32-32"></a><span class="c1"># 下载远程仓库的所有变动 </span>
+<a id="__codelineno-32-33" name="__codelineno-32-33" href="#__codelineno-32-33"></a>$<span class="w"> </span>git<span class="w"> </span>fetch<span class="w"> </span><span class="o">[</span>remote<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-34" name="__codelineno-32-34" href="#__codelineno-32-34"></a><span class="c1"># 显示所有远程仓库 </span>
+<a id="__codelineno-32-35" name="__codelineno-32-35" href="#__codelineno-32-35"></a>$<span class="w"> </span>git<span class="w"> </span>remote<span class="w"> </span>-v<span class="w"> </span>
+<a id="__codelineno-32-36" name="__codelineno-32-36" href="#__codelineno-32-36"></a><span class="c1"># 显示某个远程仓库的信息 </span>
+<a id="__codelineno-32-37" name="__codelineno-32-37" href="#__codelineno-32-37"></a>$<span class="w"> </span>git<span class="w"> </span>remote<span class="w"> </span>show<span class="w"> </span><span class="o">[</span>remote<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-38" name="__codelineno-32-38" href="#__codelineno-32-38"></a>
+<a id="__codelineno-32-39" name="__codelineno-32-39" href="#__codelineno-32-39"></a><span class="c1"># 取回远程仓库的变化，并与本地分支合并 </span>
+<a id="__codelineno-32-40" name="__codelineno-32-40" href="#__codelineno-32-40"></a>$<span class="w"> </span>git<span class="w"> </span>pull<span class="w"> </span><span class="o">[</span>remote<span class="o">]</span><span class="w"> </span><span class="o">[</span>branch<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-41" name="__codelineno-32-41" href="#__codelineno-32-41"></a><span class="c1"># 上传本地指定分支到远程仓库 </span>
+<a id="__codelineno-32-42" name="__codelineno-32-42" href="#__codelineno-32-42"></a>$<span class="w"> </span>git<span class="w"> </span>push<span class="w"> </span><span class="o">[</span>remote<span class="o">]</span><span class="w"> </span><span class="o">[</span>branch<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-43" name="__codelineno-32-43" href="#__codelineno-32-43"></a>
+<a id="__codelineno-32-44" name="__codelineno-32-44" href="#__codelineno-32-44"></a><span class="c1"># 重置暂存区的指定文件，与上一次commit保持一致，但工作区不变 </span>
+<a id="__codelineno-32-45" name="__codelineno-32-45" href="#__codelineno-32-45"></a>$<span class="w"> </span>git<span class="w"> </span>reset<span class="w"> </span><span class="o">[</span>file<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-46" name="__codelineno-32-46" href="#__codelineno-32-46"></a><span class="c1"># 重置暂存区与工作区，与上一次commit保持一致 </span>
+<a id="__codelineno-32-47" name="__codelineno-32-47" href="#__codelineno-32-47"></a>$<span class="w"> </span>git<span class="w"> </span>reset<span class="w"> </span>--hard<span class="w"> </span>
+<a id="__codelineno-32-48" name="__codelineno-32-48" href="#__codelineno-32-48"></a><span class="c1"># 重置当前分支的指针为指定commit，同时重置暂存区，但工作区不变 </span>
+<a id="__codelineno-32-49" name="__codelineno-32-49" href="#__codelineno-32-49"></a>$<span class="w"> </span>git<span class="w"> </span>reset<span class="w"> </span><span class="o">[</span>commit<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-50" name="__codelineno-32-50" href="#__codelineno-32-50"></a><span class="c1"># 重置当前分支的HEAD为指定commit，同时重置暂存区和工作区，与指定commit一致 </span>
+<a id="__codelineno-32-51" name="__codelineno-32-51" href="#__codelineno-32-51"></a>$<span class="w"> </span>git<span class="w"> </span>reset<span class="w"> </span>--hard<span class="w"> </span><span class="o">[</span>commit<span class="o">]</span><span class="w"> </span>
+<a id="__codelineno-32-52" name="__codelineno-32-52" href="#__codelineno-32-52"></a>
+<a id="__codelineno-32-53" name="__codelineno-32-53" href="#__codelineno-32-53"></a><span class="c1"># 设置提交代码时的用户信息 </span>
+<a id="__codelineno-32-54" name="__codelineno-32-54" href="#__codelineno-32-54"></a>$<span class="w"> </span>git<span class="w"> </span>config<span class="w"> </span><span class="o">[</span>--global<span class="o">]</span><span class="w"> </span>user.name<span class="w"> </span><span class="s2">&quot;[name]&quot;</span><span class="w"> </span>
+<a id="__codelineno-32-55" name="__codelineno-32-55" href="#__codelineno-32-55"></a>$<span class="w"> </span>git<span class="w"> </span>config<span class="w"> </span><span class="o">[</span>--global<span class="o">]</span><span class="w"> </span>user.email<span class="w"> </span><span class="s2">&quot;[email address]&quot;</span>
+</code></pre></div>
+<p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../img/footer.png" /></a></p>
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diff --git "a/ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/ROS2\346\240\270\345\277\203\345\216\237\347\220\206\357\274\232\346\236\204\345\273\272\346\234\272\345\231\250\344\272\272\347\232\204\345\237\272\347\237\263/index.html" "b/ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/ROS2\346\240\270\345\277\203\345\216\237\347\220\206\357\274\232\346\236\204\345\273\272\346\234\272\345\231\250\344\272\272\347\232\204\345\237\272\347\237\263/index.html"
new file mode 100644
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+          
+          <label class="md-nav__link" for="__nav_1" id="__nav_1_label" tabindex="0">
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+  <span class="md-ellipsis">
+    ROS2智能机器人开发实践
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2智能机器人开发实践
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../0.%E5%89%8D%E8%A8%80/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+    
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_2" checked>
+        
+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+    
+  
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
+      
+      
+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      工作空间创建与编译
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="工作空间创建与编译">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      创建功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      编译工作空间
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      设置环境变量
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      创建功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      编译指定功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      清除编译历史
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      节点
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="节点">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      节点运行
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_10" class="md-nav__link">
+    <span class="md-ellipsis">
+      节点的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_11" class="md-nav__link">
+    <span class="md-ellipsis">
+      目标检测
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_12" class="md-nav__link">
+    <span class="md-ellipsis">
+      话题
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="话题">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_13" class="md-nav__link">
+    <span class="md-ellipsis">
+      话题运行示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_14" class="md-nav__link">
+    <span class="md-ellipsis">
+      话题的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_15" class="md-nav__link">
+    <span class="md-ellipsis">
+      目标检测（周期式）
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_16" class="md-nav__link">
+    <span class="md-ellipsis">
+      服务
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="服务">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_17" class="md-nav__link">
+    <span class="md-ellipsis">
+      服务运行示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_18" class="md-nav__link">
+    <span class="md-ellipsis">
+      服务的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_19" class="md-nav__link">
+    <span class="md-ellipsis">
+      目标检测（请求式）
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_20" class="md-nav__link">
+    <span class="md-ellipsis">
+      通信接口
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="通信接口">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_21" class="md-nav__link">
+    <span class="md-ellipsis">
+      通信接口命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_22" class="md-nav__link">
+    <span class="md-ellipsis">
+      周期性发布目标检测的坐标
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_23" class="md-nav__link">
+    <span class="md-ellipsis">
+      动作
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="动作">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_24" class="md-nav__link">
+    <span class="md-ellipsis">
+      动作运行示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_25" class="md-nav__link">
+    <span class="md-ellipsis">
+      动作的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_26" class="md-nav__link">
+    <span class="md-ellipsis">
+      参数
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="参数">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_27" class="md-nav__link">
+    <span class="md-ellipsis">
+      参数命令行
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_28" class="md-nav__link">
+    <span class="md-ellipsis">
+      设置目标检测的阈值
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#dds" class="md-nav__link">
+    <span class="md-ellipsis">
+      数据分发服务（DDS）
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="数据分发服务（DDS）">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ddsqos" class="md-nav__link">
+    <span class="md-ellipsis">
+      命令行中配置DDS的QoS
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#dds_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      DDS编程示例
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
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+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://www.guyuehome.com" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../about/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      工作空间创建与编译
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="工作空间创建与编译">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      创建功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      编译工作空间
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      设置环境变量
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      创建功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      编译指定功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      清除编译历史
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      节点
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="节点">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      节点运行
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_10" class="md-nav__link">
+    <span class="md-ellipsis">
+      节点的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_11" class="md-nav__link">
+    <span class="md-ellipsis">
+      目标检测
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_12" class="md-nav__link">
+    <span class="md-ellipsis">
+      话题
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="话题">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_13" class="md-nav__link">
+    <span class="md-ellipsis">
+      话题运行示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_14" class="md-nav__link">
+    <span class="md-ellipsis">
+      话题的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_15" class="md-nav__link">
+    <span class="md-ellipsis">
+      目标检测（周期式）
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_16" class="md-nav__link">
+    <span class="md-ellipsis">
+      服务
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="服务">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_17" class="md-nav__link">
+    <span class="md-ellipsis">
+      服务运行示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_18" class="md-nav__link">
+    <span class="md-ellipsis">
+      服务的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_19" class="md-nav__link">
+    <span class="md-ellipsis">
+      目标检测（请求式）
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_20" class="md-nav__link">
+    <span class="md-ellipsis">
+      通信接口
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="通信接口">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_21" class="md-nav__link">
+    <span class="md-ellipsis">
+      通信接口命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_22" class="md-nav__link">
+    <span class="md-ellipsis">
+      周期性发布目标检测的坐标
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_23" class="md-nav__link">
+    <span class="md-ellipsis">
+      动作
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="动作">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_24" class="md-nav__link">
+    <span class="md-ellipsis">
+      动作运行示例
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_25" class="md-nav__link">
+    <span class="md-ellipsis">
+      动作的命令行操作
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_26" class="md-nav__link">
+    <span class="md-ellipsis">
+      参数
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="参数">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_27" class="md-nav__link">
+    <span class="md-ellipsis">
+      参数命令行
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_28" class="md-nav__link">
+    <span class="md-ellipsis">
+      设置目标检测的阈值
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#dds" class="md-nav__link">
+    <span class="md-ellipsis">
+      数据分发服务（DDS）
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="数据分发服务（DDS）">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ddsqos" class="md-nav__link">
+    <span class="md-ellipsis">
+      命令行中配置DDS的QoS
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#dds_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      DDS编程示例
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2核心原理：构建机器人的基石</strong></h1>
+<h2 id="_1"><strong>工作空间创建与编译</strong></h2>
+<h3 id="_2">创建功能包</h3>
+<blockquote>
+<p>2.2  ROS 2机器人开发流程 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a><span class="c1"># 创建功能包</span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>mkdir<span class="w"> </span>-p<span class="w"> </span>~/dev_ws/src<span class="w"> </span>
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a><span class="c1"># 拉取代码仓库</span>
+<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>$<span class="w"> </span>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/originbot_desktop.git
+</code></pre></div>
+<h3 id="_3">编译工作空间</h3>
+<p><div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws<span class="w"> </span>
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>rosdep<span class="w"> </span>install<span class="w"> </span>--from-paths<span class="w"> </span>src<span class="w"> </span>--ignore-src<span class="w"> </span>-r<span class="w"> </span>-y<span class="w"> </span>
+</code></pre></div>
+安装完成后，还需要继续安装ROS 2的编译器colcon，并使用如下命令编译工作空间。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>python3-colcon-ros<span class="w"> </span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/<span class="w"> </span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$<span class="w"> </span>colcon<span class="w"> </span>build
+</code></pre></div>
+<h3 id="_4">设置环境变量</h3>
+<p>第一种是配置在当前终端的环境变量中，只在当前终端中有效，需要在终端执行以下命令。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>~/dev_ws/install/setup.bash<span class="w">  </span>
+</code></pre></div>
+<p>第二种是配置在系统的环境变量中，也就是Linux的.bashrc文件中，需要在终端执行以下
+命令。 </p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;source ~/dev_ws/install/setup.bash&quot;</span><span class="w"> </span>&gt;&gt;<span class="w"> </span>~/.bashrc
+</code></pre></div>
+<h3 id="_5">创建功能包</h3>
+<blockquote>
+<p>2.3.2  创建功能包</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src<span class="w"> </span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>pkg<span class="w"> </span>create<span class="w"> </span>--build-type<span class="w"> </span>ament_cmake<span class="w"> </span>learning_pkg_cpp<span class="w">        </span><span class="c1"># 创建一个C++功能包 </span>
+<a id="__codelineno-5-3" name="__codelineno-5-3" href="#__codelineno-5-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>pkg<span class="w"> </span>create<span class="w"> </span>--build-type<span class="w"> </span>ament_python<span class="w"> </span>learning_pkg_python<span class="w">    </span><span class="c1"># 创建一个Python功能包 </span>
+</code></pre></div>
+<h3 id="_6">编译指定功能包</h3>
+<blockquote>
+<p>2.3.4  编译功能包</p>
+</blockquote>
+<p>使用前需要安装colcon的扩展功能。 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>python3-colcon-common-extensions
+</code></pre></div>
+通过--packages-select 或者--packages-up-to 参数编译指定功能包，package_name用于替换某个具体功能包。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws<span class="w"> </span>
+<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a>$<span class="w"> </span>colcon<span class="w"> </span>build<span class="w"> </span>--packages-select<span class="w"> </span>&lt;package_name&gt;<span class="w">    </span>
+<a id="__codelineno-7-3" name="__codelineno-7-3" href="#__codelineno-7-3"></a><span class="c1"># 只编译指定功能包 </span>
+<a id="__codelineno-7-4" name="__codelineno-7-4" href="#__codelineno-7-4"></a>$<span class="w"> </span>colcon<span class="w"> </span>build<span class="w"> </span>--packages-up-to<span class="w"> </span>&lt;package_name&gt;<span class="w">     </span>
+<a id="__codelineno-7-5" name="__codelineno-7-5" href="#__codelineno-7-5"></a><span class="c1"># 编译指定功能包及相关依赖</span>
+</code></pre></div>
+<h3 id="_7">清除编译历史</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws<span class="w"> </span>
+<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$<span class="w"> </span>rm<span class="w"> </span>-rf<span class="w"> </span>install/<span class="w"> </span>build/<span class="w"> </span>log/<span class="w">   </span><span class="c1"># 清除工作空间中的编译历史</span>
+</code></pre></div>
+<h2 id="_8">节点</h2>
+<blockquote>
+<p>2.4  节点：机器人的工作细胞</p>
+</blockquote>
+<h3 id="_9">节点运行</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_node<span class="w"> </span>node_helloworld_class<span class="w">       </span><span class="c1"># Python</span>
+<a id="__codelineno-9-2" name="__codelineno-9-2" href="#__codelineno-9-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_node_cpp<span class="w"> </span>node_helloworld_class<span class="w">   </span><span class="c1"># C++</span>
+</code></pre></div>
+<h3 id="_10">节点的命令行操作</h3>
+<blockquote>
+<p>2.4.4  节点的命令行操作</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>node<span class="w"> </span>list<span class="w">                </span><span class="c1"># 查看节点列表 </span>
+<a id="__codelineno-10-2" name="__codelineno-10-2" href="#__codelineno-10-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>node<span class="w"> </span>info<span class="w"> </span>&lt;node_name&gt;<span class="w">    </span><span class="c1"># 查看节点信息 </span>
+</code></pre></div>
+<h3 id="_11">目标检测</h3>
+<blockquote>
+<p>2.4.5  节点应用示例：目标检测 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_node<span class="w"> </span>node_object_webcam<span class="w">    </span><span class="c1"># 虚拟机环境注意设置相机</span>
+</code></pre></div>
+<h2 id="_12">话题</h2>
+<h3 id="_13">话题运行示例</h3>
+<blockquote>
+<p>2.5.3  话题通信编程示例</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_helloworld_pub
+<a id="__codelineno-12-2" name="__codelineno-12-2" href="#__codelineno-12-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_helloworld_sub
+</code></pre></div>
+<h3 id="_14">话题的命令行操作</h3>
+<blockquote>
+<p>2.5.8  话题的命令行操作 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>list<span class="w">                      </span><span class="c1"># 查看话题列表 </span>
+<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>info<span class="w"> </span>&lt;topic_name&gt;<span class="w">         </span><span class="c1"># 查看话题信息 </span>
+<a id="__codelineno-13-3" name="__codelineno-13-3" href="#__codelineno-13-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>hz<span class="w"> </span>&lt;topic_name&gt;<span class="w">           </span><span class="c1"># 查看话题发布频率 </span>
+<a id="__codelineno-13-4" name="__codelineno-13-4" href="#__codelineno-13-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>bw<span class="w"> </span>&lt;topic_name&gt;<span class="w">           </span><span class="c1"># 查看话题传输带宽 </span>
+<a id="__codelineno-13-5" name="__codelineno-13-5" href="#__codelineno-13-5"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>&lt;topic_name&gt;<span class="w">         </span><span class="c1"># 查看话题数据 </span>
+<a id="__codelineno-13-6" name="__codelineno-13-6" href="#__codelineno-13-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>&lt;topic_name&gt;<span class="w"> </span>&lt;msg_type&gt;<span class="w"> </span>&lt;msg_data&gt;<span class="w">  </span><span class="c1"># 发布话题消息</span>
+</code></pre></div>
+<h3 id="_15">目标检测（周期式）</h3>
+<blockquote>
+<p>2.5.9  话题应用示例：目标检测（周期式）</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-14-1" name="__codelineno-14-1" href="#__codelineno-14-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_webcam_pub<span class="w"> </span>
+<a id="__codelineno-14-2" name="__codelineno-14-2" href="#__codelineno-14-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_webcam_sub<span class="w"> </span>
+</code></pre></div>
+<blockquote>
+<p>更通用的相机驱动节点 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-15-1" name="__codelineno-15-1" href="#__codelineno-15-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-usb-cam
+<a id="__codelineno-15-2" name="__codelineno-15-2" href="#__codelineno-15-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w"> </span>
+<a id="__codelineno-15-3" name="__codelineno-15-3" href="#__codelineno-15-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>topic_webcam_sub<span class="w"> </span>
+</code></pre></div>
+<h2 id="_16">服务</h2>
+<h3 id="_17">服务运行示例</h3>
+<blockquote>
+<p>2.6.3  服务通信编程示例 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-16-1" name="__codelineno-16-1" href="#__codelineno-16-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_adder_server<span class="w"> </span>
+<a id="__codelineno-16-2" name="__codelineno-16-2" href="#__codelineno-16-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_service<span class="w"> </span>service_adder_client<span class="w"> </span><span class="m">2</span><span class="w"> </span><span class="m">3</span><span class="w"> </span>
+</code></pre></div>
+<h3 id="_18">服务的命令行操作</h3>
+<blockquote>
+<p>2.6.8  服务的命令行操作 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-17-1" name="__codelineno-17-1" href="#__codelineno-17-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>list<span class="w">                   </span><span class="c1"># 查看服务列表 </span>
+<a id="__codelineno-17-2" name="__codelineno-17-2" href="#__codelineno-17-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span><span class="nb">type</span><span class="w"> </span>&lt;service_name&gt;<span class="w">    </span><span class="c1"># 查看服务数据类型 </span>
+<a id="__codelineno-17-3" name="__codelineno-17-3" href="#__codelineno-17-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>&lt;service_name&gt;<span class="w"> </span>&lt;service_type&gt;<span class="w"> </span>&lt;service_data&gt;<span class="w">   </span><span class="c1"># 发送服务请求 </span>
+</code></pre></div>
+<h3 id="_19">目标检测（请求式）</h3>
+<blockquote>
+<p>2.6.9  服务应用示例：目标检测（请求式） </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-18-1" name="__codelineno-18-1" href="#__codelineno-18-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>list<span class="w">                   </span><span class="c1"># 查看服务列表 </span>
+<a id="__codelineno-18-2" name="__codelineno-18-2" href="#__codelineno-18-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span><span class="nb">type</span><span class="w"> </span>&lt;service_name&gt;<span class="w">    </span><span class="c1"># 查看服务数据类型 </span>
+<a id="__codelineno-18-3" name="__codelineno-18-3" href="#__codelineno-18-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>&lt;service_name&gt;<span class="w"> </span>&lt;service_type&gt;<span class="w"> </span>&lt;service_data&gt;<span class="w">   </span><span class="c1"># 发送服务请求 </span>
+</code></pre></div>
+<h2 id="_20">通信接口</h2>
+<blockquote>
+<p>2.7  通信接口：数据传递的标准结构 </p>
+</blockquote>
+<h3 id="_21">通信接口命令行操作</h3>
+<blockquote>
+<p>通信接口的命令行操作 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-19-1" name="__codelineno-19-1" href="#__codelineno-19-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>list<span class="w">                      </span><span class="c1"># 查看系统通信接口列表 </span>
+<a id="__codelineno-19-2" name="__codelineno-19-2" href="#__codelineno-19-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>show<span class="w"> </span>&lt;interface_name&gt;<span class="w">     </span><span class="c1"># 查看某个通信接口的详细定义 </span>
+<a id="__codelineno-19-3" name="__codelineno-19-3" href="#__codelineno-19-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>package<span class="w"> </span>&lt;package_name&gt;<span class="w">    </span><span class="c1"># 查看某个功能包中的通信接口定义</span>
+</code></pre></div>
+<h3 id="_22">周期性发布目标检测的坐标</h3>
+<blockquote>
+<p>2.7.5  话题接口应用示例：周期性发布目标检测的坐标 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-20-1" name="__codelineno-20-1" href="#__codelineno-20-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w"> </span>
+<a id="__codelineno-20-2" name="__codelineno-20-2" href="#__codelineno-20-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>interface_object_pub<span class="w"> </span>
+<a id="__codelineno-20-3" name="__codelineno-20-3" href="#__codelineno-20-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_topic<span class="w"> </span>interface_object_sub
+</code></pre></div>
+<h2 id="_23">动作</h2>
+<blockquote>
+<p>2.8  动作：完整行为的流程管理</p>
+</blockquote>
+<h3 id="_24">动作运行示例</h3>
+<blockquote>
+<p>2.8.3  动作通信编程示例</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-21-1" name="__codelineno-21-1" href="#__codelineno-21-1"></a><span class="c1"># 启动动作服务端 </span>
+<a id="__codelineno-21-2" name="__codelineno-21-2" href="#__codelineno-21-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_action<span class="w"> </span>action_move_server<span class="w">  </span>
+<a id="__codelineno-21-3" name="__codelineno-21-3" href="#__codelineno-21-3"></a><span class="c1"># 启动动作客户端 </span>
+<a id="__codelineno-21-4" name="__codelineno-21-4" href="#__codelineno-21-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_action<span class="w"> </span>action_move_client<span class="w"> </span>
+</code></pre></div>
+<h3 id="_25">动作的命令行操作</h3>
+<blockquote>
+<p>2.8.9  动作的命令行操作 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-22-1" name="__codelineno-22-1" href="#__codelineno-22-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>list<span class="w">                    </span><span class="c1"># 查看服务列表 </span>
+<a id="__codelineno-22-2" name="__codelineno-22-2" href="#__codelineno-22-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>info<span class="w"> </span>&lt;action_name&gt;<span class="w">      </span><span class="c1"># 查看服务数据类型 </span>
+<a id="__codelineno-22-3" name="__codelineno-22-3" href="#__codelineno-22-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>send_goal<span class="w"> </span>&lt;action_name&gt;<span class="w"> </span>&lt;action_type&gt;<span class="w"> </span>&lt;action_data&gt;<span class="w">   </span><span class="c1"># 发送服务请求 </span>
+</code></pre></div>
+<h2 id="_26">参数</h2>
+<blockquote>
+<p>2.9  参数：机器人系统的全局字典</p>
+</blockquote>
+<h3 id="_27">参数命令行</h3>
+<blockquote>
+<p>2.9.3  参数的命令行操作 </p>
+</blockquote>
+<p><strong>运行小海龟案例</strong>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-23-1" name="__codelineno-23-1" href="#__codelineno-23-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w"> </span>
+<a id="__codelineno-23-2" name="__codelineno-23-2" href="#__codelineno-23-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+</code></pre></div>
+<strong>查看参数列表</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-24-1" name="__codelineno-24-1" href="#__codelineno-24-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>list<span class="w"> </span>
+</code></pre></div>
+<p><strong>参数查询与修改</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-25-1" name="__codelineno-25-1" href="#__codelineno-25-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>describe<span class="w"> </span>turtlesim<span class="w"> </span>background_b<span class="w">     </span><span class="c1"># 查看某个参数的描述信息 </span>
+<a id="__codelineno-25-2" name="__codelineno-25-2" href="#__codelineno-25-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>get<span class="w"> </span>turtlesim<span class="w"> </span>background_b<span class="w">          </span><span class="c1"># 查询某个参数的值 </span>
+<a id="__codelineno-25-3" name="__codelineno-25-3" href="#__codelineno-25-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span><span class="nb">set</span><span class="w"> </span>turtlesim<span class="w"> </span>background_b<span class="w"> </span><span class="m">10</span><span class="w">       </span><span class="c1"># 修改某个参数的值 </span>
+</code></pre></div>
+<p><strong>查看参数列表</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-26-1" name="__codelineno-26-1" href="#__codelineno-26-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>list<span class="w"> </span>
+</code></pre></div>
+<p><strong>参数文件保存与加载</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-27-1" name="__codelineno-27-1" href="#__codelineno-27-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>dump<span class="w"> </span>turtlesim<span class="w"> </span>&gt;&gt;<span class="w"> </span>turtlesim.yaml<span class="w">    </span><span class="c1"># 将某个节点的参数保存到参数文件中 </span>
+<a id="__codelineno-27-2" name="__codelineno-27-2" href="#__codelineno-27-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span>load<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim.yaml<span class="w">       </span><span class="c1"># 一次性加载某个文件中的所有参数 </span>
+</code></pre></div>
+<h3 id="_28">设置目标检测的阈值</h3>
+<blockquote>
+<p>2.9.6  参数应用示例：设置目标检测的阈值</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-28-1" name="__codelineno-28-1" href="#__codelineno-28-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w">  </span>
+<a id="__codelineno-28-2" name="__codelineno-28-2" href="#__codelineno-28-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_parameter<span class="w"> </span>param_object_detect<span class="w"> </span>
+<a id="__codelineno-28-3" name="__codelineno-28-3" href="#__codelineno-28-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>param<span class="w"> </span><span class="nb">set</span><span class="w"> </span>param_object_detect<span class="w"> </span>red_h_upper<span class="w"> </span><span class="m">180</span>
+</code></pre></div>
+<h2 id="dds">数据分发服务（DDS）</h2>
+<blockquote>
+<p>2.10  数据分发服务（DDS）：机器人的神经网络</p>
+</blockquote>
+<h3 id="ddsqos">命令行中配置DDS的QoS</h3>
+<blockquote>
+<p>2.10.4  命令行中配置DDS的QoS</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-29-1" name="__codelineno-29-1" href="#__codelineno-29-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>/chatter<span class="w"> </span>std_msgs/msg/Int32<span class="w"> </span><span class="s2">&quot;data: 42&quot;</span><span class="w"> </span>--qos-reliability<span class="w"> </span>best_effort<span class="w">  </span>
+<a id="__codelineno-29-2" name="__codelineno-29-2" href="#__codelineno-29-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/chatter<span class="w"> </span>--qos-reliability<span class="w"> </span>reliable<span class="w"> </span>
+<a id="__codelineno-29-3" name="__codelineno-29-3" href="#__codelineno-29-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/chatter<span class="w"> </span>--qos-reliability<span class="w"> </span>best_effort<span class="w"> </span>
+</code></pre></div>
+<h3 id="dds_1">DDS编程示例</h3>
+<blockquote>
+<p>2.10.5  DDS编程示例 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-30-1" name="__codelineno-30-1" href="#__codelineno-30-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_qos<span class="w"> </span>qos_helloworld_pub<span class="w"> </span>
+<a id="__codelineno-30-2" name="__codelineno-30-2" href="#__codelineno-30-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_qos<span class="w"> </span>qos_helloworld_sub<span class="w"> </span>
+</code></pre></div>
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diff --git "a/ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/ROS\357\274\232\346\231\272\350\203\275\346\234\272\345\231\250\344\272\272\347\232\204\347\201\265\351\255\202/index.html" "b/ROS2_Book/1.ROS2\345\237\272\347\241\200\345\216\237\347\220\206/ROS\357\274\232\346\231\272\350\203\275\346\234\272\345\231\250\344\272\272\347\232\204\347\201\265\351\255\202/index.html"
new file mode 100644
index 0000000..b99c9b7
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+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2系统安装
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2系统安装">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#1" class="md-nav__link">
+    <span class="md-ellipsis">
+      1. 设置编码格式
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#2" class="md-nav__link">
+    <span class="md-ellipsis">
+      2. 添加软件源
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#3-ros-2" class="md-nav__link">
+    <span class="md-ellipsis">
+      3. 安装ROS 2
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#4" class="md-nav__link">
+    <span class="md-ellipsis">
+      4. 设置环境变量
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#5" class="md-nav__link">
+    <span class="md-ellipsis">
+      5. 测试示例
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2命令行操作
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2命令行操作">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      运行节点程序
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      查看运行节点
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      查看话题信息
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      发布话题信息
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      发布服务请求
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      发送动作目标
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      数据录制与播放
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
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+            
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+  
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
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+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
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+    <li class="md-nav__item">
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+  </span>
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+  
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+    <li class="md-nav__item">
+      <a href="../../../about/" class="md-nav__link">
+        
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+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
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+    </li>
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2系统安装
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2系统安装">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#1" class="md-nav__link">
+    <span class="md-ellipsis">
+      1. 设置编码格式
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#2" class="md-nav__link">
+    <span class="md-ellipsis">
+      2. 添加软件源
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#3-ros-2" class="md-nav__link">
+    <span class="md-ellipsis">
+      3. 安装ROS 2
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#4" class="md-nav__link">
+    <span class="md-ellipsis">
+      4. 设置环境变量
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#5" class="md-nav__link">
+    <span class="md-ellipsis">
+      5. 测试示例
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2命令行操作
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2命令行操作">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      运行节点程序
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      查看运行节点
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      查看话题信息
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      发布话题信息
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      发布服务请求
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      发送动作目标
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      数据录制与播放
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros"><strong>ROS：智能机器人的灵魂</strong></h1>
+<h2 id="ros-2"><strong>ROS 2系统安装</strong></h2>
+<blockquote>
+<p>1.4  ROS 2安装方法 </p>
+</blockquote>
+<p>Ubuntu 操作系统准备好之后，就可以安装ROS 2，安装过程需要使用Ubuntu操作系统中的命令行工具——Terminal，也称终端，大家可以直接在系统中使用快捷键"Ctrl+Alt+T"打开。</p>
+<p>启动后，可依次输入以下命令安装ROS 2，本书选择的ROS 2版本为Jazzy，对应Ubuntu 24.04 LTS。</p>
+<blockquote>
+<p><strong>提示</strong>：以下是ROS官方给出的详细安装步骤，如果大家是第一次使用或者希望通过更简单的方式安装，那么可以使用本书配套代码中的快捷安装脚本<code>ros_install.sh</code>。在脚本所在的路径下，通过终端输入<code>./ros_install.sh</code>指令，跟随提示即可完成安装。或者可以使用<code>wget oss.guyuehome.com/upload/2024/11/111120478121/install.txt -O install_ros &amp;&amp; . install_ros</code>指令也可以完成安装。</p>
+</blockquote>
+<h3 id="1">1. 设置编码格式</h3>
+<p>确保系统使用正确的本地化设置和语言环境，以便在安装和运行软件时能够正确地显示语言并进行本地化支持。</p>
+<p>启动一个终端，输入如下命令：</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>locales<span class="w"> </span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>locale-gen<span class="w"> </span>en_US<span class="w"> </span>en_US.UTF-8<span class="w"> </span>
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>update-locale<span class="w"> </span><span class="nv">LC_ALL</span><span class="o">=</span>en_US.UTF-8<span class="w"> </span><span class="nv">LANG</span><span class="o">=</span>en_US.UTF-8<span class="w">  </span>
+<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">LANG</span><span class="o">=</span>en_US.UTF-8<span class="w"> </span>
+</code></pre></div>
+<h3 id="2">2. 添加软件源</h3>
+<p>安装ROS 2之前还需要告诉系统从哪里下载ROS 2的安装包，这些安装包所放置的服务器被称为软件源。从软件源中下载安装包还需要配置好密钥，这样才能打开下载的"大门"。</p>
+<p>在打开的终端中继续输入如下命令，将ROS 2的签名密钥签署到系统密钥环中，并添加软件源的地址信息，系统才可以通过APT管理器安装ROS 2软件包。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>software-properties-common<span class="w"> </span>
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>add-apt-repository<span class="w"> </span>universe<span class="w"> </span>
+<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>curl<span class="w"> </span>-y
+<a id="__codelineno-1-4" name="__codelineno-1-4" href="#__codelineno-1-4"></a>$<span class="w"> </span>sudo<span class="w"> </span>curl<span class="w"> </span>-sSL<span class="w"> </span>https://raw.githubusercontent.com/ros/rosdistro/master/ros.key<span class="w"> </span>-o<span class="w"> </span>/usr/share/keyrings/ros-archive-keyring.gpg
+<a id="__codelineno-1-5" name="__codelineno-1-5" href="#__codelineno-1-5"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;deb [arch=</span><span class="k">$(</span>dpkg<span class="w"> </span>--print-architecture<span class="k">)</span><span class="s2"> </span>
+<a id="__codelineno-1-6" name="__codelineno-1-6" href="#__codelineno-1-6"></a><span class="s2">signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] [ROS 软件源基地址] </span><span class="k">$(</span>.<span class="w"> </span>/etc/os-release<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>
+<a id="__codelineno-1-7" name="__codelineno-1-7" href="#__codelineno-1-7"></a><span class="nb">echo</span><span class="w"> </span><span class="nv">$UBUNTU_CODENAME</span><span class="k">)</span><span class="s2"> main&quot;</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/etc/apt/sources.list.d/ros2.list<span class="w"> </span>&gt;<span class="w"> </span>/dev/null<span class="w"> </span>
+</code></pre></div>
+<h3 id="3-ros-2">3. 安装ROS 2</h3>
+<p>准备工作已完成，接下来在终端中输入如下命令，开始下载并安装ROS 2的桌面版软件。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>upgrade<span class="w"> </span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-desktop<span class="w">      </span>
+</code></pre></div>
+<h3 id="4">4. 设置环境变量</h3>
+<p>现在，ROS 2 已经成功安装到计算机中了，默认在/opt路径下。由于后续会频繁使用终端
+输入ROS 2命令，所以在使用前还需要设置系统环境变量，让系统知道ROS 2的各种功能在哪
+里，设置的命令如下。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span><span class="nb">source</span><span class="w"> </span>/opt/ros/jazzy/setup.bash<span class="w"> </span>
+<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;source /opt/ros/jazzy/setup.bash&quot;</span><span class="w"> </span>&gt;&gt;<span class="w"> </span>~/.bashrc<span class="w"> </span>
+</code></pre></div>
+<h3 id="5">5. 测试示例</h3>
+<p>安装完成，可以通过以下示例测试ROS 2是否安装成功。 
+启动第一个终端，通过以下命令启动一个数据的发布者节点。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>demo_nodes_cpp<span class="w"> </span>talker
+</code></pre></div>
+<p>启动第二个终端，通过以下命令启动一个数据的订阅者节点。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>demo_nodes_py<span class="w"> </span>listener<span class="w"> </span>
+</code></pre></div>
+<p>如果“Hello World”字符串在两个终端中正常传输，则说明ROS 2的通信系统没有问题。
+至此，ROS 2已经在系统中安装好了。 </p>
+<h2 id="ros-2_1"><strong>ROS 2命令行操作</strong></h2>
+<blockquote>
+<p>对应1.5.3  ROS 2中的命令行 </p>
+</blockquote>
+<h3 id="_1">运行节点程序</h3>
+<p>想要运行ROS 2中某个节点，可以使用ros2 run命令进行操作，之后第一个参数表示功能包的名称，第二个参数表示功能包内节点的名称，对于运行海龟仿真节点和键盘控制节点的命令： 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtlesim_node<span class="w"> </span>
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>turtlesim<span class="w"> </span>turtle_teleop_key<span class="w"> </span>
+</code></pre></div></p>
+<h3 id="_2">查看运行节点</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>node<span class="w"> </span>list<span class="w"> </span>
+</code></pre></div>
+<h3 id="_3">查看话题信息</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>list
+</code></pre></div>
+<h3 id="_4">发布话题信息</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>--rate<span class="w"> </span><span class="m">1</span><span class="w"> </span>/turtle1/cmd_vel<span class="w"> </span>geometry_msgs/msg/Twist<span class="w"> </span><span class="s2">&quot;{linear: {x: 2.0, y: 0.0, </span>
+<a id="__codelineno-9-2" name="__codelineno-9-2" href="#__codelineno-9-2"></a><span class="s2">z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}&quot;</span><span class="w"> </span>
+</code></pre></div>
+<h3 id="_5">发布服务请求</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/spawn<span class="w"> </span>turtlesim/srv/Spawn<span class="w"> </span><span class="s2">&quot;{x: 2, y: 2, theta: 0.2, name: &#39;&#39;}&quot;</span>
+</code></pre></div>
+<h3 id="_6">发送动作目标</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>action<span class="w"> </span>send_goal<span class="w"> </span>/turtle1/rotate_absolute<span class="w"> </span>turtlesim/action/RotateAbsolute<span class="w"> </span><span class="s2">&quot;theta: 3&quot;</span>
+</code></pre></div>
+<h3 id="_7">数据录制与播放</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a><span class="c1">#数据录制 </span>
+<a id="__codelineno-12-2" name="__codelineno-12-2" href="#__codelineno-12-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/turtle1/cmd_vel<span class="w"> </span>
+<a id="__codelineno-12-3" name="__codelineno-12-3" href="#__codelineno-12-3"></a><span class="c1">#数据播放 (注意路径和文件名)</span>
+<a id="__codelineno-12-4" name="__codelineno-12-4" href="#__codelineno-12-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>bag<span class="w"> </span>play<span class="w"> </span>rosbag2_2024_07_06-21_21_23/<span class="w"> </span>rosbag2_2024_07_06-21_21_23_0.mcap<span class="w"> </span>
+</code></pre></div>
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new file mode 100644
index 0000000..4393aaf
--- /dev/null
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+    ROS2智能机器人开发实践
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+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="true">
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+    本书使用说明
+  </span>
+  
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+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
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+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
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+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
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+    </li>
+  
+
+              
+            
+              
+                
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+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
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+  
+  
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+    
+    
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+        
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" checked>
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
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+      <a href="../ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
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+      <a href="../ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
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+  
+  
+    <li class="md-nav__item md-nav__item--active">
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+      
+      
+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人ROS 2底盘驱动开发
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="机器人ROS 2底盘驱动开发">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      键盘控制
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人状态的动态监控
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人运动编程与可视化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="机器人运动编程与可视化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2速度控制消息定义
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      运动编程与可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机驱动与图像数据
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="相机驱动与图像数据">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机驱动与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2图像消息定义
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      三维相机驱动与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2点云消息定义
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      激光雷达驱动与可视化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="激光雷达驱动与可视化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2雷达消息定义
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      激光雷达驱动与数据可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#imu" class="md-nav__link">
+    <span class="md-ellipsis">
+      IMU驱动与数据可视化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="IMU驱动与数据可视化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ros-2-imu" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2 IMU消息定义
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
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+      
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+  
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+      
+    </li>
+  
+
+              
+            
+          </ul>
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+      
+    </li>
+  
+
+              
+            
+              
+                
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+  
+  
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+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
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+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+          </ul>
+        </nav>
+      
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+  
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+    <li class="md-nav__item">
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
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+      </a>
+    </li>
+  
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://www.guyuehome.com" class="md-nav__link">
+        
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+    博客网站
+  </span>
+  
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+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../about/" class="md-nav__link">
+        
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+    关于我们
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+</nav>
+                  </div>
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+              </div>
+            
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+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
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+  
+  
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+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人ROS 2底盘驱动开发
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="机器人ROS 2底盘驱动开发">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      键盘控制
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人状态的动态监控
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人运动编程与可视化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="机器人运动编程与可视化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2速度控制消息定义
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      运动编程与可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机驱动与图像数据
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="相机驱动与图像数据">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机驱动与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2图像消息定义
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      三维相机驱动与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2点云消息定义
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      激光雷达驱动与可视化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="激光雷达驱动与可视化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ros-2_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2雷达消息定义
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      激光雷达驱动与数据可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#imu" class="md-nav__link">
+    <span class="md-ellipsis">
+      IMU驱动与数据可视化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="IMU驱动与数据可视化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#ros-2-imu" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2 IMU消息定义
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2控制与感知：让机器人动得了、看得见</strong></h1>
+<h2 id="ros-2_1">机器人ROS 2底盘驱动开发</h2>
+<h3 id="_1">键盘控制</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a><span class="c1"># 启动机器人底盘节点originbot_base </span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a><span class="c1"># 启动键盘控制节点 </span>
+<a id="__codelineno-0-4" name="__codelineno-0-4" href="#__codelineno-0-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>
+</code></pre></div>
+<h3 id="_2">机器人状态的动态监控</h3>
+<blockquote>
+<p>6.2.4  机器人状态的动态监控 </p>
+</blockquote>
+<p><strong>订阅originbot_status话题</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/originbot_status<span class="w"> </span>
+</code></pre></div>
+<p><strong>控制蜂鸣器</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a><span class="c1">## 打开蜂鸣器 </span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/originbot_buzzer<span class="w"> </span>originbot_msgs/srv/OriginbotBuzzer<span class="w"> </span><span class="s2">&quot;&#39;on&#39;: true&quot;</span><span class="w">    </span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a><span class="c1">## 关闭蜂鸣器 </span>
+<a id="__codelineno-2-4" name="__codelineno-2-4" href="#__codelineno-2-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/originbot_buzzer<span class="w"> </span>originbot_msgs/srv/OriginbotBuzzer<span class="w"> </span><span class="s2">&quot;&#39;on&#39;: false&quot;</span><span class="w">  </span>
+</code></pre></div>
+<p><strong>LED与POD参数调节</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a><span class="c1">## 打开LED </span>
+<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/originbot_led<span class="w"> </span>originbot_msgs/srv/OriginbotLed<span class="w"> </span><span class="s2">&quot;&#39;on&#39;: true&quot;</span><span class="w">    </span>
+<a id="__codelineno-3-3" name="__codelineno-3-3" href="#__codelineno-3-3"></a><span class="c1">## 关闭LED  </span>
+<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/originbot_led<span class="w"> </span>originbot_msgs/srv/OriginbotLed<span class="w"> </span><span class="s2">&quot;&#39;on&#39;: false&quot;</span><span class="w">    </span>
+<a id="__codelineno-3-5" name="__codelineno-3-5" href="#__codelineno-3-5"></a><span class="c1">## 设置左轮的PID控制参数 </span>
+<a id="__codelineno-3-6" name="__codelineno-3-6" href="#__codelineno-3-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/originbot_left_pid<span class="w"> </span>originbot_msgs/srv/OriginbotPID<span class="w"> </span><span class="s2">&quot;{&#39;p&#39;: 10, &#39;i&#39;: 0, </span>
+<a id="__codelineno-3-7" name="__codelineno-3-7" href="#__codelineno-3-7"></a><span class="s2">&#39;d&#39;: 0.1}&quot;</span><span class="w"> </span>
+<a id="__codelineno-3-8" name="__codelineno-3-8" href="#__codelineno-3-8"></a><span class="c1">## 设置右轮的PID控制参数 </span>
+<a id="__codelineno-3-9" name="__codelineno-3-9" href="#__codelineno-3-9"></a>$<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/originbot_right_pid<span class="w"> </span>originbot_msgs/srv/OriginbotPID<span class="w"> </span><span class="s2">&quot;{&#39;p&#39;: 10, &#39;i&#39;: 0, </span>
+<a id="__codelineno-3-10" name="__codelineno-3-10" href="#__codelineno-3-10"></a><span class="s2">&#39;d&#39;: 0.1}&quot;</span><span class="w"> </span>
+</code></pre></div>
+<h2 id="_3">机器人运动编程与可视化</h2>
+<h3 id="ros-2_2">ROS 2速度控制消息定义</h3>
+<blockquote>
+<p>6.3.1  ROS 2速度控制消息定义</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>show<span class="w"> </span>geometry_msgs/msg/Twist<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>pub<span class="w"> </span>--rate<span class="w"> </span><span class="m">1</span><span class="w"> </span>/cmd_vel<span class="w"> </span>geometry_msgs/msg/Twist<span class="w"> </span><span class="s2">&quot;{linear: {x: 0.2, y: 0.0, z: 0.0}, </span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a><span class="s2">angular: {x: 0.0, y: 0.0, z: 0.8}}&quot;</span>
+</code></pre></div>
+<h3 id="_4">运动编程与可视化</h3>
+<blockquote>
+<p>6.3.2  运动编程与可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>originbot_demo<span class="w"> </span>draw_circle
+</code></pre></div>
+<h2 id="_5">相机驱动与图像数据</h2>
+<h3 id="_6">相机驱动与可视化</h3>
+<blockquote>
+<p>6.4.2  相机驱动与可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-usb-cam
+</code></pre></div>
+<p>安装完成后，就可以使用以下命令驱动笔记本电脑上的相机。 </p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe
+</code></pre></div>
+<p>运行成功后可以使用ROS 2 Qt工具箱中的rqt_image_view查看图像数据。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rqt_image_view<span class="w"> </span>rqt_image_view
+</code></pre></div>
+<p>在某些情况下，可能需要订阅多个图像数据，那么也可以使用usb-cam功能包提供的另一种启动方式。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>usb_cam<span class="w"> </span>camera.launch.py<span class="w">  </span>
+</code></pre></div>
+<h3 id="ros-2_3">ROS 2图像消息定义</h3>
+<blockquote>
+<p>6.4.3  ROS 2图像消息定义 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span>info<span class="w"> </span>-v<span class="w"> </span>/image_raw<span class="w"> </span>
+<a id="__codelineno-11-2" name="__codelineno-11-2" href="#__codelineno-11-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>show<span class="w"> </span>sensor_msgs/msg/Image<span class="w"> </span>
+</code></pre></div>
+<h3 id="_7">三维相机驱动与可视化</h3>
+<blockquote>
+<p>6.4.4  三维相机驱动与可视化  </p>
+</blockquote>
+<p>SDK安装完成后 就可以继续安装RealSense的ROS 2驱动包了。 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-realsense2-*<span class="w"> </span>
+</code></pre></div>
+安装成功后，使用以下命令启动RealSense相机驱动节点。
+<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>realsense2_camera<span class="w"> </span>rs_launch.py<span class="w"> </span>
+</code></pre></div></p>
+<h3 id="ros-2_4">ROS 2点云消息定义</h3>
+<blockquote>
+<p>6.4.5  ROS 2点云消息定义 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-14-1" name="__codelineno-14-1" href="#__codelineno-14-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>show<span class="w"> </span>sensor_msgs/msg/PointCloud2
+</code></pre></div>
+<h2 id="_8">激光雷达驱动与可视化</h2>
+<h3 id="ros-2_5">ROS 2雷达消息定义</h3>
+<blockquote>
+<p>6.5.2  ROS 2雷达消息定义</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-15-1" name="__codelineno-15-1" href="#__codelineno-15-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>show<span class="w"> </span>sensor<span class="w"> </span>msgs/msg/LaserScan
+</code></pre></div>
+<h3 id="_9">激光雷达驱动与数据可视化</h3>
+<blockquote>
+<p>6.5.3  激光雷达驱动与数据可视化</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-16-1" name="__codelineno-16-1" href="#__codelineno-16-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>use_lidar:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>
+<a id="__codelineno-16-2" name="__codelineno-16-2" href="#__codelineno-16-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/scan<span class="w"> </span>
+</code></pre></div>
+<h2 id="imu">IMU驱动与数据可视化</h2>
+<h3 id="ros-2-imu">ROS 2 IMU消息定义</h3>
+<blockquote>
+<p>6.6.1  ROS 2 IMU消息定义</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-17-1" name="__codelineno-17-1" href="#__codelineno-17-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>interface<span class="w"> </span>show<span class="w"> </span>sensor_msgs/msg/Imu
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-18-1" name="__codelineno-18-1" href="#__codelineno-18-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>use_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>
+</code></pre></div>
+<p>在同一网络中的计算机端，通过以下命令安装RViz的IMU插件。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-19-1" name="__codelineno-19-1" href="#__codelineno-19-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-rviz-imu-plugin
+</code></pre></div>
+<p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../img/footer.png" /></a></p>
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diff --git "a/ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/ROS 2\346\234\272\345\231\250\344\272\272\344\273\277\347\234\237\357\274\232\351\233\266\346\210\220\346\234\254\347\216\251\350\275\254\346\234\272\345\231\250\344\272\272/index.html" "b/ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/ROS 2\346\234\272\345\231\250\344\272\272\344\273\277\347\234\237\357\274\232\351\233\266\346\210\220\346\234\254\347\216\251\350\275\254\346\234\272\345\231\250\344\272\272/index.html"
new file mode 100644
index 0000000..ed143e0
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+    ROS2智能机器人开发实践
+  </span>
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2智能机器人开发实践
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
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+  
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+  
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+      <a href="../../0.%E5%89%8D%E8%A8%80/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
+  
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+    </li>
+  
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+        
+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
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+                
+  
+  
+    
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" checked>
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+    
+  
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
+      
+      
+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#urdf" class="md-nav__link">
+    <span class="md-ellipsis">
+      URDF机器人建模
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="URDF机器人建模">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人模型可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#xacro" class="md-nav__link">
+    <span class="md-ellipsis">
+      XACRO机器人模型优化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="XACRO机器人模型优化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人模型可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#gazebo" class="md-nav__link">
+    <span class="md-ellipsis">
+      Gazebo机器人仿真
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Gazebo机器人仿真">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#gazebo_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      Gazebo中加载机器人模型
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rgb" class="md-nav__link">
+    <span class="md-ellipsis">
+      RGB相机仿真与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rgbd" class="md-nav__link">
+    <span class="md-ellipsis">
+      RGBD相机仿真与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      激光雷达仿真与可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
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+              
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+                
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+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
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+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
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+      
+      
+  
+  
+  
+  
+    
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+    
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+    <li class="md-nav__item md-nav__item--nested">
+      
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+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
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+    </li>
+  
+
+              
+            
+              
+                
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
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+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
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+    <li class="md-nav__item">
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+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
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+  
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+  
+  
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+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
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+    ROS2命令行操作
+  </span>
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+  
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+        
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+        
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+    节点
+  </span>
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+  
+  
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+        
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+    话题
+  </span>
+  
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
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+    通信接口
+  </span>
+  
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+    </li>
+  
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+            
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+  
+  
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
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+    </li>
+  
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+                
+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
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+    </li>
+  
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+            
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+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
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+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
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+  
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+  
+  
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
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+      </a>
+    </li>
+  
+
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+            
+          </ul>
+        </nav>
+      
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+    <li class="md-nav__item md-nav__item--nested">
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
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+          </label>
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+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
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+    Launch
+  </span>
+  
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+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
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+    </li>
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+            
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+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
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+    </li>
+  
+
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+            
+              
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+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
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+      </a>
+    </li>
+  
+
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+            
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+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+              
+                
+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+          </ul>
+        </nav>
+      
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+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
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+    </li>
+  
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+              
+            
+          </ul>
+        </nav>
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+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
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+      </a>
+    </li>
+  
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+    <li class="md-nav__item">
+      <a href="https://www.guyuehome.com" class="md-nav__link">
+        
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+    博客网站
+  </span>
+  
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+    </li>
+  
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+  
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+    <li class="md-nav__item">
+      <a href="../../../about/" class="md-nav__link">
+        
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+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
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+    </li>
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#urdf" class="md-nav__link">
+    <span class="md-ellipsis">
+      URDF机器人建模
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="URDF机器人建模">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人模型可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#xacro" class="md-nav__link">
+    <span class="md-ellipsis">
+      XACRO机器人模型优化
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="XACRO机器人模型优化">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人模型可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#gazebo" class="md-nav__link">
+    <span class="md-ellipsis">
+      Gazebo机器人仿真
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Gazebo机器人仿真">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#gazebo_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      Gazebo中加载机器人模型
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rgb" class="md-nav__link">
+    <span class="md-ellipsis">
+      RGB相机仿真与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rgbd" class="md-nav__link">
+    <span class="md-ellipsis">
+      RGBD相机仿真与可视化
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      激光雷达仿真与可视化
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2机器人仿真：零成本玩转机器人</strong></h1>
+<h2 id="urdf"><strong>URDF机器人建模</strong></h2>
+<h3 id="_1">机器人模型可视化</h3>
+<blockquote>
+<p>4.3.2  机器人模型可视化</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_urdf<span class="w"> </span>display.launch.py<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>urdf_to_graphviz<span class="w"> </span>mbot_base.urdf<span class="w">    </span><span class="c1"># 在模型所在的文件夹下运行 </span>
+</code></pre></div>
+<h2 id="xacro"><strong>XACRO机器人模型优化</strong></h2>
+<h3 id="_2">机器人模型可视化</h3>
+<blockquote>
+<p>4.4.3  机器人模型可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_urdf<span class="w"> </span>display_xacro.launch.py<span class="w"> </span>
+</code></pre></div>
+<h2 id="gazebo"><strong>Gazebo机器人仿真</strong></h2>
+<h3 id="gazebo_1">Gazebo中加载机器人模型</h3>
+<blockquote>
+<p>4.6.1  在Gazebo中加载机器人模型 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_urdf_into_gazebo_harmonic.launch.py<span class="w"> </span>
+</code></pre></div>
+<h3 id="rgb">RGB相机仿真与可视化</h3>
+<blockquote>
+<p>4.6.3  RGB相机仿真与可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_camera_into_gazebo_harmonic.launch.py
+</code></pre></div>
+<h3 id="rgbd">RGBD相机仿真与可视化</h3>
+<blockquote>
+<p>4.6.4  RGBD相机仿真与可视化 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_rgbd_into_gazebo_harmonic.launch.py<span class="w"> </span>
+</code></pre></div>
+<h3 id="_3">激光雷达仿真与可视化</h3>
+<blockquote>
+<p>4.6.5  激光雷达仿真与可视化</p>
+</blockquote>
+<p><div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_lidar_into_gazebo_harmonic.launch.py
+</code></pre></div>
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diff --git "a/ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/ROS 2\346\234\272\345\231\250\344\272\272\346\236\204\345\273\272\357\274\232\344\273\216\344\273\277\347\234\237\345\210\260\345\256\236\347\211\251/index.html" "b/ROS2_Book/2.ROS2\346\234\272\345\231\250\344\272\272\350\256\276\350\256\241/ROS 2\346\234\272\345\231\250\344\272\272\346\236\204\345\273\272\357\274\232\344\273\216\344\273\277\347\234\237\345\210\260\345\256\236\347\211\251/index.html"
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+            
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+    本书使用说明
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+  
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+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
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+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
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+  
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+  
+    <li class="md-nav__item">
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+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
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+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
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+  
+
+              
+            
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+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
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+  
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+    <li class="md-nav__item md-nav__item--active">
+      
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
+      
+      
+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真实例
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="仿真实例">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#originbot_desktop" class="md-nav__link">
+    <span class="md-ellipsis">
+      下载originbot_desktop 功能包集合
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装功能包依赖
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      编译工作空间
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      设置环境变量
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人仿真测试
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      真机实例
+    </span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
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+    </li>
+  
+
+              
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+        </nav>
+      
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
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+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
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+  
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+      
+  
+  
+  
+  
+    
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+    
+    <li class="md-nav__item md-nav__item--nested">
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+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
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+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
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+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
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+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
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+            系统架构
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+            
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+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://www.guyuehome.com" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../about/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真实例
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="仿真实例">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#originbot_desktop" class="md-nav__link">
+    <span class="md-ellipsis">
+      下载originbot_desktop 功能包集合
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装功能包依赖
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      编译工作空间
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      设置环境变量
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人仿真测试
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      真机实例
+    </span>
+  </a>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2机器人构建：从仿真到实物</strong></h1>
+<h2 id="_1"><strong>仿真实例</strong></h2>
+<blockquote>
+<p>5.1.4  计算机端开发环境配置</p>
+</blockquote>
+<h3 id="originbot_desktop">下载originbot_desktop 功能包集合</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src<span class="w"> </span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>git<span class="w"> </span>clone<span class="w"> </span>https://gitee.com/guyuehome/originbot_desktop.git
+</code></pre></div>
+<h3 id="_2">安装功能包依赖</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src/originbot_desktop<span class="w"> </span>
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>./install_prereq.sh<span class="w"> </span>
+</code></pre></div>
+<h3 id="_3">编译工作空间</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws<span class="w"> </span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>colcon<span class="w"> </span>build<span class="w"> </span>
+</code></pre></div>
+<h3 id="_4">设置环境变量</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span><span class="nb">echo</span><span class="w"> </span><span class="s2">&quot;~/dev_ws/install/setup.sh&quot;</span><span class="w"> </span>&gt;&gt;<span class="w"> </span>~/.bashrc
+</code></pre></div>
+<h3 id="_5">机器人仿真测试</h3>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_gazebo_harmonic<span class="w"> </span>load_originbot_into_gazebo.launch.py<span class="w"> </span>
+</code></pre></div>
+<h2 id="_6"><strong>真机实例</strong></h2>
+<blockquote>
+<p>5.6  机器人控制系统：从“肌肉”到“大脑”</p>
+</blockquote>
+<p>输入以下命令启动机器人底盘驱动节点
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>
+</code></pre></div>
+再启动一个SSH远程连接的终端，运行如下命令启动键盘控制节点
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>
+</code></pre></div></p>
+<p><a href="https://www.guyuehome.com/" target="_blank"><img alt="图片1" src="../img/footer.png" /></a></p>
+
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new file mode 100644
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+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
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+  <span class="md-ellipsis">
+    ROS2基础原理
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+            <span class="md-nav__icon md-icon"></span>
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+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
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+            ROS2基础原理
+          </label>
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+            
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+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
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+    </li>
+  
+
+              
+            
+              
+                
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
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+    </li>
+  
+
+              
+            
+              
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+  
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+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
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+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
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+            ROS2机器人设计
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+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
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+      </a>
+    </li>
+  
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+              
+            
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+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
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+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
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+  
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+  
+  
+    <li class="md-nav__item">
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+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
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+                
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+      
+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#slam-toolbox" class="md-nav__link">
+    <span class="md-ellipsis">
+      SLAM Toolbox地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="SLAM Toolbox地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#slam-toolbox_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真环境中的SLAM Toolbox地图构建
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#slam-toolbox_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人SLAM Toolbox地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#cartographer" class="md-nav__link">
+    <span class="md-ellipsis">
+      Cartographer：二维地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Cartographer：二维地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#cartographer_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真环境中的Cartographer地图构建
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#cartographer_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人Cartographer地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#orb" class="md-nav__link">
+    <span class="md-ellipsis">
+      ORB：视觉地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ORB：视觉地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#orb_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人ORB地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rtab" class="md-nav__link">
+    <span class="md-ellipsis">
+      RTAB：三维地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="RTAB：三维地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rtab_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真环境中的RTAB地图构建
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rtab_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人RTAB地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
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+            
+              
+                
+  
+  
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+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
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+    </li>
+  
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+            
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+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
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+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
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+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
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+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
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+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://www.guyuehome.com" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    博客网站
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../about/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+    
+  </ul>
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#slam-toolbox" class="md-nav__link">
+    <span class="md-ellipsis">
+      SLAM Toolbox地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="SLAM Toolbox地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#slam-toolbox_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真环境中的SLAM Toolbox地图构建
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#slam-toolbox_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人SLAM Toolbox地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#cartographer" class="md-nav__link">
+    <span class="md-ellipsis">
+      Cartographer：二维地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Cartographer：二维地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#cartographer_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真环境中的Cartographer地图构建
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#cartographer_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人Cartographer地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#orb" class="md-nav__link">
+    <span class="md-ellipsis">
+      ORB：视觉地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ORB：视觉地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#orb_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人ORB地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#rtab" class="md-nav__link">
+    <span class="md-ellipsis">
+      RTAB：三维地图构建
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="RTAB：三维地图构建">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装与配置方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rtab_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      仿真环境中的RTAB地图构建
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#rtab_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人RTAB地图构建
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2地图构建：让机器人理解环境</strong></h1>
+<h2 id="slam-toolbox"><strong>SLAM Toolbox地图构建</strong></h2>
+<h3 id="_1">安装与配置方法</h3>
+<blockquote>
+<p>8.2.2  安装与配置方法</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-slam-toolbox
+</code></pre></div>
+<h3 id="slam-toolbox_1">仿真环境中的SLAM Toolbox地图构建</h3>
+<blockquote>
+<p>8.2.3  仿真环境中的SLAM Toolbox地图构建</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_lidar_into_maze_gazebo_harmonic.launch.py
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a><span class="c1"># 启动slam_toolbox功能包中的算法节点 </span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>slam_toolbox<span class="w"> </span>online_async_launch.py<span class="w"> </span>
+<a id="__codelineno-2-3" name="__codelineno-2-3" href="#__codelineno-2-3"></a><span class="c1"># 新开一个终端启动RViz </span>
+<a id="__codelineno-2-4" name="__codelineno-2-4" href="#__codelineno-2-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_viz<span class="w"> </span>display_slam.launch.py
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-nav2-map-server<span class="w"> </span>
+<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>nav2_map_server<span class="w"> </span>map_saver_cli<span class="w"> </span>-t<span class="w"> </span>map<span class="w"> </span>-f<span class="w"> </span>cloister
+</code></pre></div>
+<h3 id="slam-toolbox_2">真实机器人SLAM Toolbox地图构建</h3>
+<blockquote>
+<p>8.2.4  真实机器人SLAM Toolbox地图构建 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a><span class="c1"># 启动机器人的底盘</span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>use_lidar:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>
+<a id="__codelineno-5-3" name="__codelineno-5-3" href="#__codelineno-5-3"></a><span class="c1"># 运行SLAM Toolobox地图构建算法 </span>
+<a id="__codelineno-5-4" name="__codelineno-5-4" href="#__codelineno-5-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>slam_toolbox<span class="w"> </span>online_async_launch.py<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a><span class="c1"># 计算机端 </span>
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_viz<span class="w"> </span>display_slam.launch.py
+<a id="__codelineno-6-3" name="__codelineno-6-3" href="#__codelineno-6-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>
+<a id="__codelineno-6-4" name="__codelineno-6-4" href="#__codelineno-6-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>nav2_map_server<span class="w"> </span>map_saver_cli<span class="w"> </span>-t<span class="w"> </span>map<span class="w"> </span>-f<span class="w"> </span>my_map
+</code></pre></div>
+<h2 id="cartographer">Cartographer：二维地图构建</h2>
+<h3 id="_2">安装与配置方法</h3>
+<blockquote>
+<p>8.3.2  安装与配置方法 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-cartographer<span class="w"> </span>
+<a id="__codelineno-7-2" name="__codelineno-7-2" href="#__codelineno-7-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-cartographer-ros
+</code></pre></div>
+<h3 id="cartographer_1">仿真环境中的Cartographer地图构建</h3>
+<blockquote>
+<p>8.3.3  仿真环境中的Cartographer地图构建</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_lidar_into_gazebo_harmonic.launch.py<span class="w"> </span>
+<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>cartographer_gazebo.launch.py<span class="w"> </span>
+<a id="__codelineno-8-3" name="__codelineno-8-3" href="#__codelineno-8-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>
+<a id="__codelineno-8-4" name="__codelineno-8-4" href="#__codelineno-8-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>nav2_map_server<span class="w"> </span>map_saver_cli<span class="w"> </span>-t<span class="w"> </span>map<span class="w"> </span>-f<span class="w"> </span>cloister
+</code></pre></div>
+<h3 id="cartographer_2">真实机器人Cartographer地图构建</h3>
+<blockquote>
+<p>8.3.4  真实机器人Cartographer地图构建</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a><span class="c1"># 终端1：启动机器人的底盘 </span>
+<a id="__codelineno-9-2" name="__codelineno-9-2" href="#__codelineno-9-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>use_lidar:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>
+<a id="__codelineno-9-3" name="__codelineno-9-3" href="#__codelineno-9-3"></a><span class="c1"># 终端2：运行Cartographer地图构建算法 </span>
+<a id="__codelineno-9-4" name="__codelineno-9-4" href="#__codelineno-9-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>cartographer.launch.p
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a><span class="c1"># 计算机端 </span>
+<a id="__codelineno-10-2" name="__codelineno-10-2" href="#__codelineno-10-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_viz<span class="w"> </span>display_slam.launch.py
+<a id="__codelineno-10-3" name="__codelineno-10-3" href="#__codelineno-10-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>teleop_twist_keyboard<span class="w"> </span>
+<a id="__codelineno-10-4" name="__codelineno-10-4" href="#__codelineno-10-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>nav2_map_server<span class="w"> </span>map_saver_cli<span class="w"> </span>-t<span class="w"> </span>map<span class="w"> </span>-f<span class="w"> </span>cloister
+</code></pre></div>
+<h2 id="orb">ORB：视觉地图构建</h2>
+<h3 id="_3">安装与配置方法</h3>
+<blockquote>
+<p>8.4.2  安装与配置方法 </p>
+</blockquote>
+<ol>
+<li>安装依赖库——Eigen3 </li>
+</ol>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libeigen3-dev
+</code></pre></div>
+<ol>
+<li>安装依赖库——Pangolin </li>
+</ol>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a><span class="c1"># 切换到用户的主目录   </span>
+<a id="__codelineno-12-2" name="__codelineno-12-2" href="#__codelineno-12-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~<span class="w">   </span>
+<a id="__codelineno-12-3" name="__codelineno-12-3" href="#__codelineno-12-3"></a><span class="c1"># 复制Pangolin的GitHub仓库   </span>
+<a id="__codelineno-12-4" name="__codelineno-12-4" href="#__codelineno-12-4"></a>$<span class="w"> </span>git<span class="w"> </span>clone<span class="w"> </span>https://github.com/stevenlovegrove/Pangolin.git
+<a id="__codelineno-12-5" name="__codelineno-12-5" href="#__codelineno-12-5"></a>
+<a id="__codelineno-12-6" name="__codelineno-12-6" href="#__codelineno-12-6"></a><span class="c1"># 使用脚本以运行模式检查推荐的依赖项安装命令   </span>
+<a id="__codelineno-12-7" name="__codelineno-12-7" href="#__codelineno-12-7"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>Pangolin<span class="w">   </span>
+<a id="__codelineno-12-8" name="__codelineno-12-8" href="#__codelineno-12-8"></a>$<span class="w"> </span>./scripts/install_prerequisites.sh<span class="w"> </span>--dry-run<span class="w"> </span>recommended<span class="w">   </span>
+<a id="__codelineno-12-9" name="__codelineno-12-9" href="#__codelineno-12-9"></a>
+<a id="__codelineno-12-10" name="__codelineno-12-10" href="#__codelineno-12-10"></a><span class="c1"># 使用脚本安装推荐的依赖项   </span>
+<a id="__codelineno-12-11" name="__codelineno-12-11" href="#__codelineno-12-11"></a>$<span class="w"> </span>./scripts/install_prerequisites.sh<span class="w"> </span>recommended<span class="w">   </span>
+<a id="__codelineno-12-12" name="__codelineno-12-12" href="#__codelineno-12-12"></a>
+<a id="__codelineno-12-13" name="__codelineno-12-13" href="#__codelineno-12-13"></a><span class="c1"># 使用cmake配置Pangolin的构建系统，将输出目录设置为当前目录下的build文件夹   </span>
+<a id="__codelineno-12-14" name="__codelineno-12-14" href="#__codelineno-12-14"></a><span class="c1"># 这将生成必要的Makefile（或其他构建文件）   </span>
+<a id="__codelineno-12-15" name="__codelineno-12-15" href="#__codelineno-12-15"></a>$<span class="w"> </span>cmake<span class="w"> </span>-B<span class="w"> </span>build<span class="w">   </span>
+<a id="__codelineno-12-16" name="__codelineno-12-16" href="#__codelineno-12-16"></a>
+<a id="__codelineno-12-17" name="__codelineno-12-17" href="#__codelineno-12-17"></a><span class="c1"># 使用cmake构建Pangolin，使用4个并行作业加速构建过程   </span>
+<a id="__codelineno-12-18" name="__codelineno-12-18" href="#__codelineno-12-18"></a>$<span class="w"> </span>cmake<span class="w"> </span>--build<span class="w"> </span>build<span class="w"> </span>-j4<span class="w">   </span>
+<a id="__codelineno-12-19" name="__codelineno-12-19" href="#__codelineno-12-19"></a>
+<a id="__codelineno-12-20" name="__codelineno-12-20" href="#__codelineno-12-20"></a><span class="c1"># 将Pangolin安装到系统中 </span>
+<a id="__codelineno-12-21" name="__codelineno-12-21" href="#__codelineno-12-21"></a>$<span class="w"> </span>sudo<span class="w"> </span>cmake<span class="w"> </span>--install<span class="w"> </span>build<span class="w">   </span>
+</code></pre></div>
+<p>在.bashrc中添加环境配置。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a><span class="k">if</span><span class="w"> </span><span class="o">[[</span><span class="w"> </span><span class="s2">&quot;:</span><span class="nv">$LD_LIBRARY_PATH</span><span class="s2">:&quot;</span><span class="w"> </span>!<span class="o">=</span><span class="w"> </span>*<span class="s2">&quot;:/usr/local/lib:&quot;</span>*<span class="w"> </span><span class="o">]]</span><span class="p">;</span><span class="w"> </span><span class="k">then</span><span class="w"> </span>
+<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a><span class="w">    </span><span class="nb">export</span><span class="w"> </span><span class="nv">LD_LIBRARY_PATH</span><span class="o">=</span>/usr/local/lib:<span class="nv">$LD_LIBRARY_PATH</span><span class="w"> </span>
+<a id="__codelineno-13-3" name="__codelineno-13-3" href="#__codelineno-13-3"></a><span class="k">fi</span>
+</code></pre></div>
+<ol>
+<li>
+<p>检查OpenCV版本 
+建议使用OpenCV 4.5以上版本。 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-14-1" name="__codelineno-14-1" href="#__codelineno-14-1"></a>$<span class="w"> </span>python3<span class="w"> </span>-c<span class="w"> </span><span class="s2">&quot;import cv2; print(cv2.__version__)&quot;</span><span class="w">  </span>
+</code></pre></div></p>
+</li>
+<li>
+<p>编译ORB_SLAM3源码
+<div class="highlight"><pre><span></span><code><a id="__codelineno-15-1" name="__codelineno-15-1" href="#__codelineno-15-1"></a>$<span class="w"> </span>git<span class="w"> </span>clone<span class="w"> </span>https://github.com/UZ-SLAMLab/ORB_SLAM3.git
+<a id="__codelineno-15-2" name="__codelineno-15-2" href="#__codelineno-15-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>ORB_SLAM3<span class="w"> </span>
+<a id="__codelineno-15-3" name="__codelineno-15-3" href="#__codelineno-15-3"></a>$<span class="w"> </span>chmod<span class="w"> </span>+x<span class="w"> </span>build.sh<span class="w"> </span>
+<a id="__codelineno-15-4" name="__codelineno-15-4" href="#__codelineno-15-4"></a>$<span class="w"> </span>./build.sh
+</code></pre></div></p>
+</li>
+</ol>
+<p>编译完成后可以运行以下两行指令编译算法源码。
+<div class="highlight"><pre><span></span><code><a id="__codelineno-16-1" name="__codelineno-16-1" href="#__codelineno-16-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/ORB_SLAM3/Thirdparty/Sophus/build<span class="w"> </span>
+<a id="__codelineno-16-2" name="__codelineno-16-2" href="#__codelineno-16-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>make<span class="w"> </span>install<span class="w"> </span>
+</code></pre></div></p>
+<ol>
+<li>测试ORM_SLAM3功能
+<div class="highlight"><pre><span></span><code><a id="__codelineno-17-1" name="__codelineno-17-1" href="#__codelineno-17-1"></a><span class="c1"># 下载EuRoC数据集中的一个子集（MH_01_easy）   </span>
+<a id="__codelineno-17-2" name="__codelineno-17-2" href="#__codelineno-17-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>ORB_SLAM3<span class="w">   </span>
+<a id="__codelineno-17-3" name="__codelineno-17-3" href="#__codelineno-17-3"></a>$<span class="w"> </span>wget<span class="w"> </span>-c<span class="w">   </span>
+<a id="__codelineno-17-4" name="__codelineno-17-4" href="#__codelineno-17-4"></a><span class="c1"># 拉取ETH Zurich ASL dataset for robotics 最新的数据集 </span>
+<a id="__codelineno-17-5" name="__codelineno-17-5" href="#__codelineno-17-5"></a><span class="c1"># 解压下载的数据集   </span>
+<a id="__codelineno-17-6" name="__codelineno-17-6" href="#__codelineno-17-6"></a>$<span class="w"> </span>unzip<span class="w"> </span>MH_01_easy.zip<span class="w">   </span>
+<a id="__codelineno-17-7" name="__codelineno-17-7" href="#__codelineno-17-7"></a><span class="c1"># 运行ORB_SLAM3的Monocular示例来处理EuRoC数据集   </span>
+<a id="__codelineno-17-8" name="__codelineno-17-8" href="#__codelineno-17-8"></a>$<span class="w"> </span>./Examples/Monocular/run_monocular_euroc.sh<span class="w"> </span>./Vocabulary/ORBvoc.txt<span class="w"> </span>./Examples/Monocul
+<a id="__codelineno-17-9" name="__codelineno-17-9" href="#__codelineno-17-9"></a><span class="w"> </span>ar/EuRoC.yaml<span class="w"> </span>MH_01_easy<span class="w"> </span>./Examples/Monocular/EuRoC_TimeStamps/MH01.txt<span class="w"> </span>output_directory<span class="w">  </span>
+</code></pre></div></li>
+</ol>
+<h3 id="orb_1">真实机器人ORB地图构建</h3>
+<blockquote>
+<p>8.4.3  真实机器人ORB地图构建 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-18-1" name="__codelineno-18-1" href="#__codelineno-18-1"></a><span class="c1"># 机器人终端1 </span>
+<a id="__codelineno-18-2" name="__codelineno-18-2" href="#__codelineno-18-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>realsense2_camera<span class="w"> </span>rs_launch.py<span class="w"> </span>enable_depth:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>enable_color:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>
+<a id="__codelineno-18-3" name="__codelineno-18-3" href="#__codelineno-18-3"></a>enable_infra1:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>depth_module.profile:<span class="o">=</span>640x480x15
+</code></pre></div></p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-19-1" name="__codelineno-19-1" href="#__codelineno-19-1"></a><span class="c1"># 机器人终端2 </span>
+<a id="__codelineno-19-2" name="__codelineno-19-2" href="#__codelineno-19-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>orb_slam3_example_ros2<span class="w"> </span>
+<a id="__codelineno-19-3" name="__codelineno-19-3" href="#__codelineno-19-3"></a>mono<span class="w"> </span>./ORBvoc.txt<span class="w"> </span>./Examples/Monocular/RealSense_D435i.yaml<span class="w"> </span>
+</code></pre></div>
+<h2 id="rtab">RTAB：三维地图构建</h2>
+<h3 id="_4">安装与配置方法</h3>
+<blockquote>
+<p>8.5.2  安装与配置方法 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-20-1" name="__codelineno-20-1" href="#__codelineno-20-1"></a><span class="w"> </span>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-rtabmap-ros<span class="w"> </span>
+</code></pre></div>
+<h3 id="rtab_1">仿真环境中的RTAB地图构建</h3>
+<blockquote>
+<p>8.5.3  仿真环境中的RTAB地图构建  </p>
+</blockquote>
+<p><strong>激光雷达SLAM建图</strong>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-21-1" name="__codelineno-21-1" href="#__codelineno-21-1"></a><span class="c1"># 终端1：启动机器人仿真环境 </span>
+<a id="__codelineno-21-2" name="__codelineno-21-2" href="#__codelineno-21-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo<span class="w"> </span>load_mbot_lidar_into_maze_gazebo_harmonic.launch.py<span class="w"> </span>
+<a id="__codelineno-21-3" name="__codelineno-21-3" href="#__codelineno-21-3"></a><span class="c1"># 终端2：启动RTAB SLAM算法 </span>
+<a id="__codelineno-21-4" name="__codelineno-21-4" href="#__codelineno-21-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>rtab_scan_gazebo.launch.py<span class="w">  </span>
+<a id="__codelineno-21-5" name="__codelineno-21-5" href="#__codelineno-21-5"></a><span class="c1"># 终端3：启动上位机 </span>
+<a id="__codelineno-21-6" name="__codelineno-21-6" href="#__codelineno-21-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_viz<span class="w"> </span>display_slam.launch.py<span class="w"> </span>
+</code></pre></div></p>
+<p><div class="highlight"><pre><span></span><code><a id="__codelineno-22-1" name="__codelineno-22-1" href="#__codelineno-22-1"></a>$<span class="w"> </span>rtabmap-databaseViewer<span class="w"> </span>rtabmap.db<span class="w"> </span>
+</code></pre></div>
+<strong>视觉SLAM建图</strong></p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-23-1" name="__codelineno-23-1" href="#__codelineno-23-1"></a><span class="c1"># 终端1：启动机器人仿真环境 </span>
+<a id="__codelineno-23-2" name="__codelineno-23-2" href="#__codelineno-23-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_rgbd_into_maze_gazebo_harmonic.launch.py<span class="w"> </span>
+<a id="__codelineno-23-3" name="__codelineno-23-3" href="#__codelineno-23-3"></a><span class="c1"># 终端2：启动RTAB SLAM算法 </span>
+<a id="__codelineno-23-4" name="__codelineno-23-4" href="#__codelineno-23-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>rtab_rgbd_gazebo.launch.py<span class="w">  </span>
+<a id="__codelineno-23-5" name="__codelineno-23-5" href="#__codelineno-23-5"></a><span class="c1"># 终端3：启动上位机 </span>
+<a id="__codelineno-23-6" name="__codelineno-23-6" href="#__codelineno-23-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_viz<span class="w"> </span>display_slam.launch.py<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-24-1" name="__codelineno-24-1" href="#__codelineno-24-1"></a>$<span class="w"> </span>rtabmap-databaseViewer<span class="w"> </span>rtabmap.db<span class="w"> </span>
+</code></pre></div>
+<h3 id="rtab_2">真实机器人RTAB地图构建</h3>
+<blockquote>
+<p>8.5.4  真实机器人RTAB地图构建</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-25-1" name="__codelineno-25-1" href="#__codelineno-25-1"></a><span class="c1"># 启动OriginBot机器人底盘 </span>
+<a id="__codelineno-25-2" name="__codelineno-25-2" href="#__codelineno-25-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>use_lidar:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>
+<a id="__codelineno-25-3" name="__codelineno-25-3" href="#__codelineno-25-3"></a>
+<a id="__codelineno-25-4" name="__codelineno-25-4" href="#__codelineno-25-4"></a><span class="c1"># 启动D435i相机节点 </span>
+<a id="__codelineno-25-5" name="__codelineno-25-5" href="#__codelineno-25-5"></a><span class="nv">$ros2</span><span class="w"> </span>launch<span class="w"> </span>realsense2_camera<span class="w"> </span>rs_launch.py<span class="w"> </span>enable_depth:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>enable_color:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>
+<a id="__codelineno-25-6" name="__codelineno-25-6" href="#__codelineno-25-6"></a>enable_infra1:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>depth_module.profile:<span class="o">=</span>640x480x15<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-26-1" name="__codelineno-26-1" href="#__codelineno-26-1"></a><span class="c1"># 启动RTAB SLAM算法 </span>
+<a id="__codelineno-26-2" name="__codelineno-26-2" href="#__codelineno-26-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>rtab_rgbd_gazebo.launch.py<span class="w">  </span>
+<a id="__codelineno-26-3" name="__codelineno-26-3" href="#__codelineno-26-3"></a>
+<a id="__codelineno-26-4" name="__codelineno-26-4" href="#__codelineno-26-4"></a><span class="c1"># 启动上位机 </span>
+<a id="__codelineno-26-5" name="__codelineno-26-5" href="#__codelineno-26-5"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_viz<span class="w"> </span>display_slam.launch.py<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-27-1" name="__codelineno-27-1" href="#__codelineno-27-1"></a>$<span class="w"> </span>rtabmap-databaseViewer<span class="w"> </span>~/.ros/rtabmap.db
+</code></pre></div>
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diff --git "a/ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\350\207\252\344\270\273\345\257\274\350\210\252\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\350\277\220\345\212\250\350\207\252\347\224\261/index.html" "b/ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\350\207\252\344\270\273\345\257\274\350\210\252\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\350\277\220\345\212\250\350\207\252\347\224\261/index.html"
new file mode 100644
index 0000000..ef8fdaf
--- /dev/null
+++ "b/ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\350\207\252\344\270\273\345\257\274\350\210\252\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\350\277\220\345\212\250\350\207\252\347\224\261/index.html"	
@@ -0,0 +1,1830 @@
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+        
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+    ROS：智能机器人的灵魂
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+        
+  
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+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
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+        
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+    ROS 2常用工具：让机器人开发更便捷
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+  <span class="md-ellipsis">
+    ROS2机器人设计
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+        
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+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
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+        
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+    ROS 2机器人构建：从仿真到实物
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+  
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+        
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+    ROS 2控制与感知：让机器人动得了、看得见
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+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+    
+  
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
+      
+      
+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#nav2" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2安装与体验
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Nav2安装与体验">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#nav2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2安装方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#nav2_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2案例体验
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主导航仿真
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主导航实践
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主导航编程
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主探索应用
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="机器人自主探索应用">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#nav2slam-toolbox" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2+SLAM Toolbox自主探索应用
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#nav2cartographer" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2+Cartographer 自主探索应用
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
+            核心概念
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    概念总览
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    工作空间
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    功能包
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    话题
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    服务
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    通信接口
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    动作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
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+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#nav2" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2安装与体验
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="Nav2安装与体验">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#nav2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2安装方法
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#nav2_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2案例体验
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主导航仿真
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主导航实践
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主导航编程
+    </span>
+  </a>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人自主探索应用
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="机器人自主探索应用">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#nav2slam-toolbox" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2+SLAM Toolbox自主探索应用
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#nav2cartographer" class="md-nav__link">
+    <span class="md-ellipsis">
+      Nav2+Cartographer 自主探索应用
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2自主导航：让机器人运动自由</strong></h1>
+<h2 id="nav2"><strong>Nav2安装与体验</strong></h2>
+<h3 id="nav2_1">Nav2安装方法</h3>
+<blockquote>
+<p>9.3.1  Nav2安装方法 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span>
+<a id="__codelineno-0-2" name="__codelineno-0-2" href="#__codelineno-0-2"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-navigation2<span class="w"> </span>
+<a id="__codelineno-0-3" name="__codelineno-0-3" href="#__codelineno-0-3"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-nav2-bringup<span class="w"> </span>
+</code></pre></div>
+<h3 id="nav2_2">Nav2案例体验</h3>
+<blockquote>
+<p>9.3.2  Nav2案例体验</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a><span class="c1"># Turtlebot3 导航示例 </span>
+<a id="__codelineno-1-2" name="__codelineno-1-2" href="#__codelineno-1-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>nav2_bringup<span class="w"> </span>tb3_simulation_launch.py<span class="w"> </span>
+<a id="__codelineno-1-3" name="__codelineno-1-3" href="#__codelineno-1-3"></a><span class="c1"># Turtlebot4 导航示例 </span>
+<a id="__codelineno-1-4" name="__codelineno-1-4" href="#__codelineno-1-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>nav2_bringup<span class="w"> </span>tb4_simulation_launch.py<span class="w"> </span>
+</code></pre></div>
+<h2 id="_1">机器人自主导航仿真</h2>
+<blockquote>
+<p>9.4.3  机器人自主导航仿真 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_lidar_into_maze_gazebo_harmonic.launch.py
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>nav_bringup_gazebo.launch.py<span class="w"> </span>
+</code></pre></div></p>
+</blockquote>
+<h2 id="_2">机器人自主导航实践</h2>
+<blockquote>
+<p>9.5.3  机器人自主导航实践 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a><span class="c1"># 机器人的终端1 </span>
+<a id="__codelineno-3-2" name="__codelineno-3-2" href="#__codelineno-3-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>use_lidar:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>
+<a id="__codelineno-3-3" name="__codelineno-3-3" href="#__codelineno-3-3"></a>
+<a id="__codelineno-3-4" name="__codelineno-3-4" href="#__codelineno-3-4"></a><span class="c1"># 机器人的终端2 </span>
+<a id="__codelineno-3-5" name="__codelineno-3-5" href="#__codelineno-3-5"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>nav_bringup.launch.py
+</code></pre></div></p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a><span class="c1"># 计算机端 </span>
+<a id="__codelineno-4-2" name="__codelineno-4-2" href="#__codelineno-4-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_viz<span class="w"> </span>display_navigation.launch.py
+</code></pre></div>
+<h2 id="_3">机器人自主导航编程</h2>
+<blockquote>
+<p>9.6.1  功能运行
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a><span class="c1"># 终端1 </span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_lidar_into_maze_gazebo_harmonic.launch.py<span class="w"> </span>
+<a id="__codelineno-5-3" name="__codelineno-5-3" href="#__codelineno-5-3"></a><span class="c1"># 终端2 </span>
+<a id="__codelineno-5-4" name="__codelineno-5-4" href="#__codelineno-5-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>nav_bringup_gazebo.launch.py<span class="w"> </span>
+</code></pre></div></p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>originbot_send_goal<span class="w"> </span>send_goal_node
+</code></pre></div>
+<h2 id="_4">机器人自主探索应用</h2>
+<h3 id="nav2slam-toolbox">Nav2+SLAM Toolbox自主探索应用</h3>
+<blockquote>
+<p>9.7.1  Nav2+SLAM Toolbox自主探索应用 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a><span class="n">slam</span> <span class="o">=</span> <span class="n">LaunchConfiguration</span><span class="p">(</span><span class="s1">&#39;slam&#39;</span><span class="p">,</span> <span class="n">default</span><span class="o">=</span><span class="s1">&#39;True&#39;</span><span class="p">)</span> 
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a><span class="c1">#终端1：启动仿真环境 </span>
+<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_lidar_into_maze_gazebo_harmonic.launch.py<span class="w"> </span>
+<a id="__codelineno-8-3" name="__codelineno-8-3" href="#__codelineno-8-3"></a>
+<a id="__codelineno-8-4" name="__codelineno-8-4" href="#__codelineno-8-4"></a><span class="c1">#终端2：启动Nav2 导航建图算法 </span>
+<a id="__codelineno-8-5" name="__codelineno-8-5" href="#__codelineno-8-5"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>nav_bringup_gazebo.launch.py<span class="w"> </span>
+</code></pre></div>
+<h3 id="nav2cartographer">Nav2+Cartographer 自主探索应用</h3>
+<blockquote>
+<p>9.7.2  Nav2+Cartographer 自主探索应用 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a><span class="c1">#终端1：启动仿真环境 </span>
+<a id="__codelineno-9-2" name="__codelineno-9-2" href="#__codelineno-9-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>learning_gazebo_harmonic<span class="w"> </span>load_mbot_lidar_into_maze_gazebo_harmonic.launch.py<span class="w"> </span>
+<a id="__codelineno-9-3" name="__codelineno-9-3" href="#__codelineno-9-3"></a><span class="c1">#终端2：启动Nav2 导航建图算法 </span>
+<a id="__codelineno-9-4" name="__codelineno-9-4" href="#__codelineno-9-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_navigation<span class="w"> </span>nav2_carto.launch.py
+</code></pre></div>
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diff --git "a/ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\350\247\206\350\247\211\345\272\224\347\224\250\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\347\234\213\346\207\202\344\270\226\347\225\214/index.html" "b/ROS2_Book/3.ROS2 \346\234\272\345\231\250\344\272\272\345\272\224\347\224\250/ROS 2\350\247\206\350\247\211\345\272\224\347\224\250\357\274\232\350\256\251\346\234\272\345\231\250\344\272\272\347\234\213\346\207\202\344\270\226\347\225\214/index.html"
new file mode 100644
index 0000000..82e5ebe
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+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+    
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_4" checked>
+        
+          
+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+    
+  
+  
+  
+    <li class="md-nav__item md-nav__item--active">
+      
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
+      
+      
+        
+      
+      
+        <label class="md-nav__link md-nav__link--active" for="__toc">
+          
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+          <span class="md-nav__icon md-icon"></span>
+        </label>
+      
+      <a href="./" class="md-nav__link md-nav__link--active">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
+      
+        
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2相机标定
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2相机标定">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装相机标定功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      运行相机标定节点
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机标定流程
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#opencv" class="md-nav__link">
+    <span class="md-ellipsis">
+      OpenCV图像处理
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="OpenCV图像处理">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#opencv_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装OpenCV
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros-2opencv" class="md-nav__link">
+    <span class="md-ellipsis">
+      在ROS 2中使用OpenCV
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      视觉巡线
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="视觉巡线">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人视觉巡线仿真
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人视觉巡线
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      二维码识别
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="二维码识别">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#zbar" class="md-nav__link">
+    <span class="md-ellipsis">
+      二维码扫描库——Zbar
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机识别二维码
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人相机识别二维码
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_10" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人二维码跟随
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_11" class="md-nav__link">
+    <span class="md-ellipsis">
+      深度学习视觉巡线
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="深度学习视觉巡线">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_12" class="md-nav__link">
+    <span class="md-ellipsis">
+      深度学习视觉巡线应用
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_13" class="md-nav__link">
+    <span class="md-ellipsis">
+      数据采集与模型训练
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_14" class="md-nav__link">
+    <span class="md-ellipsis">
+      模型效果评估测试
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_15" class="md-nav__link">
+    <span class="md-ellipsis">
+      在机器人中部署模型
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#yolo" class="md-nav__link">
+    <span class="md-ellipsis">
+      YOLO目标检测
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="YOLO目标检测">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#yolo_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      YOLO基本环境验证
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_16" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人目标检测与跟随
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+    
+      
+      
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../.." class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    引言
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    系统架构
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
+            <span class="md-nav__icon md-icon"></span>
+            系统架构
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2命令行操作
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="../../../ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS2开发环境配置
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+          </ul>
+        </nav>
+      
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
+      
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+    核心概念
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+        
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+        
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+    工作空间
+  </span>
+  
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+        
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+  </span>
+  
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+    </li>
+  
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
+        
+  
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+    节点
+  </span>
+  
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+    </li>
+  
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+        
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+  </span>
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
+        
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+  </span>
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
+        
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+    通信接口
+  </span>
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+    </li>
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+  
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
+        
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+  </span>
+  
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+    </li>
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+  
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/" class="md-nav__link">
+        
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+    参数
+  </span>
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+    </li>
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+  
+  
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+      <a href="../../../ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
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+  </span>
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+        
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+    DDS
+  </span>
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+    </li>
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+    常用工具
+  </span>
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+            
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
+        
+  
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+    Launch
+  </span>
+  
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+    </li>
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+  
+  
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+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
+        
+  
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+    TF
+  </span>
+  
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+    </li>
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+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    URDF
+  </span>
+  
+
+      </a>
+    </li>
+  
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+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
+      </a>
+    </li>
+  
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+  
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+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
+      </a>
+    </li>
+  
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+            
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+  
+  
+  
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+    <li class="md-nav__item">
+      <a href="../../../ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
+      </a>
+    </li>
+  
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+        </nav>
+      
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+      <a href="../../../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    资源汇总
+  </span>
+  
+
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+    </li>
+  
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+        </nav>
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+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
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+      <a href="https://www.guyuehome.com" class="md-nav__link">
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+  </span>
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+      <a href="../../../about/" class="md-nav__link">
+        
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+    关于我们
+  </span>
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+  </ul>
+</nav>
+                  </div>
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+              </div>
+            
+            
+              
+              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
+                <div class="md-sidebar__scrollwrap">
+                  <div class="md-sidebar__inner">
+                    
+
+<nav class="md-nav md-nav--secondary" aria-label="目录">
+  
+  
+  
+    
+  
+  
+    <label class="md-nav__title" for="__toc">
+      <span class="md-nav__icon md-icon"></span>
+      目录
+    </label>
+    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
+      
+        <li class="md-nav__item">
+  <a href="#ros-2_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      ROS 2相机标定
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="ROS 2相机标定">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装相机标定功能包
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_2" class="md-nav__link">
+    <span class="md-ellipsis">
+      运行相机标定节点
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_3" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机标定流程
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#opencv" class="md-nav__link">
+    <span class="md-ellipsis">
+      OpenCV图像处理
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="OpenCV图像处理">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#opencv_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      安装OpenCV
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#ros-2opencv" class="md-nav__link">
+    <span class="md-ellipsis">
+      在ROS 2中使用OpenCV
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_4" class="md-nav__link">
+    <span class="md-ellipsis">
+      视觉巡线
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="视觉巡线">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_5" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人视觉巡线仿真
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_6" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人视觉巡线
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_7" class="md-nav__link">
+    <span class="md-ellipsis">
+      二维码识别
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="二维码识别">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#zbar" class="md-nav__link">
+    <span class="md-ellipsis">
+      二维码扫描库——Zbar
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_8" class="md-nav__link">
+    <span class="md-ellipsis">
+      相机识别二维码
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_9" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人相机识别二维码
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_10" class="md-nav__link">
+    <span class="md-ellipsis">
+      真实机器人二维码跟随
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#_11" class="md-nav__link">
+    <span class="md-ellipsis">
+      深度学习视觉巡线
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="深度学习视觉巡线">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#_12" class="md-nav__link">
+    <span class="md-ellipsis">
+      深度学习视觉巡线应用
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_13" class="md-nav__link">
+    <span class="md-ellipsis">
+      数据采集与模型训练
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_14" class="md-nav__link">
+    <span class="md-ellipsis">
+      模型效果评估测试
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_15" class="md-nav__link">
+    <span class="md-ellipsis">
+      在机器人中部署模型
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+        <li class="md-nav__item">
+  <a href="#yolo" class="md-nav__link">
+    <span class="md-ellipsis">
+      YOLO目标检测
+    </span>
+  </a>
+  
+    <nav class="md-nav" aria-label="YOLO目标检测">
+      <ul class="md-nav__list">
+        
+          <li class="md-nav__item">
+  <a href="#yolo_1" class="md-nav__link">
+    <span class="md-ellipsis">
+      YOLO基本环境验证
+    </span>
+  </a>
+  
+</li>
+        
+          <li class="md-nav__item">
+  <a href="#_16" class="md-nav__link">
+    <span class="md-ellipsis">
+      机器人目标检测与跟随
+    </span>
+  </a>
+  
+</li>
+        
+      </ul>
+    </nav>
+  
+</li>
+      
+    </ul>
+  
+</nav>
+                  </div>
+                </div>
+              </div>
+            
+          
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
+                
+                  
+
+
+<h1 id="ros-2"><strong>ROS 2视觉应用：让机器人看懂世界</strong></h1>
+<h2 id="ros-2_1"><strong>ROS 2相机标定</strong></h2>
+<h3 id="_1">安装相机标定功能包</h3>
+<blockquote>
+<p>7.2.1  安装相机标定功能包</p>
+</blockquote>
+<p>安装相机标定功能包camera_calibration</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-0-1" name="__codelineno-0-1" href="#__codelineno-0-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-camera-calibration
+</code></pre></div>
+<h3 id="_2">运行相机标定节点</h3>
+<blockquote>
+<p>7.2.2  运行相机标定节点</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-1-1" name="__codelineno-1-1" href="#__codelineno-1-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>usb_cam<span class="w"> </span>camera.launch.py<span class="w"> </span>
+</code></pre></div>
+<p>根据使用的相机和标定靶棋盘格尺寸，相应修改以下参数，运行命令后即可启动标定程序;</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-2-1" name="__codelineno-2-1" href="#__codelineno-2-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>camera_calibration<span class="w"> </span>cameracalibrator<span class="w"> </span>--size<span class="w"> </span>8x6<span class="w"> </span>--square<span class="w"> </span><span class="m">0</span>.024<span class="w"> </span>--ros-args<span class="w"> </span>-r<span class="w"> </span>
+<a id="__codelineno-2-2" name="__codelineno-2-2" href="#__codelineno-2-2"></a>image:<span class="o">=</span>camera/image_raw<span class="w"> </span>-p<span class="w"> </span>camera:<span class="o">=</span>/default_cam
+</code></pre></div>
+<blockquote>
+<p><strong>注意</strong>：新版本的 usb_cam 包中，<code>camera.launch.py</code> 默认发布的话题名称为 <code>camera1/image_raw</code>，而标定程序需要的话题名称是 <code>camera/image_raw</code>。有两种解决方案：</p>
+</blockquote>
+<ol>
+<li>
+<p>在运行标定程序时，使用正确的话题名称：
+<div class="highlight"><pre><span></span><code><a id="__codelineno-3-1" name="__codelineno-3-1" href="#__codelineno-3-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>camera_calibration<span class="w"> </span>cameracalibrator<span class="w"> </span>--size<span class="w"> </span>8x6<span class="w"> </span>--square<span class="w"> </span><span class="m">0</span>.024<span class="w"> </span>--ros-args<span class="w"> </span>-r<span class="w"> </span>image:<span class="o">=</span>camera1/image_raw<span class="w"> </span>-p<span class="w"> </span>camera:<span class="o">=</span>/default_cam
+</code></pre></div></p>
+</li>
+<li>
+<p>或者在启动相机时重映射话题名称：
+<div class="highlight"><pre><span></span><code><a id="__codelineno-4-1" name="__codelineno-4-1" href="#__codelineno-4-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>usb_cam<span class="w"> </span>camera.launch.py<span class="w"> </span>camera_name:<span class="o">=</span>camera
+</code></pre></div></p>
+</li>
+</ol>
+<h3 id="_3">相机标定流程</h3>
+<blockquote>
+<p>7.2.3  相机标定流程 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-5-1" name="__codelineno-5-1" href="#__codelineno-5-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>
+<a id="__codelineno-5-2" name="__codelineno-5-2" href="#__codelineno-5-2"></a>camera_info_url:<span class="o">=</span>file:///home/guyuehome/.ros/camera_info/default_cam.yaml<span class="w">  </span><span class="c1"># 路径根据实际情况做出改动即可</span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-6-1" name="__codelineno-6-1" href="#__codelineno-6-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w"> </span>--ros-args<span class="w"> </span>--params-file<span class="w"> </span>
+<a id="__codelineno-6-2" name="__codelineno-6-2" href="#__codelineno-6-2"></a>/opt/ros/jazzy/share/usb_cam/config/params_1.yaml<span class="w"> </span>
+</code></pre></div>
+<h2 id="opencv">OpenCV图像处理</h2>
+<h3 id="opencv_1">安装OpenCV</h3>
+<blockquote>
+<p>7.3.1  安装OpenCV </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-7-1" name="__codelineno-7-1" href="#__codelineno-7-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-jazzy-vision-opencv<span class="w"> </span>libopencv-dev<span class="w"> </span>python3-opencv<span class="w"> </span>
+</code></pre></div>
+<h3 id="ros-2opencv">在ROS 2中使用OpenCV</h3>
+<blockquote>
+<p>7.3.2  在ROS 2中使用OpenCV </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-8-1" name="__codelineno-8-1" href="#__codelineno-8-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>usb_cam<span class="w"> </span>usb_cam_node_exe<span class="w"> </span>
+<a id="__codelineno-8-2" name="__codelineno-8-2" href="#__codelineno-8-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>learning_cv<span class="w"> </span>cv_bridge_test<span class="w"> </span>
+<a id="__codelineno-8-3" name="__codelineno-8-3" href="#__codelineno-8-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rqt_image_view<span class="w"> </span>rqt_image_view
+</code></pre></div>
+<h2 id="_4">视觉巡线</h2>
+<h3 id="_5">机器人视觉巡线仿真</h3>
+<blockquote>
+<p>7.4.2  机器人视觉巡线仿真 </p>
+</blockquote>
+<p>启动环境。
+<div class="highlight"><pre><span></span><code><a id="__codelineno-9-1" name="__codelineno-9-1" href="#__codelineno-9-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_gazebo_harmonic<span class="w"> </span>load_originbot_into_line_follower_gazebo.launch.py<span class="w"> </span>
+<a id="__codelineno-9-2" name="__codelineno-9-2" href="#__codelineno-9-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rviz2<span class="w"> </span>rviz2<span class="w"> </span>
+</code></pre></div>
+重新打开一个终端，启动视觉巡线功能。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-10-1" name="__codelineno-10-1" href="#__codelineno-10-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>originbot_demo<span class="w"> </span>line_follower<span class="w"> </span>
+</code></pre></div>
+<h3 id="_6">真实机器人视觉巡线</h3>
+<blockquote>
+<p>7.4.3  真实机器人视觉巡线</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-11-1" name="__codelineno-11-1" href="#__codelineno-11-1"></a><span class="c1"># 机器人终端1：启动机器人底盘驱动节点 </span>
+<a id="__codelineno-11-2" name="__codelineno-11-2" href="#__codelineno-11-2"></a>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_cyclonedds_cpp<span class="w">  </span>
+<a id="__codelineno-11-3" name="__codelineno-11-3" href="#__codelineno-11-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>use_camera:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>
+<a id="__codelineno-11-4" name="__codelineno-11-4" href="#__codelineno-11-4"></a><span class="c1"># 机器人终端2：运行视觉巡线节点，并且发布速度控制话题，控制机器人速度 </span>
+<a id="__codelineno-11-5" name="__codelineno-11-5" href="#__codelineno-11-5"></a>$<span class="w"> </span><span class="nb">export</span><span class="w"> </span><span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_cyclonedds_cpp<span class="w"> </span>
+<a id="__codelineno-11-6" name="__codelineno-11-6" href="#__codelineno-11-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>originbot_linefollower<span class="w"> </span>follower<span class="w"> </span>
+<a id="__codelineno-11-7" name="__codelineno-11-7" href="#__codelineno-11-7"></a><span class="c1"># 计算机端：订阅机器人相机看到的图像 </span>
+<a id="__codelineno-11-8" name="__codelineno-11-8" href="#__codelineno-11-8"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>rqt_image_view<span class="w"> </span>rqt_image_view<span class="w"> </span>
+</code></pre></div>
+<h2 id="_7">二维码识别</h2>
+<h3 id="zbar">二维码扫描库——Zbar</h3>
+<blockquote>
+<p>7.5.1  二维码扫描库——Zbar </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-12-1" name="__codelineno-12-1" href="#__codelineno-12-1"></a>$<span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libzbar-dev
+</code></pre></div>
+<h3 id="_8">相机识别二维码</h3>
+<blockquote>
+<p>7.5.2  相机识别二维码</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-13-1" name="__codelineno-13-1" href="#__codelineno-13-1"></a><span class="c1"># 计算机终端1：启动相机节点 </span>
+<a id="__codelineno-13-2" name="__codelineno-13-2" href="#__codelineno-13-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>usb_cam<span class="w"> </span>camera.launch.py<span class="w"> </span>
+<a id="__codelineno-13-3" name="__codelineno-13-3" href="#__codelineno-13-3"></a><span class="c1"># 计算机终端2：启动二维码识别节点 </span>
+<a id="__codelineno-13-4" name="__codelineno-13-4" href="#__codelineno-13-4"></a>$<span class="w">  </span>
+<a id="__codelineno-13-5" name="__codelineno-13-5" href="#__codelineno-13-5"></a>ros2<span class="w"> </span>run<span class="w"> </span>originbot_qrcode_detect<span class="w"> </span>originbot_qrcode_detect<span class="w"> </span>
+<a id="__codelineno-13-6" name="__codelineno-13-6" href="#__codelineno-13-6"></a><span class="c1"># 计算机终端3：启动可视化界面 </span>
+<a id="__codelineno-13-7" name="__codelineno-13-7" href="#__codelineno-13-7"></a>$<span class="w"> </span>rqt
+</code></pre></div>
+<h3 id="_9">真实机器人相机识别二维码</h3>
+<blockquote>
+<p>7.5.3  真实机器人相机识别二维码 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-14-1" name="__codelineno-14-1" href="#__codelineno-14-1"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>qr_code_detection<span class="w"> </span>qr_code_detection.launch.py<span class="w">  </span>
+</code></pre></div>
+<h3 id="_10">真实机器人二维码跟随</h3>
+<blockquote>
+<p>7.5.4  真实机器人二维码跟随 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-15-1" name="__codelineno-15-1" href="#__codelineno-15-1"></a><span class="c1"># 终端1：启动机器人运动底盘 </span>
+<a id="__codelineno-15-2" name="__codelineno-15-2" href="#__codelineno-15-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>
+<a id="__codelineno-15-3" name="__codelineno-15-3" href="#__codelineno-15-3"></a><span class="c1"># 终端2：启动二维码识别 </span>
+<a id="__codelineno-15-4" name="__codelineno-15-4" href="#__codelineno-15-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>qr_code_detection<span class="w"> </span>qr_code_detection.launch.py<span class="w"> </span>
+<a id="__codelineno-15-5" name="__codelineno-15-5" href="#__codelineno-15-5"></a><span class="c1"># 终端3：启动二维码控制节点 </span>
+<a id="__codelineno-15-6" name="__codelineno-15-6" href="#__codelineno-15-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>qr_code_control<span class="w"> </span>qr_code_control_node<span class="w"> </span>
+</code></pre></div>
+<h2 id="_11">深度学习视觉巡线</h2>
+<h3 id="_12">深度学习视觉巡线应用</h3>
+<blockquote>
+<p>7.6.2  深度学习视觉巡线应用</p>
+</blockquote>
+<p>运行巡线模型.</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-16-1" name="__codelineno-16-1" href="#__codelineno-16-1"></a><span class="c1"># 进入功能包目录 </span>
+<a id="__codelineno-16-2" name="__codelineno-16-2" href="#__codelineno-16-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>/userdata/dev_ws/src/originbot/originbot_deeplearning/line_follower_perception/
+<a id="__codelineno-16-3" name="__codelineno-16-3" href="#__codelineno-16-3"></a><span class="c1"># 运行基于深度学习的视觉巡线功能 </span>
+<a id="__codelineno-16-4" name="__codelineno-16-4" href="#__codelineno-16-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>line_follower_perception<span class="w"> </span>line_follower_perception<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>
+<a id="__codelineno-16-5" name="__codelineno-16-5" href="#__codelineno-16-5"></a>model_path:<span class="o">=</span>model/resnet18_224x224_nv12.bin<span class="w"> </span>-p<span class="w"> </span>model_name:<span class="o">=</span>resnet18_224x224_nv12<span class="w"> </span>
+</code></pre></div>
+<p>将OriginBot 机器人放置到巡线的场景中，在机器人端启动两个终端:
+<div class="highlight"><pre><span></span><code><a id="__codelineno-17-1" name="__codelineno-17-1" href="#__codelineno-17-1"></a><span class="c1"># 机器人中的终端1：启动零拷贝模式下的摄像头驱动，加速内部的图像处理效率 </span>
+<a id="__codelineno-17-2" name="__codelineno-17-2" href="#__codelineno-17-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>camera_internal.launch.py<span class="w"> </span>
+<a id="__codelineno-17-3" name="__codelineno-17-3" href="#__codelineno-17-3"></a><span class="c1"># 机器人中的终端2：启动机器人底盘 </span>
+<a id="__codelineno-17-4" name="__codelineno-17-4" href="#__codelineno-17-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>
+</code></pre></div></p>
+<h3 id="_13">数据采集与模型训练</h3>
+<blockquote>
+<p>7.6.3  数据采集与模型训练 </p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-18-1" name="__codelineno-18-1" href="#__codelineno-18-1"></a><span class="c1">#计算机端 </span>
+<a id="__codelineno-18-2" name="__codelineno-18-2" href="#__codelineno-18-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model<span class="w"> </span>
+<a id="__codelineno-18-3" name="__codelineno-18-3" href="#__codelineno-18-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>line_follower_model<span class="w"> </span>annotation<span class="w"> </span>
+</code></pre></div>
+<p>利用计算机的CPU资源训练视觉巡线的模型。</p>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-19-1" name="__codelineno-19-1" href="#__codelineno-19-1"></a><span class="c1"># 计算机端 </span>
+<a id="__codelineno-19-2" name="__codelineno-19-2" href="#__codelineno-19-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model<span class="w"> </span>
+<a id="__codelineno-19-3" name="__codelineno-19-3" href="#__codelineno-19-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>line_follower_model<span class="w"> </span>training<span class="w"> </span>
+</code></pre></div>
+<h3 id="_14">模型效果评估测试</h3>
+<blockquote>
+<p>7.6.4  模型效果评估测试</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-20-1" name="__codelineno-20-1" href="#__codelineno-20-1"></a><span class="c1"># 计算机端 </span>
+<a id="__codelineno-20-2" name="__codelineno-20-2" href="#__codelineno-20-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model<span class="w"> </span>
+<a id="__codelineno-20-3" name="__codelineno-20-3" href="#__codelineno-20-3"></a>$<span class="w"> </span>python3<span class="w"> </span>line_follower_model/verify.py<span class="w"> </span>
+</code></pre></div>
+<h3 id="_15">在机器人中部署模型</h3>
+<blockquote>
+<p>7.6.5  在机器人中部署模型</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-21-1" name="__codelineno-21-1" href="#__codelineno-21-1"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model<span class="w"> </span>
+<a id="__codelineno-21-2" name="__codelineno-21-2" href="#__codelineno-21-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>line_follower_model<span class="w"> </span>generate_onnx<span class="w"> </span>
+</code></pre></div>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-22-1" name="__codelineno-22-1" href="#__codelineno-22-1"></a><span class="c1"># 机器人端 </span>
+<a id="__codelineno-22-2" name="__codelineno-22-2" href="#__codelineno-22-2"></a>$<span class="w"> </span><span class="nb">cd</span><span class="w"> </span>/userdata/dev_ws/src/originbot/originbot_deeplearning/line_follower_perception/<span class="w"> </span>
+<a id="__codelineno-22-3" name="__codelineno-22-3" href="#__codelineno-22-3"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>line_follower_perception<span class="w"> </span>line_follower_perception<span class="w"> </span>--ros-args<span class="w"> </span>-p<span class="w"> </span>
+<a id="__codelineno-22-4" name="__codelineno-22-4" href="#__codelineno-22-4"></a>model_path:<span class="o">=</span>model/resnet18_224x224_nv12.bin<span class="w"> </span>-p<span class="w"> </span>model_name:<span class="o">=</span>resnet18_224x224_nv12
+</code></pre></div>
+<h2 id="yolo">YOLO目标检测</h2>
+<h3 id="yolo_1">YOLO基本环境验证</h3>
+<blockquote>
+<p>7.7.2  YOLO目标检测部署</p>
+</blockquote>
+<ol>
+<li>代码分支切换 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-23-1" name="__codelineno-23-1" href="#__codelineno-23-1"></a><span class="c1"># 首先执行git clone指令拉取YOLOv5的代码，然后切换到v2.0的分支以适应板端支持的算子 </span>
+<a id="__codelineno-23-2" name="__codelineno-23-2" href="#__codelineno-23-2"></a>$<span class="w"> </span>git<span class="w"> </span>checkout<span class="w"> </span>v2.0<span class="w"> </span>
+</code></pre></div></li>
+<li>配置Conda环境，下载依赖 
+<div class="highlight"><pre><span></span><code><a id="__codelineno-24-1" name="__codelineno-24-1" href="#__codelineno-24-1"></a><span class="c1"># 创建一个名为 yolov5 的新 Conda 环境，并指定 Python 版本为 3.7 </span>
+<a id="__codelineno-24-2" name="__codelineno-24-2" href="#__codelineno-24-2"></a>$<span class="w"> </span>conda<span class="w"> </span>create<span class="w"> </span>-n<span class="w"> </span>yolov5<span class="w"> </span><span class="nv">python</span><span class="o">=</span><span class="m">3</span>.7<span class="w"> </span>
+<a id="__codelineno-24-3" name="__codelineno-24-3" href="#__codelineno-24-3"></a><span class="c1"># 激活名为 yolov5 的 Conda 环境 </span>
+<a id="__codelineno-24-4" name="__codelineno-24-4" href="#__codelineno-24-4"></a>$<span class="w"> </span>conda<span class="w"> </span>activate<span class="w"> </span>yolov5<span class="w"> </span>
+<a id="__codelineno-24-5" name="__codelineno-24-5" href="#__codelineno-24-5"></a><span class="c1"># 在激活的环境中安装 PyTorch、torchvision、 torchaudio，以及对应的 CUDA 11.7 支持 </span>
+<a id="__codelineno-24-6" name="__codelineno-24-6" href="#__codelineno-24-6"></a>$<span class="w"> </span>conda<span class="w"> </span>install<span class="w"> </span>pytorch<span class="w"> </span>torchvision<span class="w"> </span>torchaudio<span class="w"> </span>pytorch-cuda<span class="o">=</span><span class="m">11</span>.7<span class="w"> </span>-c<span class="w"> </span>pytorch<span class="w"> </span>-c<span class="w"> </span>nvidia<span class="w"> </span>
+<a id="__codelineno-24-7" name="__codelineno-24-7" href="#__codelineno-24-7"></a><span class="c1"># 安装 requirements.txt 文件中列出的所有 Python 包 </span>
+<a id="__codelineno-24-8" name="__codelineno-24-8" href="#__codelineno-24-8"></a>$<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>-r<span class="w"> </span>requirements.txt<span class="w"> </span>-i<span class="w"> </span>https://pypi.tuna.tsinghua.edu.cn/simple<span class="w"> </span>
+<a id="__codelineno-24-9" name="__codelineno-24-9" href="#__codelineno-24-9"></a><span class="c1"># 安装 apex 库 </span>
+<a id="__codelineno-24-10" name="__codelineno-24-10" href="#__codelineno-24-10"></a>$<span class="w"> </span>pip<span class="w"> </span>install<span class="w"> </span>apex<span class="w"> </span>-i<span class="w"> </span>https://pypi.tuna.tsinghua.edu.cn/simple
+</code></pre></div></li>
+<li>验证基本环境  </li>
+</ol>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-25-1" name="__codelineno-25-1" href="#__codelineno-25-1"></a>$<span class="w"> </span>python3<span class="w"> </span>detect.py<span class="w"> </span>--source<span class="w"> </span>./inference/images/<span class="w"> </span>--weights<span class="w"> </span>yolov5s.pt<span class="w"> </span>--conf<span class="w"> </span><span class="m">0</span>.4
+</code></pre></div>
+<h3 id="_16">机器人目标检测与跟随</h3>
+<blockquote>
+<p>7.7.4  机器人目标检测与跟随</p>
+</blockquote>
+<div class="highlight"><pre><span></span><code><a id="__codelineno-26-1" name="__codelineno-26-1" href="#__codelineno-26-1"></a><span class="c1"># 机器人终端1 </span>
+<a id="__codelineno-26-2" name="__codelineno-26-2" href="#__codelineno-26-2"></a>$<span class="w"> </span>ros2<span class="w"> </span>run<span class="w"> </span>play_football<span class="w"> </span>play_football<span class="w"> </span>
+<a id="__codelineno-26-3" name="__codelineno-26-3" href="#__codelineno-26-3"></a><span class="c1"># 机器人终端2 </span>
+<a id="__codelineno-26-4" name="__codelineno-26-4" href="#__codelineno-26-4"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>camera_internal.launch.py<span class="w"> </span>
+<a id="__codelineno-26-5" name="__codelineno-26-5" href="#__codelineno-26-5"></a><span class="c1"># 机器人终端3 </span>
+<a id="__codelineno-26-6" name="__codelineno-26-6" href="#__codelineno-26-6"></a>$<span class="w"> </span>ros2<span class="w"> </span>launch<span class="w"> </span>originbot_bringup<span class="w"> </span>originbot.launch.py<span class="w"> </span>
+</code></pre></div>
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diff --git a/about/index.html b/about/index.html
index afc5d31..f7af5b1 100644
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       <meta name="viewport" content="width=device-width,initial-scale=1">
       
-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/about/">
       
+      
+        <link rel="prev" href="../ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/">
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+        <title>关于我们 - 图书资源</title>
       
     
     
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-    <a href=".." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href=".." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
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+        
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+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
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-      <div class="md-search__scrollwrap" data-md-scrollfix>
+      <div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
         <div class="md-search-result" data-md-component="search-result">
           <div class="md-search-result__meta">
             正在初始化搜索引擎
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-          <ol class="md-search-result__list"></ol>
+          <ol class="md-search-result__list" role="presentation"></ol>
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+  <span class="md-ellipsis">
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+      <a href="../ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
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+            
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+      <a href=".." class="md-nav__link">
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+    ROS和ROS2是什么
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+              
             
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+          </ul>
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+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
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+  
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+    概念总览
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+
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-        工作空间
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+  
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+              
             
               
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+  
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-        参数
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+  
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+              
             
               
+                
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-        分布式通信
+        
+  
+  <span class="md-ellipsis">
+    分布式通信
+  </span>
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+
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-        DDS
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+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
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+              
             
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-      </nav>
+          </ul>
+        </nav>
+      
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-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     
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+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
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+  
   
   
   
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+  
+  <span class="md-ellipsis">
+    Launch
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+  
+
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+              
             
               
+                
+  
   
   
   
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+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
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+  
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+    URDF
+  </span>
+  
+
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+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    Gazebo
+  </span>
+  
+
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+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    Rviz
+  </span>
+  
+
       </a>
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+              
             
               
+                
+  
   
   
   
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+        
+  
+  <span class="md-ellipsis">
+    Rqt
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
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-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
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-      
-      
-      
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+            
+              
+                
+  
   
   
   
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-        资源汇总
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+  
+  <span class="md-ellipsis">
+    资源汇总
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+  
+
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-      
-      
+              
+            
+          </ul>
+        </nav>
       
-
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-  
-  
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-      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
-        视频课程
-      </a>
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-      
-
+  
   
   
   
     <li class="md-nav__item">
-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
-        教程问答
+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
+  </span>
+  
+
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+  
+  <span class="md-ellipsis">
+    博客网站
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+
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@@ -709,28 +1342,39 @@
     
       
       
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+          
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
+
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+        
+  
+  <span class="md-ellipsis">
+    关于我们
+  </span>
+  
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@@ -750,7 +1394,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    版权声明
+    <span class="md-ellipsis">
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 </li>
@@ -791,7 +1437,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    版权声明
+    <span class="md-ellipsis">
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 </li>
@@ -804,10 +1452,11 @@
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-          <div class="md-content" data-md-component="content">
-            <article class="md-content__inner md-typeset">
-              
+          
+            <div class="md-content" data-md-component="content">
+              <article class="md-content__inner md-typeset">
                 
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 <h1 id="_1"><strong>学机器人，上古月居</strong></h1>
@@ -820,35 +1469,29 @@ <h3 id="_2"><strong>版权声明</strong></h3>
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@@ -922,10 +1575,12 @@ <h3 id="_2"><strong>版权声明</strong></h3>
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zn(e,{viewport$:t,target$:r,print$:o}){return O(...P(".annotate:not(.highlight)",e).map(n=>Pn(n,{target$:r,print$:o})),...P("pre:not(.mermaid) > code",e).map(n=>jn(n,{target$:r,print$:o})),...P("pre.mermaid",e).map(n=>Wn(n)),...P("table:not([class])",e).map(n=>Vn(n)),...P("details",e).map(n=>Fn(n,{target$:r,print$:o})),...P("[data-tabs]",e).map(n=>Nn(n,{viewport$:t,target$:r})),...P("[title]",e).filter(()=>B("content.tooltips")).map(n=>mt(n,{viewport$:t})))}function Ba(e,{alert$:t}){return t.pipe(v(r=>O(I(!0),I(!1).pipe(Ge(2e3))).pipe(m(o=>({message:r,active:o})))))}function qn(e,t){let r=R(".md-typeset",e);return C(()=>{let o=new g;return o.subscribe(({message:n,active:i})=>{e.classList.toggle("md-dialog--active",i),r.textContent=n}),Ba(e,t).pipe(w(n=>o.next(n)),_(()=>o.complete()),m(n=>$({ref:e},n)))})}var Ga=0;function Ja(e,t){document.body.append(e);let{width:r}=ce(e);e.style.setProperty("--md-tooltip-width",`${r}px`),e.remove();let o=cr(t),n=typeof 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n){let{childNodes:c}=x("span",null,p);s.replaceWith(...Array.from(c))}return{ref:e,nodes:n}}))}function fs(e,{viewport$:t,main$:r}){let o=e.closest(".md-grid"),n=o.offsetTop-o.parentElement.offsetTop;return z([r,t]).pipe(m(([{offset:i,height:a},{offset:{y:s}}])=>(a=a+Math.min(n,Math.max(0,s-i))-n,{height:a,locked:s>=i+n})),K((i,a)=>i.height===a.height&&i.locked===a.locked))}function Zr(e,o){var n=o,{header$:t}=n,r=so(n,["header$"]);let i=R(".md-sidebar__scrollwrap",e),{y:a}=Ve(i);return C(()=>{let s=new g,p=s.pipe(Z(),ie(!0)),c=s.pipe(Me(0,me));return c.pipe(re(t)).subscribe({next([{height:l},{height:f}]){i.style.height=`${l-2*a}px`,e.style.top=`${f}px`},complete(){i.style.height="",e.style.top=""}}),c.pipe(Ae()).subscribe(()=>{for(let l of P(".md-nav__link--active[href]",e)){if(!l.clientHeight)continue;let f=l.closest(".md-sidebar__scrollwrap");if(typeof f!="undefined"){let u=l.offsetTop-f.offsetTop,{height:d}=ce(f);f.scrollTo({top:u-d/2})}}}),ue(P("label[tabindex]",e)).pipe(ne(l=>h(l,"click").pipe(ve(se),m(()=>l),W(p)))).subscribe(l=>{let f=R(`[id="${l.htmlFor}"]`);R(`[aria-labelledby="${l.id}"]`).setAttribute("aria-expanded",`${f.checked}`)}),fs(e,r).pipe(w(l=>s.next(l)),_(()=>s.complete()),m(l=>$({ref:e},l)))})}function hi(e,t){if(typeof t!="undefined"){let r=`https://api.github.com/repos/${e}/${t}`;return st(je(`${r}/releases/latest`).pipe(de(()=>S),m(o=>({version:o.tag_name})),De({})),je(r).pipe(de(()=>S),m(o=>({stars:o.stargazers_count,forks:o.forks_count})),De({}))).pipe(m(([o,n])=>$($({},o),n)))}else{let r=`https://api.github.com/users/${e}`;return je(r).pipe(m(o=>({repositories:o.public_repos})),De({}))}}function bi(e,t){let r=`https://${e}/api/v4/projects/${encodeURIComponent(t)}`;return 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hs(e,{viewport$:t,header$:r}){return ge(document.body).pipe(v(()=>mr(e,{header$:r,viewport$:t})),m(({offset:{y:o}})=>({hidden:o>=10})),ee("hidden"))}function yi(e,t){return C(()=>{let r=new g;return r.subscribe({next({hidden:o}){e.hidden=o},complete(){e.hidden=!1}}),(B("navigation.tabs.sticky")?I({hidden:!1}):hs(e,t)).pipe(w(o=>r.next(o)),_(()=>r.complete()),m(o=>$({ref:e},o)))})}function bs(e,{viewport$:t,header$:r}){let o=new Map,n=P(".md-nav__link",e);for(let s of n){let p=decodeURIComponent(s.hash.substring(1)),c=fe(`[id="${p}"]`);typeof c!="undefined"&&o.set(s,c)}let i=r.pipe(ee("height"),m(({height:s})=>{let p=Se("main"),c=R(":scope > :first-child",p);return s+.8*(c.offsetTop-p.offsetTop)}),pe());return ge(document.body).pipe(ee("height"),v(s=>C(()=>{let p=[];return I([...o].reduce((c,[l,f])=>{for(;p.length&&o.get(p[p.length-1]).tagName>=f.tagName;)p.pop();let u=f.offsetTop;for(;!u&&f.parentElement;)f=f.parentElement,u=f.offsetTop;let 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vs(e,{viewport$:t,main$:r,target$:o}){let n=t.pipe(m(({offset:{y:a}})=>a),Be(2,1),m(([a,s])=>a>s&&s>0),K()),i=r.pipe(m(({active:a})=>a));return z([i,n]).pipe(m(([a,s])=>!(a&&s)),K(),W(o.pipe(Ce(1))),ie(!0),ct({delay:250}),m(a=>({hidden:a})))}function Ei(e,{viewport$:t,header$:r,main$:o,target$:n}){let i=new g,a=i.pipe(Z(),ie(!0));return i.subscribe({next({hidden:s}){e.hidden=s,s?(e.setAttribute("tabindex","-1"),e.blur()):e.removeAttribute("tabindex")},complete(){e.style.top="",e.hidden=!0,e.removeAttribute("tabindex")}}),r.pipe(W(a),ee("height")).subscribe(({height:s})=>{e.style.top=`${s+16}px`}),h(e,"click").subscribe(s=>{s.preventDefault(),window.scrollTo({top:0})}),vs(e,{viewport$:t,main$:o,target$:n}).pipe(w(s=>i.next(s)),_(()=>i.complete()),m(s=>$({ref:e},s)))}function wi({document$:e,viewport$:t}){e.pipe(v(()=>P(".md-ellipsis")),ne(r=>tt(r).pipe(W(e.pipe(Ce(1))),b(o=>o),m(()=>r),Te(1))),b(r=>r.offsetWidth<r.scrollWidth),ne(r=>{let o=r.innerText,n=r.closest("a")||r;return n.title=o,B("content.tooltips")?mt(n,{viewport$:t}).pipe(W(e.pipe(Ce(1))),_(()=>n.removeAttribute("title"))):S})).subscribe(),B("content.tooltips")&&e.pipe(v(()=>P(".md-status")),ne(r=>mt(r,{viewport$:t}))).subscribe()}function Ti({document$:e,tablet$:t}){e.pipe(v(()=>P(".md-toggle--indeterminate")),w(r=>{r.indeterminate=!0,r.checked=!1}),ne(r=>h(r,"change").pipe(Dr(()=>r.classList.contains("md-toggle--indeterminate")),m(()=>r))),re(t)).subscribe(([r,o])=>{r.classList.remove("md-toggle--indeterminate"),o&&(r.checked=!1)})}function gs(){return/(iPad|iPhone|iPod)/.test(navigator.userAgent)}function Si({document$:e}){e.pipe(v(()=>P("[data-md-scrollfix]")),w(t=>t.removeAttribute("data-md-scrollfix")),b(gs),ne(t=>h(t,"touchstart").pipe(m(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function Oi({viewport$:e,tablet$:t}){z([ze("search"),t]).pipe(m(([r,o])=>r&&!o),v(r=>I(r).pipe(Ge(r?400:100))),re(e)).subscribe(([r,{offset:{y:o}}])=>{if(r)document.body.setAttribute("data-md-scrolllock",""),document.body.style.top=`-${o}px`;else{let n=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-scrolllock"),document.body.style.top="",n&&window.scrollTo(0,n)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let o=e[r];typeof 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t!="undefined"&&lt(t);break;case"n":case".":let r=fe("link[rel=next]");typeof r!="undefined"&&lt(r);break;case"Enter":let o=Ie();o instanceof HTMLLabelElement&&o.click()}});wi({viewport$:Oe,document$:ot});Ti({document$:ot,tablet$:hr});Si({document$:ot});Oi({viewport$:Oe,tablet$:hr});var rt=Kn(Se("header"),{viewport$:Oe}),Ft=ot.pipe(m(()=>Se("main")),v(e=>Gn(e,{viewport$:Oe,header$:rt})),G(1)),xs=O(...ae("consent").map(e=>En(e,{target$:Lt})),...ae("dialog").map(e=>qn(e,{alert$:ro})),...ae("palette").map(e=>Jn(e)),...ae("progress").map(e=>Xn(e,{progress$:oo})),...ae("search").map(e=>ui(e,{index$:Ai,keyboard$:to})),...ae("source").map(e=>gi(e))),Es=C(()=>O(...ae("announce").map(e=>xn(e)),...ae("content").map(e=>zn(e,{viewport$:Oe,target$:Lt,print$:_i})),...ae("content").map(e=>B("search.highlight")?di(e,{index$:Ai,location$:Ut}):S),...ae("header").map(e=>Yn(e,{viewport$:Oe,header$:rt,main$:Ft})),...ae("header-title").map(e=>Bn(e,{viewport$:Oe,header$:rt})),...ae("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?Nr(Mi,()=>Zr(e,{viewport$:Oe,header$:rt,main$:Ft})):Nr(hr,()=>Zr(e,{viewport$:Oe,header$:rt,main$:Ft}))),...ae("tabs").map(e=>yi(e,{viewport$:Oe,header$:rt})),...ae("toc").map(e=>xi(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Lt})),...ae("top").map(e=>Ei(e,{viewport$:Oe,header$:rt,main$:Ft,target$:Lt})))),Ci=ot.pipe(v(()=>Es),Re(xs),G(1));Ci.subscribe();window.document$=ot;window.location$=Ut;window.target$=Lt;window.keyboard$=to;window.viewport$=Oe;window.tablet$=hr;window.screen$=Mi;window.print$=_i;window.alert$=ro;window.progress$=oo;window.component$=Ci;})();
+//# sourceMappingURL=bundle.83f73b43.min.js.map
+
diff --git a/assets/javascripts/bundle.83f73b43.min.js.map b/assets/javascripts/bundle.83f73b43.min.js.map
new file mode 100644
index 0000000..fe920b7
--- /dev/null
+++ b/assets/javascripts/bundle.83f73b43.min.js.map
@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["node_modules/focus-visible/dist/focus-visible.js", "node_modules/escape-html/index.js", "node_modules/clipboard/dist/clipboard.js", "src/templates/assets/javascripts/bundle.ts", "node_modules/tslib/tslib.es6.mjs", "node_modules/rxjs/src/internal/util/isFunction.ts", "node_modules/rxjs/src/internal/util/createErrorClass.ts", "node_modules/rxjs/src/internal/util/UnsubscriptionError.ts", "node_modules/rxjs/src/internal/util/arrRemove.ts", "node_modules/rxjs/src/internal/Subscription.ts", "node_modules/rxjs/src/internal/config.ts", "node_modules/rxjs/src/internal/scheduler/timeoutProvider.ts", "node_modules/rxjs/src/internal/util/reportUnhandledError.ts", "node_modules/rxjs/src/internal/util/noop.ts", "node_modules/rxjs/src/internal/NotificationFactories.ts", "node_modules/rxjs/src/internal/util/errorContext.ts", "node_modules/rxjs/src/internal/Subscriber.ts", "node_modules/rxjs/src/internal/symbol/observable.ts", "node_modules/rxjs/src/internal/util/identity.ts", "node_modules/rxjs/src/internal/util/pipe.ts", "node_modules/rxjs/src/internal/Observable.ts", "node_modules/rxjs/src/internal/util/lift.ts", "node_modules/rxjs/src/internal/operators/OperatorSubscriber.ts", "node_modules/rxjs/src/internal/scheduler/animationFrameProvider.ts", "node_modules/rxjs/src/internal/util/ObjectUnsubscribedError.ts", "node_modules/rxjs/src/internal/Subject.ts", "node_modules/rxjs/src/internal/BehaviorSubject.ts", "node_modules/rxjs/src/internal/scheduler/dateTimestampProvider.ts", "node_modules/rxjs/src/internal/ReplaySubject.ts", "node_modules/rxjs/src/internal/scheduler/Action.ts", "node_modules/rxjs/src/internal/scheduler/intervalProvider.ts", "node_modules/rxjs/src/internal/scheduler/AsyncAction.ts", "node_modules/rxjs/src/internal/Scheduler.ts", "node_modules/rxjs/src/internal/scheduler/AsyncScheduler.ts", "node_modules/rxjs/src/internal/scheduler/async.ts", "node_modules/rxjs/src/internal/scheduler/QueueAction.ts", "node_modules/rxjs/src/internal/scheduler/QueueScheduler.ts", "node_modules/rxjs/src/internal/scheduler/queue.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameAction.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameScheduler.ts", "node_modules/rxjs/src/internal/scheduler/animationFrame.ts", "node_modules/rxjs/src/internal/observable/empty.ts", "node_modules/rxjs/src/internal/util/isScheduler.ts", "node_modules/rxjs/src/internal/util/args.ts", "node_modules/rxjs/src/internal/util/isArrayLike.ts", "node_modules/rxjs/src/internal/util/isPromise.ts", "node_modules/rxjs/src/internal/util/isInteropObservable.ts", "node_modules/rxjs/src/internal/util/isAsyncIterable.ts", "node_modules/rxjs/src/internal/util/throwUnobservableError.ts", "node_modules/rxjs/src/internal/symbol/iterator.ts", "node_modules/rxjs/src/internal/util/isIterable.ts", "node_modules/rxjs/src/internal/util/isReadableStreamLike.ts", "node_modules/rxjs/src/internal/observable/innerFrom.ts", 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"src/templates/assets/javascripts/browser/element/offset/_/index.ts", "src/templates/assets/javascripts/browser/element/offset/content/index.ts", "src/templates/assets/javascripts/browser/element/visibility/index.ts", "src/templates/assets/javascripts/browser/toggle/index.ts", "src/templates/assets/javascripts/browser/keyboard/index.ts", "src/templates/assets/javascripts/browser/location/_/index.ts", "src/templates/assets/javascripts/browser/location/hash/index.ts", "src/templates/assets/javascripts/browser/media/index.ts", "src/templates/assets/javascripts/browser/request/index.ts", "src/templates/assets/javascripts/browser/viewport/offset/index.ts", "src/templates/assets/javascripts/browser/viewport/size/index.ts", "src/templates/assets/javascripts/browser/viewport/_/index.ts", "src/templates/assets/javascripts/browser/viewport/at/index.ts", "src/templates/assets/javascripts/browser/worker/index.ts", "src/templates/assets/javascripts/_/index.ts", "src/templates/assets/javascripts/components/_/index.ts", "src/templates/assets/javascripts/components/announce/index.ts", "src/templates/assets/javascripts/components/consent/index.ts", "src/templates/assets/javascripts/templates/tooltip/index.tsx", "src/templates/assets/javascripts/templates/annotation/index.tsx", "src/templates/assets/javascripts/templates/clipboard/index.tsx", "src/templates/assets/javascripts/templates/search/index.tsx", "src/templates/assets/javascripts/templates/source/index.tsx", "src/templates/assets/javascripts/templates/tabbed/index.tsx", "src/templates/assets/javascripts/templates/table/index.tsx", "src/templates/assets/javascripts/templates/version/index.tsx", "src/templates/assets/javascripts/components/tooltip2/index.ts", "src/templates/assets/javascripts/components/content/annotation/_/index.ts", "src/templates/assets/javascripts/components/content/annotation/list/index.ts", 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"src/templates/assets/javascripts/components/search/highlight/index.ts", "src/templates/assets/javascripts/components/sidebar/index.ts", "src/templates/assets/javascripts/components/source/facts/github/index.ts", "src/templates/assets/javascripts/components/source/facts/gitlab/index.ts", "src/templates/assets/javascripts/components/source/facts/_/index.ts", "src/templates/assets/javascripts/components/source/_/index.ts", "src/templates/assets/javascripts/components/tabs/index.ts", "src/templates/assets/javascripts/components/toc/index.ts", "src/templates/assets/javascripts/components/top/index.ts", "src/templates/assets/javascripts/patches/ellipsis/index.ts", "src/templates/assets/javascripts/patches/indeterminate/index.ts", "src/templates/assets/javascripts/patches/scrollfix/index.ts", "src/templates/assets/javascripts/patches/scrolllock/index.ts", "src/templates/assets/javascripts/polyfills/index.ts"],
+  "sourcesContent": ["(function (global, factory) {\n  typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n  typeof define === 'function' && define.amd ? define(factory) :\n  (factory());\n}(this, (function () { 'use strict';\n\n  /**\n   * Applies the :focus-visible polyfill at the given scope.\n   * A scope in this case is either the top-level Document or a Shadow Root.\n   *\n   * @param {(Document|ShadowRoot)} scope\n   * @see https://github.com/WICG/focus-visible\n   */\n  function applyFocusVisiblePolyfill(scope) {\n    var hadKeyboardEvent = true;\n    var hadFocusVisibleRecently = false;\n    var hadFocusVisibleRecentlyTimeout = null;\n\n    var inputTypesAllowlist = {\n      text: true,\n      search: true,\n      url: true,\n      tel: true,\n      email: true,\n      password: true,\n      number: true,\n      date: true,\n      month: true,\n      week: true,\n      time: true,\n      datetime: true,\n      'datetime-local': true\n    };\n\n    /**\n     * Helper function for legacy browsers and iframes which sometimes focus\n     * elements like document, body, and non-interactive SVG.\n     * @param {Element} el\n     */\n    function isValidFocusTarget(el) {\n      if (\n        el &&\n        el !== document &&\n        el.nodeName !== 'HTML' &&\n        el.nodeName !== 'BODY' &&\n        'classList' in el &&\n        'contains' in el.classList\n      ) {\n        return true;\n      }\n      return false;\n    }\n\n    /**\n     * Computes whether the given element should automatically trigger the\n     * `focus-visible` class being added, i.e. whether it should always match\n     * `:focus-visible` when focused.\n     * @param {Element} el\n     * @return {boolean}\n     */\n    function focusTriggersKeyboardModality(el) {\n      var type = el.type;\n      var tagName = el.tagName;\n\n      if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n        return true;\n      }\n\n      if (tagName === 'TEXTAREA' && !el.readOnly) {\n        return true;\n      }\n\n      if (el.isContentEditable) {\n        return true;\n      }\n\n      return false;\n    }\n\n    /**\n     * Add the `focus-visible` class to the given element if it was not added by\n     * the author.\n     * @param {Element} el\n     */\n    function addFocusVisibleClass(el) {\n      if (el.classList.contains('focus-visible')) {\n        return;\n      }\n      el.classList.add('focus-visible');\n      el.setAttribute('data-focus-visible-added', '');\n    }\n\n    /**\n     * Remove the `focus-visible` class from the given element if it was not\n     * originally added by the author.\n     * @param {Element} el\n     */\n    function removeFocusVisibleClass(el) {\n      if (!el.hasAttribute('data-focus-visible-added')) {\n        return;\n      }\n      el.classList.remove('focus-visible');\n      el.removeAttribute('data-focus-visible-added');\n    }\n\n    /**\n     * If the most recent user interaction was via the keyboard;\n     * and the key press did not include a meta, alt/option, or control key;\n     * then the modality is keyboard. Otherwise, the modality is not keyboard.\n     * Apply `focus-visible` to any current active element and keep track\n     * of our keyboard modality state with `hadKeyboardEvent`.\n     * @param {KeyboardEvent} e\n     */\n    function onKeyDown(e) {\n      if (e.metaKey || e.altKey || e.ctrlKey) {\n        return;\n      }\n\n      if (isValidFocusTarget(scope.activeElement)) {\n        addFocusVisibleClass(scope.activeElement);\n      }\n\n      hadKeyboardEvent = true;\n    }\n\n    /**\n     * If at any point a user clicks with a pointing device, ensure that we change\n     * the modality away from keyboard.\n     * This avoids the situation where a user presses a key on an already focused\n     * element, and then clicks on a different element, focusing it with a\n     * pointing device, while we still think we're in keyboard modality.\n     * @param {Event} e\n     */\n    function onPointerDown(e) {\n      hadKeyboardEvent = false;\n    }\n\n    /**\n     * On `focus`, add the `focus-visible` class to the target if:\n     * - the target received focus as a result of keyboard navigation, or\n     * - the event target is an element that will likely require interaction\n     *   via the keyboard (e.g. a text box)\n     * @param {Event} e\n     */\n    function onFocus(e) {\n      // Prevent IE from focusing the document or HTML element.\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n        addFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * On `blur`, remove the `focus-visible` class from the target.\n     * @param {Event} e\n     */\n    function onBlur(e) {\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (\n        e.target.classList.contains('focus-visible') ||\n        e.target.hasAttribute('data-focus-visible-added')\n      ) {\n        // To detect a tab/window switch, we look for a blur event followed\n        // rapidly by a visibility change.\n        // If we don't see a visibility change within 100ms, it's probably a\n        // regular focus change.\n        hadFocusVisibleRecently = true;\n        window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n        hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n          hadFocusVisibleRecently = false;\n        }, 100);\n        removeFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * If the user changes tabs, keep track of whether or not the previously\n     * focused element had .focus-visible.\n     * @param {Event} e\n     */\n    function onVisibilityChange(e) {\n      if (document.visibilityState === 'hidden') {\n        // If the tab becomes active again, the browser will handle calling focus\n        // on the element (Safari actually calls it twice).\n        // If this tab change caused a blur on an element with focus-visible,\n        // re-apply the class when the user switches back to the tab.\n        if (hadFocusVisibleRecently) {\n          hadKeyboardEvent = true;\n        }\n        addInitialPointerMoveListeners();\n      }\n    }\n\n    /**\n     * Add a group of listeners to detect usage of any pointing devices.\n     * These listeners will be added when the polyfill first loads, and anytime\n     * the window is blurred, so that they are active when the window regains\n     * focus.\n     */\n    function addInitialPointerMoveListeners() {\n      document.addEventListener('mousemove', onInitialPointerMove);\n      document.addEventListener('mousedown', onInitialPointerMove);\n      document.addEventListener('mouseup', onInitialPointerMove);\n      document.addEventListener('pointermove', onInitialPointerMove);\n      document.addEventListener('pointerdown', onInitialPointerMove);\n      document.addEventListener('pointerup', onInitialPointerMove);\n      document.addEventListener('touchmove', onInitialPointerMove);\n      document.addEventListener('touchstart', onInitialPointerMove);\n      document.addEventListener('touchend', onInitialPointerMove);\n    }\n\n    function removeInitialPointerMoveListeners() {\n      document.removeEventListener('mousemove', onInitialPointerMove);\n      document.removeEventListener('mousedown', onInitialPointerMove);\n      document.removeEventListener('mouseup', onInitialPointerMove);\n      document.removeEventListener('pointermove', onInitialPointerMove);\n      document.removeEventListener('pointerdown', onInitialPointerMove);\n      document.removeEventListener('pointerup', onInitialPointerMove);\n      document.removeEventListener('touchmove', onInitialPointerMove);\n      document.removeEventListener('touchstart', onInitialPointerMove);\n      document.removeEventListener('touchend', onInitialPointerMove);\n    }\n\n    /**\n     * When the polfyill first loads, assume the user is in keyboard modality.\n     * If any event is received from a pointing device (e.g. mouse, pointer,\n     * touch), turn off keyboard modality.\n     * This accounts for situations where focus enters the page from the URL bar.\n     * @param {Event} e\n     */\n    function onInitialPointerMove(e) {\n      // Work around a Safari quirk that fires a mousemove on <html> whenever the\n      // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n      if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n        return;\n      }\n\n      hadKeyboardEvent = false;\n      removeInitialPointerMoveListeners();\n    }\n\n    // For some kinds of state, we are interested in changes at the global scope\n    // only. For example, global pointer input, global key presses and global\n    // visibility change should affect the state at every scope:\n    document.addEventListener('keydown', onKeyDown, true);\n    document.addEventListener('mousedown', onPointerDown, true);\n    document.addEventListener('pointerdown', onPointerDown, true);\n    document.addEventListener('touchstart', onPointerDown, true);\n    document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n    addInitialPointerMoveListeners();\n\n    // For focus and blur, we specifically care about state changes in the local\n    // scope. This is because focus / blur events that originate from within a\n    // shadow root are not re-dispatched from the host element if it was already\n    // the active element in its own scope:\n    scope.addEventListener('focus', onFocus, true);\n    scope.addEventListener('blur', onBlur, true);\n\n    // We detect that a node is a ShadowRoot by ensuring that it is a\n    // DocumentFragment and also has a host property. This check covers native\n    // implementation and polyfill implementation transparently. If we only cared\n    // about the native implementation, we could just check if the scope was\n    // an instance of a ShadowRoot.\n    if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n      // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n      // have a root element to add a class to. So, we add this attribute to the\n      // host element instead:\n      scope.host.setAttribute('data-js-focus-visible', '');\n    } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n      document.documentElement.classList.add('js-focus-visible');\n      document.documentElement.setAttribute('data-js-focus-visible', '');\n    }\n  }\n\n  // It is important to wrap all references to global window and document in\n  // these checks to support server-side rendering use cases\n  // @see https://github.com/WICG/focus-visible/issues/199\n  if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n    // Make the polyfill helper globally available. This can be used as a signal\n    // to interested libraries that wish to coordinate with the polyfill for e.g.,\n    // applying the polyfill to a shadow root:\n    window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n    // Notify interested libraries of the polyfill's presence, in case the\n    // polyfill was loaded lazily:\n    var event;\n\n    try {\n      event = new CustomEvent('focus-visible-polyfill-ready');\n    } catch (error) {\n      // IE11 does not support using CustomEvent as a constructor directly:\n      event = document.createEvent('CustomEvent');\n      event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n    }\n\n    window.dispatchEvent(event);\n  }\n\n  if (typeof document !== 'undefined') {\n    // Apply the polyfill to the global document, so that no JavaScript\n    // coordination is required to use the polyfill in the top-level document:\n    applyFocusVisiblePolyfill(document);\n  }\n\n})));\n", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param  {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n  var str = '' + string;\n  var match = matchHtmlRegExp.exec(str);\n\n  if (!match) {\n    return str;\n  }\n\n  var escape;\n  var html = '';\n  var index = 0;\n  var lastIndex = 0;\n\n  for (index = match.index; index < str.length; index++) {\n    switch (str.charCodeAt(index)) {\n      case 34: // \"\n        escape = '&quot;';\n        break;\n      case 38: // &\n        escape = '&amp;';\n        break;\n      case 39: // '\n        escape = '&#39;';\n        break;\n      case 60: // <\n        escape = '&lt;';\n        break;\n      case 62: // >\n        escape = '&gt;';\n        break;\n      default:\n        continue;\n    }\n\n    if (lastIndex !== index) {\n      html += str.substring(lastIndex, index);\n    }\n\n    lastIndex = index + 1;\n    html += escape;\n  }\n\n  return lastIndex !== index\n    ? html + str.substring(lastIndex, index)\n    : html;\n}\n", "/*!\n * clipboard.js v2.0.11\n * https://clipboardjs.com/\n *\n * Licensed MIT \u00A9 Zeno Rocha\n */\n(function webpackUniversalModuleDefinition(root, factory) {\n\tif(typeof exports === 'object' && typeof module === 'object')\n\t\tmodule.exports = factory();\n\telse if(typeof define === 'function' && define.amd)\n\t\tdefine([], factory);\n\telse if(typeof exports === 'object')\n\t\texports[\"ClipboardJS\"] = factory();\n\telse\n\t\troot[\"ClipboardJS\"] = factory();\n})(this, function() {\nreturn /******/ (function() { // webpackBootstrap\n/******/ \tvar __webpack_modules__ = ({\n\n/***/ 686:\n/***/ (function(__unused_webpack_module, __webpack_exports__, __webpack_require__) {\n\n\"use strict\";\n\n// EXPORTS\n__webpack_require__.d(__webpack_exports__, {\n  \"default\": function() { return /* binding */ clipboard; }\n});\n\n// EXTERNAL MODULE: ./node_modules/tiny-emitter/index.js\nvar tiny_emitter = __webpack_require__(279);\nvar tiny_emitter_default = /*#__PURE__*/__webpack_require__.n(tiny_emitter);\n// EXTERNAL MODULE: ./node_modules/good-listener/src/listen.js\nvar listen = __webpack_require__(370);\nvar listen_default = /*#__PURE__*/__webpack_require__.n(listen);\n// EXTERNAL MODULE: ./node_modules/select/src/select.js\nvar src_select = __webpack_require__(817);\nvar select_default = /*#__PURE__*/__webpack_require__.n(src_select);\n;// CONCATENATED MODULE: ./src/common/command.js\n/**\n * Executes a given operation type.\n * @param {String} type\n * @return {Boolean}\n */\nfunction command(type) {\n  try {\n    return document.execCommand(type);\n  } catch (err) {\n    return false;\n  }\n}\n;// CONCATENATED MODULE: ./src/actions/cut.js\n\n\n/**\n * Cut action wrapper.\n * @param {String|HTMLElement} target\n * @return {String}\n */\n\nvar ClipboardActionCut = function ClipboardActionCut(target) {\n  var selectedText = select_default()(target);\n  command('cut');\n  return selectedText;\n};\n\n/* harmony default export */ var actions_cut = (ClipboardActionCut);\n;// CONCATENATED MODULE: ./src/common/create-fake-element.js\n/**\n * Creates a fake textarea element with a value.\n * @param {String} value\n * @return {HTMLElement}\n */\nfunction createFakeElement(value) {\n  var isRTL = document.documentElement.getAttribute('dir') === 'rtl';\n  var fakeElement = document.createElement('textarea'); // Prevent zooming on iOS\n\n  fakeElement.style.fontSize = '12pt'; // Reset box model\n\n  fakeElement.style.border = '0';\n  fakeElement.style.padding = '0';\n  fakeElement.style.margin = '0'; // Move element out of screen horizontally\n\n  fakeElement.style.position = 'absolute';\n  fakeElement.style[isRTL ? 'right' : 'left'] = '-9999px'; // Move element to the same position vertically\n\n  var yPosition = window.pageYOffset || document.documentElement.scrollTop;\n  fakeElement.style.top = \"\".concat(yPosition, \"px\");\n  fakeElement.setAttribute('readonly', '');\n  fakeElement.value = value;\n  return fakeElement;\n}\n;// CONCATENATED MODULE: ./src/actions/copy.js\n\n\n\n/**\n * Create fake copy action wrapper using a fake element.\n * @param {String} target\n * @param {Object} options\n * @return {String}\n */\n\nvar fakeCopyAction = function fakeCopyAction(value, options) {\n  var fakeElement = createFakeElement(value);\n  options.container.appendChild(fakeElement);\n  var selectedText = select_default()(fakeElement);\n  command('copy');\n  fakeElement.remove();\n  return selectedText;\n};\n/**\n * Copy action wrapper.\n * @param {String|HTMLElement} target\n * @param {Object} options\n * @return {String}\n */\n\n\nvar ClipboardActionCopy = function ClipboardActionCopy(target) {\n  var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n    container: document.body\n  };\n  var selectedText = '';\n\n  if (typeof target === 'string') {\n    selectedText = fakeCopyAction(target, options);\n  } else if (target instanceof HTMLInputElement && !['text', 'search', 'url', 'tel', 'password'].includes(target === null || target === void 0 ? void 0 : target.type)) {\n    // If input type doesn't support `setSelectionRange`. Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n    selectedText = fakeCopyAction(target.value, options);\n  } else {\n    selectedText = select_default()(target);\n    command('copy');\n  }\n\n  return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n  var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n  // Defines base properties passed from constructor.\n  var _options$action = options.action,\n      action = _options$action === void 0 ? 'copy' : _options$action,\n      container = options.container,\n      target = options.target,\n      text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n  if (action !== 'copy' && action !== 'cut') {\n    throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n  } // Sets the `target` property using an element that will be have its content copied.\n\n\n  if (target !== undefined) {\n    if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n      if (action === 'copy' && target.hasAttribute('disabled')) {\n        throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n      }\n\n      if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n        throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n      }\n    } else {\n      throw new Error('Invalid \"target\" value, use a valid Element');\n    }\n  } // Define selection strategy based on `text` property.\n\n\n  if (text) {\n    return actions_copy(text, {\n      container: container\n    });\n  } // Defines which selection strategy based on `target` property.\n\n\n  if (target) {\n    return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n      container: container\n    });\n  }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n  var attribute = \"data-clipboard-\".concat(suffix);\n\n  if (!element.hasAttribute(attribute)) {\n    return;\n  }\n\n  return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n  _inherits(Clipboard, _Emitter);\n\n  var _super = _createSuper(Clipboard);\n\n  /**\n   * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n   * @param {Object} options\n   */\n  function Clipboard(trigger, options) {\n    var _this;\n\n    _classCallCheck(this, Clipboard);\n\n    _this = _super.call(this);\n\n    _this.resolveOptions(options);\n\n    _this.listenClick(trigger);\n\n    return _this;\n  }\n  /**\n   * Defines if attributes would be resolved using internal setter functions\n   * or custom functions that were passed in the constructor.\n   * @param {Object} options\n   */\n\n\n  _createClass(Clipboard, [{\n    key: \"resolveOptions\",\n    value: function resolveOptions() {\n      var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n      this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n      this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n      this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n      this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n    }\n    /**\n     * Adds a click event listener to the passed trigger.\n     * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n     */\n\n  }, {\n    key: \"listenClick\",\n    value: function listenClick(trigger) {\n      var _this2 = this;\n\n      this.listener = listen_default()(trigger, 'click', function (e) {\n        return _this2.onClick(e);\n      });\n    }\n    /**\n     * Defines a new `ClipboardAction` on each click event.\n     * @param {Event} e\n     */\n\n  }, {\n    key: \"onClick\",\n    value: function onClick(e) {\n      var trigger = e.delegateTarget || e.currentTarget;\n      var action = this.action(trigger) || 'copy';\n      var text = actions_default({\n        action: action,\n        container: this.container,\n        target: this.target(trigger),\n        text: this.text(trigger)\n      }); // Fires an event based on the copy operation result.\n\n      this.emit(text ? 'success' : 'error', {\n        action: action,\n        text: text,\n        trigger: trigger,\n        clearSelection: function clearSelection() {\n          if (trigger) {\n            trigger.focus();\n          }\n\n          window.getSelection().removeAllRanges();\n        }\n      });\n    }\n    /**\n     * Default `action` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultAction\",\n    value: function defaultAction(trigger) {\n      return getAttributeValue('action', trigger);\n    }\n    /**\n     * Default `target` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultTarget\",\n    value: function defaultTarget(trigger) {\n      var selector = getAttributeValue('target', trigger);\n\n      if (selector) {\n        return document.querySelector(selector);\n      }\n    }\n    /**\n     * Allow fire programmatically a copy action\n     * @param {String|HTMLElement} target\n     * @param {Object} options\n     * @returns Text copied.\n     */\n\n  }, {\n    key: \"defaultText\",\n\n    /**\n     * Default `text` lookup function.\n     * @param {Element} trigger\n     */\n    value: function defaultText(trigger) {\n      return getAttributeValue('text', trigger);\n    }\n    /**\n     * Destroy lifecycle.\n     */\n\n  }, {\n    key: \"destroy\",\n    value: function destroy() {\n      this.listener.destroy();\n    }\n  }], [{\n    key: \"copy\",\n    value: function copy(target) {\n      var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n        container: document.body\n      };\n      return actions_copy(target, options);\n    }\n    /**\n     * Allow fire programmatically a cut action\n     * @param {String|HTMLElement} target\n     * @returns Text cutted.\n     */\n\n  }, {\n    key: \"cut\",\n    value: function cut(target) {\n      return actions_cut(target);\n    }\n    /**\n     * Returns the support of the given action, or all actions if no action is\n     * given.\n     * @param {String} [action]\n     */\n\n  }, {\n    key: \"isSupported\",\n    value: function isSupported() {\n      var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n      var actions = typeof action === 'string' ? [action] : action;\n      var support = !!document.queryCommandSupported;\n      actions.forEach(function (action) {\n        support = support && !!document.queryCommandSupported(action);\n      });\n      return support;\n    }\n  }]);\n\n  return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n    var proto = Element.prototype;\n\n    proto.matches = proto.matchesSelector ||\n                    proto.mozMatchesSelector ||\n                    proto.msMatchesSelector ||\n                    proto.oMatchesSelector ||\n                    proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n    while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n        if (typeof element.matches === 'function' &&\n            element.matches(selector)) {\n          return element;\n        }\n        element = element.parentNode;\n    }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n    var listenerFn = listener.apply(this, arguments);\n\n    element.addEventListener(type, listenerFn, useCapture);\n\n    return {\n        destroy: function() {\n            element.removeEventListener(type, listenerFn, useCapture);\n        }\n    }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n    // Handle the regular Element usage\n    if (typeof elements.addEventListener === 'function') {\n        return _delegate.apply(null, arguments);\n    }\n\n    // Handle Element-less usage, it defaults to global delegation\n    if (typeof type === 'function') {\n        // Use `document` as the first parameter, then apply arguments\n        // This is a short way to .unshift `arguments` without running into deoptimizations\n        return _delegate.bind(null, document).apply(null, arguments);\n    }\n\n    // Handle Selector-based usage\n    if (typeof elements === 'string') {\n        elements = document.querySelectorAll(elements);\n    }\n\n    // Handle Array-like based usage\n    return Array.prototype.map.call(elements, function (element) {\n        return _delegate(element, selector, type, callback, useCapture);\n    });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n    return function(e) {\n        e.delegateTarget = closest(e.target, selector);\n\n        if (e.delegateTarget) {\n            callback.call(element, e);\n        }\n    }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n    return value !== undefined\n        && value instanceof HTMLElement\n        && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return value !== undefined\n        && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n        && ('length' in value)\n        && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n    return typeof value === 'string'\n        || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n    if (!target && !type && !callback) {\n        throw new Error('Missing required arguments');\n    }\n\n    if (!is.string(type)) {\n        throw new TypeError('Second argument must be a String');\n    }\n\n    if (!is.fn(callback)) {\n        throw new TypeError('Third argument must be a Function');\n    }\n\n    if (is.node(target)) {\n        return listenNode(target, type, callback);\n    }\n    else if (is.nodeList(target)) {\n        return listenNodeList(target, type, callback);\n    }\n    else if (is.string(target)) {\n        return listenSelector(target, type, callback);\n    }\n    else {\n        throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n    }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n    node.addEventListener(type, callback);\n\n    return {\n        destroy: function() {\n            node.removeEventListener(type, callback);\n        }\n    }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n    Array.prototype.forEach.call(nodeList, function(node) {\n        node.addEventListener(type, callback);\n    });\n\n    return {\n        destroy: function() {\n            Array.prototype.forEach.call(nodeList, function(node) {\n                node.removeEventListener(type, callback);\n            });\n        }\n    }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n    return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n    var selectedText;\n\n    if (element.nodeName === 'SELECT') {\n        element.focus();\n\n        selectedText = element.value;\n    }\n    else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n        var isReadOnly = element.hasAttribute('readonly');\n\n        if (!isReadOnly) {\n            element.setAttribute('readonly', '');\n        }\n\n        element.select();\n        element.setSelectionRange(0, element.value.length);\n\n        if (!isReadOnly) {\n            element.removeAttribute('readonly');\n        }\n\n        selectedText = element.value;\n    }\n    else {\n        if (element.hasAttribute('contenteditable')) {\n            element.focus();\n        }\n\n        var selection = window.getSelection();\n        var range = document.createRange();\n\n        range.selectNodeContents(element);\n        selection.removeAllRanges();\n        selection.addRange(range);\n\n        selectedText = selection.toString();\n    }\n\n    return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n  // Keep this empty so it's easier to inherit from\n  // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n  on: function (name, callback, ctx) {\n    var e = this.e || (this.e = {});\n\n    (e[name] || (e[name] = [])).push({\n      fn: callback,\n      ctx: ctx\n    });\n\n    return this;\n  },\n\n  once: function (name, callback, ctx) {\n    var self = this;\n    function listener () {\n      self.off(name, listener);\n      callback.apply(ctx, arguments);\n    };\n\n    listener._ = callback\n    return this.on(name, listener, ctx);\n  },\n\n  emit: function (name) {\n    var data = [].slice.call(arguments, 1);\n    var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n    var i = 0;\n    var len = evtArr.length;\n\n    for (i; i < len; i++) {\n      evtArr[i].fn.apply(evtArr[i].ctx, data);\n    }\n\n    return this;\n  },\n\n  off: function (name, callback) {\n    var e = this.e || (this.e = {});\n    var evts = e[name];\n    var liveEvents = [];\n\n    if (evts && callback) {\n      for (var i = 0, len = evts.length; i < len; i++) {\n        if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n          liveEvents.push(evts[i]);\n      }\n    }\n\n    // Remove event from queue to prevent memory leak\n    // Suggested by https://github.com/lazd\n    // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n    (liveEvents.length)\n      ? e[name] = liveEvents\n      : delete e[name];\n\n    return this;\n  }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"focus-visible\"\n\nimport {\n  EMPTY,\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  delay,\n  filter,\n  map,\n  merge,\n  mergeWith,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n  at,\n  getActiveElement,\n  getOptionalElement,\n  requestJSON,\n  setLocation,\n  setToggle,\n  watchDocument,\n  watchKeyboard,\n  watchLocation,\n  watchLocationTarget,\n  watchMedia,\n  watchPrint,\n  watchScript,\n  watchViewport\n} from \"./browser\"\nimport {\n  getComponentElement,\n  getComponentElements,\n  mountAnnounce,\n  mountBackToTop,\n  mountConsent,\n  mountContent,\n  mountDialog,\n  mountHeader,\n  mountHeaderTitle,\n  mountPalette,\n  mountProgress,\n  mountSearch,\n  mountSearchHiglight,\n  mountSidebar,\n  mountSource,\n  mountTableOfContents,\n  mountTabs,\n  watchHeader,\n  watchMain\n} from \"./components\"\nimport {\n  SearchIndex,\n  setupClipboardJS,\n  setupInstantNavigation,\n  setupVersionSelector\n} from \"./integrations\"\nimport {\n  patchEllipsis,\n  patchIndeterminate,\n  patchScrollfix,\n  patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Functions - @todo refactor\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch search index\n *\n * @returns Search index observable\n */\nfunction fetchSearchIndex(): Observable<SearchIndex> {\n  if (location.protocol === \"file:\") {\n    return watchScript(\n      `${new URL(\"search/search_index.js\", config.base)}`\n    )\n      .pipe(\n        // @ts-ignore - @todo fix typings\n        map(() => __index),\n        shareReplay(1)\n      )\n  } else {\n    return requestJSON<SearchIndex>(\n      new URL(\"search/search_index.json\", config.base)\n    )\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$   = watchLocationTarget(location$)\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$   = watchMedia(\"(min-width: 960px)\")\nconst screen$   = watchMedia(\"(min-width: 1220px)\")\nconst print$    = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n  ? fetchSearchIndex()\n  : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject<string>()\nsetupClipboardJS({ alert$ })\n\n/* Set up progress indicator */\nconst progress$ = new Subject<number>()\n\n/* Set up instant navigation, if enabled */\nif (feature(\"navigation.instant\"))\n  setupInstantNavigation({ location$, viewport$, progress$ })\n    .subscribe(document$)\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n  setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n  .pipe(\n    delay(125)\n  )\n    .subscribe(() => {\n      setToggle(\"drawer\", false)\n      setToggle(\"search\", false)\n    })\n\n/* Set up global keyboard handlers */\nkeyboard$\n  .pipe(\n    filter(({ mode }) => mode === \"global\")\n  )\n    .subscribe(key => {\n      switch (key.type) {\n\n        /* Go to previous page */\n        case \"p\":\n        case \",\":\n          const prev = getOptionalElement<HTMLLinkElement>(\"link[rel=prev]\")\n          if (typeof prev !== \"undefined\")\n            setLocation(prev)\n          break\n\n        /* Go to next page */\n        case \"n\":\n        case \".\":\n          const next = getOptionalElement<HTMLLinkElement>(\"link[rel=next]\")\n          if (typeof next !== \"undefined\")\n            setLocation(next)\n          break\n\n        /* Expand navigation, see https://bit.ly/3ZjG5io */\n        case \"Enter\":\n          const active = getActiveElement()\n          if (active instanceof HTMLLabelElement)\n            active.click()\n      }\n    })\n\n/* Set up patches */\npatchEllipsis({ viewport$, document$ })\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n  .pipe(\n    map(() => getComponentElement(\"main\")),\n    switchMap(el => watchMain(el, { viewport$, header$ })),\n    shareReplay(1)\n  )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n  /* Consent */\n  ...getComponentElements(\"consent\")\n    .map(el => mountConsent(el, { target$ })),\n\n  /* Dialog */\n  ...getComponentElements(\"dialog\")\n    .map(el => mountDialog(el, { alert$ })),\n\n  /* Color palette */\n  ...getComponentElements(\"palette\")\n    .map(el => mountPalette(el)),\n\n  /* Progress bar */\n  ...getComponentElements(\"progress\")\n    .map(el => mountProgress(el, { progress$ })),\n\n  /* Search */\n  ...getComponentElements(\"search\")\n    .map(el => mountSearch(el, { index$, keyboard$ })),\n\n  /* Repository information */\n  ...getComponentElements(\"source\")\n    .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n  /* Announcement bar */\n  ...getComponentElements(\"announce\")\n    .map(el => mountAnnounce(el)),\n\n  /* Content */\n  ...getComponentElements(\"content\")\n    .map(el => mountContent(el, { viewport$, target$, print$ })),\n\n  /* Search highlighting */\n  ...getComponentElements(\"content\")\n    .map(el => feature(\"search.highlight\")\n      ? mountSearchHiglight(el, { index$, location$ })\n      : EMPTY\n    ),\n\n  /* Header */\n  ...getComponentElements(\"header\")\n    .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n  /* Header title */\n  ...getComponentElements(\"header-title\")\n    .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n  /* Sidebar */\n  ...getComponentElements(\"sidebar\")\n    .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n      ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n      : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n    ),\n\n  /* Navigation tabs */\n  ...getComponentElements(\"tabs\")\n    .map(el => mountTabs(el, { viewport$, header$ })),\n\n  /* Table of contents */\n  ...getComponentElements(\"toc\")\n    .map(el => mountTableOfContents(el, {\n      viewport$, header$, main$, target$\n    })),\n\n  /* Back-to-top button */\n  ...getComponentElements(\"top\")\n    .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n  .pipe(\n    switchMap(() => content$),\n    mergeWith(control$),\n    shareReplay(1)\n  )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$  = document$          /* Document observable */\nwindow.location$  = location$          /* Location subject */\nwindow.target$    = target$            /* Location target observable */\nwindow.keyboard$  = keyboard$          /* Keyboard observable */\nwindow.viewport$  = viewport$          /* Viewport observable */\nwindow.tablet$    = tablet$            /* Media tablet observable */\nwindow.screen$    = screen$            /* Media screen observable */\nwindow.print$     = print$             /* Media print observable */\nwindow.alert$     = alert$             /* Alert subject */\nwindow.progress$  = progress$          /* Progress indicator subject */\nwindow.component$ = component$         /* Component observable */\n", "/******************************************************************************\nCopyright (c) Microsoft Corporation.\n\nPermission to use, copy, modify, and/or distribute this software for any\npurpose with or without fee is hereby granted.\n\nTHE SOFTWARE IS PROVIDED \"AS IS\" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH\nREGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY\nAND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,\nINDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM\nLOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR\nOTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR\nPERFORMANCE OF THIS SOFTWARE.\n***************************************************************************** */\n/* global Reflect, Promise, SuppressedError, Symbol, Iterator */\n\nvar extendStatics = function(d, b) {\n  extendStatics = Object.setPrototypeOf ||\n      ({ __proto__: [] } instanceof Array && function (d, b) { d.__proto__ = b; }) ||\n      function (d, b) { for (var p in b) if (Object.prototype.hasOwnProperty.call(b, p)) d[p] = b[p]; };\n  return extendStatics(d, b);\n};\n\nexport function __extends(d, b) {\n  if (typeof b !== \"function\" && b !== null)\n      throw new TypeError(\"Class extends value \" + String(b) + \" is not a constructor or null\");\n  extendStatics(d, b);\n  function __() { this.constructor = d; }\n  d.prototype = b === null ? Object.create(b) : (__.prototype = b.prototype, new __());\n}\n\nexport var __assign = function() {\n  __assign = Object.assign || function __assign(t) {\n      for (var s, i = 1, n = arguments.length; i < n; i++) {\n          s = arguments[i];\n          for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p)) t[p] = s[p];\n      }\n      return t;\n  }\n  return __assign.apply(this, arguments);\n}\n\nexport function __rest(s, e) {\n  var t = {};\n  for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p) && e.indexOf(p) < 0)\n      t[p] = s[p];\n  if (s != null && typeof Object.getOwnPropertySymbols === \"function\")\n      for (var i = 0, p = Object.getOwnPropertySymbols(s); i < p.length; i++) {\n          if (e.indexOf(p[i]) < 0 && Object.prototype.propertyIsEnumerable.call(s, p[i]))\n              t[p[i]] = s[p[i]];\n      }\n  return t;\n}\n\nexport function __decorate(decorators, target, key, desc) {\n  var c = arguments.length, r = c < 3 ? target : desc === null ? desc = Object.getOwnPropertyDescriptor(target, key) : desc, d;\n  if (typeof Reflect === \"object\" && typeof Reflect.decorate === \"function\") r = Reflect.decorate(decorators, target, key, desc);\n  else for (var i = decorators.length - 1; i >= 0; i--) if (d = decorators[i]) r = (c < 3 ? d(r) : c > 3 ? d(target, key, r) : d(target, key)) || r;\n  return c > 3 && r && Object.defineProperty(target, key, r), r;\n}\n\nexport function __param(paramIndex, decorator) {\n  return function (target, key) { decorator(target, key, paramIndex); }\n}\n\nexport function __esDecorate(ctor, descriptorIn, decorators, contextIn, initializers, extraInitializers) {\n  function accept(f) { if (f !== void 0 && typeof f !== \"function\") throw new TypeError(\"Function expected\"); return f; }\n  var kind = contextIn.kind, key = kind === \"getter\" ? \"get\" : kind === \"setter\" ? \"set\" : \"value\";\n  var target = !descriptorIn && ctor ? contextIn[\"static\"] ? ctor : ctor.prototype : null;\n  var descriptor = descriptorIn || (target ? Object.getOwnPropertyDescriptor(target, contextIn.name) : {});\n  var _, done = false;\n  for (var i = decorators.length - 1; i >= 0; i--) {\n      var context = {};\n      for (var p in contextIn) context[p] = p === \"access\" ? {} : contextIn[p];\n      for (var p in contextIn.access) context.access[p] = contextIn.access[p];\n      context.addInitializer = function (f) { if (done) throw new TypeError(\"Cannot add initializers after decoration has completed\"); extraInitializers.push(accept(f || null)); };\n      var result = (0, decorators[i])(kind === \"accessor\" ? { get: descriptor.get, set: descriptor.set } : descriptor[key], context);\n      if (kind === \"accessor\") {\n          if (result === void 0) continue;\n          if (result === null || typeof result !== \"object\") throw new TypeError(\"Object expected\");\n          if (_ = accept(result.get)) descriptor.get = _;\n          if (_ = accept(result.set)) descriptor.set = _;\n          if (_ = accept(result.init)) initializers.unshift(_);\n      }\n      else if (_ = accept(result)) {\n          if (kind === \"field\") initializers.unshift(_);\n          else descriptor[key] = _;\n      }\n  }\n  if (target) Object.defineProperty(target, contextIn.name, descriptor);\n  done = true;\n};\n\nexport function __runInitializers(thisArg, initializers, value) {\n  var useValue = arguments.length > 2;\n  for (var i = 0; i < initializers.length; i++) {\n      value = useValue ? initializers[i].call(thisArg, value) : initializers[i].call(thisArg);\n  }\n  return useValue ? value : void 0;\n};\n\nexport function __propKey(x) {\n  return typeof x === \"symbol\" ? x : \"\".concat(x);\n};\n\nexport function __setFunctionName(f, name, prefix) {\n  if (typeof name === \"symbol\") name = name.description ? \"[\".concat(name.description, \"]\") : \"\";\n  return Object.defineProperty(f, \"name\", { configurable: true, value: prefix ? \"\".concat(prefix, \" \", name) : name });\n};\n\nexport function __metadata(metadataKey, metadataValue) {\n  if (typeof Reflect === \"object\" && typeof Reflect.metadata === \"function\") return Reflect.metadata(metadataKey, metadataValue);\n}\n\nexport function __awaiter(thisArg, _arguments, P, generator) {\n  function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }\n  return new (P || (P = Promise))(function (resolve, reject) {\n      function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }\n      function rejected(value) { try { step(generator[\"throw\"](value)); } catch (e) { reject(e); } }\n      function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }\n      step((generator = generator.apply(thisArg, _arguments || [])).next());\n  });\n}\n\nexport function __generator(thisArg, body) {\n  var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g = Object.create((typeof Iterator === \"function\" ? Iterator : Object).prototype);\n  return g.next = verb(0), g[\"throw\"] = verb(1), g[\"return\"] = verb(2), typeof Symbol === \"function\" && (g[Symbol.iterator] = function() { return this; }), g;\n  function verb(n) { return function (v) { return step([n, v]); }; }\n  function step(op) {\n      if (f) throw new TypeError(\"Generator is already executing.\");\n      while (g && (g = 0, op[0] && (_ = 0)), _) try {\n          if (f = 1, y && (t = op[0] & 2 ? y[\"return\"] : op[0] ? y[\"throw\"] || ((t = y[\"return\"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;\n          if (y = 0, t) op = [op[0] & 2, t.value];\n          switch (op[0]) {\n              case 0: case 1: t = op; break;\n              case 4: _.label++; return { value: op[1], done: false };\n              case 5: _.label++; y = op[1]; op = [0]; continue;\n              case 7: op = _.ops.pop(); _.trys.pop(); continue;\n              default:\n                  if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }\n                  if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }\n                  if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }\n                  if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }\n                  if (t[2]) _.ops.pop();\n                  _.trys.pop(); continue;\n          }\n          op = body.call(thisArg, _);\n      } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }\n      if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };\n  }\n}\n\nexport var __createBinding = Object.create ? (function(o, m, k, k2) {\n  if (k2 === undefined) k2 = k;\n  var desc = Object.getOwnPropertyDescriptor(m, k);\n  if (!desc || (\"get\" in desc ? !m.__esModule : desc.writable || desc.configurable)) {\n      desc = { enumerable: true, get: function() { return m[k]; } };\n  }\n  Object.defineProperty(o, k2, desc);\n}) : (function(o, m, k, k2) {\n  if (k2 === undefined) k2 = k;\n  o[k2] = m[k];\n});\n\nexport function __exportStar(m, o) {\n  for (var p in m) if (p !== \"default\" && !Object.prototype.hasOwnProperty.call(o, p)) __createBinding(o, m, p);\n}\n\nexport function __values(o) {\n  var s = typeof Symbol === \"function\" && Symbol.iterator, m = s && o[s], i = 0;\n  if (m) return m.call(o);\n  if (o && typeof o.length === \"number\") return {\n      next: function () {\n          if (o && i >= o.length) o = void 0;\n          return { value: o && o[i++], done: !o };\n      }\n  };\n  throw new TypeError(s ? \"Object is not iterable.\" : \"Symbol.iterator is not defined.\");\n}\n\nexport function __read(o, n) {\n  var m = typeof Symbol === \"function\" && o[Symbol.iterator];\n  if (!m) return o;\n  var i = m.call(o), r, ar = [], e;\n  try {\n      while ((n === void 0 || n-- > 0) && !(r = i.next()).done) ar.push(r.value);\n  }\n  catch (error) { e = { error: error }; }\n  finally {\n      try {\n          if (r && !r.done && (m = i[\"return\"])) m.call(i);\n      }\n      finally { if (e) throw e.error; }\n  }\n  return ar;\n}\n\n/** @deprecated */\nexport function __spread() {\n  for (var ar = [], i = 0; i < arguments.length; i++)\n      ar = ar.concat(__read(arguments[i]));\n  return ar;\n}\n\n/** @deprecated */\nexport function __spreadArrays() {\n  for (var s = 0, i = 0, il = arguments.length; i < il; i++) s += arguments[i].length;\n  for (var r = Array(s), k = 0, i = 0; i < il; i++)\n      for (var a = arguments[i], j = 0, jl = a.length; j < jl; j++, k++)\n          r[k] = a[j];\n  return r;\n}\n\nexport function __spreadArray(to, from, pack) {\n  if (pack || arguments.length === 2) for (var i = 0, l = from.length, ar; i < l; i++) {\n      if (ar || !(i in from)) {\n          if (!ar) ar = Array.prototype.slice.call(from, 0, i);\n          ar[i] = from[i];\n      }\n  }\n  return to.concat(ar || Array.prototype.slice.call(from));\n}\n\nexport function __await(v) {\n  return this instanceof __await ? (this.v = v, this) : new __await(v);\n}\n\nexport function __asyncGenerator(thisArg, _arguments, generator) {\n  if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\n  var g = generator.apply(thisArg, _arguments || []), i, q = [];\n  return i = Object.create((typeof AsyncIterator === \"function\" ? AsyncIterator : Object).prototype), verb(\"next\"), verb(\"throw\"), verb(\"return\", awaitReturn), i[Symbol.asyncIterator] = function () { return this; }, i;\n  function awaitReturn(f) { return function (v) { return Promise.resolve(v).then(f, reject); }; }\n  function verb(n, f) { if (g[n]) { i[n] = function (v) { return new Promise(function (a, b) { q.push([n, v, a, b]) > 1 || resume(n, v); }); }; if (f) i[n] = f(i[n]); } }\n  function resume(n, v) { try { step(g[n](v)); } catch (e) { settle(q[0][3], e); } }\n  function step(r) { r.value instanceof __await ? Promise.resolve(r.value.v).then(fulfill, reject) : settle(q[0][2], r); }\n  function fulfill(value) { resume(\"next\", value); }\n  function reject(value) { resume(\"throw\", value); }\n  function settle(f, v) { if (f(v), q.shift(), q.length) resume(q[0][0], q[0][1]); }\n}\n\nexport function __asyncDelegator(o) {\n  var i, p;\n  return i = {}, verb(\"next\"), verb(\"throw\", function (e) { throw e; }), verb(\"return\"), i[Symbol.iterator] = function () { return this; }, i;\n  function verb(n, f) { i[n] = o[n] ? function (v) { return (p = !p) ? { value: __await(o[n](v)), done: false } : f ? f(v) : v; } : f; }\n}\n\nexport function __asyncValues(o) {\n  if (!Symbol.asyncIterator) throw new TypeError(\"Symbol.asyncIterator is not defined.\");\n  var m = o[Symbol.asyncIterator], i;\n  return m ? m.call(o) : (o = typeof __values === \"function\" ? __values(o) : o[Symbol.iterator](), i = {}, verb(\"next\"), verb(\"throw\"), verb(\"return\"), i[Symbol.asyncIterator] = function () { return this; }, i);\n  function verb(n) { i[n] = o[n] && function (v) { return new Promise(function (resolve, reject) { v = o[n](v), settle(resolve, reject, v.done, v.value); }); }; }\n  function settle(resolve, reject, d, v) { Promise.resolve(v).then(function(v) { resolve({ value: v, done: d }); }, reject); }\n}\n\nexport function __makeTemplateObject(cooked, raw) {\n  if (Object.defineProperty) { Object.defineProperty(cooked, \"raw\", { value: raw }); } else { cooked.raw = raw; }\n  return cooked;\n};\n\nvar __setModuleDefault = Object.create ? (function(o, v) {\n  Object.defineProperty(o, \"default\", { enumerable: true, value: v });\n}) : function(o, v) {\n  o[\"default\"] = v;\n};\n\nexport function __importStar(mod) {\n  if (mod && mod.__esModule) return mod;\n  var result = {};\n  if (mod != null) for (var k in mod) if (k !== \"default\" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);\n  __setModuleDefault(result, mod);\n  return result;\n}\n\nexport function __importDefault(mod) {\n  return (mod && mod.__esModule) ? mod : { default: mod };\n}\n\nexport function __classPrivateFieldGet(receiver, state, kind, f) {\n  if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a getter\");\n  if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot read private member from an object whose class did not declare it\");\n  return kind === \"m\" ? f : kind === \"a\" ? f.call(receiver) : f ? f.value : state.get(receiver);\n}\n\nexport function __classPrivateFieldSet(receiver, state, value, kind, f) {\n  if (kind === \"m\") throw new TypeError(\"Private method is not writable\");\n  if (kind === \"a\" && !f) throw new TypeError(\"Private accessor was defined without a setter\");\n  if (typeof state === \"function\" ? receiver !== state || !f : !state.has(receiver)) throw new TypeError(\"Cannot write private member to an object whose class did not declare it\");\n  return (kind === \"a\" ? f.call(receiver, value) : f ? f.value = value : state.set(receiver, value)), value;\n}\n\nexport function __classPrivateFieldIn(state, receiver) {\n  if (receiver === null || (typeof receiver !== \"object\" && typeof receiver !== \"function\")) throw new TypeError(\"Cannot use 'in' operator on non-object\");\n  return typeof state === \"function\" ? receiver === state : state.has(receiver);\n}\n\nexport function __addDisposableResource(env, value, async) {\n  if (value !== null && value !== void 0) {\n    if (typeof value !== \"object\" && typeof value !== \"function\") throw new TypeError(\"Object expected.\");\n    var dispose, inner;\n    if (async) {\n      if (!Symbol.asyncDispose) throw new TypeError(\"Symbol.asyncDispose is not defined.\");\n      dispose = value[Symbol.asyncDispose];\n    }\n    if (dispose === void 0) {\n      if (!Symbol.dispose) throw new TypeError(\"Symbol.dispose is not defined.\");\n      dispose = value[Symbol.dispose];\n      if (async) inner = dispose;\n    }\n    if (typeof dispose !== \"function\") throw new TypeError(\"Object not disposable.\");\n    if (inner) dispose = function() { try { inner.call(this); } catch (e) { return Promise.reject(e); } };\n    env.stack.push({ value: value, dispose: dispose, async: async });\n  }\n  else if (async) {\n    env.stack.push({ async: true });\n  }\n  return value;\n}\n\nvar _SuppressedError = typeof SuppressedError === \"function\" ? SuppressedError : function (error, suppressed, message) {\n  var e = new Error(message);\n  return e.name = \"SuppressedError\", e.error = error, e.suppressed = suppressed, e;\n};\n\nexport function __disposeResources(env) {\n  function fail(e) {\n    env.error = env.hasError ? new _SuppressedError(e, env.error, \"An error was suppressed during disposal.\") : e;\n    env.hasError = true;\n  }\n  var r, s = 0;\n  function next() {\n    while (r = env.stack.pop()) {\n      try {\n        if (!r.async && s === 1) return s = 0, env.stack.push(r), Promise.resolve().then(next);\n        if (r.dispose) {\n          var result = r.dispose.call(r.value);\n          if (r.async) return s |= 2, Promise.resolve(result).then(next, function(e) { fail(e); return next(); });\n        }\n        else s |= 1;\n      }\n      catch (e) {\n        fail(e);\n      }\n    }\n    if (s === 1) return env.hasError ? Promise.reject(env.error) : Promise.resolve();\n    if (env.hasError) throw env.error;\n  }\n  return next();\n}\n\nexport default {\n  __extends,\n  __assign,\n  __rest,\n  __decorate,\n  __param,\n  __metadata,\n  __awaiter,\n  __generator,\n  __createBinding,\n  __exportStar,\n  __values,\n  __read,\n  __spread,\n  __spreadArrays,\n  __spreadArray,\n  __await,\n  __asyncGenerator,\n  __asyncDelegator,\n  __asyncValues,\n  __makeTemplateObject,\n  __importStar,\n  __importDefault,\n  __classPrivateFieldGet,\n  __classPrivateFieldSet,\n  __classPrivateFieldIn,\n  __addDisposableResource,\n  __disposeResources,\n};\n", "/**\n * Returns true if the object is a function.\n * @param value The value to check\n */\nexport function isFunction(value: any): value is (...args: any[]) => any {\n  return typeof value === 'function';\n}\n", "/**\n * Used to create Error subclasses until the community moves away from ES5.\n *\n * This is because compiling from TypeScript down to ES5 has issues with subclassing Errors\n * as well as other built-in types: https://github.com/Microsoft/TypeScript/issues/12123\n *\n * @param createImpl A factory function to create the actual constructor implementation. The returned\n * function should be a named function that calls `_super` internally.\n */\nexport function createErrorClass<T>(createImpl: (_super: any) => any): T {\n  const _super = (instance: any) => {\n    Error.call(instance);\n    instance.stack = new Error().stack;\n  };\n\n  const ctorFunc = createImpl(_super);\n  ctorFunc.prototype = Object.create(Error.prototype);\n  ctorFunc.prototype.constructor = ctorFunc;\n  return ctorFunc;\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface UnsubscriptionError extends Error {\n  readonly errors: any[];\n}\n\nexport interface UnsubscriptionErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (errors: any[]): UnsubscriptionError;\n}\n\n/**\n * An error thrown when one or more errors have occurred during the\n * `unsubscribe` of a {@link Subscription}.\n */\nexport const UnsubscriptionError: UnsubscriptionErrorCtor = createErrorClass(\n  (_super) =>\n    function UnsubscriptionErrorImpl(this: any, errors: (Error | string)[]) {\n      _super(this);\n      this.message = errors\n        ? `${errors.length} errors occurred during unsubscription:\n${errors.map((err, i) => `${i + 1}) ${err.toString()}`).join('\\n  ')}`\n        : '';\n      this.name = 'UnsubscriptionError';\n      this.errors = errors;\n    }\n);\n", "/**\n * Removes an item from an array, mutating it.\n * @param arr The array to remove the item from\n * @param item The item to remove\n */\nexport function arrRemove<T>(arr: T[] | undefined | null, item: T) {\n  if (arr) {\n    const index = arr.indexOf(item);\n    0 <= index && arr.splice(index, 1);\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { UnsubscriptionError } from './util/UnsubscriptionError';\nimport { SubscriptionLike, TeardownLogic, Unsubscribable } from './types';\nimport { arrRemove } from './util/arrRemove';\n\n/**\n * Represents a disposable resource, such as the execution of an Observable. A\n * Subscription has one important method, `unsubscribe`, that takes no argument\n * and just disposes the resource held by the subscription.\n *\n * Additionally, subscriptions may be grouped together through the `add()`\n * method, which will attach a child Subscription to the current Subscription.\n * When a Subscription is unsubscribed, all its children (and its grandchildren)\n * will be unsubscribed as well.\n *\n * @class Subscription\n */\nexport class Subscription implements SubscriptionLike {\n  /** @nocollapse */\n  public static EMPTY = (() => {\n    const empty = new Subscription();\n    empty.closed = true;\n    return empty;\n  })();\n\n  /**\n   * A flag to indicate whether this Subscription has already been unsubscribed.\n   */\n  public closed = false;\n\n  private _parentage: Subscription[] | Subscription | null = null;\n\n  /**\n   * The list of registered finalizers to execute upon unsubscription. Adding and removing from this\n   * list occurs in the {@link #add} and {@link #remove} methods.\n   */\n  private _finalizers: Exclude<TeardownLogic, void>[] | null = null;\n\n  /**\n   * @param initialTeardown A function executed first as part of the finalization\n   * process that is kicked off when {@link #unsubscribe} is called.\n   */\n  constructor(private initialTeardown?: () => void) {}\n\n  /**\n   * Disposes the resources held by the subscription. May, for instance, cancel\n   * an ongoing Observable execution or cancel any other type of work that\n   * started when the Subscription was created.\n   * @return {void}\n   */\n  unsubscribe(): void {\n    let errors: any[] | undefined;\n\n    if (!this.closed) {\n      this.closed = true;\n\n      // Remove this from it's parents.\n      const { _parentage } = this;\n      if (_parentage) {\n        this._parentage = null;\n        if (Array.isArray(_parentage)) {\n          for (const parent of _parentage) {\n            parent.remove(this);\n          }\n        } else {\n          _parentage.remove(this);\n        }\n      }\n\n      const { initialTeardown: initialFinalizer } = this;\n      if (isFunction(initialFinalizer)) {\n        try {\n          initialFinalizer();\n        } catch (e) {\n          errors = e instanceof UnsubscriptionError ? e.errors : [e];\n        }\n      }\n\n      const { _finalizers } = this;\n      if (_finalizers) {\n        this._finalizers = null;\n        for (const finalizer of _finalizers) {\n          try {\n            execFinalizer(finalizer);\n          } catch (err) {\n            errors = errors ?? [];\n            if (err instanceof UnsubscriptionError) {\n              errors = [...errors, ...err.errors];\n            } else {\n              errors.push(err);\n            }\n          }\n        }\n      }\n\n      if (errors) {\n        throw new UnsubscriptionError(errors);\n      }\n    }\n  }\n\n  /**\n   * Adds a finalizer to this subscription, so that finalization will be unsubscribed/called\n   * when this subscription is unsubscribed. If this subscription is already {@link #closed},\n   * because it has already been unsubscribed, then whatever finalizer is passed to it\n   * will automatically be executed (unless the finalizer itself is also a closed subscription).\n   *\n   * Closed Subscriptions cannot be added as finalizers to any subscription. Adding a closed\n   * subscription to a any subscription will result in no operation. (A noop).\n   *\n   * Adding a subscription to itself, or adding `null` or `undefined` will not perform any\n   * operation at all. (A noop).\n   *\n   * `Subscription` instances that are added to this instance will automatically remove themselves\n   * if they are unsubscribed. Functions and {@link Unsubscribable} objects that you wish to remove\n   * will need to be removed manually with {@link #remove}\n   *\n   * @param teardown The finalization logic to add to this subscription.\n   */\n  add(teardown: TeardownLogic): void {\n    // Only add the finalizer if it's not undefined\n    // and don't add a subscription to itself.\n    if (teardown && teardown !== this) {\n      if (this.closed) {\n        // If this subscription is already closed,\n        // execute whatever finalizer is handed to it automatically.\n        execFinalizer(teardown);\n      } else {\n        if (teardown instanceof Subscription) {\n          // We don't add closed subscriptions, and we don't add the same subscription\n          // twice. Subscription unsubscribe is idempotent.\n          if (teardown.closed || teardown._hasParent(this)) {\n            return;\n          }\n          teardown._addParent(this);\n        }\n        (this._finalizers = this._finalizers ?? []).push(teardown);\n      }\n    }\n  }\n\n  /**\n   * Checks to see if a this subscription already has a particular parent.\n   * This will signal that this subscription has already been added to the parent in question.\n   * @param parent the parent to check for\n   */\n  private _hasParent(parent: Subscription) {\n    const { _parentage } = this;\n    return _parentage === parent || (Array.isArray(_parentage) && _parentage.includes(parent));\n  }\n\n  /**\n   * Adds a parent to this subscription so it can be removed from the parent if it\n   * unsubscribes on it's own.\n   *\n   * NOTE: THIS ASSUMES THAT {@link _hasParent} HAS ALREADY BEEN CHECKED.\n   * @param parent The parent subscription to add\n   */\n  private _addParent(parent: Subscription) {\n    const { _parentage } = this;\n    this._parentage = Array.isArray(_parentage) ? (_parentage.push(parent), _parentage) : _parentage ? [_parentage, parent] : parent;\n  }\n\n  /**\n   * Called on a child when it is removed via {@link #remove}.\n   * @param parent The parent to remove\n   */\n  private _removeParent(parent: Subscription) {\n    const { _parentage } = this;\n    if (_parentage === parent) {\n      this._parentage = null;\n    } else if (Array.isArray(_parentage)) {\n      arrRemove(_parentage, parent);\n    }\n  }\n\n  /**\n   * Removes a finalizer from this subscription that was previously added with the {@link #add} method.\n   *\n   * Note that `Subscription` instances, when unsubscribed, will automatically remove themselves\n   * from every other `Subscription` they have been added to. This means that using the `remove` method\n   * is not a common thing and should be used thoughtfully.\n   *\n   * If you add the same finalizer instance of a function or an unsubscribable object to a `Subscription` instance\n   * more than once, you will need to call `remove` the same number of times to remove all instances.\n   *\n   * All finalizer instances are removed to free up memory upon unsubscription.\n   *\n   * @param teardown The finalizer to remove from this subscription\n   */\n  remove(teardown: Exclude<TeardownLogic, void>): void {\n    const { _finalizers } = this;\n    _finalizers && arrRemove(_finalizers, teardown);\n\n    if (teardown instanceof Subscription) {\n      teardown._removeParent(this);\n    }\n  }\n}\n\nexport const EMPTY_SUBSCRIPTION = Subscription.EMPTY;\n\nexport function isSubscription(value: any): value is Subscription {\n  return (\n    value instanceof Subscription ||\n    (value && 'closed' in value && isFunction(value.remove) && isFunction(value.add) && isFunction(value.unsubscribe))\n  );\n}\n\nfunction execFinalizer(finalizer: Unsubscribable | (() => void)) {\n  if (isFunction(finalizer)) {\n    finalizer();\n  } else {\n    finalizer.unsubscribe();\n  }\n}\n", "import { Subscriber } from './Subscriber';\nimport { ObservableNotification } from './types';\n\n/**\n * The {@link GlobalConfig} object for RxJS. It is used to configure things\n * like how to react on unhandled errors.\n */\nexport const config: GlobalConfig = {\n  onUnhandledError: null,\n  onStoppedNotification: null,\n  Promise: undefined,\n  useDeprecatedSynchronousErrorHandling: false,\n  useDeprecatedNextContext: false,\n};\n\n/**\n * The global configuration object for RxJS, used to configure things\n * like how to react on unhandled errors. Accessible via {@link config}\n * object.\n */\nexport interface GlobalConfig {\n  /**\n   * A registration point for unhandled errors from RxJS. These are errors that\n   * cannot were not handled by consuming code in the usual subscription path. For\n   * example, if you have this configured, and you subscribe to an observable without\n   * providing an error handler, errors from that subscription will end up here. This\n   * will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onUnhandledError: ((err: any) => void) | null;\n\n  /**\n   * A registration point for notifications that cannot be sent to subscribers because they\n   * have completed, errored or have been explicitly unsubscribed. By default, next, complete\n   * and error notifications sent to stopped subscribers are noops. However, sometimes callers\n   * might want a different behavior. For example, with sources that attempt to report errors\n   * to stopped subscribers, a caller can configure RxJS to throw an unhandled error instead.\n   * This will _always_ be called asynchronously on another job in the runtime. This is because\n   * we do not want errors thrown in this user-configured handler to interfere with the\n   * behavior of the library.\n   */\n  onStoppedNotification: ((notification: ObservableNotification<any>, subscriber: Subscriber<any>) => void) | null;\n\n  /**\n   * The promise constructor used by default for {@link Observable#toPromise toPromise} and {@link Observable#forEach forEach}\n   * methods.\n   *\n   * @deprecated As of version 8, RxJS will no longer support this sort of injection of a\n   * Promise constructor. If you need a Promise implementation other than native promises,\n   * please polyfill/patch Promise as you see appropriate. Will be removed in v8.\n   */\n  Promise?: PromiseConstructorLike;\n\n  /**\n   * If true, turns on synchronous error rethrowing, which is a deprecated behavior\n   * in v6 and higher. This behavior enables bad patterns like wrapping a subscribe\n   * call in a try/catch block. It also enables producer interference, a nasty bug\n   * where a multicast can be broken for all observers by a downstream consumer with\n   * an unhandled error. DO NOT USE THIS FLAG UNLESS IT'S NEEDED TO BUY TIME\n   * FOR MIGRATION REASONS.\n   *\n   * @deprecated As of version 8, RxJS will no longer support synchronous throwing\n   * of unhandled errors. All errors will be thrown on a separate call stack to prevent bad\n   * behaviors described above. Will be removed in v8.\n   */\n  useDeprecatedSynchronousErrorHandling: boolean;\n\n  /**\n   * If true, enables an as-of-yet undocumented feature from v5: The ability to access\n   * `unsubscribe()` via `this` context in `next` functions created in observers passed\n   * to `subscribe`.\n   *\n   * This is being removed because the performance was severely problematic, and it could also cause\n   * issues when types other than POJOs are passed to subscribe as subscribers, as they will likely have\n   * their `this` context overwritten.\n   *\n   * @deprecated As of version 8, RxJS will no longer support altering the\n   * context of next functions provided as part of an observer to Subscribe. Instead,\n   * you will have access to a subscription or a signal or token that will allow you to do things like\n   * unsubscribe and test closed status. Will be removed in v8.\n   */\n  useDeprecatedNextContext: boolean;\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetTimeoutFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearTimeoutFunction = (handle: TimerHandle) => void;\n\ninterface TimeoutProvider {\n  setTimeout: SetTimeoutFunction;\n  clearTimeout: ClearTimeoutFunction;\n  delegate:\n    | {\n        setTimeout: SetTimeoutFunction;\n        clearTimeout: ClearTimeoutFunction;\n      }\n    | undefined;\n}\n\nexport const timeoutProvider: TimeoutProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setTimeout(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = timeoutProvider;\n    if (delegate?.setTimeout) {\n      return delegate.setTimeout(handler, timeout, ...args);\n    }\n    return setTimeout(handler, timeout, ...args);\n  },\n  clearTimeout(handle) {\n    const { delegate } = timeoutProvider;\n    return (delegate?.clearTimeout || clearTimeout)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { config } from '../config';\nimport { timeoutProvider } from '../scheduler/timeoutProvider';\n\n/**\n * Handles an error on another job either with the user-configured {@link onUnhandledError},\n * or by throwing it on that new job so it can be picked up by `window.onerror`, `process.on('error')`, etc.\n *\n * This should be called whenever there is an error that is out-of-band with the subscription\n * or when an error hits a terminal boundary of the subscription and no error handler was provided.\n *\n * @param err the error to report\n */\nexport function reportUnhandledError(err: any) {\n  timeoutProvider.setTimeout(() => {\n    const { onUnhandledError } = config;\n    if (onUnhandledError) {\n      // Execute the user-configured error handler.\n      onUnhandledError(err);\n    } else {\n      // Throw so it is picked up by the runtime's uncaught error mechanism.\n      throw err;\n    }\n  });\n}\n", "/* tslint:disable:no-empty */\nexport function noop() { }\n", "import { CompleteNotification, NextNotification, ErrorNotification } from './types';\n\n/**\n * A completion object optimized for memory use and created to be the\n * same \"shape\" as other notifications in v8.\n * @internal\n */\nexport const COMPLETE_NOTIFICATION = (() => createNotification('C', undefined, undefined) as CompleteNotification)();\n\n/**\n * Internal use only. Creates an optimized error notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function errorNotification(error: any): ErrorNotification {\n  return createNotification('E', undefined, error) as any;\n}\n\n/**\n * Internal use only. Creates an optimized next notification that is the same \"shape\"\n * as other notifications.\n * @internal\n */\nexport function nextNotification<T>(value: T) {\n  return createNotification('N', value, undefined) as NextNotification<T>;\n}\n\n/**\n * Ensures that all notifications created internally have the same \"shape\" in v8.\n *\n * TODO: This is only exported to support a crazy legacy test in `groupBy`.\n * @internal\n */\nexport function createNotification(kind: 'N' | 'E' | 'C', value: any, error: any) {\n  return {\n    kind,\n    value,\n    error,\n  };\n}\n", "import { config } from '../config';\n\nlet context: { errorThrown: boolean; error: any } | null = null;\n\n/**\n * Handles dealing with errors for super-gross mode. Creates a context, in which\n * any synchronously thrown errors will be passed to {@link captureError}. Which\n * will record the error such that it will be rethrown after the call back is complete.\n * TODO: Remove in v8\n * @param cb An immediately executed function.\n */\nexport function errorContext(cb: () => void) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    const isRoot = !context;\n    if (isRoot) {\n      context = { errorThrown: false, error: null };\n    }\n    cb();\n    if (isRoot) {\n      const { errorThrown, error } = context!;\n      context = null;\n      if (errorThrown) {\n        throw error;\n      }\n    }\n  } else {\n    // This is the general non-deprecated path for everyone that\n    // isn't crazy enough to use super-gross mode (useDeprecatedSynchronousErrorHandling)\n    cb();\n  }\n}\n\n/**\n * Captures errors only in super-gross mode.\n * @param err the error to capture\n */\nexport function captureError(err: any) {\n  if (config.useDeprecatedSynchronousErrorHandling && context) {\n    context.errorThrown = true;\n    context.error = err;\n  }\n}\n", "import { isFunction } from './util/isFunction';\nimport { Observer, ObservableNotification } from './types';\nimport { isSubscription, Subscription } from './Subscription';\nimport { config } from './config';\nimport { reportUnhandledError } from './util/reportUnhandledError';\nimport { noop } from './util/noop';\nimport { nextNotification, errorNotification, COMPLETE_NOTIFICATION } from './NotificationFactories';\nimport { timeoutProvider } from './scheduler/timeoutProvider';\nimport { captureError } from './util/errorContext';\n\n/**\n * Implements the {@link Observer} interface and extends the\n * {@link Subscription} class. While the {@link Observer} is the public API for\n * consuming the values of an {@link Observable}, all Observers get converted to\n * a Subscriber, in order to provide Subscription-like capabilities such as\n * `unsubscribe`. Subscriber is a common type in RxJS, and crucial for\n * implementing operators, but it is rarely used as a public API.\n *\n * @class Subscriber<T>\n */\nexport class Subscriber<T> extends Subscription implements Observer<T> {\n  /**\n   * A static factory for a Subscriber, given a (potentially partial) definition\n   * of an Observer.\n   * @param next The `next` callback of an Observer.\n   * @param error The `error` callback of an\n   * Observer.\n   * @param complete The `complete` callback of an\n   * Observer.\n   * @return A Subscriber wrapping the (partially defined)\n   * Observer represented by the given arguments.\n   * @nocollapse\n   * @deprecated Do not use. Will be removed in v8. There is no replacement for this\n   * method, and there is no reason to be creating instances of `Subscriber` directly.\n   * If you have a specific use case, please file an issue.\n   */\n  static create<T>(next?: (x?: T) => void, error?: (e?: any) => void, complete?: () => void): Subscriber<T> {\n    return new SafeSubscriber(next, error, complete);\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected isStopped: boolean = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  protected destination: Subscriber<any> | Observer<any>; // this `any` is the escape hatch to erase extra type param (e.g. R)\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * There is no reason to directly create an instance of Subscriber. This type is exported for typings reasons.\n   */\n  constructor(destination?: Subscriber<any> | Observer<any>) {\n    super();\n    if (destination) {\n      this.destination = destination;\n      // Automatically chain subscriptions together here.\n      // if destination is a Subscription, then it is a Subscriber.\n      if (isSubscription(destination)) {\n        destination.add(this);\n      }\n    } else {\n      this.destination = EMPTY_OBSERVER;\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `next` from\n   * the Observable, with a value. The Observable may call this method 0 or more\n   * times.\n   * @param {T} [value] The `next` value.\n   * @return {void}\n   */\n  next(value?: T): void {\n    if (this.isStopped) {\n      handleStoppedNotification(nextNotification(value), this);\n    } else {\n      this._next(value!);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive notifications of type `error` from\n   * the Observable, with an attached `Error`. Notifies the Observer that\n   * the Observable has experienced an error condition.\n   * @param {any} [err] The `error` exception.\n   * @return {void}\n   */\n  error(err?: any): void {\n    if (this.isStopped) {\n      handleStoppedNotification(errorNotification(err), this);\n    } else {\n      this.isStopped = true;\n      this._error(err);\n    }\n  }\n\n  /**\n   * The {@link Observer} callback to receive a valueless notification of type\n   * `complete` from the Observable. Notifies the Observer that the Observable\n   * has finished sending push-based notifications.\n   * @return {void}\n   */\n  complete(): void {\n    if (this.isStopped) {\n      handleStoppedNotification(COMPLETE_NOTIFICATION, this);\n    } else {\n      this.isStopped = true;\n      this._complete();\n    }\n  }\n\n  unsubscribe(): void {\n    if (!this.closed) {\n      this.isStopped = true;\n      super.unsubscribe();\n      this.destination = null!;\n    }\n  }\n\n  protected _next(value: T): void {\n    this.destination.next(value);\n  }\n\n  protected _error(err: any): void {\n    try {\n      this.destination.error(err);\n    } finally {\n      this.unsubscribe();\n    }\n  }\n\n  protected _complete(): void {\n    try {\n      this.destination.complete();\n    } finally {\n      this.unsubscribe();\n    }\n  }\n}\n\n/**\n * This bind is captured here because we want to be able to have\n * compatibility with monoid libraries that tend to use a method named\n * `bind`. In particular, a library called Monio requires this.\n */\nconst _bind = Function.prototype.bind;\n\nfunction bind<Fn extends (...args: any[]) => any>(fn: Fn, thisArg: any): Fn {\n  return _bind.call(fn, thisArg);\n}\n\n/**\n * Internal optimization only, DO NOT EXPOSE.\n * @internal\n */\nclass ConsumerObserver<T> implements Observer<T> {\n  constructor(private partialObserver: Partial<Observer<T>>) {}\n\n  next(value: T): void {\n    const { partialObserver } = this;\n    if (partialObserver.next) {\n      try {\n        partialObserver.next(value);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n\n  error(err: any): void {\n    const { partialObserver } = this;\n    if (partialObserver.error) {\n      try {\n        partialObserver.error(err);\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    } else {\n      handleUnhandledError(err);\n    }\n  }\n\n  complete(): void {\n    const { partialObserver } = this;\n    if (partialObserver.complete) {\n      try {\n        partialObserver.complete();\n      } catch (error) {\n        handleUnhandledError(error);\n      }\n    }\n  }\n}\n\nexport class SafeSubscriber<T> extends Subscriber<T> {\n  constructor(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((e?: any) => void) | null,\n    complete?: (() => void) | null\n  ) {\n    super();\n\n    let partialObserver: Partial<Observer<T>>;\n    if (isFunction(observerOrNext) || !observerOrNext) {\n      // The first argument is a function, not an observer. The next\n      // two arguments *could* be observers, or they could be empty.\n      partialObserver = {\n        next: (observerOrNext ?? undefined) as (((value: T) => void) | undefined),\n        error: error ?? undefined,\n        complete: complete ?? undefined,\n      };\n    } else {\n      // The first argument is a partial observer.\n      let context: any;\n      if (this && config.useDeprecatedNextContext) {\n        // This is a deprecated path that made `this.unsubscribe()` available in\n        // next handler functions passed to subscribe. This only exists behind a flag\n        // now, as it is *very* slow.\n        context = Object.create(observerOrNext);\n        context.unsubscribe = () => this.unsubscribe();\n        partialObserver = {\n          next: observerOrNext.next && bind(observerOrNext.next, context),\n          error: observerOrNext.error && bind(observerOrNext.error, context),\n          complete: observerOrNext.complete && bind(observerOrNext.complete, context),\n        };\n      } else {\n        // The \"normal\" path. Just use the partial observer directly.\n        partialObserver = observerOrNext;\n      }\n    }\n\n    // Wrap the partial observer to ensure it's a full observer, and\n    // make sure proper error handling is accounted for.\n    this.destination = new ConsumerObserver(partialObserver);\n  }\n}\n\nfunction handleUnhandledError(error: any) {\n  if (config.useDeprecatedSynchronousErrorHandling) {\n    captureError(error);\n  } else {\n    // Ideal path, we report this as an unhandled error,\n    // which is thrown on a new call stack.\n    reportUnhandledError(error);\n  }\n}\n\n/**\n * An error handler used when no error handler was supplied\n * to the SafeSubscriber -- meaning no error handler was supplied\n * do the `subscribe` call on our observable.\n * @param err The error to handle\n */\nfunction defaultErrorHandler(err: any) {\n  throw err;\n}\n\n/**\n * A handler for notifications that cannot be sent to a stopped subscriber.\n * @param notification The notification being sent\n * @param subscriber The stopped subscriber\n */\nfunction handleStoppedNotification(notification: ObservableNotification<any>, subscriber: Subscriber<any>) {\n  const { onStoppedNotification } = config;\n  onStoppedNotification && timeoutProvider.setTimeout(() => onStoppedNotification(notification, subscriber));\n}\n\n/**\n * The observer used as a stub for subscriptions where the user did not\n * pass any arguments to `subscribe`. Comes with the default error handling\n * behavior.\n */\nexport const EMPTY_OBSERVER: Readonly<Observer<any>> & { closed: true } = {\n  closed: true,\n  next: noop,\n  error: defaultErrorHandler,\n  complete: noop,\n};\n", "/**\n * Symbol.observable or a string \"@@observable\". Used for interop\n *\n * @deprecated We will no longer be exporting this symbol in upcoming versions of RxJS.\n * Instead polyfill and use Symbol.observable directly *or* use https://www.npmjs.com/package/symbol-observable\n */\nexport const observable: string | symbol = (() => (typeof Symbol === 'function' && Symbol.observable) || '@@observable')();\n", "/**\n * This function takes one parameter and just returns it. Simply put,\n * this is like `<T>(x: T): T => x`.\n *\n * ## Examples\n *\n * This is useful in some cases when using things like `mergeMap`\n *\n * ```ts\n * import { interval, take, map, range, mergeMap, identity } from 'rxjs';\n *\n * const source$ = interval(1000).pipe(take(5));\n *\n * const result$ = source$.pipe(\n *   map(i => range(i)),\n *   mergeMap(identity) // same as mergeMap(x => x)\n * );\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * Or when you want to selectively apply an operator\n *\n * ```ts\n * import { interval, take, identity } from 'rxjs';\n *\n * const shouldLimit = () => Math.random() < 0.5;\n *\n * const source$ = interval(1000);\n *\n * const result$ = source$.pipe(shouldLimit() ? take(5) : identity);\n *\n * result$.subscribe({\n *   next: console.log\n * });\n * ```\n *\n * @param x Any value that is returned by this function\n * @returns The value passed as the first parameter to this function\n */\nexport function identity<T>(x: T): T {\n  return x;\n}\n", "import { identity } from './identity';\nimport { UnaryFunction } from '../types';\n\nexport function pipe(): typeof identity;\nexport function pipe<T, A>(fn1: UnaryFunction<T, A>): UnaryFunction<T, A>;\nexport function pipe<T, A, B>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>): UnaryFunction<T, B>;\nexport function pipe<T, A, B, C>(fn1: UnaryFunction<T, A>, fn2: UnaryFunction<A, B>, fn3: UnaryFunction<B, C>): UnaryFunction<T, C>;\nexport function pipe<T, A, B, C, D>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>\n): UnaryFunction<T, D>;\nexport function pipe<T, A, B, C, D, E>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>\n): UnaryFunction<T, E>;\nexport function pipe<T, A, B, C, D, E, F>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>\n): UnaryFunction<T, F>;\nexport function pipe<T, A, B, C, D, E, F, G>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>\n): UnaryFunction<T, G>;\nexport function pipe<T, A, B, C, D, E, F, G, H>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>\n): UnaryFunction<T, H>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>\n): UnaryFunction<T, I>;\nexport function pipe<T, A, B, C, D, E, F, G, H, I>(\n  fn1: UnaryFunction<T, A>,\n  fn2: UnaryFunction<A, B>,\n  fn3: UnaryFunction<B, C>,\n  fn4: UnaryFunction<C, D>,\n  fn5: UnaryFunction<D, E>,\n  fn6: UnaryFunction<E, F>,\n  fn7: UnaryFunction<F, G>,\n  fn8: UnaryFunction<G, H>,\n  fn9: UnaryFunction<H, I>,\n  ...fns: UnaryFunction<any, any>[]\n): UnaryFunction<T, unknown>;\n\n/**\n * pipe() can be called on one or more functions, each of which can take one argument (\"UnaryFunction\")\n * and uses it to return a value.\n * It returns a function that takes one argument, passes it to the first UnaryFunction, and then\n * passes the result to the next one, passes that result to the next one, and so on.  \n */\nexport function pipe(...fns: Array<UnaryFunction<any, any>>): UnaryFunction<any, any> {\n  return pipeFromArray(fns);\n}\n\n/** @internal */\nexport function pipeFromArray<T, R>(fns: Array<UnaryFunction<T, R>>): UnaryFunction<T, R> {\n  if (fns.length === 0) {\n    return identity as UnaryFunction<any, any>;\n  }\n\n  if (fns.length === 1) {\n    return fns[0];\n  }\n\n  return function piped(input: T): R {\n    return fns.reduce((prev: any, fn: UnaryFunction<T, R>) => fn(prev), input as any);\n  };\n}\n", "import { Operator } from './Operator';\nimport { SafeSubscriber, Subscriber } from './Subscriber';\nimport { isSubscription, Subscription } from './Subscription';\nimport { TeardownLogic, OperatorFunction, Subscribable, Observer } from './types';\nimport { observable as Symbol_observable } from './symbol/observable';\nimport { pipeFromArray } from './util/pipe';\nimport { config } from './config';\nimport { isFunction } from './util/isFunction';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A representation of any set of values over any amount of time. This is the most basic building block\n * of RxJS.\n *\n * @class Observable<T>\n */\nexport class Observable<T> implements Subscribable<T> {\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  source: Observable<any> | undefined;\n\n  /**\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   */\n  operator: Operator<any, T> | undefined;\n\n  /**\n   * @constructor\n   * @param {Function} subscribe the function that is called when the Observable is\n   * initially subscribed to. This function is given a Subscriber, to which new values\n   * can be `next`ed, or an `error` method can be called to raise an error, or\n   * `complete` can be called to notify of a successful completion.\n   */\n  constructor(subscribe?: (this: Observable<T>, subscriber: Subscriber<T>) => TeardownLogic) {\n    if (subscribe) {\n      this._subscribe = subscribe;\n    }\n  }\n\n  // HACK: Since TypeScript inherits static properties too, we have to\n  // fight against TypeScript here so Subject can have a different static create signature\n  /**\n   * Creates a new Observable by calling the Observable constructor\n   * @owner Observable\n   * @method create\n   * @param {Function} subscribe? the subscriber function to be passed to the Observable constructor\n   * @return {Observable} a new observable\n   * @nocollapse\n   * @deprecated Use `new Observable()` instead. Will be removed in v8.\n   */\n  static create: (...args: any[]) => any = <T>(subscribe?: (subscriber: Subscriber<T>) => TeardownLogic) => {\n    return new Observable<T>(subscribe);\n  };\n\n  /**\n   * Creates a new Observable, with this Observable instance as the source, and the passed\n   * operator defined as the new observable's operator.\n   * @method lift\n   * @param operator the operator defining the operation to take on the observable\n   * @return a new observable with the Operator applied\n   * @deprecated Internal implementation detail, do not use directly. Will be made internal in v8.\n   * If you have implemented an operator using `lift`, it is recommended that you create an\n   * operator by simply returning `new Observable()` directly. See \"Creating new operators from\n   * scratch\" section here: https://rxjs.dev/guide/operators\n   */\n  lift<R>(operator?: Operator<T, R>): Observable<R> {\n    const observable = new Observable<R>();\n    observable.source = this;\n    observable.operator = operator;\n    return observable;\n  }\n\n  subscribe(observerOrNext?: Partial<Observer<T>> | ((value: T) => void)): Subscription;\n  /** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\n  subscribe(next?: ((value: T) => void) | null, error?: ((error: any) => void) | null, complete?: (() => void) | null): Subscription;\n  /**\n   * Invokes an execution of an Observable and registers Observer handlers for notifications it will emit.\n   *\n   * <span class=\"informal\">Use it when you have all these Observables, but still nothing is happening.</span>\n   *\n   * `subscribe` is not a regular operator, but a method that calls Observable's internal `subscribe` function. It\n   * might be for example a function that you passed to Observable's constructor, but most of the time it is\n   * a library implementation, which defines what will be emitted by an Observable, and when it be will emitted. This means\n   * that calling `subscribe` is actually the moment when Observable starts its work, not when it is created, as it is often\n   * the thought.\n   *\n   * Apart from starting the execution of an Observable, this method allows you to listen for values\n   * that an Observable emits, as well as for when it completes or errors. You can achieve this in two\n   * of the following ways.\n   *\n   * The first way is creating an object that implements {@link Observer} interface. It should have methods\n   * defined by that interface, but note that it should be just a regular JavaScript object, which you can create\n   * yourself in any way you want (ES6 class, classic function constructor, object literal etc.). In particular, do\n   * not attempt to use any RxJS implementation details to create Observers - you don't need them. Remember also\n   * that your object does not have to implement all methods. If you find yourself creating a method that doesn't\n   * do anything, you can simply omit it. Note however, if the `error` method is not provided and an error happens,\n   * it will be thrown asynchronously. Errors thrown asynchronously cannot be caught using `try`/`catch`. Instead,\n   * use the {@link onUnhandledError} configuration option or use a runtime handler (like `window.onerror` or\n   * `process.on('error)`) to be notified of unhandled errors. Because of this, it's recommended that you provide\n   * an `error` method to avoid missing thrown errors.\n   *\n   * The second way is to give up on Observer object altogether and simply provide callback functions in place of its methods.\n   * This means you can provide three functions as arguments to `subscribe`, where the first function is equivalent\n   * of a `next` method, the second of an `error` method and the third of a `complete` method. Just as in case of an Observer,\n   * if you do not need to listen for something, you can omit a function by passing `undefined` or `null`,\n   * since `subscribe` recognizes these functions by where they were placed in function call. When it comes\n   * to the `error` function, as with an Observer, if not provided, errors emitted by an Observable will be thrown asynchronously.\n   *\n   * You can, however, subscribe with no parameters at all. This may be the case where you're not interested in terminal events\n   * and you also handled emissions internally by using operators (e.g. using `tap`).\n   *\n   * Whichever style of calling `subscribe` you use, in both cases it returns a Subscription object.\n   * This object allows you to call `unsubscribe` on it, which in turn will stop the work that an Observable does and will clean\n   * up all resources that an Observable used. Note that cancelling a subscription will not call `complete` callback\n   * provided to `subscribe` function, which is reserved for a regular completion signal that comes from an Observable.\n   *\n   * Remember that callbacks provided to `subscribe` are not guaranteed to be called asynchronously.\n   * It is an Observable itself that decides when these functions will be called. For example {@link of}\n   * by default emits all its values synchronously. Always check documentation for how given Observable\n   * will behave when subscribed and if its default behavior can be modified with a `scheduler`.\n   *\n   * #### Examples\n   *\n   * Subscribe with an {@link guide/observer Observer}\n   *\n   * ```ts\n   * import { of } from 'rxjs';\n   *\n   * const sumObserver = {\n   *   sum: 0,\n   *   next(value) {\n   *     console.log('Adding: ' + value);\n   *     this.sum = this.sum + value;\n   *   },\n   *   error() {\n   *     // We actually could just remove this method,\n   *     // since we do not really care about errors right now.\n   *   },\n   *   complete() {\n   *     console.log('Sum equals: ' + this.sum);\n   *   }\n   * };\n   *\n   * of(1, 2, 3) // Synchronously emits 1, 2, 3 and then completes.\n   *   .subscribe(sumObserver);\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Subscribe with functions ({@link deprecations/subscribe-arguments deprecated})\n   *\n   * ```ts\n   * import { of } from 'rxjs'\n   *\n   * let sum = 0;\n   *\n   * of(1, 2, 3).subscribe(\n   *   value => {\n   *     console.log('Adding: ' + value);\n   *     sum = sum + value;\n   *   },\n   *   undefined,\n   *   () => console.log('Sum equals: ' + sum)\n   * );\n   *\n   * // Logs:\n   * // 'Adding: 1'\n   * // 'Adding: 2'\n   * // 'Adding: 3'\n   * // 'Sum equals: 6'\n   * ```\n   *\n   * Cancel a subscription\n   *\n   * ```ts\n   * import { interval } from 'rxjs';\n   *\n   * const subscription = interval(1000).subscribe({\n   *   next(num) {\n   *     console.log(num)\n   *   },\n   *   complete() {\n   *     // Will not be called, even when cancelling subscription.\n   *     console.log('completed!');\n   *   }\n   * });\n   *\n   * setTimeout(() => {\n   *   subscription.unsubscribe();\n   *   console.log('unsubscribed!');\n   * }, 2500);\n   *\n   * // Logs:\n   * // 0 after 1s\n   * // 1 after 2s\n   * // 'unsubscribed!' after 2.5s\n   * ```\n   *\n   * @param {Observer|Function} observerOrNext (optional) Either an observer with methods to be called,\n   * or the first of three possible handlers, which is the handler for each value emitted from the subscribed\n   * Observable.\n   * @param {Function} error (optional) A handler for a terminal event resulting from an error. If no error handler is provided,\n   * the error will be thrown asynchronously as unhandled.\n   * @param {Function} complete (optional) A handler for a terminal event resulting from successful completion.\n   * @return {Subscription} a subscription reference to the registered handlers\n   * @method subscribe\n   */\n  subscribe(\n    observerOrNext?: Partial<Observer<T>> | ((value: T) => void) | null,\n    error?: ((error: any) => void) | null,\n    complete?: (() => void) | null\n  ): Subscription {\n    const subscriber = isSubscriber(observerOrNext) ? observerOrNext : new SafeSubscriber(observerOrNext, error, complete);\n\n    errorContext(() => {\n      const { operator, source } = this;\n      subscriber.add(\n        operator\n          ? // We're dealing with a subscription in the\n            // operator chain to one of our lifted operators.\n            operator.call(subscriber, source)\n          : source\n          ? // If `source` has a value, but `operator` does not, something that\n            // had intimate knowledge of our API, like our `Subject`, must have\n            // set it. We're going to just call `_subscribe` directly.\n            this._subscribe(subscriber)\n          : // In all other cases, we're likely wrapping a user-provided initializer\n            // function, so we need to catch errors and handle them appropriately.\n            this._trySubscribe(subscriber)\n      );\n    });\n\n    return subscriber;\n  }\n\n  /** @internal */\n  protected _trySubscribe(sink: Subscriber<T>): TeardownLogic {\n    try {\n      return this._subscribe(sink);\n    } catch (err) {\n      // We don't need to return anything in this case,\n      // because it's just going to try to `add()` to a subscription\n      // above.\n      sink.error(err);\n    }\n  }\n\n  /**\n   * Used as a NON-CANCELLABLE means of subscribing to an observable, for use with\n   * APIs that expect promises, like `async/await`. You cannot unsubscribe from this.\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * #### Example\n   *\n   * ```ts\n   * import { interval, take } from 'rxjs';\n   *\n   * const source$ = interval(1000).pipe(take(4));\n   *\n   * async function getTotal() {\n   *   let total = 0;\n   *\n   *   await source$.forEach(value => {\n   *     total += value;\n   *     console.log('observable -> ' + value);\n   *   });\n   *\n   *   return total;\n   * }\n   *\n   * getTotal().then(\n   *   total => console.log('Total: ' + total)\n   * );\n   *\n   * // Expected:\n   * // 'observable -> 0'\n   * // 'observable -> 1'\n   * // 'observable -> 2'\n   * // 'observable -> 3'\n   * // 'Total: 6'\n   * ```\n   *\n   * @param next a handler for each value emitted by the observable\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   */\n  forEach(next: (value: T) => void): Promise<void>;\n\n  /**\n   * @param next a handler for each value emitted by the observable\n   * @param promiseCtor a constructor function used to instantiate the Promise\n   * @return a promise that either resolves on observable completion or\n   *  rejects with the handled error\n   * @deprecated Passing a Promise constructor will no longer be available\n   * in upcoming versions of RxJS. This is because it adds weight to the library, for very\n   * little benefit. If you need this functionality, it is recommended that you either\n   * polyfill Promise, or you create an adapter to convert the returned native promise\n   * to whatever promise implementation you wanted. Will be removed in v8.\n   */\n  forEach(next: (value: T) => void, promiseCtor: PromiseConstructorLike): Promise<void>;\n\n  forEach(next: (value: T) => void, promiseCtor?: PromiseConstructorLike): Promise<void> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor<void>((resolve, reject) => {\n      const subscriber = new SafeSubscriber<T>({\n        next: (value) => {\n          try {\n            next(value);\n          } catch (err) {\n            reject(err);\n            subscriber.unsubscribe();\n          }\n        },\n        error: reject,\n        complete: resolve,\n      });\n      this.subscribe(subscriber);\n    }) as Promise<void>;\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<any>): TeardownLogic {\n    return this.source?.subscribe(subscriber);\n  }\n\n  /**\n   * An interop point defined by the es7-observable spec https://github.com/zenparsing/es-observable\n   * @method Symbol.observable\n   * @return {Observable} this instance of the observable\n   */\n  [Symbol_observable]() {\n    return this;\n  }\n\n  /* tslint:disable:max-line-length */\n  pipe(): Observable<T>;\n  pipe<A>(op1: OperatorFunction<T, A>): Observable<A>;\n  pipe<A, B>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>): Observable<B>;\n  pipe<A, B, C>(op1: OperatorFunction<T, A>, op2: OperatorFunction<A, B>, op3: OperatorFunction<B, C>): Observable<C>;\n  pipe<A, B, C, D>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>\n  ): Observable<D>;\n  pipe<A, B, C, D, E>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>\n  ): Observable<E>;\n  pipe<A, B, C, D, E, F>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>\n  ): Observable<F>;\n  pipe<A, B, C, D, E, F, G>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>\n  ): Observable<G>;\n  pipe<A, B, C, D, E, F, G, H>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>\n  ): Observable<H>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>\n  ): Observable<I>;\n  pipe<A, B, C, D, E, F, G, H, I>(\n    op1: OperatorFunction<T, A>,\n    op2: OperatorFunction<A, B>,\n    op3: OperatorFunction<B, C>,\n    op4: OperatorFunction<C, D>,\n    op5: OperatorFunction<D, E>,\n    op6: OperatorFunction<E, F>,\n    op7: OperatorFunction<F, G>,\n    op8: OperatorFunction<G, H>,\n    op9: OperatorFunction<H, I>,\n    ...operations: OperatorFunction<any, any>[]\n  ): Observable<unknown>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Used to stitch together functional operators into a chain.\n   * @method pipe\n   * @return {Observable} the Observable result of all of the operators having\n   * been called in the order they were passed in.\n   *\n   * ## Example\n   *\n   * ```ts\n   * import { interval, filter, map, scan } from 'rxjs';\n   *\n   * interval(1000)\n   *   .pipe(\n   *     filter(x => x % 2 === 0),\n   *     map(x => x + x),\n   *     scan((acc, x) => acc + x)\n   *   )\n   *   .subscribe(x => console.log(x));\n   * ```\n   */\n  pipe(...operations: OperatorFunction<any, any>[]): Observable<any> {\n    return pipeFromArray(operations)(this);\n  }\n\n  /* tslint:disable:max-line-length */\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: typeof Promise): Promise<T | undefined>;\n  /** @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise */\n  toPromise(PromiseCtor: PromiseConstructorLike): Promise<T | undefined>;\n  /* tslint:enable:max-line-length */\n\n  /**\n   * Subscribe to this Observable and get a Promise resolving on\n   * `complete` with the last emission (if any).\n   *\n   * **WARNING**: Only use this with observables you *know* will complete. If the source\n   * observable does not complete, you will end up with a promise that is hung up, and\n   * potentially all of the state of an async function hanging out in memory. To avoid\n   * this situation, look into adding something like {@link timeout}, {@link take},\n   * {@link takeWhile}, or {@link takeUntil} amongst others.\n   *\n   * @method toPromise\n   * @param [promiseCtor] a constructor function used to instantiate\n   * the Promise\n   * @return A Promise that resolves with the last value emit, or\n   * rejects on an error. If there were no emissions, Promise\n   * resolves with undefined.\n   * @deprecated Replaced with {@link firstValueFrom} and {@link lastValueFrom}. Will be removed in v8. Details: https://rxjs.dev/deprecations/to-promise\n   */\n  toPromise(promiseCtor?: PromiseConstructorLike): Promise<T | undefined> {\n    promiseCtor = getPromiseCtor(promiseCtor);\n\n    return new promiseCtor((resolve, reject) => {\n      let value: T | undefined;\n      this.subscribe(\n        (x: T) => (value = x),\n        (err: any) => reject(err),\n        () => resolve(value)\n      );\n    }) as Promise<T | undefined>;\n  }\n}\n\n/**\n * Decides between a passed promise constructor from consuming code,\n * A default configured promise constructor, and the native promise\n * constructor and returns it. If nothing can be found, it will throw\n * an error.\n * @param promiseCtor The optional promise constructor to passed by consuming code\n */\nfunction getPromiseCtor(promiseCtor: PromiseConstructorLike | undefined) {\n  return promiseCtor ?? config.Promise ?? Promise;\n}\n\nfunction isObserver<T>(value: any): value is Observer<T> {\n  return value && isFunction(value.next) && isFunction(value.error) && isFunction(value.complete);\n}\n\nfunction isSubscriber<T>(value: any): value is Subscriber<T> {\n  return (value && value instanceof Subscriber) || (isObserver(value) && isSubscription(value));\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { OperatorFunction } from '../types';\nimport { isFunction } from './isFunction';\n\n/**\n * Used to determine if an object is an Observable with a lift function.\n */\nexport function hasLift(source: any): source is { lift: InstanceType<typeof Observable>['lift'] } {\n  return isFunction(source?.lift);\n}\n\n/**\n * Creates an `OperatorFunction`. Used to define operators throughout the library in a concise way.\n * @param init The logic to connect the liftedSource to the subscriber at the moment of subscription.\n */\nexport function operate<T, R>(\n  init: (liftedSource: Observable<T>, subscriber: Subscriber<R>) => (() => void) | void\n): OperatorFunction<T, R> {\n  return (source: Observable<T>) => {\n    if (hasLift(source)) {\n      return source.lift(function (this: Subscriber<R>, liftedSource: Observable<T>) {\n        try {\n          return init(liftedSource, this);\n        } catch (err) {\n          this.error(err);\n        }\n      });\n    }\n    throw new TypeError('Unable to lift unknown Observable type');\n  };\n}\n", "import { Subscriber } from '../Subscriber';\n\n/**\n * Creates an instance of an `OperatorSubscriber`.\n * @param destination The downstream subscriber.\n * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n * and send to the `destination` error handler.\n * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n * this handler are sent to the `destination` error handler.\n * @param onFinalize Additional teardown logic here. This will only be called on teardown if the\n * subscriber itself is not already closed. This is called after all other teardown logic is executed.\n */\nexport function createOperatorSubscriber<T>(\n  destination: Subscriber<any>,\n  onNext?: (value: T) => void,\n  onComplete?: () => void,\n  onError?: (err: any) => void,\n  onFinalize?: () => void\n): Subscriber<T> {\n  return new OperatorSubscriber(destination, onNext, onComplete, onError, onFinalize);\n}\n\n/**\n * A generic helper for allowing operators to be created with a Subscriber and\n * use closures to capture necessary state from the operator function itself.\n */\nexport class OperatorSubscriber<T> extends Subscriber<T> {\n  /**\n   * Creates an instance of an `OperatorSubscriber`.\n   * @param destination The downstream subscriber.\n   * @param onNext Handles next values, only called if this subscriber is not stopped or closed. Any\n   * error that occurs in this function is caught and sent to the `error` method of this subscriber.\n   * @param onError Handles errors from the subscription, any errors that occur in this handler are caught\n   * and send to the `destination` error handler.\n   * @param onComplete Handles completion notification from the subscription. Any errors that occur in\n   * this handler are sent to the `destination` error handler.\n   * @param onFinalize Additional finalization logic here. This will only be called on finalization if the\n   * subscriber itself is not already closed. This is called after all other finalization logic is executed.\n   * @param shouldUnsubscribe An optional check to see if an unsubscribe call should truly unsubscribe.\n   * NOTE: This currently **ONLY** exists to support the strange behavior of {@link groupBy}, where unsubscription\n   * to the resulting observable does not actually disconnect from the source if there are active subscriptions\n   * to any grouped observable. (DO NOT EXPOSE OR USE EXTERNALLY!!!)\n   */\n  constructor(\n    destination: Subscriber<any>,\n    onNext?: (value: T) => void,\n    onComplete?: () => void,\n    onError?: (err: any) => void,\n    private onFinalize?: () => void,\n    private shouldUnsubscribe?: () => boolean\n  ) {\n    // It's important - for performance reasons - that all of this class's\n    // members are initialized and that they are always initialized in the same\n    // order. This will ensure that all OperatorSubscriber instances have the\n    // same hidden class in V8. This, in turn, will help keep the number of\n    // hidden classes involved in property accesses within the base class as\n    // low as possible. If the number of hidden classes involved exceeds four,\n    // the property accesses will become megamorphic and performance penalties\n    // will be incurred - i.e. inline caches won't be used.\n    //\n    // The reasons for ensuring all instances have the same hidden class are\n    // further discussed in this blog post from Benedikt Meurer:\n    // https://benediktmeurer.de/2018/03/23/impact-of-polymorphism-on-component-based-frameworks-like-react/\n    super(destination);\n    this._next = onNext\n      ? function (this: OperatorSubscriber<T>, value: T) {\n          try {\n            onNext(value);\n          } catch (err) {\n            destination.error(err);\n          }\n        }\n      : super._next;\n    this._error = onError\n      ? function (this: OperatorSubscriber<T>, err: any) {\n          try {\n            onError(err);\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._error;\n    this._complete = onComplete\n      ? function (this: OperatorSubscriber<T>) {\n          try {\n            onComplete();\n          } catch (err) {\n            // Send any errors that occur down stream.\n            destination.error(err);\n          } finally {\n            // Ensure finalization.\n            this.unsubscribe();\n          }\n        }\n      : super._complete;\n  }\n\n  unsubscribe() {\n    if (!this.shouldUnsubscribe || this.shouldUnsubscribe()) {\n      const { closed } = this;\n      super.unsubscribe();\n      // Execute additional teardown if we have any and we didn't already do so.\n      !closed && this.onFinalize?.();\n    }\n  }\n}\n", "import { Subscription } from '../Subscription';\n\ninterface AnimationFrameProvider {\n  schedule(callback: FrameRequestCallback): Subscription;\n  requestAnimationFrame: typeof requestAnimationFrame;\n  cancelAnimationFrame: typeof cancelAnimationFrame;\n  delegate:\n    | {\n        requestAnimationFrame: typeof requestAnimationFrame;\n        cancelAnimationFrame: typeof cancelAnimationFrame;\n      }\n    | undefined;\n}\n\nexport const animationFrameProvider: AnimationFrameProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  schedule(callback) {\n    let request = requestAnimationFrame;\n    let cancel: typeof cancelAnimationFrame | undefined = cancelAnimationFrame;\n    const { delegate } = animationFrameProvider;\n    if (delegate) {\n      request = delegate.requestAnimationFrame;\n      cancel = delegate.cancelAnimationFrame;\n    }\n    const handle = request((timestamp) => {\n      // Clear the cancel function. The request has been fulfilled, so\n      // attempting to cancel the request upon unsubscription would be\n      // pointless.\n      cancel = undefined;\n      callback(timestamp);\n    });\n    return new Subscription(() => cancel?.(handle));\n  },\n  requestAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.requestAnimationFrame || requestAnimationFrame)(...args);\n  },\n  cancelAnimationFrame(...args) {\n    const { delegate } = animationFrameProvider;\n    return (delegate?.cancelAnimationFrame || cancelAnimationFrame)(...args);\n  },\n  delegate: undefined,\n};\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface ObjectUnsubscribedError extends Error {}\n\nexport interface ObjectUnsubscribedErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): ObjectUnsubscribedError;\n}\n\n/**\n * An error thrown when an action is invalid because the object has been\n * unsubscribed.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n *\n * @class ObjectUnsubscribedError\n */\nexport const ObjectUnsubscribedError: ObjectUnsubscribedErrorCtor = createErrorClass(\n  (_super) =>\n    function ObjectUnsubscribedErrorImpl(this: any) {\n      _super(this);\n      this.name = 'ObjectUnsubscribedError';\n      this.message = 'object unsubscribed';\n    }\n);\n", "import { Operator } from './Operator';\nimport { Observable } from './Observable';\nimport { Subscriber } from './Subscriber';\nimport { Subscription, EMPTY_SUBSCRIPTION } from './Subscription';\nimport { Observer, SubscriptionLike, TeardownLogic } from './types';\nimport { ObjectUnsubscribedError } from './util/ObjectUnsubscribedError';\nimport { arrRemove } from './util/arrRemove';\nimport { errorContext } from './util/errorContext';\n\n/**\n * A Subject is a special type of Observable that allows values to be\n * multicasted to many Observers. Subjects are like EventEmitters.\n *\n * Every Subject is an Observable and an Observer. You can subscribe to a\n * Subject, and you can call next to feed values as well as error and complete.\n */\nexport class Subject<T> extends Observable<T> implements SubscriptionLike {\n  closed = false;\n\n  private currentObservers: Observer<T>[] | null = null;\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  observers: Observer<T>[] = [];\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  isStopped = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  hasError = false;\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  thrownError: any = null;\n\n  /**\n   * Creates a \"subject\" by basically gluing an observer to an observable.\n   *\n   * @nocollapse\n   * @deprecated Recommended you do not use. Will be removed at some point in the future. Plans for replacement still under discussion.\n   */\n  static create: (...args: any[]) => any = <T>(destination: Observer<T>, source: Observable<T>): AnonymousSubject<T> => {\n    return new AnonymousSubject<T>(destination, source);\n  };\n\n  constructor() {\n    // NOTE: This must be here to obscure Observable's constructor.\n    super();\n  }\n\n  /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n  lift<R>(operator: Operator<T, R>): Observable<R> {\n    const subject = new AnonymousSubject(this, this);\n    subject.operator = operator as any;\n    return subject as any;\n  }\n\n  /** @internal */\n  protected _throwIfClosed() {\n    if (this.closed) {\n      throw new ObjectUnsubscribedError();\n    }\n  }\n\n  next(value: T) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        if (!this.currentObservers) {\n          this.currentObservers = Array.from(this.observers);\n        }\n        for (const observer of this.currentObservers) {\n          observer.next(value);\n        }\n      }\n    });\n  }\n\n  error(err: any) {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.hasError = this.isStopped = true;\n        this.thrownError = err;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.error(err);\n        }\n      }\n    });\n  }\n\n  complete() {\n    errorContext(() => {\n      this._throwIfClosed();\n      if (!this.isStopped) {\n        this.isStopped = true;\n        const { observers } = this;\n        while (observers.length) {\n          observers.shift()!.complete();\n        }\n      }\n    });\n  }\n\n  unsubscribe() {\n    this.isStopped = this.closed = true;\n    this.observers = this.currentObservers = null!;\n  }\n\n  get observed() {\n    return this.observers?.length > 0;\n  }\n\n  /** @internal */\n  protected _trySubscribe(subscriber: Subscriber<T>): TeardownLogic {\n    this._throwIfClosed();\n    return super._trySubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._checkFinalizedStatuses(subscriber);\n    return this._innerSubscribe(subscriber);\n  }\n\n  /** @internal */\n  protected _innerSubscribe(subscriber: Subscriber<any>) {\n    const { hasError, isStopped, observers } = this;\n    if (hasError || isStopped) {\n      return EMPTY_SUBSCRIPTION;\n    }\n    this.currentObservers = null;\n    observers.push(subscriber);\n    return new Subscription(() => {\n      this.currentObservers = null;\n      arrRemove(observers, subscriber);\n    });\n  }\n\n  /** @internal */\n  protected _checkFinalizedStatuses(subscriber: Subscriber<any>) {\n    const { hasError, thrownError, isStopped } = this;\n    if (hasError) {\n      subscriber.error(thrownError);\n    } else if (isStopped) {\n      subscriber.complete();\n    }\n  }\n\n  /**\n   * Creates a new Observable with this Subject as the source. You can do this\n   * to create custom Observer-side logic of the Subject and conceal it from\n   * code that uses the Observable.\n   * @return {Observable} Observable that the Subject casts to\n   */\n  asObservable(): Observable<T> {\n    const observable: any = new Observable<T>();\n    observable.source = this;\n    return observable;\n  }\n}\n\n/**\n * @class AnonymousSubject<T>\n */\nexport class AnonymousSubject<T> extends Subject<T> {\n  constructor(\n    /** @deprecated Internal implementation detail, do not use directly. Will be made internal in v8. */\n    public destination?: Observer<T>,\n    source?: Observable<T>\n  ) {\n    super();\n    this.source = source;\n  }\n\n  next(value: T) {\n    this.destination?.next?.(value);\n  }\n\n  error(err: any) {\n    this.destination?.error?.(err);\n  }\n\n  complete() {\n    this.destination?.complete?.();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    return this.source?.subscribe(subscriber) ?? EMPTY_SUBSCRIPTION;\n  }\n}\n", "import { Subject } from './Subject';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\n\n/**\n * A variant of Subject that requires an initial value and emits its current\n * value whenever it is subscribed to.\n *\n * @class BehaviorSubject<T>\n */\nexport class BehaviorSubject<T> extends Subject<T> {\n  constructor(private _value: T) {\n    super();\n  }\n\n  get value(): T {\n    return this.getValue();\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    const subscription = super._subscribe(subscriber);\n    !subscription.closed && subscriber.next(this._value);\n    return subscription;\n  }\n\n  getValue(): T {\n    const { hasError, thrownError, _value } = this;\n    if (hasError) {\n      throw thrownError;\n    }\n    this._throwIfClosed();\n    return _value;\n  }\n\n  next(value: T): void {\n    super.next((this._value = value));\n  }\n}\n", "import { TimestampProvider } from '../types';\n\ninterface DateTimestampProvider extends TimestampProvider {\n  delegate: TimestampProvider | undefined;\n}\n\nexport const dateTimestampProvider: DateTimestampProvider = {\n  now() {\n    // Use the variable rather than `this` so that the function can be called\n    // without being bound to the provider.\n    return (dateTimestampProvider.delegate || Date).now();\n  },\n  delegate: undefined,\n};\n", "import { Subject } from './Subject';\nimport { TimestampProvider } from './types';\nimport { Subscriber } from './Subscriber';\nimport { Subscription } from './Subscription';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * A variant of {@link Subject} that \"replays\" old values to new subscribers by emitting them when they first subscribe.\n *\n * `ReplaySubject` has an internal buffer that will store a specified number of values that it has observed. Like `Subject`,\n * `ReplaySubject` \"observes\" values by having them passed to its `next` method. When it observes a value, it will store that\n * value for a time determined by the configuration of the `ReplaySubject`, as passed to its constructor.\n *\n * When a new subscriber subscribes to the `ReplaySubject` instance, it will synchronously emit all values in its buffer in\n * a First-In-First-Out (FIFO) manner. The `ReplaySubject` will also complete, if it has observed completion; and it will\n * error if it has observed an error.\n *\n * There are two main configuration items to be concerned with:\n *\n * 1. `bufferSize` - This will determine how many items are stored in the buffer, defaults to infinite.\n * 2. `windowTime` - The amount of time to hold a value in the buffer before removing it from the buffer.\n *\n * Both configurations may exist simultaneously. So if you would like to buffer a maximum of 3 values, as long as the values\n * are less than 2 seconds old, you could do so with a `new ReplaySubject(3, 2000)`.\n *\n * ### Differences with BehaviorSubject\n *\n * `BehaviorSubject` is similar to `new ReplaySubject(1)`, with a couple of exceptions:\n *\n * 1. `BehaviorSubject` comes \"primed\" with a single value upon construction.\n * 2. `ReplaySubject` will replay values, even after observing an error, where `BehaviorSubject` will not.\n *\n * @see {@link Subject}\n * @see {@link BehaviorSubject}\n * @see {@link shareReplay}\n */\nexport class ReplaySubject<T> extends Subject<T> {\n  private _buffer: (T | number)[] = [];\n  private _infiniteTimeWindow = true;\n\n  /**\n   * @param bufferSize The size of the buffer to replay on subscription\n   * @param windowTime The amount of time the buffered items will stay buffered\n   * @param timestampProvider An object with a `now()` method that provides the current timestamp. This is used to\n   * calculate the amount of time something has been buffered.\n   */\n  constructor(\n    private _bufferSize = Infinity,\n    private _windowTime = Infinity,\n    private _timestampProvider: TimestampProvider = dateTimestampProvider\n  ) {\n    super();\n    this._infiniteTimeWindow = _windowTime === Infinity;\n    this._bufferSize = Math.max(1, _bufferSize);\n    this._windowTime = Math.max(1, _windowTime);\n  }\n\n  next(value: T): void {\n    const { isStopped, _buffer, _infiniteTimeWindow, _timestampProvider, _windowTime } = this;\n    if (!isStopped) {\n      _buffer.push(value);\n      !_infiniteTimeWindow && _buffer.push(_timestampProvider.now() + _windowTime);\n    }\n    this._trimBuffer();\n    super.next(value);\n  }\n\n  /** @internal */\n  protected _subscribe(subscriber: Subscriber<T>): Subscription {\n    this._throwIfClosed();\n    this._trimBuffer();\n\n    const subscription = this._innerSubscribe(subscriber);\n\n    const { _infiniteTimeWindow, _buffer } = this;\n    // We use a copy here, so reentrant code does not mutate our array while we're\n    // emitting it to a new subscriber.\n    const copy = _buffer.slice();\n    for (let i = 0; i < copy.length && !subscriber.closed; i += _infiniteTimeWindow ? 1 : 2) {\n      subscriber.next(copy[i] as T);\n    }\n\n    this._checkFinalizedStatuses(subscriber);\n\n    return subscription;\n  }\n\n  private _trimBuffer() {\n    const { _bufferSize, _timestampProvider, _buffer, _infiniteTimeWindow } = this;\n    // If we don't have an infinite buffer size, and we're over the length,\n    // use splice to truncate the old buffer values off. Note that we have to\n    // double the size for instances where we're not using an infinite time window\n    // because we're storing the values and the timestamps in the same array.\n    const adjustedBufferSize = (_infiniteTimeWindow ? 1 : 2) * _bufferSize;\n    _bufferSize < Infinity && adjustedBufferSize < _buffer.length && _buffer.splice(0, _buffer.length - adjustedBufferSize);\n\n    // Now, if we're not in an infinite time window, remove all values where the time is\n    // older than what is allowed.\n    if (!_infiniteTimeWindow) {\n      const now = _timestampProvider.now();\n      let last = 0;\n      // Search the array for the first timestamp that isn't expired and\n      // truncate the buffer up to that point.\n      for (let i = 1; i < _buffer.length && (_buffer[i] as number) <= now; i += 2) {\n        last = i;\n      }\n      last && _buffer.splice(0, last + 1);\n    }\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Subscription } from '../Subscription';\nimport { SchedulerAction } from '../types';\n\n/**\n * A unit of work to be executed in a `scheduler`. An action is typically\n * created from within a {@link SchedulerLike} and an RxJS user does not need to concern\n * themselves about creating and manipulating an Action.\n *\n * ```ts\n * class Action<T> extends Subscription {\n *   new (scheduler: Scheduler, work: (state?: T) => void);\n *   schedule(state?: T, delay: number = 0): Subscription;\n * }\n * ```\n *\n * @class Action<T>\n */\nexport class Action<T> extends Subscription {\n  constructor(scheduler: Scheduler, work: (this: SchedulerAction<T>, state?: T) => void) {\n    super();\n  }\n  /**\n   * Schedules this action on its parent {@link SchedulerLike} for execution. May be passed\n   * some context object, `state`. May happen at some point in the future,\n   * according to the `delay` parameter, if specified.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler.\n   * @return {void}\n   */\n  public schedule(state?: T, delay: number = 0): Subscription {\n    return this;\n  }\n}\n", "import type { TimerHandle } from './timerHandle';\ntype SetIntervalFunction = (handler: () => void, timeout?: number, ...args: any[]) => TimerHandle;\ntype ClearIntervalFunction = (handle: TimerHandle) => void;\n\ninterface IntervalProvider {\n  setInterval: SetIntervalFunction;\n  clearInterval: ClearIntervalFunction;\n  delegate:\n    | {\n        setInterval: SetIntervalFunction;\n        clearInterval: ClearIntervalFunction;\n      }\n    | undefined;\n}\n\nexport const intervalProvider: IntervalProvider = {\n  // When accessing the delegate, use the variable rather than `this` so that\n  // the functions can be called without being bound to the provider.\n  setInterval(handler: () => void, timeout?: number, ...args) {\n    const { delegate } = intervalProvider;\n    if (delegate?.setInterval) {\n      return delegate.setInterval(handler, timeout, ...args);\n    }\n    return setInterval(handler, timeout, ...args);\n  },\n  clearInterval(handle) {\n    const { delegate } = intervalProvider;\n    return (delegate?.clearInterval || clearInterval)(handle as any);\n  },\n  delegate: undefined,\n};\n", "import { Action } from './Action';\nimport { SchedulerAction } from '../types';\nimport { Subscription } from '../Subscription';\nimport { AsyncScheduler } from './AsyncScheduler';\nimport { intervalProvider } from './intervalProvider';\nimport { arrRemove } from '../util/arrRemove';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncAction<T> extends Action<T> {\n  public id: TimerHandle | undefined;\n  public state?: T;\n  // @ts-ignore: Property has no initializer and is not definitely assigned\n  public delay: number;\n  protected pending: boolean = false;\n\n  constructor(protected scheduler: AsyncScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (this.closed) {\n      return this;\n    }\n\n    // Always replace the current state with the new state.\n    this.state = state;\n\n    const id = this.id;\n    const scheduler = this.scheduler;\n\n    //\n    // Important implementation note:\n    //\n    // Actions only execute once by default, unless rescheduled from within the\n    // scheduled callback. This allows us to implement single and repeat\n    // actions via the same code path, without adding API surface area, as well\n    // as mimic traditional recursion but across asynchronous boundaries.\n    //\n    // However, JS runtimes and timers distinguish between intervals achieved by\n    // serial `setTimeout` calls vs. a single `setInterval` call. An interval of\n    // serial `setTimeout` calls can be individually delayed, which delays\n    // scheduling the next `setTimeout`, and so on. `setInterval` attempts to\n    // guarantee the interval callback will be invoked more precisely to the\n    // interval period, regardless of load.\n    //\n    // Therefore, we use `setInterval` to schedule single and repeat actions.\n    // If the action reschedules itself with the same delay, the interval is not\n    // canceled. If the action doesn't reschedule, or reschedules with a\n    // different delay, the interval will be canceled after scheduled callback\n    // execution.\n    //\n    if (id != null) {\n      this.id = this.recycleAsyncId(scheduler, id, delay);\n    }\n\n    // Set the pending flag indicating that this action has been scheduled, or\n    // has recursively rescheduled itself.\n    this.pending = true;\n\n    this.delay = delay;\n    // If this action has already an async Id, don't request a new one.\n    this.id = this.id ?? this.requestAsyncId(scheduler, this.id, delay);\n\n    return this;\n  }\n\n  protected requestAsyncId(scheduler: AsyncScheduler, _id?: TimerHandle, delay: number = 0): TimerHandle {\n    return intervalProvider.setInterval(scheduler.flush.bind(scheduler, this), delay);\n  }\n\n  protected recycleAsyncId(_scheduler: AsyncScheduler, id?: TimerHandle, delay: number | null = 0): TimerHandle | undefined {\n    // If this action is rescheduled with the same delay time, don't clear the interval id.\n    if (delay != null && this.delay === delay && this.pending === false) {\n      return id;\n    }\n    // Otherwise, if the action's delay time is different from the current delay,\n    // or the action has been rescheduled before it's executed, clear the interval id\n    if (id != null) {\n      intervalProvider.clearInterval(id);\n    }\n\n    return undefined;\n  }\n\n  /**\n   * Immediately executes this action and the `work` it contains.\n   * @return {any}\n   */\n  public execute(state: T, delay: number): any {\n    if (this.closed) {\n      return new Error('executing a cancelled action');\n    }\n\n    this.pending = false;\n    const error = this._execute(state, delay);\n    if (error) {\n      return error;\n    } else if (this.pending === false && this.id != null) {\n      // Dequeue if the action didn't reschedule itself. Don't call\n      // unsubscribe(), because the action could reschedule later.\n      // For example:\n      // ```\n      // scheduler.schedule(function doWork(counter) {\n      //   /* ... I'm a busy worker bee ... */\n      //   var originalAction = this;\n      //   /* wait 100ms before rescheduling the action */\n      //   setTimeout(function () {\n      //     originalAction.schedule(counter + 1);\n      //   }, 100);\n      // }, 1000);\n      // ```\n      this.id = this.recycleAsyncId(this.scheduler, this.id, null);\n    }\n  }\n\n  protected _execute(state: T, _delay: number): any {\n    let errored: boolean = false;\n    let errorValue: any;\n    try {\n      this.work(state);\n    } catch (e) {\n      errored = true;\n      // HACK: Since code elsewhere is relying on the \"truthiness\" of the\n      // return here, we can't have it return \"\" or 0 or false.\n      // TODO: Clean this up when we refactor schedulers mid-version-8 or so.\n      errorValue = e ? e : new Error('Scheduled action threw falsy error');\n    }\n    if (errored) {\n      this.unsubscribe();\n      return errorValue;\n    }\n  }\n\n  unsubscribe() {\n    if (!this.closed) {\n      const { id, scheduler } = this;\n      const { actions } = scheduler;\n\n      this.work = this.state = this.scheduler = null!;\n      this.pending = false;\n\n      arrRemove(actions, this);\n      if (id != null) {\n        this.id = this.recycleAsyncId(scheduler, id, null);\n      }\n\n      this.delay = null!;\n      super.unsubscribe();\n    }\n  }\n}\n", "import { Action } from './scheduler/Action';\nimport { Subscription } from './Subscription';\nimport { SchedulerLike, SchedulerAction } from './types';\nimport { dateTimestampProvider } from './scheduler/dateTimestampProvider';\n\n/**\n * An execution context and a data structure to order tasks and schedule their\n * execution. Provides a notion of (potentially virtual) time, through the\n * `now()` getter method.\n *\n * Each unit of work in a Scheduler is called an `Action`.\n *\n * ```ts\n * class Scheduler {\n *   now(): number;\n *   schedule(work, delay?, state?): Subscription;\n * }\n * ```\n *\n * @class Scheduler\n * @deprecated Scheduler is an internal implementation detail of RxJS, and\n * should not be used directly. Rather, create your own class and implement\n * {@link SchedulerLike}. Will be made internal in v8.\n */\nexport class Scheduler implements SchedulerLike {\n  public static now: () => number = dateTimestampProvider.now;\n\n  constructor(private schedulerActionCtor: typeof Action, now: () => number = Scheduler.now) {\n    this.now = now;\n  }\n\n  /**\n   * A getter method that returns a number representing the current time\n   * (at the time this function was called) according to the scheduler's own\n   * internal clock.\n   * @return {number} A number that represents the current time. May or may not\n   * have a relation to wall-clock time. May or may not refer to a time unit\n   * (e.g. milliseconds).\n   */\n  public now: () => number;\n\n  /**\n   * Schedules a function, `work`, for execution. May happen at some point in\n   * the future, according to the `delay` parameter, if specified. May be passed\n   * some context object, `state`, which will be passed to the `work` function.\n   *\n   * The given arguments will be processed an stored as an Action object in a\n   * queue of actions.\n   *\n   * @param {function(state: ?T): ?Subscription} work A function representing a\n   * task, or some unit of work to be executed by the Scheduler.\n   * @param {number} [delay] Time to wait before executing the work, where the\n   * time unit is implicit and defined by the Scheduler itself.\n   * @param {T} [state] Some contextual data that the `work` function uses when\n   * called by the Scheduler.\n   * @return {Subscription} A subscription in order to be able to unsubscribe\n   * the scheduled work.\n   */\n  public schedule<T>(work: (this: SchedulerAction<T>, state?: T) => void, delay: number = 0, state?: T): Subscription {\n    return new this.schedulerActionCtor<T>(this, work).schedule(state, delay);\n  }\n}\n", "import { Scheduler } from '../Scheduler';\nimport { Action } from './Action';\nimport { AsyncAction } from './AsyncAction';\nimport { TimerHandle } from './timerHandle';\n\nexport class AsyncScheduler extends Scheduler {\n  public actions: Array<AsyncAction<any>> = [];\n  /**\n   * A flag to indicate whether the Scheduler is currently executing a batch of\n   * queued actions.\n   * @type {boolean}\n   * @internal\n   */\n  public _active: boolean = false;\n  /**\n   * An internal ID used to track the latest asynchronous task such as those\n   * coming from `setTimeout`, `setInterval`, `requestAnimationFrame`, and\n   * others.\n   * @type {any}\n   * @internal\n   */\n  public _scheduled: TimerHandle | undefined;\n\n  constructor(SchedulerAction: typeof Action, now: () => number = Scheduler.now) {\n    super(SchedulerAction, now);\n  }\n\n  public flush(action: AsyncAction<any>): void {\n    const { actions } = this;\n\n    if (this._active) {\n      actions.push(action);\n      return;\n    }\n\n    let error: any;\n    this._active = true;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions.shift()!)); // exhaust the scheduler queue\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions.shift()!)) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\n/**\n *\n * Async Scheduler\n *\n * <span class=\"informal\">Schedule task as if you used setTimeout(task, duration)</span>\n *\n * `async` scheduler schedules tasks asynchronously, by putting them on the JavaScript\n * event loop queue. It is best used to delay tasks in time or to schedule tasks repeating\n * in intervals.\n *\n * If you just want to \"defer\" task, that is to perform it right after currently\n * executing synchronous code ends (commonly achieved by `setTimeout(deferredTask, 0)`),\n * better choice will be the {@link asapScheduler} scheduler.\n *\n * ## Examples\n * Use async scheduler to delay task\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * const task = () => console.log('it works!');\n *\n * asyncScheduler.schedule(task, 2000);\n *\n * // After 2 seconds logs:\n * // \"it works!\"\n * ```\n *\n * Use async scheduler to repeat task in intervals\n * ```ts\n * import { asyncScheduler } from 'rxjs';\n *\n * function task(state) {\n *   console.log(state);\n *   this.schedule(state + 1, 1000); // `this` references currently executing Action,\n *                                   // which we reschedule with new state and delay\n * }\n *\n * asyncScheduler.schedule(task, 3000, 0);\n *\n * // Logs:\n * // 0 after 3s\n * // 1 after 4s\n * // 2 after 5s\n * // 3 after 6s\n * ```\n */\n\nexport const asyncScheduler = new AsyncScheduler(AsyncAction);\n\n/**\n * @deprecated Renamed to {@link asyncScheduler}. Will be removed in v8.\n */\nexport const async = asyncScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { Subscription } from '../Subscription';\nimport { QueueScheduler } from './QueueScheduler';\nimport { SchedulerAction } from '../types';\nimport { TimerHandle } from './timerHandle';\n\nexport class QueueAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: QueueScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  public schedule(state?: T, delay: number = 0): Subscription {\n    if (delay > 0) {\n      return super.schedule(state, delay);\n    }\n    this.delay = delay;\n    this.state = state;\n    this.scheduler.flush(this);\n    return this;\n  }\n\n  public execute(state: T, delay: number): any {\n    return delay > 0 || this.closed ? super.execute(state, delay) : this._execute(state, delay);\n  }\n\n  protected requestAsyncId(scheduler: QueueScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n\n    if ((delay != null && delay > 0) || (delay == null && this.delay > 0)) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n\n    // Otherwise flush the scheduler starting with this action.\n    scheduler.flush(this);\n\n    // HACK: In the past, this was returning `void`. However, `void` isn't a valid\n    // `TimerHandle`, and generally the return value here isn't really used. So the\n    // compromise is to return `0` which is both \"falsy\" and a valid `TimerHandle`,\n    // as opposed to refactoring every other instanceo of `requestAsyncId`.\n    return 0;\n  }\n}\n", "import { AsyncScheduler } from './AsyncScheduler';\n\nexport class QueueScheduler extends AsyncScheduler {\n}\n", "import { QueueAction } from './QueueAction';\nimport { QueueScheduler } from './QueueScheduler';\n\n/**\n *\n * Queue Scheduler\n *\n * <span class=\"informal\">Put every next task on a queue, instead of executing it immediately</span>\n *\n * `queue` scheduler, when used with delay, behaves the same as {@link asyncScheduler} scheduler.\n *\n * When used without delay, it schedules given task synchronously - executes it right when\n * it is scheduled. However when called recursively, that is when inside the scheduled task,\n * another task is scheduled with queue scheduler, instead of executing immediately as well,\n * that task will be put on a queue and wait for current one to finish.\n *\n * This means that when you execute task with `queue` scheduler, you are sure it will end\n * before any other task scheduled with that scheduler will start.\n *\n * ## Examples\n * Schedule recursively first, then do something\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(() => {\n *   queueScheduler.schedule(() => console.log('second')); // will not happen now, but will be put on a queue\n *\n *   console.log('first');\n * });\n *\n * // Logs:\n * // \"first\"\n * // \"second\"\n * ```\n *\n * Reschedule itself recursively\n * ```ts\n * import { queueScheduler } from 'rxjs';\n *\n * queueScheduler.schedule(function(state) {\n *   if (state !== 0) {\n *     console.log('before', state);\n *     this.schedule(state - 1); // `this` references currently executing Action,\n *                               // which we reschedule with new state\n *     console.log('after', state);\n *   }\n * }, 0, 3);\n *\n * // In scheduler that runs recursively, you would expect:\n * // \"before\", 3\n * // \"before\", 2\n * // \"before\", 1\n * // \"after\", 1\n * // \"after\", 2\n * // \"after\", 3\n *\n * // But with queue it logs:\n * // \"before\", 3\n * // \"after\", 3\n * // \"before\", 2\n * // \"after\", 2\n * // \"before\", 1\n * // \"after\", 1\n * ```\n */\n\nexport const queueScheduler = new QueueScheduler(QueueAction);\n\n/**\n * @deprecated Renamed to {@link queueScheduler}. Will be removed in v8.\n */\nexport const queue = queueScheduler;\n", "import { AsyncAction } from './AsyncAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\nimport { SchedulerAction } from '../types';\nimport { animationFrameProvider } from './animationFrameProvider';\nimport { TimerHandle } from './timerHandle';\n\nexport class AnimationFrameAction<T> extends AsyncAction<T> {\n  constructor(protected scheduler: AnimationFrameScheduler, protected work: (this: SchedulerAction<T>, state?: T) => void) {\n    super(scheduler, work);\n  }\n\n  protected requestAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle {\n    // If delay is greater than 0, request as an async action.\n    if (delay !== null && delay > 0) {\n      return super.requestAsyncId(scheduler, id, delay);\n    }\n    // Push the action to the end of the scheduler queue.\n    scheduler.actions.push(this);\n    // If an animation frame has already been requested, don't request another\n    // one. If an animation frame hasn't been requested yet, request one. Return\n    // the current animation frame request id.\n    return scheduler._scheduled || (scheduler._scheduled = animationFrameProvider.requestAnimationFrame(() => scheduler.flush(undefined)));\n  }\n\n  protected recycleAsyncId(scheduler: AnimationFrameScheduler, id?: TimerHandle, delay: number = 0): TimerHandle | undefined {\n    // If delay exists and is greater than 0, or if the delay is null (the\n    // action wasn't rescheduled) but was originally scheduled as an async\n    // action, then recycle as an async action.\n    if (delay != null ? delay > 0 : this.delay > 0) {\n      return super.recycleAsyncId(scheduler, id, delay);\n    }\n    // If the scheduler queue has no remaining actions with the same async id,\n    // cancel the requested animation frame and set the scheduled flag to\n    // undefined so the next AnimationFrameAction will request its own.\n    const { actions } = scheduler;\n    if (id != null && actions[actions.length - 1]?.id !== id) {\n      animationFrameProvider.cancelAnimationFrame(id as number);\n      scheduler._scheduled = undefined;\n    }\n    // Return undefined so the action knows to request a new async id if it's rescheduled.\n    return undefined;\n  }\n}\n", "import { AsyncAction } from './AsyncAction';\nimport { AsyncScheduler } from './AsyncScheduler';\n\nexport class AnimationFrameScheduler extends AsyncScheduler {\n  public flush(action?: AsyncAction<any>): void {\n    this._active = true;\n    // The async id that effects a call to flush is stored in _scheduled.\n    // Before executing an action, it's necessary to check the action's async\n    // id to determine whether it's supposed to be executed in the current\n    // flush.\n    // Previous implementations of this method used a count to determine this,\n    // but that was unsound, as actions that are unsubscribed - i.e. cancelled -\n    // are removed from the actions array and that can shift actions that are\n    // scheduled to be executed in a subsequent flush into positions at which\n    // they are executed within the current flush.\n    const flushId = this._scheduled;\n    this._scheduled = undefined;\n\n    const { actions } = this;\n    let error: any;\n    action = action || actions.shift()!;\n\n    do {\n      if ((error = action.execute(action.state, action.delay))) {\n        break;\n      }\n    } while ((action = actions[0]) && action.id === flushId && actions.shift());\n\n    this._active = false;\n\n    if (error) {\n      while ((action = actions[0]) && action.id === flushId && actions.shift()) {\n        action.unsubscribe();\n      }\n      throw error;\n    }\n  }\n}\n", "import { AnimationFrameAction } from './AnimationFrameAction';\nimport { AnimationFrameScheduler } from './AnimationFrameScheduler';\n\n/**\n *\n * Animation Frame Scheduler\n *\n * <span class=\"informal\">Perform task when `window.requestAnimationFrame` would fire</span>\n *\n * When `animationFrame` scheduler is used with delay, it will fall back to {@link asyncScheduler} scheduler\n * behaviour.\n *\n * Without delay, `animationFrame` scheduler can be used to create smooth browser animations.\n * It makes sure scheduled task will happen just before next browser content repaint,\n * thus performing animations as efficiently as possible.\n *\n * ## Example\n * Schedule div height animation\n * ```ts\n * // html: <div style=\"background: #0ff;\"></div>\n * import { animationFrameScheduler } from 'rxjs';\n *\n * const div = document.querySelector('div');\n *\n * animationFrameScheduler.schedule(function(height) {\n *   div.style.height = height + \"px\";\n *\n *   this.schedule(height + 1);  // `this` references currently executing Action,\n *                               // which we reschedule with new state\n * }, 0, 0);\n *\n * // You will see a div element growing in height\n * ```\n */\n\nexport const animationFrameScheduler = new AnimationFrameScheduler(AnimationFrameAction);\n\n/**\n * @deprecated Renamed to {@link animationFrameScheduler}. Will be removed in v8.\n */\nexport const animationFrame = animationFrameScheduler;\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\n/**\n * A simple Observable that emits no items to the Observer and immediately\n * emits a complete notification.\n *\n * <span class=\"informal\">Just emits 'complete', and nothing else.</span>\n *\n * ![](empty.png)\n *\n * A simple Observable that only emits the complete notification. It can be used\n * for composing with other Observables, such as in a {@link mergeMap}.\n *\n * ## Examples\n *\n * Log complete notification\n *\n * ```ts\n * import { EMPTY } from 'rxjs';\n *\n * EMPTY.subscribe({\n *   next: () => console.log('Next'),\n *   complete: () => console.log('Complete!')\n * });\n *\n * // Outputs\n * // Complete!\n * ```\n *\n * Emit the number 7, then complete\n *\n * ```ts\n * import { EMPTY, startWith } from 'rxjs';\n *\n * const result = EMPTY.pipe(startWith(7));\n * result.subscribe(x => console.log(x));\n *\n * // Outputs\n * // 7\n * ```\n *\n * Map and flatten only odd numbers to the sequence `'a'`, `'b'`, `'c'`\n *\n * ```ts\n * import { interval, mergeMap, of, EMPTY } from 'rxjs';\n *\n * const interval$ = interval(1000);\n * const result = interval$.pipe(\n *   mergeMap(x => x % 2 === 1 ? of('a', 'b', 'c') : EMPTY),\n * );\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following to the console:\n * // x is equal to the count on the interval, e.g. (0, 1, 2, 3, ...)\n * // x will occur every 1000ms\n * // if x % 2 is equal to 1, print a, b, c (each on its own)\n * // if x % 2 is not equal to 1, nothing will be output\n * ```\n *\n * @see {@link Observable}\n * @see {@link NEVER}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const EMPTY = new Observable<never>((subscriber) => subscriber.complete());\n\n/**\n * @param scheduler A {@link SchedulerLike} to use for scheduling\n * the emission of the complete notification.\n * @deprecated Replaced with the {@link EMPTY} constant or {@link scheduled} (e.g. `scheduled([], scheduler)`). Will be removed in v8.\n */\nexport function empty(scheduler?: SchedulerLike) {\n  return scheduler ? emptyScheduled(scheduler) : EMPTY;\n}\n\nfunction emptyScheduled(scheduler: SchedulerLike) {\n  return new Observable<never>((subscriber) => scheduler.schedule(() => subscriber.complete()));\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport function isScheduler(value: any): value is SchedulerLike {\n  return value && isFunction(value.schedule);\n}\n", "import { SchedulerLike } from '../types';\nimport { isFunction } from './isFunction';\nimport { isScheduler } from './isScheduler';\n\nfunction last<T>(arr: T[]): T | undefined {\n  return arr[arr.length - 1];\n}\n\nexport function popResultSelector(args: any[]): ((...args: unknown[]) => unknown) | undefined {\n  return isFunction(last(args)) ? args.pop() : undefined;\n}\n\nexport function popScheduler(args: any[]): SchedulerLike | undefined {\n  return isScheduler(last(args)) ? args.pop() : undefined;\n}\n\nexport function popNumber(args: any[], defaultValue: number): number {\n  return typeof last(args) === 'number' ? args.pop()! : defaultValue;\n}\n", "export const isArrayLike = (<T>(x: any): x is ArrayLike<T> => x && typeof x.length === 'number' && typeof x !== 'function');", "import { isFunction } from \"./isFunction\";\n\n/**\n * Tests to see if the object is \"thennable\".\n * @param value the object to test\n */\nexport function isPromise(value: any): value is PromiseLike<any> {\n  return isFunction(value?.then);\n}\n", "import { InteropObservable } from '../types';\nimport { observable as Symbol_observable } from '../symbol/observable';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being Observable (but not necessary an Rx Observable) */\nexport function isInteropObservable(input: any): input is InteropObservable<any> {\n  return isFunction(input[Symbol_observable]);\n}\n", "import { isFunction } from './isFunction';\n\nexport function isAsyncIterable<T>(obj: any): obj is AsyncIterable<T> {\n  return Symbol.asyncIterator && isFunction(obj?.[Symbol.asyncIterator]);\n}\n", "/**\n * Creates the TypeError to throw if an invalid object is passed to `from` or `scheduled`.\n * @param input The object that was passed.\n */\nexport function createInvalidObservableTypeError(input: any) {\n  // TODO: We should create error codes that can be looked up, so this can be less verbose.\n  return new TypeError(\n    `You provided ${\n      input !== null && typeof input === 'object' ? 'an invalid object' : `'${input}'`\n    } where a stream was expected. You can provide an Observable, Promise, ReadableStream, Array, AsyncIterable, or Iterable.`\n  );\n}\n", "export function getSymbolIterator(): symbol {\n  if (typeof Symbol !== 'function' || !Symbol.iterator) {\n    return '@@iterator' as any;\n  }\n\n  return Symbol.iterator;\n}\n\nexport const iterator = getSymbolIterator();\n", "import { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from './isFunction';\n\n/** Identifies an input as being an Iterable */\nexport function isIterable(input: any): input is Iterable<any> {\n  return isFunction(input?.[Symbol_iterator]);\n}\n", "import { ReadableStreamLike } from '../types';\nimport { isFunction } from './isFunction';\n\nexport async function* readableStreamLikeToAsyncGenerator<T>(readableStream: ReadableStreamLike<T>): AsyncGenerator<T> {\n  const reader = readableStream.getReader();\n  try {\n    while (true) {\n      const { value, done } = await reader.read();\n      if (done) {\n        return;\n      }\n      yield value!;\n    }\n  } finally {\n    reader.releaseLock();\n  }\n}\n\nexport function isReadableStreamLike<T>(obj: any): obj is ReadableStreamLike<T> {\n  // We don't want to use instanceof checks because they would return\n  // false for instances from another Realm, like an <iframe>.\n  return isFunction(obj?.getReader);\n}\n", "import { isArrayLike } from '../util/isArrayLike';\nimport { isPromise } from '../util/isPromise';\nimport { Observable } from '../Observable';\nimport { ObservableInput, ObservedValueOf, ReadableStreamLike } from '../types';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isIterable } from '../util/isIterable';\nimport { isReadableStreamLike, readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\nimport { Subscriber } from '../Subscriber';\nimport { isFunction } from '../util/isFunction';\nimport { reportUnhandledError } from '../util/reportUnhandledError';\nimport { observable as Symbol_observable } from '../symbol/observable';\n\nexport function innerFrom<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\nexport function innerFrom<T>(input: ObservableInput<T>): Observable<T> {\n  if (input instanceof Observable) {\n    return input;\n  }\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return fromInteropObservable(input);\n    }\n    if (isArrayLike(input)) {\n      return fromArrayLike(input);\n    }\n    if (isPromise(input)) {\n      return fromPromise(input);\n    }\n    if (isAsyncIterable(input)) {\n      return fromAsyncIterable(input);\n    }\n    if (isIterable(input)) {\n      return fromIterable(input);\n    }\n    if (isReadableStreamLike(input)) {\n      return fromReadableStreamLike(input);\n    }\n  }\n\n  throw createInvalidObservableTypeError(input);\n}\n\n/**\n * Creates an RxJS Observable from an object that implements `Symbol.observable`.\n * @param obj An object that properly implements `Symbol.observable`.\n */\nexport function fromInteropObservable<T>(obj: any) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    const obs = obj[Symbol_observable]();\n    if (isFunction(obs.subscribe)) {\n      return obs.subscribe(subscriber);\n    }\n    // Should be caught by observable subscribe function error handling.\n    throw new TypeError('Provided object does not correctly implement Symbol.observable');\n  });\n}\n\n/**\n * Synchronously emits the values of an array like and completes.\n * This is exported because there are creation functions and operators that need to\n * make direct use of the same logic, and there's no reason to make them run through\n * `from` conditionals because we *know* they're dealing with an array.\n * @param array The array to emit values from\n */\nexport function fromArrayLike<T>(array: ArrayLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    // Loop over the array and emit each value. Note two things here:\n    // 1. We're making sure that the subscriber is not closed on each loop.\n    //    This is so we don't continue looping over a very large array after\n    //    something like a `take`, `takeWhile`, or other synchronous unsubscription\n    //    has already unsubscribed.\n    // 2. In this form, reentrant code can alter that array we're looping over.\n    //    This is a known issue, but considered an edge case. The alternative would\n    //    be to copy the array before executing the loop, but this has\n    //    performance implications.\n    for (let i = 0; i < array.length && !subscriber.closed; i++) {\n      subscriber.next(array[i]);\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromPromise<T>(promise: PromiseLike<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    promise\n      .then(\n        (value) => {\n          if (!subscriber.closed) {\n            subscriber.next(value);\n            subscriber.complete();\n          }\n        },\n        (err: any) => subscriber.error(err)\n      )\n      .then(null, reportUnhandledError);\n  });\n}\n\nexport function fromIterable<T>(iterable: Iterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    for (const value of iterable) {\n      subscriber.next(value);\n      if (subscriber.closed) {\n        return;\n      }\n    }\n    subscriber.complete();\n  });\n}\n\nexport function fromAsyncIterable<T>(asyncIterable: AsyncIterable<T>) {\n  return new Observable((subscriber: Subscriber<T>) => {\n    process(asyncIterable, subscriber).catch((err) => subscriber.error(err));\n  });\n}\n\nexport function fromReadableStreamLike<T>(readableStream: ReadableStreamLike<T>) {\n  return fromAsyncIterable(readableStreamLikeToAsyncGenerator(readableStream));\n}\n\nasync function process<T>(asyncIterable: AsyncIterable<T>, subscriber: Subscriber<T>) {\n  for await (const value of asyncIterable) {\n    subscriber.next(value);\n    // A side-effect may have closed our subscriber,\n    // check before the next iteration.\n    if (subscriber.closed) {\n      return;\n    }\n  }\n  subscriber.complete();\n}\n", "import { Subscription } from '../Subscription';\nimport { SchedulerAction, SchedulerLike } from '../types';\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay: number,\n  repeat: true\n): void;\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay?: number,\n  repeat?: false\n): Subscription;\n\nexport function executeSchedule(\n  parentSubscription: Subscription,\n  scheduler: SchedulerLike,\n  work: () => void,\n  delay = 0,\n  repeat = false\n): Subscription | void {\n  const scheduleSubscription = scheduler.schedule(function (this: SchedulerAction<any>) {\n    work();\n    if (repeat) {\n      parentSubscription.add(this.schedule(null, delay));\n    } else {\n      this.unsubscribe();\n    }\n  }, delay);\n\n  parentSubscription.add(scheduleSubscription);\n\n  if (!repeat) {\n    // Because user-land scheduler implementations are unlikely to properly reuse\n    // Actions for repeat scheduling, we can't trust that the returned subscription\n    // will control repeat subscription scenarios. So we're trying to avoid using them\n    // incorrectly within this library.\n    return scheduleSubscription;\n  }\n}\n", "/** @prettier */\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Re-emits all notifications from source Observable with specified scheduler.\n *\n * <span class=\"informal\">Ensure a specific scheduler is used, from outside of an Observable.</span>\n *\n * `observeOn` is an operator that accepts a scheduler as a first parameter, which will be used to reschedule\n * notifications emitted by the source Observable. It might be useful, if you do not have control over\n * internal scheduler of a given Observable, but want to control when its values are emitted nevertheless.\n *\n * Returned Observable emits the same notifications (nexted values, complete and error events) as the source Observable,\n * but rescheduled with provided scheduler. Note that this doesn't mean that source Observables internal\n * scheduler will be replaced in any way. Original scheduler still will be used, but when the source Observable emits\n * notification, it will be immediately scheduled again - this time with scheduler passed to `observeOn`.\n * An anti-pattern would be calling `observeOn` on Observable that emits lots of values synchronously, to split\n * that emissions into asynchronous chunks. For this to happen, scheduler would have to be passed into the source\n * Observable directly (usually into the operator that creates it). `observeOn` simply delays notifications a\n * little bit more, to ensure that they are emitted at expected moments.\n *\n * As a matter of fact, `observeOn` accepts second parameter, which specifies in milliseconds with what delay notifications\n * will be emitted. The main difference between {@link delay} operator and `observeOn` is that `observeOn`\n * will delay all notifications - including error notifications - while `delay` will pass through error\n * from source Observable immediately when it is emitted. In general it is highly recommended to use `delay` operator\n * for any kind of delaying of values in the stream, while using `observeOn` to specify which scheduler should be used\n * for notification emissions in general.\n *\n * ## Example\n *\n * Ensure values in subscribe are called just before browser repaint\n *\n * ```ts\n * import { interval, observeOn, animationFrameScheduler } from 'rxjs';\n *\n * const someDiv = document.createElement('div');\n * someDiv.style.cssText = 'width: 200px;background: #09c';\n * document.body.appendChild(someDiv);\n * const intervals = interval(10);      // Intervals are scheduled\n *                                      // with async scheduler by default...\n * intervals.pipe(\n *   observeOn(animationFrameScheduler) // ...but we will observe on animationFrame\n * )                                    // scheduler to ensure smooth animation.\n * .subscribe(val => {\n *   someDiv.style.height = val + 'px';\n * });\n * ```\n *\n * @see {@link delay}\n *\n * @param scheduler Scheduler that will be used to reschedule notifications from source Observable.\n * @param delay Number of milliseconds that states with what delay every notification should be rescheduled.\n * @return A function that returns an Observable that emits the same\n * notifications as the source Observable, but with provided scheduler.\n */\nexport function observeOn<T>(scheduler: SchedulerLike, delay = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => executeSchedule(subscriber, scheduler, () => subscriber.next(value), delay),\n        () => executeSchedule(subscriber, scheduler, () => subscriber.complete(), delay),\n        (err) => executeSchedule(subscriber, scheduler, () => subscriber.error(err), delay)\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Asynchronously subscribes Observers to this Observable on the specified {@link SchedulerLike}.\n *\n * With `subscribeOn` you can decide what type of scheduler a specific Observable will be using when it is subscribed to.\n *\n * Schedulers control the speed and order of emissions to observers from an Observable stream.\n *\n * ![](subscribeOn.png)\n *\n * ## Example\n *\n * Given the following code:\n *\n * ```ts\n * import { of, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3);\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 1\n * // 2\n * // 3\n * // 4\n * // 5\n * // 6\n * ```\n *\n * Both Observable `a` and `b` will emit their values directly and synchronously once they are subscribed to.\n *\n * If we instead use the `subscribeOn` operator declaring that we want to use the {@link asyncScheduler} for values emitted by Observable `a`:\n *\n * ```ts\n * import { of, subscribeOn, asyncScheduler, merge } from 'rxjs';\n *\n * const a = of(1, 2, 3).pipe(subscribeOn(asyncScheduler));\n * const b = of(4, 5, 6);\n *\n * merge(a, b).subscribe(console.log);\n *\n * // Outputs\n * // 4\n * // 5\n * // 6\n * // 1\n * // 2\n * // 3\n * ```\n *\n * The reason for this is that Observable `b` emits its values directly and synchronously like before\n * but the emissions from `a` are scheduled on the event loop because we are now using the {@link asyncScheduler} for that specific Observable.\n *\n * @param scheduler The {@link SchedulerLike} to perform subscription actions on.\n * @param delay A delay to pass to the scheduler to delay subscriptions\n * @return A function that returns an Observable modified so that its\n * subscriptions happen on the specified {@link SchedulerLike}.\n */\nexport function subscribeOn<T>(scheduler: SchedulerLike, delay: number = 0): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    subscriber.add(scheduler.schedule(() => source.subscribe(subscriber), delay));\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { InteropObservable, SchedulerLike } from '../types';\n\nexport function scheduleObservable<T>(input: InteropObservable<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { observeOn } from '../operators/observeOn';\nimport { subscribeOn } from '../operators/subscribeOn';\nimport { SchedulerLike } from '../types';\n\nexport function schedulePromise<T>(input: PromiseLike<T>, scheduler: SchedulerLike) {\n  return innerFrom(input).pipe(subscribeOn(scheduler), observeOn(scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\n\nexport function scheduleArray<T>(input: ArrayLike<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    // The current array index.\n    let i = 0;\n    // Start iterating over the array like on a schedule.\n    return scheduler.schedule(function () {\n      if (i === input.length) {\n        // If we have hit the end of the array like in the\n        // previous job, we can complete.\n        subscriber.complete();\n      } else {\n        // Otherwise let's next the value at the current index,\n        // then increment our index.\n        subscriber.next(input[i++]);\n        // If the last emission didn't cause us to close the subscriber\n        // (via take or some side effect), reschedule the job and we'll\n        // make another pass.\n        if (!subscriber.closed) {\n          this.schedule();\n        }\n      }\n    });\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { iterator as Symbol_iterator } from '../symbol/iterator';\nimport { isFunction } from '../util/isFunction';\nimport { executeSchedule } from '../util/executeSchedule';\n\n/**\n * Used in {@link scheduled} to create an observable from an Iterable.\n * @param input The iterable to create an observable from\n * @param scheduler The scheduler to use\n */\nexport function scheduleIterable<T>(input: Iterable<T>, scheduler: SchedulerLike) {\n  return new Observable<T>((subscriber) => {\n    let iterator: Iterator<T, T>;\n\n    // Schedule the initial creation of the iterator from\n    // the iterable. This is so the code in the iterable is\n    // not called until the scheduled job fires.\n    executeSchedule(subscriber, scheduler, () => {\n      // Create the iterator.\n      iterator = (input as any)[Symbol_iterator]();\n\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          let value: T;\n          let done: boolean | undefined;\n          try {\n            // Pull the value out of the iterator\n            ({ value, done } = iterator.next());\n          } catch (err) {\n            // We got an error while pulling from the iterator\n            subscriber.error(err);\n            return;\n          }\n\n          if (done) {\n            // If it is \"done\" we just complete. This mimics the\n            // behavior of JavaScript's `for..of` consumption of\n            // iterables, which will not emit the value from an iterator\n            // result of `{ done: true: value: 'here' }`.\n            subscriber.complete();\n          } else {\n            // The iterable is not done, emit the value.\n            subscriber.next(value);\n          }\n        },\n        0,\n        true\n      );\n    });\n\n    // During finalization, if we see this iterator has a `return` method,\n    // then we know it is a Generator, and not just an Iterator. So we call\n    // the `return()` function. This will ensure that any `finally { }` blocks\n    // inside of the generator we can hit will be hit properly.\n    return () => isFunction(iterator?.return) && iterator.return();\n  });\n}\n", "import { SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { executeSchedule } from '../util/executeSchedule';\n\nexport function scheduleAsyncIterable<T>(input: AsyncIterable<T>, scheduler: SchedulerLike) {\n  if (!input) {\n    throw new Error('Iterable cannot be null');\n  }\n  return new Observable<T>((subscriber) => {\n    executeSchedule(subscriber, scheduler, () => {\n      const iterator = input[Symbol.asyncIterator]();\n      executeSchedule(\n        subscriber,\n        scheduler,\n        () => {\n          iterator.next().then((result) => {\n            if (result.done) {\n              // This will remove the subscriptions from\n              // the parent subscription.\n              subscriber.complete();\n            } else {\n              subscriber.next(result.value);\n            }\n          });\n        },\n        0,\n        true\n      );\n    });\n  });\n}\n", "import { SchedulerLike, ReadableStreamLike } from '../types';\nimport { Observable } from '../Observable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { readableStreamLikeToAsyncGenerator } from '../util/isReadableStreamLike';\n\nexport function scheduleReadableStreamLike<T>(input: ReadableStreamLike<T>, scheduler: SchedulerLike): Observable<T> {\n  return scheduleAsyncIterable(readableStreamLikeToAsyncGenerator(input), scheduler);\n}\n", "import { scheduleObservable } from './scheduleObservable';\nimport { schedulePromise } from './schedulePromise';\nimport { scheduleArray } from './scheduleArray';\nimport { scheduleIterable } from './scheduleIterable';\nimport { scheduleAsyncIterable } from './scheduleAsyncIterable';\nimport { isInteropObservable } from '../util/isInteropObservable';\nimport { isPromise } from '../util/isPromise';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isIterable } from '../util/isIterable';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { Observable } from '../Observable';\nimport { isAsyncIterable } from '../util/isAsyncIterable';\nimport { createInvalidObservableTypeError } from '../util/throwUnobservableError';\nimport { isReadableStreamLike } from '../util/isReadableStreamLike';\nimport { scheduleReadableStreamLike } from './scheduleReadableStreamLike';\n\n/**\n * Converts from a common {@link ObservableInput} type to an observable where subscription and emissions\n * are scheduled on the provided scheduler.\n *\n * @see {@link from}\n * @see {@link of}\n *\n * @param input The observable, array, promise, iterable, etc you would like to schedule\n * @param scheduler The scheduler to use to schedule the subscription and emissions from\n * the returned observable.\n */\nexport function scheduled<T>(input: ObservableInput<T>, scheduler: SchedulerLike): Observable<T> {\n  if (input != null) {\n    if (isInteropObservable(input)) {\n      return scheduleObservable(input, scheduler);\n    }\n    if (isArrayLike(input)) {\n      return scheduleArray(input, scheduler);\n    }\n    if (isPromise(input)) {\n      return schedulePromise(input, scheduler);\n    }\n    if (isAsyncIterable(input)) {\n      return scheduleAsyncIterable(input, scheduler);\n    }\n    if (isIterable(input)) {\n      return scheduleIterable(input, scheduler);\n    }\n    if (isReadableStreamLike(input)) {\n      return scheduleReadableStreamLike(input, scheduler);\n    }\n  }\n  throw createInvalidObservableTypeError(input);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf } from '../types';\nimport { scheduled } from '../scheduled/scheduled';\nimport { innerFrom } from './innerFrom';\n\nexport function from<O extends ObservableInput<any>>(input: O): Observable<ObservedValueOf<O>>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function from<O extends ObservableInput<any>>(input: O, scheduler: SchedulerLike | undefined): Observable<ObservedValueOf<O>>;\n\n/**\n * Creates an Observable from an Array, an array-like object, a Promise, an iterable object, or an Observable-like object.\n *\n * <span class=\"informal\">Converts almost anything to an Observable.</span>\n *\n * ![](from.png)\n *\n * `from` converts various other objects and data types into Observables. It also converts a Promise, an array-like, or an\n * <a href=\"https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Iteration_protocols#iterable\" target=\"_blank\">iterable</a>\n * object into an Observable that emits the items in that promise, array, or iterable. A String, in this context, is treated\n * as an array of characters. Observable-like objects (contains a function named with the ES2015 Symbol for Observable) can also be\n * converted through this operator.\n *\n * ## Examples\n *\n * Converts an array to an Observable\n *\n * ```ts\n * import { from } from 'rxjs';\n *\n * const array = [10, 20, 30];\n * const result = from(array);\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 10\n * // 20\n * // 30\n * ```\n *\n * Convert an infinite iterable (from a generator) to an Observable\n *\n * ```ts\n * import { from, take } from 'rxjs';\n *\n * function* generateDoubles(seed) {\n *    let i = seed;\n *    while (true) {\n *      yield i;\n *      i = 2 * i; // double it\n *    }\n * }\n *\n * const iterator = generateDoubles(3);\n * const result = from(iterator).pipe(take(10));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 3\n * // 6\n * // 12\n * // 24\n * // 48\n * // 96\n * // 192\n * // 384\n * // 768\n * // 1536\n * ```\n *\n * With `asyncScheduler`\n *\n * ```ts\n * import { from, asyncScheduler } from 'rxjs';\n *\n * console.log('start');\n *\n * const array = [10, 20, 30];\n * const result = from(array, asyncScheduler);\n *\n * result.subscribe(x => console.log(x));\n *\n * console.log('end');\n *\n * // Logs:\n * // 'start'\n * // 'end'\n * // 10\n * // 20\n * // 30\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link fromEventPattern}\n *\n * @param {ObservableInput<T>} A subscription object, a Promise, an Observable-like,\n * an Array, an iterable, or an array-like object to be converted.\n * @param {SchedulerLike} An optional {@link SchedulerLike} on which to schedule the emission of values.\n * @return {Observable<T>}\n */\nexport function from<T>(input: ObservableInput<T>, scheduler?: SchedulerLike): Observable<T> {\n  return scheduler ? scheduled(input, scheduler) : innerFrom(input);\n}\n", "import { SchedulerLike, ValueFromArray } from '../types';\nimport { Observable } from '../Observable';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function of(value: null): Observable<null>;\nexport function of(value: undefined): Observable<undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of(scheduler: SchedulerLike): Observable<never>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function of<A extends readonly unknown[]>(...valuesAndScheduler: [...A, SchedulerLike]): Observable<ValueFromArray<A>>;\n\nexport function of(): Observable<never>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function of<T>(): Observable<T>;\nexport function of<T>(value: T): Observable<T>;\nexport function of<A extends readonly unknown[]>(...values: A): Observable<ValueFromArray<A>>;\n\n/**\n * Converts the arguments to an observable sequence.\n *\n * <span class=\"informal\">Each argument becomes a `next` notification.</span>\n *\n * ![](of.png)\n *\n * Unlike {@link from}, it does not do any flattening and emits each argument in whole\n * as a separate `next` notification.\n *\n * ## Examples\n *\n * Emit the values `10, 20, 30`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of(10, 20, 30)\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: 10\n * // next: 20\n * // next: 30\n * // the end\n * ```\n *\n * Emit the array `[1, 2, 3]`\n *\n * ```ts\n * import { of } from 'rxjs';\n *\n * of([1, 2, 3])\n *   .subscribe({\n *     next: value => console.log('next:', value),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // Outputs\n * // next: [1, 2, 3]\n * // the end\n * ```\n *\n * @see {@link from}\n * @see {@link range}\n *\n * @param {...T} values A comma separated list of arguments you want to be emitted\n * @return {Observable} An Observable that emits the arguments\n * described above and then completes.\n */\nexport function of<T>(...args: Array<T | SchedulerLike>): Observable<T> {\n  const scheduler = popScheduler(args);\n  return from(args as T[], scheduler);\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { SchedulerLike } from '../types';\nimport { isFunction } from '../util/isFunction';\n\n/**\n * Creates an observable that will create an error instance and push it to the consumer as an error\n * immediately upon subscription.\n *\n * <span class=\"informal\">Just errors and does nothing else</span>\n *\n * ![](throw.png)\n *\n * This creation function is useful for creating an observable that will create an error and error every\n * time it is subscribed to. Generally, inside of most operators when you might want to return an errored\n * observable, this is unnecessary. In most cases, such as in the inner return of {@link concatMap},\n * {@link mergeMap}, {@link defer}, and many others, you can simply throw the error, and RxJS will pick\n * that up and notify the consumer of the error.\n *\n * ## Example\n *\n * Create a simple observable that will create a new error with a timestamp and log it\n * and the message every time you subscribe to it\n *\n * ```ts\n * import { throwError } from 'rxjs';\n *\n * let errorCount = 0;\n *\n * const errorWithTimestamp$ = throwError(() => {\n *   const error: any = new Error(`This is error number ${ ++errorCount }`);\n *   error.timestamp = Date.now();\n *   return error;\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * errorWithTimestamp$.subscribe({\n *   error: err => console.log(err.timestamp, err.message)\n * });\n *\n * // Logs the timestamp and a new error message for each subscription\n * ```\n *\n * ### Unnecessary usage\n *\n * Using `throwError` inside of an operator or creation function\n * with a callback, is usually not necessary\n *\n * ```ts\n * import { of, concatMap, timer, throwError } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // This is probably overkill.\n *       return throwError(() => new Error(`Invalid time ${ ms }`));\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * You can just throw the error instead\n *\n * ```ts\n * import { of, concatMap, timer } from 'rxjs';\n *\n * const delays$ = of(1000, 2000, Infinity, 3000);\n *\n * delays$.pipe(\n *   concatMap(ms => {\n *     if (ms < 10000) {\n *       return timer(ms);\n *     } else {\n *       // Cleaner and easier to read for most folks.\n *       throw new Error(`Invalid time ${ ms }`);\n *     }\n *   })\n * )\n * .subscribe({\n *   next: console.log,\n *   error: console.error\n * });\n * ```\n *\n * @param errorFactory A factory function that will create the error instance that is pushed.\n */\nexport function throwError(errorFactory: () => any): Observable<never>;\n\n/**\n * Returns an observable that will error with the specified error immediately upon subscription.\n *\n * @param error The error instance to emit\n * @deprecated Support for passing an error value will be removed in v8. Instead, pass a factory function to `throwError(() => new Error('test'))`. This is\n * because it will create the error at the moment it should be created and capture a more appropriate stack trace. If\n * for some reason you need to create the error ahead of time, you can still do that: `const err = new Error('test'); throwError(() => err);`.\n */\nexport function throwError(error: any): Observable<never>;\n\n/**\n * Notifies the consumer of an error using a given scheduler by scheduling it at delay `0` upon subscription.\n *\n * @param errorOrErrorFactory An error instance or error factory\n * @param scheduler A scheduler to use to schedule the error notification\n * @deprecated The `scheduler` parameter will be removed in v8.\n * Use `throwError` in combination with {@link observeOn}: `throwError(() => new Error('test')).pipe(observeOn(scheduler));`.\n * Details: https://rxjs.dev/deprecations/scheduler-argument\n */\nexport function throwError(errorOrErrorFactory: any, scheduler: SchedulerLike): Observable<never>;\n\nexport function throwError(errorOrErrorFactory: any, scheduler?: SchedulerLike): Observable<never> {\n  const errorFactory = isFunction(errorOrErrorFactory) ? errorOrErrorFactory : () => errorOrErrorFactory;\n  const init = (subscriber: Subscriber<never>) => subscriber.error(errorFactory());\n  return new Observable(scheduler ? (subscriber) => scheduler.schedule(init as any, 0, subscriber) : init);\n}\n", "import { createErrorClass } from './createErrorClass';\n\nexport interface EmptyError extends Error {}\n\nexport interface EmptyErrorCtor {\n  /**\n   * @deprecated Internal implementation detail. Do not construct error instances.\n   * Cannot be tagged as internal: https://github.com/ReactiveX/rxjs/issues/6269\n   */\n  new (): EmptyError;\n}\n\n/**\n * An error thrown when an Observable or a sequence was queried but has no\n * elements.\n *\n * @see {@link first}\n * @see {@link last}\n * @see {@link single}\n * @see {@link firstValueFrom}\n * @see {@link lastValueFrom}\n *\n * @class EmptyError\n */\nexport const EmptyError: EmptyErrorCtor = createErrorClass((_super) => function EmptyErrorImpl(this: any) {\n  _super(this);\n  this.name = 'EmptyError';\n  this.message = 'no elements in sequence';\n});\n", "/**\n * Checks to see if a value is not only a `Date` object,\n * but a *valid* `Date` object that can be converted to a\n * number. For example, `new Date('blah')` is indeed an\n * `instanceof Date`, however it cannot be converted to a\n * number.\n */\nexport function isValidDate(value: any): value is Date {\n  return value instanceof Date && !isNaN(value as any);\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function map<T, R>(project: (value: T, index: number) => R): OperatorFunction<T, R>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function map<T, R, A>(project: (this: A, value: T, index: number) => R, thisArg: A): OperatorFunction<T, R>;\n\n/**\n * Applies a given `project` function to each value emitted by the source\n * Observable, and emits the resulting values as an Observable.\n *\n * <span class=\"informal\">Like [Array.prototype.map()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/map),\n * it passes each source value through a transformation function to get\n * corresponding output values.</span>\n *\n * ![](map.png)\n *\n * Similar to the well known `Array.prototype.map` function, this operator\n * applies a projection to each value and emits that projection in the output\n * Observable.\n *\n * ## Example\n *\n * Map every click to the `clientX` position of that click\n *\n * ```ts\n * import { fromEvent, map } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const positions = clicks.pipe(map(ev => ev.clientX));\n *\n * positions.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link mapTo}\n * @see {@link pluck}\n *\n * @param {function(value: T, index: number): R} project The function to apply\n * to each `value` emitted by the source Observable. The `index` parameter is\n * the number `i` for the i-th emission that has happened since the\n * subscription, starting from the number `0`.\n * @param {any} [thisArg] An optional argument to define what `this` is in the\n * `project` function.\n * @return A function that returns an Observable that emits the values from the\n * source Observable transformed by the given `project` function.\n */\nexport function map<T, R>(project: (value: T, index: number) => R, thisArg?: any): OperatorFunction<T, R> {\n  return operate((source, subscriber) => {\n    // The index of the value from the source. Used with projection.\n    let index = 0;\n    // Subscribe to the source, all errors and completions are sent along\n    // to the consumer.\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value: T) => {\n        // Call the projection function with the appropriate this context,\n        // and send the resulting value to the consumer.\n        subscriber.next(project.call(thisArg, value, index++));\n      })\n    );\n  });\n}\n", "import { OperatorFunction } from \"../types\";\nimport { map } from \"../operators/map\";\n\nconst { isArray } = Array;\n\nfunction callOrApply<T, R>(fn: ((...values: T[]) => R), args: T|T[]): R {\n    return isArray(args) ? fn(...args) : fn(args);\n}\n\n/**\n * Used in several -- mostly deprecated -- situations where we need to \n * apply a list of arguments or a single argument to a result selector.\n */\nexport function mapOneOrManyArgs<T, R>(fn: ((...values: T[]) => R)): OperatorFunction<T|T[], R> {\n    return map(args => callOrApply(fn, args))\n}", "const { isArray } = Array;\nconst { getPrototypeOf, prototype: objectProto, keys: getKeys } = Object;\n\n/**\n * Used in functions where either a list of arguments, a single array of arguments, or a\n * dictionary of arguments can be returned. Returns an object with an `args` property with\n * the arguments in an array, if it is a dictionary, it will also return the `keys` in another\n * property.\n */\nexport function argsArgArrayOrObject<T, O extends Record<string, T>>(args: T[] | [O] | [T[]]): { args: T[]; keys: string[] | null } {\n  if (args.length === 1) {\n    const first = args[0];\n    if (isArray(first)) {\n      return { args: first, keys: null };\n    }\n    if (isPOJO(first)) {\n      const keys = getKeys(first);\n      return {\n        args: keys.map((key) => first[key]),\n        keys,\n      };\n    }\n  }\n\n  return { args: args as T[], keys: null };\n}\n\nfunction isPOJO(obj: any): obj is object {\n  return obj && typeof obj === 'object' && getPrototypeOf(obj) === objectProto;\n}\n", "export function createObject(keys: string[], values: any[]) {\n  return keys.reduce((result, key, i) => ((result[key] = values[i]), result), {} as any);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, SchedulerLike, ObservedValueOf, ObservableInputTuple } from '../types';\nimport { argsArgArrayOrObject } from '../util/argsArgArrayOrObject';\nimport { Subscriber } from '../Subscriber';\nimport { from } from './from';\nimport { identity } from '../util/identity';\nimport { Subscription } from '../Subscription';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { popResultSelector, popScheduler } from '../util/args';\nimport { createObject } from '../util/createObject';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { AnyCatcher } from '../AnyCatcher';\nimport { executeSchedule } from '../util/executeSchedule';\n\n// combineLatest(any)\n// We put this first because we need to catch cases where the user has supplied\n// _exactly `any`_ as the argument. Since `any` literally matches _anything_,\n// we don't want it to randomly hit one of the other type signatures below,\n// as we have no idea at build-time what type we should be returning when given an any.\n\n/**\n * You have passed `any` here, we can't figure out if it is\n * an array or an object, so you're getting `unknown`. Use better types.\n * @param arg Something typed as `any`\n */\nexport function combineLatest<T extends AnyCatcher>(arg: T): Observable<unknown>;\n\n// combineLatest([a, b, c])\nexport function combineLatest(sources: []): Observable<never>;\nexport function combineLatest<A extends readonly unknown[]>(sources: readonly [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R,\n  scheduler: SchedulerLike\n): Observable<R>;\nexport function combineLatest<A extends readonly unknown[], R>(\n  sources: readonly [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  sources: readonly [...ObservableInputTuple<A>],\n  scheduler: SchedulerLike\n): Observable<A>;\n\n// combineLatest(a, b, c)\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelectorAndScheduler: [...ObservableInputTuple<A>, (...values: A) => R, SchedulerLike]\n): Observable<R>;\n/** @deprecated Pass an array of sources instead. The rest-parameters signature will be removed in v8. Details: https://rxjs.dev/deprecations/array-argument */\nexport function combineLatest<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `combineLatestAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function combineLatest<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): Observable<A>;\n\n// combineLatest({a, b, c})\nexport function combineLatest(sourcesObject: { [K in any]: never }): Observable<never>;\nexport function combineLatest<T extends Record<string, ObservableInput<any>>>(\n  sourcesObject: T\n): Observable<{ [K in keyof T]: ObservedValueOf<T[K]> }>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are\n * calculated from the latest values of each of its input Observables.\n *\n * <span class=\"informal\">Whenever any input Observable emits a value, it\n * computes a formula using the latest values from all the inputs, then emits\n * the output of that formula.</span>\n *\n * ![](combineLatest.png)\n *\n * `combineLatest` combines the values from all the Observables passed in the\n * observables array. This is done by subscribing to each Observable in order and,\n * whenever any Observable emits, collecting an array of the most recent\n * values from each Observable. So if you pass `n` Observables to this operator,\n * the returned Observable will always emit an array of `n` values, in an order\n * corresponding to the order of the passed Observables (the value from the first Observable\n * will be at index 0 of the array and so on).\n *\n * Static version of `combineLatest` accepts an array of Observables. Note that an array of\n * Observables is a good choice, if you don't know beforehand how many Observables\n * you will combine. Passing an empty array will result in an Observable that\n * completes immediately.\n *\n * To ensure the output array always has the same length, `combineLatest` will\n * actually wait for all input Observables to emit at least once,\n * before it starts emitting results. This means if some Observable emits\n * values before other Observables started emitting, all these values but the last\n * will be lost. On the other hand, if some Observable does not emit a value but\n * completes, resulting Observable will complete at the same moment without\n * emitting anything, since it will now be impossible to include a value from the\n * completed Observable in the resulting array. Also, if some input Observable does\n * not emit any value and never completes, `combineLatest` will also never emit\n * and never complete, since, again, it will wait for all streams to emit some\n * value.\n *\n * If at least one Observable was passed to `combineLatest` and all passed Observables\n * emitted something, the resulting Observable will complete when all combined\n * streams complete. So even if some Observable completes, the result of\n * `combineLatest` will still emit values when other Observables do. In case\n * of a completed Observable, its value from now on will always be the last\n * emitted value. On the other hand, if any Observable errors, `combineLatest`\n * will error immediately as well, and all other Observables will be unsubscribed.\n *\n * ## Examples\n *\n * Combine two timer Observables\n *\n * ```ts\n * import { timer, combineLatest } from 'rxjs';\n *\n * const firstTimer = timer(0, 1000); // emit 0, 1, 2... after every second, starting from now\n * const secondTimer = timer(500, 1000); // emit 0, 1, 2... after every second, starting 0,5s from now\n * const combinedTimers = combineLatest([firstTimer, secondTimer]);\n * combinedTimers.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0] after 0.5s\n * // [1, 0] after 1s\n * // [1, 1] after 1.5s\n * // [2, 1] after 2s\n * ```\n *\n * Combine a dictionary of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = {\n *   a: of(1).pipe(delay(1000), startWith(0)),\n *   b: of(5).pipe(delay(5000), startWith(0)),\n *   c: of(10).pipe(delay(10000), startWith(0))\n * };\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // { a: 0, b: 0, c: 0 } immediately\n * // { a: 1, b: 0, c: 0 } after 1s\n * // { a: 1, b: 5, c: 0 } after 5s\n * // { a: 1, b: 5, c: 10 } after 10s\n * ```\n *\n * Combine an array of Observables\n *\n * ```ts\n * import { of, delay, startWith, combineLatest } from 'rxjs';\n *\n * const observables = [1, 5, 10].map(\n *   n => of(n).pipe(\n *     delay(n * 1000), // emit 0 and then emit n after n seconds\n *     startWith(0)\n *   )\n * );\n * const combined = combineLatest(observables);\n * combined.subscribe(value => console.log(value));\n * // Logs\n * // [0, 0, 0] immediately\n * // [1, 0, 0] after 1s\n * // [1, 5, 0] after 5s\n * // [1, 5, 10] after 10s\n * ```\n *\n * Use map operator to dynamically calculate the Body-Mass Index\n *\n * ```ts\n * import { of, combineLatest, map } from 'rxjs';\n *\n * const weight = of(70, 72, 76, 79, 75);\n * const height = of(1.76, 1.77, 1.78);\n * const bmi = combineLatest([weight, height]).pipe(\n *   map(([w, h]) => w / (h * h)),\n * );\n * bmi.subscribe(x => console.log('BMI is ' + x));\n *\n * // With output to console:\n * // BMI is 24.212293388429753\n * // BMI is 23.93948099205209\n * // BMI is 23.671253629592222\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link merge}\n * @see {@link withLatestFrom}\n *\n * @param {ObservableInput} [observables] An array of input Observables to combine with each other.\n * An array of Observables must be given as the first argument.\n * @param {function} [project] An optional function to project the values from\n * the combined latest values into a new value on the output Observable.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for subscribing to\n * each input Observable.\n * @return {Observable} An Observable of projected values from the most recent\n * values from each input Observable, or an array of the most recent values from\n * each input Observable.\n */\nexport function combineLatest<O extends ObservableInput<any>, R>(...args: any[]): Observable<R> | Observable<ObservedValueOf<O>[]> {\n  const scheduler = popScheduler(args);\n  const resultSelector = popResultSelector(args);\n\n  const { args: observables, keys } = argsArgArrayOrObject(args);\n\n  if (observables.length === 0) {\n    // If no observables are passed, or someone has passed an empty array\n    // of observables, or even an empty object POJO, we need to just\n    // complete (EMPTY), but we have to honor the scheduler provided if any.\n    return from([], scheduler as any);\n  }\n\n  const result = new Observable<ObservedValueOf<O>[]>(\n    combineLatestInit(\n      observables as ObservableInput<ObservedValueOf<O>>[],\n      scheduler,\n      keys\n        ? // A handler for scrubbing the array of args into a dictionary.\n          (values) => createObject(keys, values)\n        : // A passthrough to just return the array\n          identity\n    )\n  );\n\n  return resultSelector ? (result.pipe(mapOneOrManyArgs(resultSelector)) as Observable<R>) : result;\n}\n\nexport function combineLatestInit(\n  observables: ObservableInput<any>[],\n  scheduler?: SchedulerLike,\n  valueTransform: (values: any[]) => any = identity\n) {\n  return (subscriber: Subscriber<any>) => {\n    // The outer subscription. We're capturing this in a function\n    // because we may have to schedule it.\n    maybeSchedule(\n      scheduler,\n      () => {\n        const { length } = observables;\n        // A store for the values each observable has emitted so far. We match observable to value on index.\n        const values = new Array(length);\n        // The number of currently active subscriptions, as they complete, we decrement this number to see if\n        // we are all done combining values, so we can complete the result.\n        let active = length;\n        // The number of inner sources that still haven't emitted the first value\n        // We need to track this because all sources need to emit one value in order\n        // to start emitting values.\n        let remainingFirstValues = length;\n        // The loop to kick off subscription. We're keying everything on index `i` to relate the observables passed\n        // in to the slot in the output array or the key in the array of keys in the output dictionary.\n        for (let i = 0; i < length; i++) {\n          maybeSchedule(\n            scheduler,\n            () => {\n              const source = from(observables[i], scheduler as any);\n              let hasFirstValue = false;\n              source.subscribe(\n                createOperatorSubscriber(\n                  subscriber,\n                  (value) => {\n                    // When we get a value, record it in our set of values.\n                    values[i] = value;\n                    if (!hasFirstValue) {\n                      // If this is our first value, record that.\n                      hasFirstValue = true;\n                      remainingFirstValues--;\n                    }\n                    if (!remainingFirstValues) {\n                      // We're not waiting for any more\n                      // first values, so we can emit!\n                      subscriber.next(valueTransform(values.slice()));\n                    }\n                  },\n                  () => {\n                    if (!--active) {\n                      // We only complete the result if we have no more active\n                      // inner observables.\n                      subscriber.complete();\n                    }\n                  }\n                )\n              );\n            },\n            subscriber\n          );\n        }\n      },\n      subscriber\n    );\n  };\n}\n\n/**\n * A small utility to handle the couple of locations where we want to schedule if a scheduler was provided,\n * but we don't if there was no scheduler.\n */\nfunction maybeSchedule(scheduler: SchedulerLike | undefined, execute: () => void, subscription: Subscription) {\n  if (scheduler) {\n    executeSchedule(subscription, scheduler, execute);\n  } else {\n    execute();\n  }\n}\n", "import { Observable } from '../Observable';\nimport { innerFrom } from '../observable/innerFrom';\nimport { Subscriber } from '../Subscriber';\nimport { ObservableInput, SchedulerLike } from '../types';\nimport { executeSchedule } from '../util/executeSchedule';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A process embodying the general \"merge\" strategy. This is used in\n * `mergeMap` and `mergeScan` because the logic is otherwise nearly identical.\n * @param source The original source observable\n * @param subscriber The consumer subscriber\n * @param project The projection function to get our inner sources\n * @param concurrent The number of concurrent inner subscriptions\n * @param onBeforeNext Additional logic to apply before nexting to our consumer\n * @param expand If `true` this will perform an \"expand\" strategy, which differs only\n * in that it recurses, and the inner subscription must be schedule-able.\n * @param innerSubScheduler A scheduler to use to schedule inner subscriptions,\n * this is to support the expand strategy, mostly, and should be deprecated\n */\nexport function mergeInternals<T, R>(\n  source: Observable<T>,\n  subscriber: Subscriber<R>,\n  project: (value: T, index: number) => ObservableInput<R>,\n  concurrent: number,\n  onBeforeNext?: (innerValue: R) => void,\n  expand?: boolean,\n  innerSubScheduler?: SchedulerLike,\n  additionalFinalizer?: () => void\n) {\n  // Buffered values, in the event of going over our concurrency limit\n  const buffer: T[] = [];\n  // The number of active inner subscriptions.\n  let active = 0;\n  // An index to pass to our accumulator function\n  let index = 0;\n  // Whether or not the outer source has completed.\n  let isComplete = false;\n\n  /**\n   * Checks to see if we can complete our result or not.\n   */\n  const checkComplete = () => {\n    // If the outer has completed, and nothing is left in the buffer,\n    // and we don't have any active inner subscriptions, then we can\n    // Emit the state and complete.\n    if (isComplete && !buffer.length && !active) {\n      subscriber.complete();\n    }\n  };\n\n  // If we're under our concurrency limit, just start the inner subscription, otherwise buffer and wait.\n  const outerNext = (value: T) => (active < concurrent ? doInnerSub(value) : buffer.push(value));\n\n  const doInnerSub = (value: T) => {\n    // If we're expanding, we need to emit the outer values and the inner values\n    // as the inners will \"become outers\" in a way as they are recursively fed\n    // back to the projection mechanism.\n    expand && subscriber.next(value as any);\n\n    // Increment the number of active subscriptions so we can track it\n    // against our concurrency limit later.\n    active++;\n\n    // A flag used to show that the inner observable completed.\n    // This is checked during finalization to see if we should\n    // move to the next item in the buffer, if there is on.\n    let innerComplete = false;\n\n    // Start our inner subscription.\n    innerFrom(project(value, index++)).subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (innerValue) => {\n          // `mergeScan` has additional handling here. For example\n          // taking the inner value and updating state.\n          onBeforeNext?.(innerValue);\n\n          if (expand) {\n            // If we're expanding, then just recurse back to our outer\n            // handler. It will emit the value first thing.\n            outerNext(innerValue as any);\n          } else {\n            // Otherwise, emit the inner value.\n            subscriber.next(innerValue);\n          }\n        },\n        () => {\n          // Flag that we have completed, so we know to check the buffer\n          // during finalization.\n          innerComplete = true;\n        },\n        // Errors are passed to the destination.\n        undefined,\n        () => {\n          // During finalization, if the inner completed (it wasn't errored or\n          // cancelled), then we want to try the next item in the buffer if\n          // there is one.\n          if (innerComplete) {\n            // We have to wrap this in a try/catch because it happens during\n            // finalization, possibly asynchronously, and we want to pass\n            // any errors that happen (like in a projection function) to\n            // the outer Subscriber.\n            try {\n              // INNER SOURCE COMPLETE\n              // Decrement the active count to ensure that the next time\n              // we try to call `doInnerSub`, the number is accurate.\n              active--;\n              // If we have more values in the buffer, try to process those\n              // Note that this call will increment `active` ahead of the\n              // next conditional, if there were any more inner subscriptions\n              // to start.\n              while (buffer.length && active < concurrent) {\n                const bufferedValue = buffer.shift()!;\n                // Particularly for `expand`, we need to check to see if a scheduler was provided\n                // for when we want to start our inner subscription. Otherwise, we just start\n                // are next inner subscription.\n                if (innerSubScheduler) {\n                  executeSchedule(subscriber, innerSubScheduler, () => doInnerSub(bufferedValue));\n                } else {\n                  doInnerSub(bufferedValue);\n                }\n              }\n              // Check to see if we can complete, and complete if so.\n              checkComplete();\n            } catch (err) {\n              subscriber.error(err);\n            }\n          }\n        }\n      )\n    );\n  };\n\n  // Subscribe to our source observable.\n  source.subscribe(\n    createOperatorSubscriber(subscriber, outerNext, () => {\n      // Outer completed, make a note of it, and check to see if we can complete everything.\n      isComplete = true;\n      checkComplete();\n    })\n  );\n\n  // Additional finalization (for when the destination is torn down).\n  // Other finalization is added implicitly via subscription above.\n  return () => {\n    additionalFinalizer?.();\n  };\n}\n", "import { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { map } from './map';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { mergeInternals } from './mergeInternals';\nimport { isFunction } from '../util/isFunction';\n\n/* tslint:disable:max-line-length */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined,\n  concurrent?: number\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R,\n  concurrent?: number\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link mergeAll}.</span>\n *\n * ![](mergeMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an Observable, and then merging those resulting Observables and\n * emitting the results of this merger.\n *\n * ## Example\n *\n * Map and flatten each letter to an Observable ticking every 1 second\n *\n * ```ts\n * import { of, mergeMap, interval, map } from 'rxjs';\n *\n * const letters = of('a', 'b', 'c');\n * const result = letters.pipe(\n *   mergeMap(x => interval(1000).pipe(map(i => x + i)))\n * );\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // a0\n * // b0\n * // c0\n * // a1\n * // b1\n * // c1\n * // continues to list a, b, c every second with respective ascending integers\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link merge}\n * @see {@link mergeAll}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchMap}\n *\n * @param {function(value: T, ?index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and merging\n * the results of the Observables obtained from this transformation.\n */\nexport function mergeMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: ((outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R) | number,\n  concurrent: number = Infinity\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  if (isFunction(resultSelector)) {\n    // DEPRECATED PATH\n    return mergeMap((a, i) => map((b: any, ii: number) => resultSelector(a, b, i, ii))(innerFrom(project(a, i))), concurrent);\n  } else if (typeof resultSelector === 'number') {\n    concurrent = resultSelector;\n  }\n\n  return operate((source, subscriber) => mergeInternals(source, subscriber, project, concurrent));\n}\n", "import { mergeMap } from './mergeMap';\nimport { identity } from '../util/identity';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable which\n * concurrently delivers all values that are emitted on the inner Observables.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables.</span>\n *\n * ![](mergeAll.png)\n *\n * `mergeAll` subscribes to an Observable that emits Observables, also known as\n * a higher-order Observable. Each time it observes one of these emitted inner\n * Observables, it subscribes to that and delivers all the values from the\n * inner Observable on the output Observable. The output Observable only\n * completes once all inner Observables have completed. Any error delivered by\n * a inner Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Spawn a new interval Observable for each click event, and blend their outputs as one Observable\n *\n * ```ts\n * import { fromEvent, map, interval, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(map(() => interval(1000)));\n * const firstOrder = higherOrder.pipe(mergeAll());\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * Count from 0 to 9 every second for each click, but only allow 2 concurrent timers\n *\n * ```ts\n * import { fromEvent, map, interval, take, mergeAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(10)))\n * );\n * const firstOrder = higherOrder.pipe(mergeAll(2));\n *\n * firstOrder.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concatAll}\n * @see {@link exhaustAll}\n * @see {@link merge}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @param {number} [concurrent=Infinity] Maximum number of inner\n * Observables being subscribed to concurrently.\n * @return A function that returns an Observable that emits values coming from\n * all the inner Observables emitted by the source Observable.\n */\nexport function mergeAll<O extends ObservableInput<any>>(concurrent: number = Infinity): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeMap(identity, concurrent);\n}\n", "import { mergeAll } from './mergeAll';\nimport { OperatorFunction, ObservableInput, ObservedValueOf } from '../types';\n\n/**\n * Converts a higher-order Observable into a first-order Observable by\n * concatenating the inner Observables in order.\n *\n * <span class=\"informal\">Flattens an Observable-of-Observables by putting one\n * inner Observable after the other.</span>\n *\n * ![](concatAll.svg)\n *\n * Joins every Observable emitted by the source (a higher-order Observable), in\n * a serial fashion. It subscribes to each inner Observable only after the\n * previous inner Observable has completed, and merges all of their values into\n * the returned observable.\n *\n * __Warning:__ If the source Observable emits Observables quickly and\n * endlessly, and the inner Observables it emits generally complete slower than\n * the source emits, you can run into memory issues as the incoming Observables\n * collect in an unbounded buffer.\n *\n * Note: `concatAll` is equivalent to `mergeAll` with concurrency parameter set\n * to `1`.\n *\n * ## Example\n *\n * For each click event, tick every second from 0 to 3, with no concurrency\n *\n * ```ts\n * import { fromEvent, map, interval, take, concatAll } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const higherOrder = clicks.pipe(\n *   map(() => interval(1000).pipe(take(4)))\n * );\n * const firstOrder = higherOrder.pipe(concatAll());\n * firstOrder.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // (results are not concurrent)\n * // For every click on the \"document\" it will emit values 0 to 3 spaced\n * // on a 1000ms interval\n * // one click = 1000ms-> 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3\n * ```\n *\n * @see {@link combineLatestAll}\n * @see {@link concat}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link exhaustAll}\n * @see {@link mergeAll}\n * @see {@link switchAll}\n * @see {@link switchMap}\n * @see {@link zipAll}\n *\n * @return A function that returns an Observable emitting values from all the\n * inner Observables concatenated.\n */\nexport function concatAll<O extends ObservableInput<any>>(): OperatorFunction<O, ObservedValueOf<O>> {\n  return mergeAll(1);\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple, SchedulerLike } from '../types';\nimport { concatAll } from '../operators/concatAll';\nimport { popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function concat<T extends readonly unknown[]>(...inputs: [...ObservableInputTuple<T>]): Observable<T[number]>;\nexport function concat<T extends readonly unknown[]>(\n  ...inputsAndScheduler: [...ObservableInputTuple<T>, SchedulerLike]\n): Observable<T[number]>;\n\n/**\n * Creates an output Observable which sequentially emits all values from the first given\n * Observable and then moves on to the next.\n *\n * <span class=\"informal\">Concatenates multiple Observables together by\n * sequentially emitting their values, one Observable after the other.</span>\n *\n * ![](concat.png)\n *\n * `concat` joins multiple Observables together, by subscribing to them one at a time and\n * merging their results into the output Observable. You can pass either an array of\n * Observables, or put them directly as arguments. Passing an empty array will result\n * in Observable that completes immediately.\n *\n * `concat` will subscribe to first input Observable and emit all its values, without\n * changing or affecting them in any way. When that Observable completes, it will\n * subscribe to then next Observable passed and, again, emit its values. This will be\n * repeated, until the operator runs out of Observables. When last input Observable completes,\n * `concat` will complete as well. At any given moment only one Observable passed to operator\n * emits values. If you would like to emit values from passed Observables concurrently, check out\n * {@link merge} instead, especially with optional `concurrent` parameter. As a matter of fact,\n * `concat` is an equivalent of `merge` operator with `concurrent` parameter set to `1`.\n *\n * Note that if some input Observable never completes, `concat` will also never complete\n * and Observables following the one that did not complete will never be subscribed. On the other\n * hand, if some Observable simply completes immediately after it is subscribed, it will be\n * invisible for `concat`, which will just move on to the next Observable.\n *\n * If any Observable in chain errors, instead of passing control to the next Observable,\n * `concat` will error immediately as well. Observables that would be subscribed after\n * the one that emitted error, never will.\n *\n * If you pass to `concat` the same Observable many times, its stream of values\n * will be \"replayed\" on every subscription, which means you can repeat given Observable\n * as many times as you like. If passing the same Observable to `concat` 1000 times becomes tedious,\n * you can always use {@link repeat}.\n *\n * ## Examples\n *\n * Concatenate a timer counting from 0 to 3 with a synchronous sequence from 1 to 10\n *\n * ```ts\n * import { interval, take, range, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(4));\n * const sequence = range(1, 10);\n * const result = concat(timer, sequence);\n * result.subscribe(x => console.log(x));\n *\n * // results in:\n * // 0 -1000ms-> 1 -1000ms-> 2 -1000ms-> 3 -immediate-> 1 ... 10\n * ```\n *\n * Concatenate 3 Observables\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const result = concat(timer1, timer2, timer3);\n * result.subscribe(x => console.log(x));\n *\n * // results in the following:\n * // (Prints to console sequentially)\n * // -1000ms-> 0 -1000ms-> 1 -1000ms-> ... 9\n * // -2000ms-> 0 -2000ms-> 1 -2000ms-> ... 5\n * // -500ms-> 0 -500ms-> 1 -500ms-> ... 9\n * ```\n *\n * Concatenate the same Observable to repeat it\n *\n * ```ts\n * import { interval, take, concat } from 'rxjs';\n *\n * const timer = interval(1000).pipe(take(2));\n *\n * concat(timer, timer) // concatenating the same Observable!\n *   .subscribe({\n *     next: value => console.log(value),\n *     complete: () => console.log('...and it is done!')\n *   });\n *\n * // Logs:\n * // 0 after 1s\n * // 1 after 2s\n * // 0 after 3s\n * // 1 after 4s\n * // '...and it is done!' also after 4s\n * ```\n *\n * @see {@link concatAll}\n * @see {@link concatMap}\n * @see {@link concatMapTo}\n * @see {@link startWith}\n * @see {@link endWith}\n *\n * @param args Input Observables to concatenate.\n */\nexport function concat(...args: any[]): Observable<unknown> {\n  return concatAll()(from(args, popScheduler(args)));\n}\n", "import { Observable } from '../Observable';\nimport { ObservedValueOf, ObservableInput } from '../types';\nimport { innerFrom } from './innerFrom';\n\n/**\n * Creates an Observable that, on subscribe, calls an Observable factory to\n * make an Observable for each new Observer.\n *\n * <span class=\"informal\">Creates the Observable lazily, that is, only when it\n * is subscribed.\n * </span>\n *\n * ![](defer.png)\n *\n * `defer` allows you to create an Observable only when the Observer\n * subscribes. It waits until an Observer subscribes to it, calls the given\n * factory function to get an Observable -- where a factory function typically\n * generates a new Observable -- and subscribes the Observer to this Observable.\n * In case the factory function returns a falsy value, then EMPTY is used as\n * Observable instead. Last but not least, an exception during the factory\n * function call is transferred to the Observer by calling `error`.\n *\n * ## Example\n *\n * Subscribe to either an Observable of clicks or an Observable of interval, at random\n *\n * ```ts\n * import { defer, fromEvent, interval } from 'rxjs';\n *\n * const clicksOrInterval = defer(() => {\n *   return Math.random() > 0.5\n *     ? fromEvent(document, 'click')\n *     : interval(1000);\n * });\n * clicksOrInterval.subscribe(x => console.log(x));\n *\n * // Results in the following behavior:\n * // If the result of Math.random() is greater than 0.5 it will listen\n * // for clicks anywhere on the \"document\"; when document is clicked it\n * // will log a MouseEvent object to the console. If the result is less\n * // than 0.5 it will emit ascending numbers, one every second(1000ms).\n * ```\n *\n * @see {@link Observable}\n *\n * @param {function(): ObservableInput} observableFactory The Observable\n * factory function to invoke for each Observer that subscribes to the output\n * Observable. May also return a Promise, which will be converted on the fly\n * to an Observable.\n * @return {Observable} An Observable whose Observers' subscriptions trigger\n * an invocation of the given Observable factory function.\n */\nexport function defer<R extends ObservableInput<any>>(observableFactory: () => R): Observable<ObservedValueOf<R>> {\n  return new Observable<ObservedValueOf<R>>((subscriber) => {\n    innerFrom(observableFactory()).subscribe(subscriber);\n  });\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Observable } from '../Observable';\nimport { mergeMap } from '../operators/mergeMap';\nimport { isArrayLike } from '../util/isArrayLike';\nimport { isFunction } from '../util/isFunction';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n// These constants are used to create handler registry functions using array mapping below.\nconst nodeEventEmitterMethods = ['addListener', 'removeListener'] as const;\nconst eventTargetMethods = ['addEventListener', 'removeEventListener'] as const;\nconst jqueryMethods = ['on', 'off'] as const;\n\nexport interface NodeStyleEventEmitter {\n  addListener(eventName: string | symbol, handler: NodeEventHandler): this;\n  removeListener(eventName: string | symbol, handler: NodeEventHandler): this;\n}\n\nexport type NodeEventHandler = (...args: any[]) => void;\n\n// For APIs that implement `addListener` and `removeListener` methods that may\n// not use the same arguments or return EventEmitter values\n// such as React Native\nexport interface NodeCompatibleEventEmitter {\n  addListener(eventName: string, handler: NodeEventHandler): void | {};\n  removeListener(eventName: string, handler: NodeEventHandler): void | {};\n}\n\n// Use handler types like those in @types/jquery. See:\n// https://github.com/DefinitelyTyped/DefinitelyTyped/blob/847731ba1d7fa6db6b911c0e43aa0afe596e7723/types/jquery/misc.d.ts#L6395\nexport interface JQueryStyleEventEmitter<TContext, T> {\n  on(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n  off(eventName: string, handler: (this: TContext, t: T, ...args: any[]) => any): void;\n}\n\nexport interface EventListenerObject<E> {\n  handleEvent(evt: E): void;\n}\n\nexport interface HasEventTargetAddRemove<E> {\n  addEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: boolean | AddEventListenerOptions\n  ): void;\n  removeEventListener(\n    type: string,\n    listener: ((evt: E) => void) | EventListenerObject<E> | null,\n    options?: EventListenerOptions | boolean\n  ): void;\n}\n\nexport interface EventListenerOptions {\n  capture?: boolean;\n  passive?: boolean;\n  once?: boolean;\n}\n\nexport interface AddEventListenerOptions extends EventListenerOptions {\n  once?: boolean;\n  passive?: boolean;\n}\n\nexport function fromEvent<T>(target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>, eventName: string): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  resultSelector: (event: T) => R\n): Observable<R>;\nexport function fromEvent<T>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: HasEventTargetAddRemove<T> | ArrayLike<HasEventTargetAddRemove<T>>,\n  eventName: string,\n  options: EventListenerOptions,\n  resultSelector: (event: T) => R\n): Observable<R>;\n\nexport function fromEvent(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeStyleEventEmitter | ArrayLike<NodeStyleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string\n): Observable<unknown>;\n/** @deprecated Do not specify explicit type parameters. Signatures with type parameters that cannot be inferred will be removed in v8. */\nexport function fromEvent<T>(target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>, eventName: string): Observable<T>;\nexport function fromEvent<R>(\n  target: NodeCompatibleEventEmitter | ArrayLike<NodeCompatibleEventEmitter>,\n  eventName: string,\n  resultSelector: (...args: any[]) => R\n): Observable<R>;\n\nexport function fromEvent<T>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string\n): Observable<T>;\nexport function fromEvent<T, R>(\n  target: JQueryStyleEventEmitter<any, T> | ArrayLike<JQueryStyleEventEmitter<any, T>>,\n  eventName: string,\n  resultSelector: (value: T, ...args: any[]) => R\n): Observable<R>;\n\n/**\n * Creates an Observable that emits events of a specific type coming from the\n * given event target.\n *\n * <span class=\"informal\">Creates an Observable from DOM events, or Node.js\n * EventEmitter events or others.</span>\n *\n * ![](fromEvent.png)\n *\n * `fromEvent` accepts as a first argument event target, which is an object with methods\n * for registering event handler functions. As a second argument it takes string that indicates\n * type of event we want to listen for. `fromEvent` supports selected types of event targets,\n * which are described in detail below. If your event target does not match any of the ones listed,\n * you should use {@link fromEventPattern}, which can be used on arbitrary APIs.\n * When it comes to APIs supported by `fromEvent`, their methods for adding and removing event\n * handler functions have different names, but they all accept a string describing event type\n * and function itself, which will be called whenever said event happens.\n *\n * Every time resulting Observable is subscribed, event handler function will be registered\n * to event target on given event type. When that event fires, value\n * passed as a first argument to registered function will be emitted by output Observable.\n * When Observable is unsubscribed, function will be unregistered from event target.\n *\n * Note that if event target calls registered function with more than one argument, second\n * and following arguments will not appear in resulting stream. In order to get access to them,\n * you can pass to `fromEvent` optional project function, which will be called with all arguments\n * passed to event handler. Output Observable will then emit value returned by project function,\n * instead of the usual value.\n *\n * Remember that event targets listed below are checked via duck typing. It means that\n * no matter what kind of object you have and no matter what environment you work in,\n * you can safely use `fromEvent` on that object if it exposes described methods (provided\n * of course they behave as was described above). So for example if Node.js library exposes\n * event target which has the same method names as DOM EventTarget, `fromEvent` is still\n * a good choice.\n *\n * If the API you use is more callback then event handler oriented (subscribed\n * callback function fires only once and thus there is no need to manually\n * unregister it), you should use {@link bindCallback} or {@link bindNodeCallback}\n * instead.\n *\n * `fromEvent` supports following types of event targets:\n *\n * **DOM EventTarget**\n *\n * This is an object with `addEventListener` and `removeEventListener` methods.\n *\n * In the browser, `addEventListener` accepts - apart from event type string and event\n * handler function arguments - optional third parameter, which is either an object or boolean,\n * both used for additional configuration how and when passed function will be called. When\n * `fromEvent` is used with event target of that type, you can provide this values\n * as third parameter as well.\n *\n * **Node.js EventEmitter**\n *\n * An object with `addListener` and `removeListener` methods.\n *\n * **JQuery-style event target**\n *\n * An object with `on` and `off` methods\n *\n * **DOM NodeList**\n *\n * List of DOM Nodes, returned for example by `document.querySelectorAll` or `Node.childNodes`.\n *\n * Although this collection is not event target in itself, `fromEvent` will iterate over all Nodes\n * it contains and install event handler function in every of them. When returned Observable\n * is unsubscribed, function will be removed from all Nodes.\n *\n * **DOM HtmlCollection**\n *\n * Just as in case of NodeList it is a collection of DOM nodes. Here as well event handler function is\n * installed and removed in each of elements.\n *\n *\n * ## Examples\n *\n * Emit clicks happening on the DOM document\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * clicks.subscribe(x => console.log(x));\n *\n * // Results in:\n * // MouseEvent object logged to console every time a click\n * // occurs on the document.\n * ```\n *\n * Use `addEventListener` with capture option\n *\n * ```ts\n * import { fromEvent } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * // note optional configuration parameter which will be passed to addEventListener\n * const clicksInDocument = fromEvent(document, 'click', { capture: true });\n * const clicksInDiv = fromEvent(div, 'click');\n *\n * clicksInDocument.subscribe(() => console.log('document'));\n * clicksInDiv.subscribe(() => console.log('div'));\n *\n * // By default events bubble UP in DOM tree, so normally\n * // when we would click on div in document\n * // \"div\" would be logged first and then \"document\".\n * // Since we specified optional `capture` option, document\n * // will catch event when it goes DOWN DOM tree, so console\n * // will log \"document\" and then \"div\".\n * ```\n *\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n * @see {@link fromEventPattern}\n *\n * @param {FromEventTarget<T>} target The DOM EventTarget, Node.js\n * EventEmitter, JQuery-like event target, NodeList or HTMLCollection to attach the event handler to.\n * @param {string} eventName The event name of interest, being emitted by the\n * `target`.\n * @param {EventListenerOptions} [options] Options to pass through to addEventListener\n * @return {Observable<T>}\n */\nexport function fromEvent<T>(\n  target: any,\n  eventName: string,\n  options?: EventListenerOptions | ((...args: any[]) => T),\n  resultSelector?: (...args: any[]) => T\n): Observable<T> {\n  if (isFunction(options)) {\n    resultSelector = options;\n    options = undefined;\n  }\n  if (resultSelector) {\n    return fromEvent<T>(target, eventName, options as EventListenerOptions).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  // Figure out our add and remove methods. In order to do this,\n  // we are going to analyze the target in a preferred order, if\n  // the target matches a given signature, we take the two \"add\" and \"remove\"\n  // method names and apply them to a map to create opposite versions of the\n  // same function. This is because they all operate in duplicate pairs,\n  // `addListener(name, handler)`, `removeListener(name, handler)`, for example.\n  // The call only differs by method name, as to whether or not you're adding or removing.\n  const [add, remove] =\n    // If it is an EventTarget, we need to use a slightly different method than the other two patterns.\n    isEventTarget(target)\n      ? eventTargetMethods.map((methodName) => (handler: any) => target[methodName](eventName, handler, options as EventListenerOptions))\n      : // In all other cases, the call pattern is identical with the exception of the method names.\n      isNodeStyleEventEmitter(target)\n      ? nodeEventEmitterMethods.map(toCommonHandlerRegistry(target, eventName))\n      : isJQueryStyleEventEmitter(target)\n      ? jqueryMethods.map(toCommonHandlerRegistry(target, eventName))\n      : [];\n\n  // If add is falsy, it's because we didn't match a pattern above.\n  // Check to see if it is an ArrayLike, because if it is, we want to\n  // try to apply fromEvent to all of it's items. We do this check last,\n  // because there are may be some types that are both ArrayLike *and* implement\n  // event registry points, and we'd rather delegate to that when possible.\n  if (!add) {\n    if (isArrayLike(target)) {\n      return mergeMap((subTarget: any) => fromEvent(subTarget, eventName, options as EventListenerOptions))(\n        innerFrom(target)\n      ) as Observable<T>;\n    }\n  }\n\n  // If add is falsy and we made it here, it's because we didn't\n  // match any valid target objects above.\n  if (!add) {\n    throw new TypeError('Invalid event target');\n  }\n\n  return new Observable<T>((subscriber) => {\n    // The handler we are going to register. Forwards the event object, by itself, or\n    // an array of arguments to the event handler, if there is more than one argument,\n    // to the consumer.\n    const handler = (...args: any[]) => subscriber.next(1 < args.length ? args : args[0]);\n    // Do the work of adding the handler to the target.\n    add(handler);\n    // When we finalize, we want to remove the handler and free up memory.\n    return () => remove!(handler);\n  });\n}\n\n/**\n * Used to create `add` and `remove` functions to register and unregister event handlers\n * from a target in the most common handler pattern, where there are only two arguments.\n * (e.g.  `on(name, fn)`, `off(name, fn)`, `addListener(name, fn)`, or `removeListener(name, fn)`)\n * @param target The target we're calling methods on\n * @param eventName The event name for the event we're creating register or unregister functions for\n */\nfunction toCommonHandlerRegistry(target: any, eventName: string) {\n  return (methodName: string) => (handler: any) => target[methodName](eventName, handler);\n}\n\n/**\n * Checks to see if the target implements the required node-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isNodeStyleEventEmitter(target: any): target is NodeStyleEventEmitter {\n  return isFunction(target.addListener) && isFunction(target.removeListener);\n}\n\n/**\n * Checks to see if the target implements the required jQuery-style EventEmitter methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isJQueryStyleEventEmitter(target: any): target is JQueryStyleEventEmitter<any, any> {\n  return isFunction(target.on) && isFunction(target.off);\n}\n\n/**\n * Checks to see if the target implements the required EventTarget methods\n * for adding and removing event handlers.\n * @param target the object to check\n */\nfunction isEventTarget(target: any): target is HasEventTargetAddRemove<any> {\n  return isFunction(target.addEventListener) && isFunction(target.removeEventListener);\n}\n", "import { Observable } from '../Observable';\nimport { isFunction } from '../util/isFunction';\nimport { NodeEventHandler } from './fromEvent';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\n\n/* tslint:disable:max-line-length */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void\n): Observable<T>;\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Creates an Observable from an arbitrary API for registering event handlers.\n *\n * <span class=\"informal\">When that method for adding event handler was something {@link fromEvent}\n * was not prepared for.</span>\n *\n * ![](fromEventPattern.png)\n *\n * `fromEventPattern` allows you to convert into an Observable any API that supports registering handler functions\n * for events. It is similar to {@link fromEvent}, but far\n * more flexible. In fact, all use cases of {@link fromEvent} could be easily handled by\n * `fromEventPattern` (although in slightly more verbose way).\n *\n * This operator accepts as a first argument an `addHandler` function, which will be injected with\n * handler parameter. That handler is actually an event handler function that you now can pass\n * to API expecting it. `addHandler` will be called whenever Observable\n * returned by the operator is subscribed, so registering handler in API will not\n * necessarily happen when `fromEventPattern` is called.\n *\n * After registration, every time an event that we listen to happens,\n * Observable returned by `fromEventPattern` will emit value that event handler\n * function was called with. Note that if event handler was called with more\n * than one argument, second and following arguments will not appear in the Observable.\n *\n * If API you are using allows to unregister event handlers as well, you can pass to `fromEventPattern`\n * another function - `removeHandler` - as a second parameter. It will be injected\n * with the same handler function as before, which now you can use to unregister\n * it from the API. `removeHandler` will be called when consumer of resulting Observable\n * unsubscribes from it.\n *\n * In some APIs unregistering is actually handled differently. Method registering an event handler\n * returns some kind of token, which is later used to identify which function should\n * be unregistered or it itself has method that unregisters event handler.\n * If that is the case with your API, make sure token returned\n * by registering method is returned by `addHandler`. Then it will be passed\n * as a second argument to `removeHandler`, where you will be able to use it.\n *\n * If you need access to all event handler parameters (not only the first one),\n * or you need to transform them in any way, you can call `fromEventPattern` with optional\n * third parameter - project function which will accept all arguments passed to\n * event handler when it is called. Whatever is returned from project function will appear on\n * resulting stream instead of usual event handlers first argument. This means\n * that default project can be thought of as function that takes its first parameter\n * and ignores the rest.\n *\n * ## Examples\n *\n * Emits clicks happening on the DOM document\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * function addClickHandler(handler) {\n *   document.addEventListener('click', handler);\n * }\n *\n * function removeClickHandler(handler) {\n *   document.removeEventListener('click', handler);\n * }\n *\n * const clicks = fromEventPattern(\n *   addClickHandler,\n *   removeClickHandler\n * );\n * clicks.subscribe(x => console.log(x));\n *\n * // Whenever you click anywhere in the browser, DOM MouseEvent\n * // object will be logged.\n * ```\n *\n * Use with API that returns cancellation token\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * const token = someAPI.registerEventHandler(function() {});\n * someAPI.unregisterEventHandler(token); // this APIs cancellation method accepts\n *                                        // not handler itself, but special token.\n *\n * const someAPIObservable = fromEventPattern(\n *   function(handler) { return someAPI.registerEventHandler(handler); }, // Note that we return the token here...\n *   function(handler, token) { someAPI.unregisterEventHandler(token); }  // ...to then use it here.\n * );\n * ```\n *\n * Use with project function\n *\n * ```ts\n * import { fromEventPattern } from 'rxjs';\n *\n * someAPI.registerEventHandler((eventType, eventMessage) => {\n *   console.log(eventType, eventMessage); // Logs 'EVENT_TYPE' 'EVENT_MESSAGE' to console.\n * });\n *\n * const someAPIObservable = fromEventPattern(\n *   handler => someAPI.registerEventHandler(handler),\n *   handler => someAPI.unregisterEventHandler(handler)\n *   (eventType, eventMessage) => eventType + ' --- ' + eventMessage // without that function only 'EVENT_TYPE'\n * );                                                                // would be emitted by the Observable\n *\n * someAPIObservable.subscribe(value => console.log(value));\n *\n * // Logs:\n * // 'EVENT_TYPE --- EVENT_MESSAGE'\n * ```\n *\n * @see {@link fromEvent}\n * @see {@link bindCallback}\n * @see {@link bindNodeCallback}\n *\n * @param {function(handler: Function): any} addHandler A function that takes\n * a `handler` function as argument and attaches it somehow to the actual\n * source of events.\n * @param {function(handler: Function, token?: any): void} [removeHandler] A function that\n * takes a `handler` function as an argument and removes it from the event source. If `addHandler`\n * returns some kind of token, `removeHandler` function will have it as a second parameter.\n * @param {function(...args: any): T} [project] A function to\n * transform results. It takes the arguments from the event handler and\n * should return a single value.\n * @return {Observable<T>} Observable which, when an event happens, emits first parameter\n * passed to registered event handler. Alternatively it emits whatever project function returns\n * at that moment.\n */\nexport function fromEventPattern<T>(\n  addHandler: (handler: NodeEventHandler) => any,\n  removeHandler?: (handler: NodeEventHandler, signal?: any) => void,\n  resultSelector?: (...args: any[]) => T\n): Observable<T | T[]> {\n  if (resultSelector) {\n    return fromEventPattern<T>(addHandler, removeHandler).pipe(mapOneOrManyArgs(resultSelector));\n  }\n\n  return new Observable<T | T[]>((subscriber) => {\n    const handler = (...e: T[]) => subscriber.next(e.length === 1 ? e[0] : e);\n    const retValue = addHandler(handler);\n    return isFunction(removeHandler) ? () => removeHandler(handler, retValue) : undefined;\n  });\n}\n", "import { Observable } from '../Observable';\nimport { SchedulerLike } from '../types';\nimport { async as asyncScheduler } from '../scheduler/async';\nimport { isScheduler } from '../util/isScheduler';\nimport { isValidDate } from '../util/isDate';\n\n/**\n * Creates an observable that will wait for a specified time period, or exact date, before\n * emitting the number 0.\n *\n * <span class=\"informal\">Used to emit a notification after a delay.</span>\n *\n * This observable is useful for creating delays in code, or racing against other values\n * for ad-hoc timeouts.\n *\n * The `delay` is specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Examples\n *\n * Wait 3 seconds and start another observable\n *\n * You might want to use `timer` to delay subscription to an\n * observable by a set amount of time. Here we use a timer with\n * {@link concatMapTo} or {@link concatMap} in order to wait\n * a few seconds and start a subscription to a source.\n *\n * ```ts\n * import { of, timer, concatMap } from 'rxjs';\n *\n * // This could be any observable\n * const source = of(1, 2, 3);\n *\n * timer(3000)\n *   .pipe(concatMap(() => source))\n *   .subscribe(console.log);\n * ```\n *\n * Take all values until the start of the next minute\n *\n * Using a `Date` as the trigger for the first emission, you can\n * do things like wait until midnight to fire an event, or in this case,\n * wait until a new minute starts (chosen so the example wouldn't take\n * too long to run) in order to stop watching a stream. Leveraging\n * {@link takeUntil}.\n *\n * ```ts\n * import { interval, takeUntil, timer } from 'rxjs';\n *\n * // Build a Date object that marks the\n * // next minute.\n * const currentDate = new Date();\n * const startOfNextMinute = new Date(\n *   currentDate.getFullYear(),\n *   currentDate.getMonth(),\n *   currentDate.getDate(),\n *   currentDate.getHours(),\n *   currentDate.getMinutes() + 1\n * );\n *\n * // This could be any observable stream\n * const source = interval(1000);\n *\n * const result = source.pipe(\n *   takeUntil(timer(startOfNextMinute))\n * );\n *\n * result.subscribe(console.log);\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `dueTime`.\n *\n * @param due If a `number`, the amount of time in milliseconds to wait before emitting.\n * If a `Date`, the exact time at which to emit.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(due: number | Date, scheduler?: SchedulerLike): Observable<0>;\n\n/**\n * Creates an observable that starts an interval after a specified delay, emitting incrementing numbers -- starting at `0` --\n * on each interval after words.\n *\n * The `delay` and `intervalDuration` are specified by default in milliseconds, however providing a custom scheduler could\n * create a different behavior.\n *\n * ## Example\n *\n * ### Start an interval that starts right away\n *\n * Since {@link interval} waits for the passed delay before starting,\n * sometimes that's not ideal. You may want to start an interval immediately.\n * `timer` works well for this. Here we have both side-by-side so you can\n * see them in comparison.\n *\n * Note that this observable will never complete.\n *\n * ```ts\n * import { timer, interval } from 'rxjs';\n *\n * timer(0, 1000).subscribe(n => console.log('timer', n));\n * interval(1000).subscribe(n => console.log('interval', n));\n * ```\n *\n * ### Known Limitations\n *\n * - The {@link asyncScheduler} uses `setTimeout` which has limitations for how far in the future it can be scheduled.\n *\n * - If a `scheduler` is provided that returns a timestamp other than an epoch from `now()`, and\n * a `Date` object is passed to the `dueTime` argument, the calculation for when the first emission\n * should occur will be incorrect. In this case, it would be best to do your own calculations\n * ahead of time, and pass a `number` in as the `startDue`.\n * @param startDue If a `number`, is the time to wait before starting the interval.\n * If a `Date`, is the exact time at which to start the interval.\n * @param intervalDuration The delay between each value emitted in the interval. Passing a\n * negative number here will result in immediate completion after the first value is emitted, as though\n * no `intervalDuration` was passed at all.\n * @param scheduler The scheduler to use to schedule the delay. Defaults to {@link asyncScheduler}.\n */\nexport function timer(startDue: number | Date, intervalDuration: number, scheduler?: SchedulerLike): Observable<number>;\n\n/**\n * @deprecated The signature allowing `undefined` to be passed for `intervalDuration` will be removed in v8. Use the `timer(dueTime, scheduler?)` signature instead.\n */\nexport function timer(dueTime: number | Date, unused: undefined, scheduler?: SchedulerLike): Observable<0>;\n\nexport function timer(\n  dueTime: number | Date = 0,\n  intervalOrScheduler?: number | SchedulerLike,\n  scheduler: SchedulerLike = asyncScheduler\n): Observable<number> {\n  // Since negative intervalDuration is treated as though no\n  // interval was specified at all, we start with a negative number.\n  let intervalDuration = -1;\n\n  if (intervalOrScheduler != null) {\n    // If we have a second argument, and it's a scheduler,\n    // override the scheduler we had defaulted. Otherwise,\n    // it must be an interval.\n    if (isScheduler(intervalOrScheduler)) {\n      scheduler = intervalOrScheduler;\n    } else {\n      // Note that this *could* be negative, in which case\n      // it's like not passing an intervalDuration at all.\n      intervalDuration = intervalOrScheduler;\n    }\n  }\n\n  return new Observable((subscriber) => {\n    // If a valid date is passed, calculate how long to wait before\n    // executing the first value... otherwise, if it's a number just schedule\n    // that many milliseconds (or scheduler-specified unit size) in the future.\n    let due = isValidDate(dueTime) ? +dueTime - scheduler!.now() : dueTime;\n\n    if (due < 0) {\n      // Ensure we don't schedule in the future.\n      due = 0;\n    }\n\n    // The incrementing value we emit.\n    let n = 0;\n\n    // Start the timer.\n    return scheduler.schedule(function () {\n      if (!subscriber.closed) {\n        // Emit the next value and increment.\n        subscriber.next(n++);\n\n        if (0 <= intervalDuration) {\n          // If we have a interval after the initial timer,\n          // reschedule with the period.\n          this.schedule(undefined, intervalDuration);\n        } else {\n          // We didn't have an interval. So just complete.\n          subscriber.complete();\n        }\n      }\n    }, due);\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInput, ObservableInputTuple, SchedulerLike } from '../types';\nimport { mergeAll } from '../operators/mergeAll';\nimport { innerFrom } from './innerFrom';\nimport { EMPTY } from './empty';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from './from';\n\nexport function merge<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A[number]>;\nexport function merge<A extends readonly unknown[]>(...sourcesAndConcurrency: [...ObservableInputTuple<A>, number?]): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike?]\n): Observable<A[number]>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `mergeAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function merge<A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number?, SchedulerLike?]\n): Observable<A[number]>;\n\n/**\n * Creates an output Observable which concurrently emits all values from every\n * given input Observable.\n *\n * <span class=\"informal\">Flattens multiple Observables together by blending\n * their values into one Observable.</span>\n *\n * ![](merge.png)\n *\n * `merge` subscribes to each given input Observable (as arguments), and simply\n * forwards (without doing any transformation) all the values from all the input\n * Observables to the output Observable. The output Observable only completes\n * once all input Observables have completed. Any error delivered by an input\n * Observable will be immediately emitted on the output Observable.\n *\n * ## Examples\n *\n * Merge together two Observables: 1s interval and clicks\n *\n * ```ts\n * import { merge, fromEvent, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const clicksOrTimer = merge(clicks, timer);\n * clicksOrTimer.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // timer will emit ascending values, one every second(1000ms) to console\n * // clicks logs MouseEvents to console every time the \"document\" is clicked\n * // Since the two streams are merged you see these happening\n * // as they occur.\n * ```\n *\n * Merge together 3 Observables, but run only 2 concurrently\n *\n * ```ts\n * import { interval, take, merge } from 'rxjs';\n *\n * const timer1 = interval(1000).pipe(take(10));\n * const timer2 = interval(2000).pipe(take(6));\n * const timer3 = interval(500).pipe(take(10));\n *\n * const concurrent = 2; // the argument\n * const merged = merge(timer1, timer2, timer3, concurrent);\n * merged.subscribe(x => console.log(x));\n *\n * // Results in the following:\n * // - First timer1 and timer2 will run concurrently\n * // - timer1 will emit a value every 1000ms for 10 iterations\n * // - timer2 will emit a value every 2000ms for 6 iterations\n * // - after timer1 hits its max iteration, timer2 will\n * //   continue, and timer3 will start to run concurrently with timer2\n * // - when timer2 hits its max iteration it terminates, and\n * //   timer3 will continue to emit a value every 500ms until it is complete\n * ```\n *\n * @see {@link mergeAll}\n * @see {@link mergeMap}\n * @see {@link mergeMapTo}\n * @see {@link mergeScan}\n *\n * @param {...ObservableInput} observables Input Observables to merge together.\n * @param {number} [concurrent=Infinity] Maximum number of input\n * Observables being subscribed to concurrently.\n * @param {SchedulerLike} [scheduler=null] The {@link SchedulerLike} to use for managing\n * concurrency of input Observables.\n * @return {Observable} an Observable that emits items that are the result of\n * every input Observable.\n */\nexport function merge(...args: (ObservableInput<unknown> | number | SchedulerLike)[]): Observable<unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  const sources = args as ObservableInput<unknown>[];\n  return !sources.length\n    ? // No source provided\n      EMPTY\n    : sources.length === 1\n    ? // One source? Just return it.\n      innerFrom(sources[0])\n    : // Merge all sources\n      mergeAll(concurrent)(from(sources, scheduler));\n}\n", "import { Observable } from '../Observable';\nimport { noop } from '../util/noop';\n\n/**\n * An Observable that emits no items to the Observer and never completes.\n *\n * ![](never.png)\n *\n * A simple Observable that emits neither values nor errors nor the completion\n * notification. It can be used for testing purposes or for composing with other\n * Observables. Please note that by never emitting a complete notification, this\n * Observable keeps the subscription from being disposed automatically.\n * Subscriptions need to be manually disposed.\n *\n * ##  Example\n *\n * Emit the number 7, then never emit anything else (not even complete)\n *\n * ```ts\n * import { NEVER, startWith } from 'rxjs';\n *\n * const info = () => console.log('Will not be called');\n *\n * const result = NEVER.pipe(startWith(7));\n * result.subscribe({\n *   next: x => console.log(x),\n *   error: info,\n *   complete: info\n * });\n * ```\n *\n * @see {@link Observable}\n * @see {@link EMPTY}\n * @see {@link of}\n * @see {@link throwError}\n */\nexport const NEVER = new Observable<never>(noop);\n\n/**\n * @deprecated Replaced with the {@link NEVER} constant. Will be removed in v8.\n */\nexport function never() {\n  return NEVER;\n}\n", "const { isArray } = Array;\n\n/**\n * Used in operators and functions that accept either a list of arguments, or an array of arguments\n * as a single argument.\n */\nexport function argsOrArgArray<T>(args: (T | T[])[]): T[] {\n  return args.length === 1 && isArray(args[0]) ? args[0] : (args as T[]);\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, S extends T, A>(predicate: (this: A, value: T, index: number) => value is S, thisArg: A): OperatorFunction<T, S>;\nexport function filter<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function filter<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\n/** @deprecated Use a closure instead of a `thisArg`. Signatures accepting a `thisArg` will be removed in v8. */\nexport function filter<T, A>(predicate: (this: A, value: T, index: number) => boolean, thisArg: A): MonoTypeOperatorFunction<T>;\nexport function filter<T>(predicate: (value: T, index: number) => boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Filter items emitted by the source Observable by only emitting those that\n * satisfy a specified predicate.\n *\n * <span class=\"informal\">Like\n * [Array.prototype.filter()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Array/filter),\n * it only emits a value from the source if it passes a criterion function.</span>\n *\n * ![](filter.png)\n *\n * Similar to the well-known `Array.prototype.filter` method, this operator\n * takes values from the source Observable, passes them through a `predicate`\n * function and only emits those values that yielded `true`.\n *\n * ## Example\n *\n * Emit only click events whose target was a DIV element\n *\n * ```ts\n * import { fromEvent, filter } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksOnDivs = clicks.pipe(filter(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * clicksOnDivs.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n * @see {@link distinctUntilKeyChanged}\n * @see {@link ignoreElements}\n * @see {@link partition}\n * @see {@link skip}\n *\n * @param predicate A function that\n * evaluates each value emitted by the source Observable. If it returns `true`,\n * the value is emitted, if `false` the value is not passed to the output\n * Observable. The `index` parameter is the number `i` for the i-th source\n * emission that has happened since the subscription, starting from the number\n * `0`.\n * @param thisArg An optional argument to determine the value of `this`\n * in the `predicate` function.\n * @return A function that returns an Observable that emits items from the\n * source Observable that satisfy the specified `predicate`.\n */\nexport function filter<T>(predicate: (value: T, index: number) => boolean, thisArg?: any): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // An index passed to our predicate function on each call.\n    let index = 0;\n\n    // Subscribe to the source, all errors and completions are\n    // forwarded to the consumer.\n    source.subscribe(\n      // Call the predicate with the appropriate `this` context,\n      // if the predicate returns `true`, then send the value\n      // to the consumer.\n      createOperatorSubscriber(subscriber, (value) => predicate.call(thisArg, value, index++) && subscriber.next(value))\n    );\n  });\n}\n", "import { Observable } from '../Observable';\nimport { ObservableInputTuple } from '../types';\nimport { innerFrom } from './innerFrom';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { EMPTY } from './empty';\nimport { createOperatorSubscriber } from '../operators/OperatorSubscriber';\nimport { popResultSelector } from '../util/args';\n\nexport function zip<A extends readonly unknown[]>(sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  resultSelector: (...values: A) => R\n): Observable<R>;\nexport function zip<A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): Observable<A>;\nexport function zip<A extends readonly unknown[], R>(\n  ...sourcesAndResultSelector: [...ObservableInputTuple<A>, (...values: A) => R]\n): Observable<R>;\n\n/**\n * Combines multiple Observables to create an Observable whose values are calculated from the values, in order, of each\n * of its input Observables.\n *\n * If the last parameter is a function, this function is used to compute the created value from the input values.\n * Otherwise, an array of the input values is returned.\n *\n * ## Example\n *\n * Combine age and name from different sources\n *\n * ```ts\n * import { of, zip, map } from 'rxjs';\n *\n * const age$ = of(27, 25, 29);\n * const name$ = of('Foo', 'Bar', 'Beer');\n * const isDev$ = of(true, true, false);\n *\n * zip(age$, name$, isDev$).pipe(\n *   map(([age, name, isDev]) => ({ age, name, isDev }))\n * )\n * .subscribe(x => console.log(x));\n *\n * // Outputs\n * // { age: 27, name: 'Foo', isDev: true }\n * // { age: 25, name: 'Bar', isDev: true }\n * // { age: 29, name: 'Beer', isDev: false }\n * ```\n *\n * @param sources\n * @return {Observable<R>}\n */\nexport function zip(...args: unknown[]): Observable<unknown> {\n  const resultSelector = popResultSelector(args);\n\n  const sources = argsOrArgArray(args) as Observable<unknown>[];\n\n  return sources.length\n    ? new Observable<unknown[]>((subscriber) => {\n        // A collection of buffers of values from each source.\n        // Keyed by the same index with which the sources were passed in.\n        let buffers: unknown[][] = sources.map(() => []);\n\n        // An array of flags of whether or not the sources have completed.\n        // This is used to check to see if we should complete the result.\n        // Keyed by the same index with which the sources were passed in.\n        let completed = sources.map(() => false);\n\n        // When everything is done, release the arrays above.\n        subscriber.add(() => {\n          buffers = completed = null!;\n        });\n\n        // Loop over our sources and subscribe to each one. The index `i` is\n        // especially important here, because we use it in closures below to\n        // access the related buffers and completion properties\n        for (let sourceIndex = 0; !subscriber.closed && sourceIndex < sources.length; sourceIndex++) {\n          innerFrom(sources[sourceIndex]).subscribe(\n            createOperatorSubscriber(\n              subscriber,\n              (value) => {\n                buffers[sourceIndex].push(value);\n                // if every buffer has at least one value in it, then we\n                // can shift out the oldest value from each buffer and emit\n                // them as an array.\n                if (buffers.every((buffer) => buffer.length)) {\n                  const result: any = buffers.map((buffer) => buffer.shift()!);\n                  // Emit the array. If theres' a result selector, use that.\n                  subscriber.next(resultSelector ? resultSelector(...result) : result);\n                  // If any one of the sources is both complete and has an empty buffer\n                  // then we complete the result. This is because we cannot possibly have\n                  // any more values to zip together.\n                  if (buffers.some((buffer, i) => !buffer.length && completed[i])) {\n                    subscriber.complete();\n                  }\n                }\n              },\n              () => {\n                // This source completed. Mark it as complete so we can check it later\n                // if we have to.\n                completed[sourceIndex] = true;\n                // But, if this complete source has nothing in its buffer, then we\n                // can complete the result, because we can't possibly have any more\n                // values from this to zip together with the other values.\n                !buffers[sourceIndex].length && subscriber.complete();\n              }\n            )\n          );\n        }\n\n        // When everything is done, release the arrays above.\n        return () => {\n          buffers = completed = null!;\n        };\n      })\n    : EMPTY;\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\n\nimport { operate } from '../util/lift';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Ignores source values for a duration determined by another Observable, then\n * emits the most recent value from the source Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link auditTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](audit.svg)\n *\n * `audit` is similar to `throttle`, but emits the last value from the silenced\n * time window, instead of the first value. `audit` emits the most recent value\n * from the source Observable on the output Observable as soon as its internal\n * timer becomes disabled, and ignores source values while the timer is enabled.\n * Initially, the timer is disabled. As soon as the first source value arrives,\n * the timer is enabled by calling the `durationSelector` function with the\n * source value, which returns the \"duration\" Observable. When the duration\n * Observable emits a value, the timer is disabled, then the most\n * recent source value is emitted on the output Observable, and this process\n * repeats for the next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, audit, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(audit(ev => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttle}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the silencing\n * duration, returned as an Observable or a Promise.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function audit<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    let durationSubscriber: Subscriber<any> | null = null;\n    let isComplete = false;\n\n    const endDuration = () => {\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n      isComplete && subscriber.complete();\n    };\n\n    const cleanupDuration = () => {\n      durationSubscriber = null;\n      isComplete && subscriber.complete();\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          lastValue = value;\n          if (!durationSubscriber) {\n            innerFrom(durationSelector(value)).subscribe(\n              (durationSubscriber = createOperatorSubscriber(subscriber, endDuration, cleanupDuration))\n            );\n          }\n        },\n        () => {\n          isComplete = true;\n          (!hasValue || !durationSubscriber || durationSubscriber.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { audit } from './audit';\nimport { timer } from '../observable/timer';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\n\n/**\n * Ignores source values for `duration` milliseconds, then emits the most recent\n * value from the source Observable, then repeats this process.\n *\n * <span class=\"informal\">When it sees a source value, it ignores that plus\n * the next ones for `duration` milliseconds, and then it emits the most recent\n * value from the source.</span>\n *\n * ![](auditTime.png)\n *\n * `auditTime` is similar to `throttleTime`, but emits the last value from the\n * silenced time window, instead of the first value. `auditTime` emits the most\n * recent value from the source Observable on the output Observable as soon as\n * its internal timer becomes disabled, and ignores source values while the\n * timer is enabled. Initially, the timer is disabled. As soon as the first\n * source value arrives, the timer is enabled. After `duration` milliseconds (or\n * the time unit determined internally by the optional `scheduler`) has passed,\n * the timer is disabled, then the most recent source value is emitted on the\n * output Observable, and this process repeats for the next source value.\n * Optionally takes a {@link SchedulerLike} for managing timers.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, auditTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(auditTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttleTime}\n *\n * @param {number} duration Time to wait before emitting the most recent source\n * value, measured in milliseconds or the time unit determined internally\n * by the optional `scheduler`.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the rate-limiting behavior.\n * @return A function that returns an Observable that performs rate-limiting of\n * emissions from the source Observable.\n */\nexport function auditTime<T>(duration: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return audit(() => timer(duration, scheduler));\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { arrRemove } from '../util/arrRemove';\n\n/**\n * Buffers the source Observable values until the size hits the maximum\n * `bufferSize` given.\n *\n * <span class=\"informal\">Collects values from the past as an array, and emits\n * that array only when its size reaches `bufferSize`.</span>\n *\n * ![](bufferCount.png)\n *\n * Buffers a number of values from the source Observable by `bufferSize` then\n * emits the buffer and clears it, and starts a new buffer each\n * `startBufferEvery` values. If `startBufferEvery` is not provided or is\n * `null`, then new buffers are started immediately at the start of the source\n * and when each buffer closes and is emitted.\n *\n * ## Examples\n *\n * Emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * On every click, emit the last two click events as an array\n *\n * ```ts\n * import { fromEvent, bufferCount } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const buffered = clicks.pipe(bufferCount(2, 1));\n * buffered.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link buffer}\n * @see {@link bufferTime}\n * @see {@link bufferToggle}\n * @see {@link bufferWhen}\n * @see {@link pairwise}\n * @see {@link windowCount}\n *\n * @param {number} bufferSize The maximum size of the buffer emitted.\n * @param {number} [startBufferEvery] Interval at which to start a new buffer.\n * For example if `startBufferEvery` is `2`, then a new buffer will be started\n * on every other value from the source. A new buffer is started at the\n * beginning of the source by default.\n * @return A function that returns an Observable of arrays of buffered values.\n */\nexport function bufferCount<T>(bufferSize: number, startBufferEvery: number | null = null): OperatorFunction<T, T[]> {\n  // If no `startBufferEvery` value was supplied, then we're\n  // opening and closing on the bufferSize itself.\n  startBufferEvery = startBufferEvery ?? bufferSize;\n\n  return operate((source, subscriber) => {\n    let buffers: T[][] = [];\n    let count = 0;\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          let toEmit: T[][] | null = null;\n\n          // Check to see if we need to start a buffer.\n          // This will start one at the first value, and then\n          // a new one every N after that.\n          if (count++ % startBufferEvery! === 0) {\n            buffers.push([]);\n          }\n\n          // Push our value into our active buffers.\n          for (const buffer of buffers) {\n            buffer.push(value);\n            // Check to see if we're over the bufferSize\n            // if we are, record it so we can emit it later.\n            // If we emitted it now and removed it, it would\n            // mutate the `buffers` array while we're looping\n            // over it.\n            if (bufferSize <= buffer.length) {\n              toEmit = toEmit ?? [];\n              toEmit.push(buffer);\n            }\n          }\n\n          if (toEmit) {\n            // We have found some buffers that are over the\n            // `bufferSize`. Emit them, and remove them from our\n            // buffers list.\n            for (const buffer of toEmit) {\n              arrRemove(buffers, buffer);\n              subscriber.next(buffer);\n            }\n          }\n        },\n        () => {\n          // When the source completes, emit all of our\n          // active buffers.\n          for (const buffer of buffers) {\n            subscriber.next(buffer);\n          }\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Clean up our memory when we finalize\n          buffers = null!;\n        }\n      )\n    );\n  });\n}\n", "import { Observable } from '../Observable';\n\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { Subscription } from '../Subscription';\nimport { innerFrom } from '../observable/innerFrom';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { operate } from '../util/lift';\n\n/* tslint:disable:max-line-length */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>>;\n/* tslint:enable:max-line-length */\n\n/**\n * Catches errors on the observable to be handled by returning a new observable or throwing an error.\n *\n * <span class=\"informal\">\n * It only listens to the error channel and ignores notifications.\n * Handles errors from the source observable, and maps them to a new observable.\n * The error may also be rethrown, or a new error can be thrown to emit an error from the result.\n * </span>\n *\n * ![](catch.png)\n *\n * This operator handles errors, but forwards along all other events to the resulting observable.\n * If the source observable terminates with an error, it will map that error to a new observable,\n * subscribe to it, and forward all of its events to the resulting observable.\n *\n * ## Examples\n *\n * Continue with a different Observable when there's an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => of('I', 'II', 'III', 'IV', 'V'))\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, I, II, III, IV, V\n * ```\n *\n * Retry the caught source Observable again in case of error, similar to `retry()` operator\n *\n * ```ts\n * import { of, map, catchError, take } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError((err, caught) => caught),\n *     take(30)\n *   )\n *   .subscribe(x => console.log(x));\n *   // 1, 2, 3, 1, 2, 3, ...\n * ```\n *\n * Throw a new error when the source Observable throws an error\n *\n * ```ts\n * import { of, map, catchError } from 'rxjs';\n *\n * of(1, 2, 3, 4, 5)\n *   .pipe(\n *     map(n => {\n *       if (n === 4) {\n *         throw 'four!';\n *       }\n *       return n;\n *     }),\n *     catchError(err => {\n *       throw 'error in source. Details: ' + err;\n *     })\n *   )\n *   .subscribe({\n *     next: x => console.log(x),\n *     error: err => console.log(err)\n *   });\n *   // 1, 2, 3, error in source. Details: four!\n * ```\n *\n * @see {@link onErrorResumeNext}\n * @see {@link repeat}\n * @see {@link repeatWhen}\n * @see {@link retry }\n * @see {@link retryWhen}\n *\n * @param {function} selector a function that takes as arguments `err`, which is the error, and `caught`, which\n * is the source observable, in case you'd like to \"retry\" that observable by returning it again. Whatever observable\n * is returned by the `selector` will be used to continue the observable chain.\n * @return A function that returns an Observable that originates from either\n * the source or the Observable returned by the `selector` function.\n */\nexport function catchError<T, O extends ObservableInput<any>>(\n  selector: (err: any, caught: Observable<T>) => O\n): OperatorFunction<T, T | ObservedValueOf<O>> {\n  return operate((source, subscriber) => {\n    let innerSub: Subscription | null = null;\n    let syncUnsub = false;\n    let handledResult: Observable<ObservedValueOf<O>>;\n\n    innerSub = source.subscribe(\n      createOperatorSubscriber(subscriber, undefined, undefined, (err) => {\n        handledResult = innerFrom(selector(err, catchError(selector)(source)));\n        if (innerSub) {\n          innerSub.unsubscribe();\n          innerSub = null;\n          handledResult.subscribe(subscriber);\n        } else {\n          // We don't have an innerSub yet, that means the error was synchronous\n          // because the subscribe call hasn't returned yet.\n          syncUnsub = true;\n        }\n      })\n    );\n\n    if (syncUnsub) {\n      // We have a synchronous error, we need to make sure to\n      // finalize right away. This ensures that callbacks in the `finalize` operator are called\n      // at the right time, and that finalization occurs at the expected\n      // time between the source error and the subscription to the\n      // next observable.\n      innerSub.unsubscribe();\n      innerSub = null;\n      handledResult!.subscribe(subscriber);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { Subscriber } from '../Subscriber';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * A basic scan operation. This is used for `scan` and `reduce`.\n * @param accumulator The accumulator to use\n * @param seed The seed value for the state to accumulate\n * @param hasSeed Whether or not a seed was provided\n * @param emitOnNext Whether or not to emit the state on next\n * @param emitBeforeComplete Whether or not to emit the before completion\n */\n\nexport function scanInternals<V, A, S>(\n  accumulator: (acc: V | A | S, value: V, index: number) => A,\n  seed: S,\n  hasSeed: boolean,\n  emitOnNext: boolean,\n  emitBeforeComplete?: undefined | true\n) {\n  return (source: Observable<V>, subscriber: Subscriber<any>) => {\n    // Whether or not we have state yet. This will only be\n    // false before the first value arrives if we didn't get\n    // a seed value.\n    let hasState = hasSeed;\n    // The state that we're tracking, starting with the seed,\n    // if there is one, and then updated by the return value\n    // from the accumulator on each emission.\n    let state: any = seed;\n    // An index to pass to the accumulator function.\n    let index = 0;\n\n    // Subscribe to our source. All errors and completions are passed through.\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Always increment the index.\n          const i = index++;\n          // Set the state\n          state = hasState\n            ? // We already have state, so we can get the new state from the accumulator\n              accumulator(state, value, i)\n            : // We didn't have state yet, a seed value was not provided, so\n\n              // we set the state to the first value, and mark that we have state now\n              ((hasState = true), value);\n\n          // Maybe send it to the consumer.\n          emitOnNext && subscriber.next(state);\n        },\n        // If an onComplete was given, call it, otherwise\n        // just pass through the complete notification to the consumer.\n        emitBeforeComplete &&\n          (() => {\n            hasState && subscriber.next(state);\n            subscriber.complete();\n          })\n      )\n    );\n  };\n}\n", "import { combineLatestInit } from '../observable/combineLatest';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mapOneOrManyArgs } from '../util/mapOneOrManyArgs';\nimport { pipe } from '../util/pipe';\nimport { popResultSelector } from '../util/args';\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  sources: [...ObservableInputTuple<A>],\n  project: (...values: [T, ...A]) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(\n  ...sourcesAndProject: [...ObservableInputTuple<A>, (...values: [T, ...A]) => R]\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8. */\nexport function combineLatest<T, A extends readonly unknown[], R>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, [T, ...A]>;\n\n/**\n * @deprecated Replaced with {@link combineLatestWith}. Will be removed in v8.\n */\nexport function combineLatest<T, R>(...args: (ObservableInput<any> | ((...values: any[]) => R))[]): OperatorFunction<T, unknown> {\n  const resultSelector = popResultSelector(args);\n  return resultSelector\n    ? pipe(combineLatest(...(args as Array<ObservableInput<any>>)), mapOneOrManyArgs(resultSelector))\n    : operate((source, subscriber) => {\n        combineLatestInit([source, ...argsOrArgArray(args)])(subscriber);\n      });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { combineLatest } from './combineLatest';\n\n/**\n * Create an observable that combines the latest values from all passed observables and the source\n * into arrays and emits them.\n *\n * Returns an observable, that when subscribed to, will subscribe to the source observable and all\n * sources provided as arguments. Once all sources emit at least one value, all of the latest values\n * will be emitted as an array. After that, every time any source emits a value, all of the latest values\n * will be emitted as an array.\n *\n * This is a useful operator for eagerly calculating values based off of changed inputs.\n *\n * ## Example\n *\n * Simple concatenation of values from two inputs\n *\n * ```ts\n * import { fromEvent, combineLatestWith, map } from 'rxjs';\n *\n * // Setup: Add two inputs to the page\n * const input1 = document.createElement('input');\n * document.body.appendChild(input1);\n * const input2 = document.createElement('input');\n * document.body.appendChild(input2);\n *\n * // Get streams of changes\n * const input1Changes$ = fromEvent(input1, 'change');\n * const input2Changes$ = fromEvent(input2, 'change');\n *\n * // Combine the changes by adding them together\n * input1Changes$.pipe(\n *   combineLatestWith(input2Changes$),\n *   map(([e1, e2]) => (<HTMLInputElement>e1.target).value + ' - ' + (<HTMLInputElement>e2.target).value)\n * )\n * .subscribe(x => console.log(x));\n * ```\n *\n * @param otherSources the other sources to subscribe to.\n * @return A function that returns an Observable that emits the latest\n * emissions from both source and provided Observables.\n */\nexport function combineLatestWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, Cons<T, A>> {\n  return combineLatest(...otherSources);\n}\n", "import { Subscriber } from '../Subscriber';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { noop } from '../util/noop';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * determined by another Observable has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link debounceTime}, but the time span of\n * emission silence is determined by a second Observable.</span>\n *\n * ![](debounce.svg)\n *\n * `debounce` delays notifications emitted by the source Observable, but drops previous\n * pending delayed emissions if a new notification arrives on the source Observable.\n * This operator keeps track of the most recent notification from the source\n * Observable, and spawns a duration Observable by calling the\n * `durationSelector` function. The notification is emitted only when the duration\n * Observable emits a next notification, and if no other notification was emitted on\n * the source Observable since the duration Observable was spawned. If a new\n * notification appears before the duration Observable emits, the previous notification will\n * not be emitted and a new duration is scheduled from `durationSelector` is scheduled.\n * If the completing event happens during the scheduled duration the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during the scheduled duration or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * Like {@link debounceTime}, this is a rate-limiting operator, and also a\n * delay-like operator since output emissions do not necessarily occur at the\n * same time as they did on the source Observable.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, scan, debounce, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(\n *   scan(i => ++i, 1),\n *   debounce(i => interval(200 * i))\n * );\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function\n * that receives a value from the source Observable, for computing the timeout\n * duration for each source value, returned as an Observable or a Promise.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified duration Observable returned by\n * `durationSelector`, and may drop some values if they occur too frequently.\n */\nexport function debounce<T>(durationSelector: (value: T) => ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    let lastValue: T | null = null;\n    // The subscriber/subscription for the current debounce, if there is one.\n    let durationSubscriber: Subscriber<any> | null = null;\n\n    const emit = () => {\n      // Unsubscribe any current debounce subscription we have,\n      // we only cared about the first notification from it, and we\n      // want to clean that subscription up as soon as possible.\n      durationSubscriber?.unsubscribe();\n      durationSubscriber = null;\n      if (hasValue) {\n        // We have a value! Free up memory first, then emit the value.\n        hasValue = false;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          // Cancel any pending debounce duration. We don't\n          // need to null it out here yet tho, because we're just going\n          // to create another one in a few lines.\n          durationSubscriber?.unsubscribe();\n          hasValue = true;\n          lastValue = value;\n          // Capture our duration subscriber, so we can unsubscribe it when we're notified\n          // and we're going to emit the value.\n          durationSubscriber = createOperatorSubscriber(subscriber, emit, noop);\n          // Subscribe to the duration.\n          innerFrom(durationSelector(value)).subscribe(durationSubscriber);\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = durationSubscriber = null;\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SchedulerAction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a notification from the source Observable only after a particular time span\n * has passed without another source emission.\n *\n * <span class=\"informal\">It's like {@link delay}, but passes only the most\n * recent notification from each burst of emissions.</span>\n *\n * ![](debounceTime.png)\n *\n * `debounceTime` delays notifications emitted by the source Observable, but drops\n * previous pending delayed emissions if a new notification arrives on the source\n * Observable. This operator keeps track of the most recent notification from the\n * source Observable, and emits that only when `dueTime` has passed\n * without any other notification appearing on the source Observable. If a new value\n * appears before `dueTime` silence occurs, the previous notification will be dropped\n * and will not be emitted and a new `dueTime` is scheduled.\n * If the completing event happens during `dueTime` the last cached notification\n * is emitted before the completion event is forwarded to the output observable.\n * If the error event happens during `dueTime` or after it only the error event is\n * forwarded to the output observable. The cache notification is not emitted in this case.\n *\n * This is a rate-limiting operator, because it is impossible for more than one\n * notification to be emitted in any time window of duration `dueTime`, but it is also\n * a delay-like operator since output emissions do not occur at the same time as\n * they did on the source Observable. Optionally takes a {@link SchedulerLike} for\n * managing timers.\n *\n * ## Example\n *\n * Emit the most recent click after a burst of clicks\n *\n * ```ts\n * import { fromEvent, debounceTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(debounceTime(1000));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link auditTime}\n * @see {@link debounce}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link throttle}\n * @see {@link throttleTime}\n *\n * @param {number} dueTime The timeout duration in milliseconds (or the time\n * unit determined internally by the optional `scheduler`) for the window of\n * time required to wait for emission silence before emitting the most recent\n * source value.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the timeout for each value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified `dueTime`, and may drop some values\n * if they occur too frequently.\n */\nexport function debounceTime<T>(dueTime: number, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let activeTask: Subscription | null = null;\n    let lastValue: T | null = null;\n    let lastTime: number | null = null;\n\n    const emit = () => {\n      if (activeTask) {\n        // We have a value! Free up memory first, then emit the value.\n        activeTask.unsubscribe();\n        activeTask = null;\n        const value = lastValue!;\n        lastValue = null;\n        subscriber.next(value);\n      }\n    };\n    function emitWhenIdle(this: SchedulerAction<unknown>) {\n      // This is called `dueTime` after the first value\n      // but we might have received new values during this window!\n\n      const targetTime = lastTime! + dueTime;\n      const now = scheduler.now();\n      if (now < targetTime) {\n        // On that case, re-schedule to the new target\n        activeTask = this.schedule(undefined, targetTime - now);\n        subscriber.add(activeTask);\n        return;\n      }\n\n      emit();\n    }\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value: T) => {\n          lastValue = value;\n          lastTime = scheduler.now();\n\n          // Only set up a task if it's not already up\n          if (!activeTask) {\n            activeTask = scheduler.schedule(emitWhenIdle, dueTime);\n            subscriber.add(activeTask);\n          }\n        },\n        () => {\n          // Source completed.\n          // Emit any pending debounced values then complete\n          emit();\n          subscriber.complete();\n        },\n        // Pass all errors through to consumer.\n        undefined,\n        () => {\n          // Finalization.\n          lastValue = activeTask = null;\n        }\n      )\n    );\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits a given value if the source Observable completes without emitting any\n * `next` value, otherwise mirrors the source Observable.\n *\n * <span class=\"informal\">If the source Observable turns out to be empty, then\n * this operator will emit a default value.</span>\n *\n * ![](defaultIfEmpty.png)\n *\n * `defaultIfEmpty` emits the values emitted by the source Observable or a\n * specified default value if the source Observable is empty (completes without\n * having emitted any `next` value).\n *\n * ## Example\n *\n * If no clicks happen in 5 seconds, then emit 'no clicks'\n *\n * ```ts\n * import { fromEvent, takeUntil, interval, defaultIfEmpty } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const clicksBeforeFive = clicks.pipe(takeUntil(interval(5000)));\n * const result = clicksBeforeFive.pipe(defaultIfEmpty('no clicks'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link empty}\n * @see {@link last}\n *\n * @param defaultValue The default value used if the source\n * Observable is empty.\n * @return A function that returns an Observable that emits either the\n * specified `defaultValue` if the source Observable emits no items, or the\n * values emitted by the source Observable.\n */\nexport function defaultIfEmpty<T, R>(defaultValue: R): OperatorFunction<T, T | R> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => {\n          if (!hasValue) {\n            subscriber.next(defaultValue!);\n          }\n          subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Emits only the first `count` values emitted by the source Observable.\n *\n * <span class=\"informal\">Takes the first `count` values from the source, then\n * completes.</span>\n *\n * ![](take.png)\n *\n * `take` returns an Observable that emits only the first `count` values emitted\n * by the source Observable. If the source emits fewer than `count` values then\n * all of its values are emitted. After that, it completes, regardless if the\n * source completes.\n *\n * ## Example\n *\n * Take the first 5 seconds of an infinite 1-second interval Observable\n *\n * ```ts\n * import { interval, take } from 'rxjs';\n *\n * const intervalCount = interval(1000);\n * const takeFive = intervalCount.pipe(take(5));\n * takeFive.subscribe(x => console.log(x));\n *\n * // Logs:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * ```\n *\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of `next` values to emit.\n * @return A function that returns an Observable that emits only the first\n * `count` values emitted by the source Observable, or all of the values from\n * the source if the source emits fewer than `count` values.\n */\nexport function take<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? // If we are taking no values, that's empty.\n      () => EMPTY\n    : operate((source, subscriber) => {\n        let seen = 0;\n        source.subscribe(\n          createOperatorSubscriber(subscriber, (value) => {\n            // Increment the number of values we have seen,\n            // then check it against the allowed count to see\n            // if we are still letting values through.\n            if (++seen <= count) {\n              subscriber.next(value);\n              // If we have met or passed our allowed count,\n              // we need to complete. We have to do <= here,\n              // because re-entrant code will increment `seen` twice.\n              if (count <= seen) {\n                subscriber.complete();\n              }\n            }\n          })\n        );\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { noop } from '../util/noop';\n\n/**\n * Ignores all items emitted by the source Observable and only passes calls of `complete` or `error`.\n *\n * ![](ignoreElements.png)\n *\n * The `ignoreElements` operator suppresses all items emitted by the source Observable,\n * but allows its termination notification (either `error` or `complete`) to pass through unchanged.\n *\n * If you do not care about the items being emitted by an Observable, but you do want to be notified\n * when it completes or when it terminates with an error, you can apply the `ignoreElements` operator\n * to the Observable, which will ensure that it will never call its observers\u2019 `next` handlers.\n *\n * ## Example\n *\n * Ignore all `next` emissions from the source\n *\n * ```ts\n * import { of, ignoreElements } from 'rxjs';\n *\n * of('you', 'talking', 'to', 'me')\n *   .pipe(ignoreElements())\n *   .subscribe({\n *     next: word => console.log(word),\n *     error: err => console.log('error:', err),\n *     complete: () => console.log('the end'),\n *   });\n *\n * // result:\n * // 'the end'\n * ```\n *\n * @return A function that returns an empty Observable that only calls\n * `complete` or `error`, based on which one is called by the source\n * Observable.\n */\nexport function ignoreElements(): OperatorFunction<unknown, never> {\n  return operate((source, subscriber) => {\n    source.subscribe(createOperatorSubscriber(subscriber, noop));\n  });\n}\n", "import { OperatorFunction } from '../types';\nimport { map } from './map';\n\n/** @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`. */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R>;\n/**\n * @deprecated Do not specify explicit type parameters. Signatures with type parameters\n * that cannot be inferred will be removed in v8. `mapTo` itself will be removed in v9,\n * use {@link map} instead: `map(() => value)`.\n * */\nexport function mapTo<T, R>(value: R): OperatorFunction<T, R>;\n\n/**\n * Emits the given constant value on the output Observable every time the source\n * Observable emits a value.\n *\n * <span class=\"informal\">Like {@link map}, but it maps every source value to\n * the same output value every time.</span>\n *\n * ![](mapTo.png)\n *\n * Takes a constant `value` as argument, and emits that whenever the source\n * Observable emits a value. In other words, ignores the actual source value,\n * and simply uses the emission moment to know when to emit the given `value`.\n *\n * ## Example\n *\n * Map every click to the string `'Hi'`\n *\n * ```ts\n * import { fromEvent, mapTo } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const greetings = clicks.pipe(mapTo('Hi'));\n *\n * greetings.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link map}\n *\n * @param value The value to map each source value to.\n * @return A function that returns an Observable that emits the given `value`\n * every time the source Observable emits.\n * @deprecated To be removed in v9. Use {@link map} instead: `map(() => value)`.\n */\nexport function mapTo<R>(value: R): OperatorFunction<unknown, R> {\n  return map(() => value);\n}\n", "import { Observable } from '../Observable';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { concat } from '../observable/concat';\nimport { take } from './take';\nimport { ignoreElements } from './ignoreElements';\nimport { mapTo } from './mapTo';\nimport { mergeMap } from './mergeMap';\nimport { innerFrom } from '../observable/innerFrom';\n\n/** @deprecated The `subscriptionDelay` parameter will be removed in v8. */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay: Observable<any>\n): MonoTypeOperatorFunction<T>;\nexport function delayWhen<T>(delayDurationSelector: (value: T, index: number) => ObservableInput<any>): MonoTypeOperatorFunction<T>;\n\n/**\n * Delays the emission of items from the source Observable by a given time span\n * determined by the emissions of another Observable.\n *\n * <span class=\"informal\">It's like {@link delay}, but the time span of the\n * delay duration is determined by a second Observable.</span>\n *\n * ![](delayWhen.png)\n *\n * `delayWhen` operator shifts each emitted value from the source Observable by\n * a time span determined by another Observable. When the source emits a value,\n * the `delayDurationSelector` function is called with the value emitted from\n * the source Observable as the first argument to the `delayDurationSelector`.\n * The `delayDurationSelector` function should return an {@link ObservableInput},\n * that is internally converted to an Observable that is called the \"duration\"\n * Observable.\n *\n * The source value is emitted on the output Observable only when the \"duration\"\n * Observable emits ({@link guide/glossary-and-semantics#next next}s) any value.\n * Upon that, the \"duration\" Observable gets unsubscribed.\n *\n * Before RxJS V7, the {@link guide/glossary-and-semantics#complete completion}\n * of the \"duration\" Observable would have been triggering the emission of the\n * source value to the output Observable, but with RxJS V7, this is not the case\n * anymore.\n *\n * Only next notifications (from the \"duration\" Observable) trigger values from\n * the source Observable to be passed to the output Observable. If the \"duration\"\n * Observable only emits the complete notification (without next), the value\n * emitted by the source Observable will never get to the output Observable - it\n * will be swallowed. If the \"duration\" Observable errors, the error will be\n * propagated to the output Observable.\n *\n * Optionally, `delayWhen` takes a second argument, `subscriptionDelay`, which\n * is an Observable. When `subscriptionDelay` emits its first value or\n * completes, the source Observable is subscribed to and starts behaving like\n * described in the previous paragraph. If `subscriptionDelay` is not provided,\n * `delayWhen` will subscribe to the source Observable as soon as the output\n * Observable is subscribed.\n *\n * ## Example\n *\n * Delay each click by a random amount of time, between 0 and 5 seconds\n *\n * ```ts\n * import { fromEvent, delayWhen, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(\n *   delayWhen(() => interval(Math.random() * 5000))\n * );\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delay}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param delayDurationSelector A function that returns an `ObservableInput` for\n * each `value` emitted by the source Observable, which is then used to delay the\n * emission of that `value` on the output Observable until the `ObservableInput`\n * returned from this function emits a next value. When called, beside `value`,\n * this function receives a zero-based `index` of the emission order.\n * @param subscriptionDelay An Observable that triggers the subscription to the\n * source Observable once it emits any value.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by an amount of time specified by the Observable\n * returned by `delayDurationSelector`.\n */\nexport function delayWhen<T>(\n  delayDurationSelector: (value: T, index: number) => ObservableInput<any>,\n  subscriptionDelay?: Observable<any>\n): MonoTypeOperatorFunction<T> {\n  if (subscriptionDelay) {\n    // DEPRECATED PATH\n    return (source: Observable<T>) =>\n      concat(subscriptionDelay.pipe(take(1), ignoreElements()), source.pipe(delayWhen(delayDurationSelector)));\n  }\n\n  return mergeMap((value, index) => innerFrom(delayDurationSelector(value, index)).pipe(take(1), mapTo(value)));\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { delayWhen } from './delayWhen';\nimport { timer } from '../observable/timer';\n\n/**\n * Delays the emission of items from the source Observable by a given timeout or\n * until a given Date.\n *\n * <span class=\"informal\">Time shifts each item by some specified amount of\n * milliseconds.</span>\n *\n * ![](delay.svg)\n *\n * If the delay argument is a Number, this operator time shifts the source\n * Observable by that amount of time expressed in milliseconds. The relative\n * time intervals between the values are preserved.\n *\n * If the delay argument is a Date, this operator time shifts the start of the\n * Observable execution until the given date occurs.\n *\n * ## Examples\n *\n * Delay each click by one second\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const delayedClicks = clicks.pipe(delay(1000)); // each click emitted after 1 second\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * Delay all clicks until a future date happens\n *\n * ```ts\n * import { fromEvent, delay } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const date = new Date('March 15, 2050 12:00:00'); // in the future\n * const delayedClicks = clicks.pipe(delay(date)); // click emitted only after that date\n * delayedClicks.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link delayWhen}\n * @see {@link throttle}\n * @see {@link throttleTime}\n * @see {@link debounce}\n * @see {@link debounceTime}\n * @see {@link sample}\n * @see {@link sampleTime}\n * @see {@link audit}\n * @see {@link auditTime}\n *\n * @param {number|Date} due The delay duration in milliseconds (a `number`) or\n * a `Date` until which the emission of the source items is delayed.\n * @param {SchedulerLike} [scheduler=async] The {@link SchedulerLike} to use for\n * managing the timers that handle the time-shift for each item.\n * @return A function that returns an Observable that delays the emissions of\n * the source Observable by the specified timeout or Date.\n */\nexport function delay<T>(due: number | Date, scheduler: SchedulerLike = asyncScheduler): MonoTypeOperatorFunction<T> {\n  const duration = timer(due, scheduler);\n  return delayWhen(() => duration);\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { identity } from '../util/identity';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function distinctUntilChanged<T>(comparator?: (previous: T, current: T) => boolean): MonoTypeOperatorFunction<T>;\nexport function distinctUntilChanged<T, K>(\n  comparator: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a result {@link Observable} that emits all values pushed by the source observable if they\n * are distinct in comparison to the last value the result observable emitted.\n *\n * When provided without parameters or with the first parameter (`{@link distinctUntilChanged#comparator comparator}`),\n * it behaves like this:\n *\n * 1. It will always emit the first value from the source.\n * 2. For all subsequent values pushed by the source, they will be compared to the previously emitted values\n *    using the provided `comparator` or an `===` equality check.\n * 3. If the value pushed by the source is determined to be unequal by this check, that value is emitted and\n *    becomes the new \"previously emitted value\" internally.\n *\n * When the second parameter (`{@link distinctUntilChanged#keySelector keySelector}`) is provided, the behavior\n * changes:\n *\n * 1. It will always emit the first value from the source.\n * 2. The `keySelector` will be run against all values, including the first value.\n * 3. For all values after the first, the selected key will be compared against the key selected from\n *    the previously emitted value using the `comparator`.\n * 4. If the keys are determined to be unequal by this check, the value (not the key), is emitted\n *    and the selected key from that value is saved for future comparisons against other keys.\n *\n * ## Examples\n *\n * A very basic example with no `{@link distinctUntilChanged#comparator comparator}`. Note that `1` is emitted more than once,\n * because it's distinct in comparison to the _previously emitted_ value,\n * not in comparison to _all other emitted values_.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * of(1, 1, 1, 2, 2, 2, 1, 1, 3, 3)\n *   .pipe(distinctUntilChanged())\n *   .subscribe(console.log);\n * // Logs: 1, 2, 1, 3\n * ```\n *\n * With a `{@link distinctUntilChanged#comparator comparator}`, you can do custom comparisons. Let's say\n * you only want to emit a value when all of its components have\n * changed:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const totallyDifferentBuilds$ = of(\n *   { engineVersion: '1.1.0', transmissionVersion: '1.2.0' },\n *   { engineVersion: '1.1.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.4.0' },\n *   { engineVersion: '1.3.0', transmissionVersion: '1.5.0' },\n *   { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ).pipe(\n *   distinctUntilChanged((prev, curr) => {\n *     return (\n *       prev.engineVersion === curr.engineVersion ||\n *       prev.transmissionVersion === curr.transmissionVersion\n *     );\n *   })\n * );\n *\n * totallyDifferentBuilds$.subscribe(console.log);\n *\n * // Logs:\n * // { engineVersion: '1.1.0', transmissionVersion: '1.2.0' }\n * // { engineVersion: '1.3.0', transmissionVersion: '1.4.0' }\n * // { engineVersion: '2.0.0', transmissionVersion: '1.5.0' }\n * ```\n *\n * You can also provide a custom `{@link distinctUntilChanged#comparator comparator}` to check that emitted\n * changes are only in one direction. Let's say you only want to get\n * the next record temperature:\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * const temps$ = of(30, 31, 20, 34, 33, 29, 35, 20);\n *\n * const recordHighs$ = temps$.pipe(\n *   distinctUntilChanged((prevHigh, temp) => {\n *     // If the current temp is less than\n *     // or the same as the previous record,\n *     // the record hasn't changed.\n *     return temp <= prevHigh;\n *   })\n * );\n *\n * recordHighs$.subscribe(console.log);\n * // Logs: 30, 31, 34, 35\n * ```\n *\n * Selecting update events only when the `updatedBy` field shows\n * the account changed hands.\n *\n * ```ts\n * import { of, distinctUntilChanged } from 'rxjs';\n *\n * // A stream of updates to a given account\n * const accountUpdates$ = of(\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'blesh', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'ncjamieson', data: [] },\n *   { updatedBy: 'blesh', data: [] }\n * );\n *\n * // We only want the events where it changed hands\n * const changedHands$ = accountUpdates$.pipe(\n *   distinctUntilChanged(undefined, update => update.updatedBy)\n * );\n *\n * changedHands$.subscribe(console.log);\n * // Logs:\n * // { updatedBy: 'blesh', data: Array[0] }\n * // { updatedBy: 'ncjamieson', data: Array[0] }\n * // { updatedBy: 'blesh', data: Array[0] }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilKeyChanged}\n *\n * @param comparator A function used to compare the previous and current keys for\n * equality. Defaults to a `===` check.\n * @param keySelector Used to select a key value to be passed to the `comparator`.\n *\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values.\n */\nexport function distinctUntilChanged<T, K>(\n  comparator?: (previous: K, current: K) => boolean,\n  keySelector: (value: T) => K = identity as (value: T) => K\n): MonoTypeOperatorFunction<T> {\n  // We've been allowing `null` do be passed as the `compare`, so we can't do\n  // a default value for the parameter, because that will only work\n  // for `undefined`.\n  comparator = comparator ?? defaultCompare;\n\n  return operate((source, subscriber) => {\n    // The previous key, used to compare against keys selected\n    // from new arrivals to determine \"distinctiveness\".\n    let previousKey: K;\n    // Whether or not this is the first value we've gotten.\n    let first = true;\n\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        // We always call the key selector.\n        const currentKey = keySelector(value);\n\n        // If it's the first value, we always emit it.\n        // Otherwise, we compare this key to the previous key, and\n        // if the comparer returns false, we emit.\n        if (first || !comparator!(previousKey, currentKey)) {\n          // Update our state *before* we emit the value\n          // as emission can be the source of re-entrant code\n          // in functional libraries like this. We only really\n          // need to do this if it's the first value, or if the\n          // key we're tracking in previous needs to change.\n          first = false;\n          previousKey = currentKey;\n\n          // Emit the value!\n          subscriber.next(value);\n        }\n      })\n    );\n  });\n}\n\nfunction defaultCompare(a: any, b: any) {\n  return a === b;\n}\n", "import { distinctUntilChanged } from './distinctUntilChanged';\nimport { MonoTypeOperatorFunction } from '../types';\n\n/* tslint:disable:max-line-length */\nexport function distinctUntilKeyChanged<T>(key: keyof T): MonoTypeOperatorFunction<T>;\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T>;\n/* tslint:enable:max-line-length */\n\n/**\n * Returns an Observable that emits all items emitted by the source Observable that are distinct by comparison from the previous item,\n * using a property accessed by using the key provided to check if the two items are distinct.\n *\n * If a comparator function is provided, then it will be called for each item to test for whether or not that value should be emitted.\n *\n * If a comparator function is not provided, an equality check is used by default.\n *\n * ## Examples\n *\n * An example comparing the name of persons\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo' },\n *   { age: 6, name: 'Foo' }\n * ).pipe(\n *   distinctUntilKeyChanged('name')\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo' }\n * ```\n *\n * An example comparing the first letters of the name\n *\n * ```ts\n * import { of, distinctUntilKeyChanged } from 'rxjs';\n *\n * of(\n *   { age: 4, name: 'Foo1' },\n *   { age: 7, name: 'Bar' },\n *   { age: 5, name: 'Foo2' },\n *   { age: 6, name: 'Foo3' }\n * ).pipe(\n *   distinctUntilKeyChanged('name', (x, y) => x.substring(0, 3) === y.substring(0, 3))\n * )\n * .subscribe(x => console.log(x));\n *\n * // displays:\n * // { age: 4, name: 'Foo1' }\n * // { age: 7, name: 'Bar' }\n * // { age: 5, name: 'Foo2' }\n * ```\n *\n * @see {@link distinct}\n * @see {@link distinctUntilChanged}\n *\n * @param {string} key String key for object property lookup on each item.\n * @param {function} [compare] Optional comparison function called to test if an item is distinct from the previous item in the source.\n * @return A function that returns an Observable that emits items from the\n * source Observable with distinct values based on the key specified.\n */\nexport function distinctUntilKeyChanged<T, K extends keyof T>(key: K, compare?: (x: T[K], y: T[K]) => boolean): MonoTypeOperatorFunction<T> {\n  return distinctUntilChanged((x: T, y: T) => compare ? compare(x[key], y[key]) : x[key] === y[key]);\n}\n", "import { EmptyError } from '../util/EmptyError';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * If the source observable completes without emitting a value, it will emit\n * an error. The error will be created at that time by the optional\n * `errorFactory` argument, otherwise, the error will be {@link EmptyError}.\n *\n * ![](throwIfEmpty.png)\n *\n * ## Example\n *\n * Throw an error if the document wasn't clicked within 1 second\n *\n * ```ts\n * import { fromEvent, takeUntil, timer, throwIfEmpty } from 'rxjs';\n *\n * const click$ = fromEvent(document, 'click');\n *\n * click$.pipe(\n *   takeUntil(timer(1000)),\n *   throwIfEmpty(() => new Error('The document was not clicked within 1 second'))\n * )\n * .subscribe({\n *   next() {\n *    console.log('The document was clicked');\n *   },\n *   error(err) {\n *     console.error(err.message);\n *   }\n * });\n * ```\n *\n * @param errorFactory A factory function called to produce the\n * error to be thrown when the source observable completes without emitting a\n * value.\n * @return A function that returns an Observable that throws an error if the\n * source Observable completed without emitting.\n */\nexport function throwIfEmpty<T>(errorFactory: () => any = defaultErrorFactory): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let hasValue = false;\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          hasValue = true;\n          subscriber.next(value);\n        },\n        () => (hasValue ? subscriber.complete() : subscriber.error(errorFactory()))\n      )\n    );\n  });\n}\n\nfunction defaultErrorFactory() {\n  return new EmptyError();\n}\n", "/** prettier */\nimport { Observable } from '../Observable';\nimport { concat } from '../observable/concat';\nimport { of } from '../observable/of';\nimport { MonoTypeOperatorFunction, SchedulerLike, OperatorFunction, ValueFromArray } from '../types';\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T>(scheduler: SchedulerLike): MonoTypeOperatorFunction<T>;\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function endWith<T, A extends unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\n\nexport function endWith<T, A extends unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that will emit all values from the source, then synchronously emit\n * the provided value(s) immediately after the source completes.\n *\n * NOTE: Passing a last argument of a Scheduler is _deprecated_, and may result in incorrect\n * types in TypeScript.\n *\n * This is useful for knowing when an observable ends. Particularly when paired with an\n * operator like {@link takeUntil}\n *\n * ![](endWith.png)\n *\n * ## Example\n *\n * Emit values to know when an interval starts and stops. The interval will\n * stop when a user clicks anywhere on the document.\n *\n * ```ts\n * import { interval, map, fromEvent, startWith, takeUntil, endWith } from 'rxjs';\n *\n * const ticker$ = interval(5000).pipe(\n *   map(() => 'tick')\n * );\n *\n * const documentClicks$ = fromEvent(document, 'click');\n *\n * ticker$.pipe(\n *   startWith('interval started'),\n *   takeUntil(documentClicks$),\n *   endWith('interval ended by click')\n * )\n * .subscribe(x => console.log(x));\n *\n * // Result (assuming a user clicks after 15 seconds)\n * // 'interval started'\n * // 'tick'\n * // 'tick'\n * // 'tick'\n * // 'interval ended by click'\n * ```\n *\n * @see {@link startWith}\n * @see {@link concat}\n * @see {@link takeUntil}\n *\n * @param values Items you want the modified Observable to emit last.\n * @return A function that returns an Observable that emits all values from the\n * source, then synchronously emits the provided value(s) immediately after the\n * source completes.\n */\nexport function endWith<T>(...values: Array<T | SchedulerLike>): MonoTypeOperatorFunction<T> {\n  return (source: Observable<T>) => concat(source, of(...values)) as Observable<T>;\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\n\n/**\n * Returns an Observable that mirrors the source Observable, but will call a specified function when\n * the source terminates on complete or error.\n * The specified function will also be called when the subscriber explicitly unsubscribes.\n *\n * ## Examples\n *\n * Execute callback function when the observable completes\n *\n * ```ts\n * import { interval, take, finalize } from 'rxjs';\n *\n * // emit value in sequence every 1 second\n * const source = interval(1000);\n * const example = source.pipe(\n *   take(5), //take only the first 5 values\n *   finalize(() => console.log('Sequence complete')) // Execute when the observable completes\n * );\n * const subscribe = example.subscribe(val => console.log(val));\n *\n * // results:\n * // 0\n * // 1\n * // 2\n * // 3\n * // 4\n * // 'Sequence complete'\n * ```\n *\n * Execute callback function when the subscriber explicitly unsubscribes\n *\n * ```ts\n * import { interval, finalize, tap, noop, timer } from 'rxjs';\n *\n * const source = interval(100).pipe(\n *   finalize(() => console.log('[finalize] Called')),\n *   tap({\n *     next: () => console.log('[next] Called'),\n *     error: () => console.log('[error] Not called'),\n *     complete: () => console.log('[tap complete] Not called')\n *   })\n * );\n *\n * const sub = source.subscribe({\n *   next: x => console.log(x),\n *   error: noop,\n *   complete: () => console.log('[complete] Not called')\n * });\n *\n * timer(150).subscribe(() => sub.unsubscribe());\n *\n * // results:\n * // '[next] Called'\n * // 0\n * // '[finalize] Called'\n * ```\n *\n * @param {function} callback Function to be called when source terminates.\n * @return A function that returns an Observable that mirrors the source, but\n * will call the specified function on termination.\n */\nexport function finalize<T>(callback: () => void): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    // TODO: This try/finally was only added for `useDeprecatedSynchronousErrorHandling`.\n    // REMOVE THIS WHEN THAT HOT GARBAGE IS REMOVED IN V8.\n    try {\n      source.subscribe(subscriber);\n    } finally {\n      subscriber.add(callback);\n    }\n  });\n}\n", "import { Observable } from '../Observable';\nimport { EmptyError } from '../util/EmptyError';\nimport { OperatorFunction, TruthyTypesOf } from '../types';\nimport { filter } from './filter';\nimport { take } from './take';\nimport { defaultIfEmpty } from './defaultIfEmpty';\nimport { throwIfEmpty } from './throwIfEmpty';\nimport { identity } from '../util/identity';\n\nexport function first<T, D = T>(predicate?: null, defaultValue?: D): OperatorFunction<T, T | D>;\nexport function first<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function first<T, D>(predicate: BooleanConstructor, defaultValue: D): OperatorFunction<T, TruthyTypesOf<T> | D>;\nexport function first<T, S extends T>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue?: S\n): OperatorFunction<T, S>;\nexport function first<T, S extends T, D>(\n  predicate: (value: T, index: number, source: Observable<T>) => value is S,\n  defaultValue: D\n): OperatorFunction<T, S | D>;\nexport function first<T, D = T>(\n  predicate: (value: T, index: number, source: Observable<T>) => boolean,\n  defaultValue?: D\n): OperatorFunction<T, T | D>;\n\n/**\n * Emits only the first value (or the first value that meets some condition)\n * emitted by the source Observable.\n *\n * <span class=\"informal\">Emits only the first value. Or emits only the first\n * value that passes some test.</span>\n *\n * ![](first.png)\n *\n * If called with no arguments, `first` emits the first value of the source\n * Observable, then completes. If called with a `predicate` function, `first`\n * emits the first value of the source that matches the specified condition. Throws an error if\n * `defaultValue` was not provided and a matching element is not found.\n *\n * ## Examples\n *\n * Emit only the first click that happens on the DOM\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first());\n * result.subscribe(x => console.log(x));\n * ```\n *\n * Emits the first click that happens on a DIV\n *\n * ```ts\n * import { fromEvent, first } from 'rxjs';\n *\n * const div = document.createElement('div');\n * div.style.cssText = 'width: 200px; height: 200px; background: #09c;';\n * document.body.appendChild(div);\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(first(ev => (<HTMLElement>ev.target).tagName === 'DIV'));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link filter}\n * @see {@link find}\n * @see {@link take}\n *\n * @throws {EmptyError} Delivers an EmptyError to the Observer's `error`\n * callback if the Observable completes before any `next` notification was sent.\n * This is how `first()` is different from {@link take}(1) which completes instead.\n *\n * @param {function(value: T, index: number, source: Observable<T>): boolean} [predicate]\n * An optional function called with each item to test for condition matching.\n * @param {D} [defaultValue] The default value emitted in case no valid value\n * was found on the source.\n * @return A function that returns an Observable that emits the first item that\n * matches the condition.\n */\nexport function first<T, D>(\n  predicate?: ((value: T, index: number, source: Observable<T>) => boolean) | null,\n  defaultValue?: D\n): OperatorFunction<T, T | D> {\n  const hasDefaultValue = arguments.length >= 2;\n  return (source: Observable<T>) =>\n    source.pipe(\n      predicate ? filter((v, i) => predicate(v, i, source)) : identity,\n      take(1),\n      hasDefaultValue ? defaultIfEmpty(defaultValue!) : throwIfEmpty(() => new EmptyError())\n    );\n}\n", "import { EMPTY } from '../observable/empty';\nimport { MonoTypeOperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/**\n * Waits for the source to complete, then emits the last N values from the source,\n * as specified by the `count` argument.\n *\n * ![](takeLast.png)\n *\n * `takeLast` results in an observable that will hold values up to `count` values in memory,\n * until the source completes. It then pushes all values in memory to the consumer, in the\n * order they were received from the source, then notifies the consumer that it is\n * complete.\n *\n * If for some reason the source completes before the `count` supplied to `takeLast` is reached,\n * all values received until that point are emitted, and then completion is notified.\n *\n * **Warning**: Using `takeLast` with an observable that never completes will result\n * in an observable that never emits a value.\n *\n * ## Example\n *\n * Take the last 3 values of an Observable with many values\n *\n * ```ts\n * import { range, takeLast } from 'rxjs';\n *\n * const many = range(1, 100);\n * const lastThree = many.pipe(takeLast(3));\n * lastThree.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeUntil}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param count The maximum number of values to emit from the end of\n * the sequence of values emitted by the source Observable.\n * @return A function that returns an Observable that emits at most the last\n * `count` values emitted by the source Observable.\n */\nexport function takeLast<T>(count: number): MonoTypeOperatorFunction<T> {\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        // This buffer will hold the values we are going to emit\n        // when the source completes. Since we only want to take the\n        // last N values, we can't emit until we're sure we're not getting\n        // any more values.\n        let buffer: T[] = [];\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              // Add the most recent value onto the end of our buffer.\n              buffer.push(value);\n              // If our buffer is now larger than the number of values we\n              // want to take, we remove the oldest value from the buffer.\n              count < buffer.length && buffer.shift();\n            },\n            () => {\n              // The source completed, we now know what are last values\n              // are, emit them in the order they were received.\n              for (const value of buffer) {\n                subscriber.next(value);\n              }\n              subscriber.complete();\n            },\n            // Errors are passed through to the consumer\n            undefined,\n            () => {\n              // During finalization release the values in our buffer.\n              buffer = null!;\n            }\n          )\n        );\n      });\n}\n", "import { ObservableInput, ObservableInputTuple, OperatorFunction, SchedulerLike } from '../types';\nimport { operate } from '../util/lift';\nimport { argsOrArgArray } from '../util/argsOrArgArray';\nimport { mergeAll } from './mergeAll';\nimport { popNumber, popScheduler } from '../util/args';\nimport { from } from '../observable/from';\n\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(...sources: [...ObservableInputTuple<A>]): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrency: [...ObservableInputTuple<A>, number]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndScheduler: [...ObservableInputTuple<A>, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n/** @deprecated Replaced with {@link mergeWith}. Will be removed in v8. */\nexport function merge<T, A extends readonly unknown[]>(\n  ...sourcesAndConcurrencyAndScheduler: [...ObservableInputTuple<A>, number, SchedulerLike]\n): OperatorFunction<T, T | A[number]>;\n\nexport function merge<T>(...args: unknown[]): OperatorFunction<T, unknown> {\n  const scheduler = popScheduler(args);\n  const concurrent = popNumber(args, Infinity);\n  args = argsOrArgArray(args);\n\n  return operate((source, subscriber) => {\n    mergeAll(concurrent)(from([source, ...(args as ObservableInput<T>[])], scheduler)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction } from '../types';\nimport { merge } from './merge';\n\n/**\n * Merge the values from all observables to a single observable result.\n *\n * Creates an observable, that when subscribed to, subscribes to the source\n * observable, and all other sources provided as arguments. All values from\n * every source are emitted from the resulting subscription.\n *\n * When all sources complete, the resulting observable will complete.\n *\n * When any source errors, the resulting observable will error.\n *\n * ## Example\n *\n * Joining all outputs from multiple user input event streams\n *\n * ```ts\n * import { fromEvent, map, mergeWith } from 'rxjs';\n *\n * const clicks$ = fromEvent(document, 'click').pipe(map(() => 'click'));\n * const mousemoves$ = fromEvent(document, 'mousemove').pipe(map(() => 'mousemove'));\n * const dblclicks$ = fromEvent(document, 'dblclick').pipe(map(() => 'dblclick'));\n *\n * mousemoves$\n *   .pipe(mergeWith(clicks$, dblclicks$))\n *   .subscribe(x => console.log(x));\n *\n * // result (assuming user interactions)\n * // 'mousemove'\n * // 'mousemove'\n * // 'mousemove'\n * // 'click'\n * // 'click'\n * // 'dblclick'\n * ```\n *\n * @see {@link merge}\n *\n * @param otherSources the sources to combine the current source with.\n * @return A function that returns an Observable that merges the values from\n * all given Observables.\n */\nexport function mergeWith<T, A extends readonly unknown[]>(\n  ...otherSources: [...ObservableInputTuple<A>]\n): OperatorFunction<T, T | A[number]> {\n  return merge(...otherSources);\n}\n", "import { Subscription } from '../Subscription';\nimport { EMPTY } from '../observable/empty';\nimport { operate } from '../util/lift';\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { timer } from '../observable/timer';\n\nexport interface RepeatConfig {\n  /**\n   * The number of times to repeat the source. Defaults to `Infinity`.\n   */\n  count?: number;\n\n  /**\n   * If a `number`, will delay the repeat of the source by that number of milliseconds.\n   * If a function, it will provide the number of times the source has been subscribed to,\n   * and the return value should be a valid observable input that will notify when the source\n   * should be repeated. If the notifier observable is empty, the result will complete.\n   */\n  delay?: number | ((count: number) => ObservableInput<any>);\n}\n\n/**\n * Returns an Observable that will resubscribe to the source stream when the source stream completes.\n *\n * <span class=\"informal\">Repeats all values emitted on the source. It's like {@link retry}, but for non error cases.</span>\n *\n * ![](repeat.png)\n *\n * Repeat will output values from a source until the source completes, then it will resubscribe to the\n * source a specified number of times, with a specified delay. Repeat can be particularly useful in\n * combination with closing operators like {@link take}, {@link takeUntil}, {@link first}, or {@link takeWhile},\n * as it can be used to restart a source again from scratch.\n *\n * Repeat is very similar to {@link retry}, where {@link retry} will resubscribe to the source in the error case, but\n * `repeat` will resubscribe if the source completes.\n *\n * Note that `repeat` will _not_ catch errors. Use {@link retry} for that.\n *\n * - `repeat(0)` returns an empty observable\n * - `repeat()` will repeat forever\n * - `repeat({ delay: 200 })` will repeat forever, with a delay of 200ms between repetitions.\n * - `repeat({ count: 2, delay: 400 })` will repeat twice, with a delay of 400ms between repetitions.\n * - `repeat({ delay: (count) => timer(count * 1000) })` will repeat forever, but will have a delay that grows by one second for each repetition.\n *\n * ## Example\n *\n * Repeat a message stream\n *\n * ```ts\n * import { of, repeat } from 'rxjs';\n *\n * const source = of('Repeat message');\n * const result = source.pipe(repeat(3));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results\n * // 'Repeat message'\n * // 'Repeat message'\n * // 'Repeat message'\n * ```\n *\n * Repeat 3 values, 2 times\n *\n * ```ts\n * import { interval, take, repeat } from 'rxjs';\n *\n * const source = interval(1000);\n * const result = source.pipe(take(3), repeat(2));\n *\n * result.subscribe(x => console.log(x));\n *\n * // Results every second\n * // 0\n * // 1\n * // 2\n * // 0\n * // 1\n * // 2\n * ```\n *\n * Defining two complex repeats with delays on the same source.\n * Note that the second repeat cannot be called until the first\n * repeat as exhausted it's count.\n *\n * ```ts\n * import { defer, of, repeat } from 'rxjs';\n *\n * const source = defer(() => {\n *    return of(`Hello, it is ${new Date()}`)\n * });\n *\n * source.pipe(\n *    // Repeat 3 times with a delay of 1 second between repetitions\n *    repeat({\n *      count: 3,\n *      delay: 1000,\n *    }),\n *\n *    // *Then* repeat forever, but with an exponential step-back\n *    // maxing out at 1 minute.\n *    repeat({\n *      delay: (count) => timer(Math.min(60000, 2 ^ count * 1000))\n *    })\n * )\n * ```\n *\n * @see {@link repeatWhen}\n * @see {@link retry}\n *\n * @param count The number of times the source Observable items are repeated, a count of 0 will yield\n * an empty Observable.\n */\nexport function repeat<T>(countOrConfig?: number | RepeatConfig): MonoTypeOperatorFunction<T> {\n  let count = Infinity;\n  let delay: RepeatConfig['delay'];\n\n  if (countOrConfig != null) {\n    if (typeof countOrConfig === 'object') {\n      ({ count = Infinity, delay } = countOrConfig);\n    } else {\n      count = countOrConfig;\n    }\n  }\n\n  return count <= 0\n    ? () => EMPTY\n    : operate((source, subscriber) => {\n        let soFar = 0;\n        let sourceSub: Subscription | null;\n\n        const resubscribe = () => {\n          sourceSub?.unsubscribe();\n          sourceSub = null;\n          if (delay != null) {\n            const notifier = typeof delay === 'number' ? timer(delay) : innerFrom(delay(soFar));\n            const notifierSubscriber = createOperatorSubscriber(subscriber, () => {\n              notifierSubscriber.unsubscribe();\n              subscribeToSource();\n            });\n            notifier.subscribe(notifierSubscriber);\n          } else {\n            subscribeToSource();\n          }\n        };\n\n        const subscribeToSource = () => {\n          let syncUnsub = false;\n          sourceSub = source.subscribe(\n            createOperatorSubscriber(subscriber, undefined, () => {\n              if (++soFar < count) {\n                if (sourceSub) {\n                  resubscribe();\n                } else {\n                  syncUnsub = true;\n                }\n              } else {\n                subscriber.complete();\n              }\n            })\n          );\n\n          if (syncUnsub) {\n            resubscribe();\n          }\n        };\n\n        subscribeToSource();\n      });\n}\n", "import { OperatorFunction } from '../types';\nimport { operate } from '../util/lift';\nimport { scanInternals } from './scanInternals';\n\nexport function scan<V, A = V>(accumulator: (acc: A | V, value: V, index: number) => A): OperatorFunction<V, V | A>;\nexport function scan<V, A>(accumulator: (acc: A, value: V, index: number) => A, seed: A): OperatorFunction<V, A>;\nexport function scan<V, A, S>(accumulator: (acc: A | S, value: V, index: number) => A, seed: S): OperatorFunction<V, A>;\n\n// TODO: link to a \"redux pattern\" section in the guide (location TBD)\n\n/**\n * Useful for encapsulating and managing state. Applies an accumulator (or \"reducer function\")\n * to each value from the source after an initial state is established -- either via\n * a `seed` value (second argument), or from the first value from the source.\n *\n * <span class=\"informal\">It's like {@link reduce}, but emits the current\n * accumulation state after each update</span>\n *\n * ![](scan.png)\n *\n * This operator maintains an internal state and emits it after processing each value as follows:\n *\n * 1. First value arrives\n *   - If a `seed` value was supplied (as the second argument to `scan`), let `state = seed` and `value = firstValue`.\n *   - If NO `seed` value was supplied (no second argument), let `state = firstValue` and go to 3.\n * 2. Let `state = accumulator(state, value)`.\n *   - If an error is thrown by `accumulator`, notify the consumer of an error. The process ends.\n * 3. Emit `state`.\n * 4. Next value arrives, let `value = nextValue`, go to 2.\n *\n * ## Examples\n *\n * An average of previous numbers. This example shows how\n * not providing a `seed` can prime the stream with the\n * first value from the source.\n *\n * ```ts\n * import { of, scan, map } from 'rxjs';\n *\n * const numbers$ = of(1, 2, 3);\n *\n * numbers$\n *   .pipe(\n *     // Get the sum of the numbers coming in.\n *     scan((total, n) => total + n),\n *     // Get the average by dividing the sum by the total number\n *     // received so far (which is 1 more than the zero-based index).\n *     map((sum, index) => sum / (index + 1))\n *   )\n *   .subscribe(console.log);\n * ```\n *\n * The Fibonacci sequence. This example shows how you can use\n * a seed to prime accumulation process. Also... you know... Fibonacci.\n * So important to like, computers and stuff that its whiteboarded\n * in job interviews. Now you can show them the Rx version! (Please don't, haha)\n *\n * ```ts\n * import { interval, scan, map, startWith } from 'rxjs';\n *\n * const firstTwoFibs = [0, 1];\n * // An endless stream of Fibonacci numbers.\n * const fibonacci$ = interval(1000).pipe(\n *   // Scan to get the fibonacci numbers (after 0, 1)\n *   scan(([a, b]) => [b, a + b], firstTwoFibs),\n *   // Get the second number in the tuple, it's the one you calculated\n *   map(([, n]) => n),\n *   // Start with our first two digits :)\n *   startWith(...firstTwoFibs)\n * );\n *\n * fibonacci$.subscribe(console.log);\n * ```\n *\n * @see {@link expand}\n * @see {@link mergeScan}\n * @see {@link reduce}\n * @see {@link switchScan}\n *\n * @param accumulator A \"reducer function\". This will be called for each value after an initial state is\n * acquired.\n * @param seed The initial state. If this is not provided, the first value from the source will\n * be used as the initial state, and emitted without going through the accumulator. All subsequent values\n * will be processed by the accumulator function. If this is provided, all values will go through\n * the accumulator function.\n * @return A function that returns an Observable of the accumulated values.\n */\nexport function scan<V, A, S>(accumulator: (acc: V | A | S, value: V, index: number) => A, seed?: S): OperatorFunction<V, V | A> {\n  // providing a seed of `undefined` *should* be valid and trigger\n  // hasSeed! so don't use `seed !== undefined` checks!\n  // For this reason, we have to check it here at the original call site\n  // otherwise inside Operator/Subscriber we won't know if `undefined`\n  // means they didn't provide anything or if they literally provided `undefined`\n  return operate(scanInternals(accumulator, seed as S, arguments.length >= 2, true));\n}\n", "import { innerFrom } from '../observable/innerFrom';\nimport { Subject } from '../Subject';\nimport { SafeSubscriber } from '../Subscriber';\nimport { Subscription } from '../Subscription';\nimport { MonoTypeOperatorFunction, SubjectLike, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\n\nexport interface ShareConfig<T> {\n  /**\n   * The factory used to create the subject that will connect the source observable to\n   * multicast consumers.\n   */\n  connector?: () => SubjectLike<T>;\n  /**\n   * If `true`, the resulting observable will reset internal state on error from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"retried\" in the event of an error.\n   * If `false`, when an error comes from the source it will push the error into the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent retries\n   * or resubscriptions will resubscribe to that same subject. In all cases, RxJS subjects will emit the same error again, however\n   * {@link ReplaySubject} will also push its buffered values before pushing the error.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnError?: boolean | ((error: any) => ObservableInput<any>);\n  /**\n   * If `true`, the resulting observable will reset internal state on completion from source and return to a \"cold\" state. This\n   * allows the resulting observable to be \"repeated\" after it is done.\n   * If `false`, when the source completes, it will push the completion through the connecting subject, and the subject\n   * will remain the connecting subject, meaning the resulting observable will not go \"cold\" again, and subsequent repeats\n   * or resubscriptions will resubscribe to that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnComplete?: boolean | (() => ObservableInput<any>);\n  /**\n   * If `true`, when the number of subscribers to the resulting observable reaches zero due to those subscribers unsubscribing, the\n   * internal state will be reset and the resulting observable will return to a \"cold\" state. This means that the next\n   * time the resulting observable is subscribed to, a new subject will be created and the source will be subscribed to\n   * again.\n   * If `false`, when the number of subscribers to the resulting observable reaches zero due to unsubscription, the subject\n   * will remain connected to the source, and new subscriptions to the result will be connected through that same subject.\n   * It is also possible to pass a notifier factory returning an `ObservableInput` instead which grants more fine-grained\n   * control over how and when the reset should happen. This allows behaviors like conditional or delayed resets.\n   */\n  resetOnRefCountZero?: boolean | (() => ObservableInput<any>);\n}\n\nexport function share<T>(): MonoTypeOperatorFunction<T>;\n\nexport function share<T>(options: ShareConfig<T>): MonoTypeOperatorFunction<T>;\n\n/**\n * Returns a new Observable that multicasts (shares) the original Observable. As long as there is at least one\n * Subscriber this Observable will be subscribed and emitting data. When all subscribers have unsubscribed it will\n * unsubscribe from the source Observable. Because the Observable is multicasting it makes the stream `hot`.\n * This is an alias for `multicast(() => new Subject()), refCount()`.\n *\n * The subscription to the underlying source Observable can be reset (unsubscribe and resubscribe for new subscribers),\n * if the subscriber count to the shared observable drops to 0, or if the source Observable errors or completes. It is\n * possible to use notifier factories for the resets to allow for behaviors like conditional or delayed resets. Please\n * note that resetting on error or complete of the source Observable does not behave like a transparent retry or restart\n * of the source because the error or complete will be forwarded to all subscribers and their subscription will be\n * closed. Only new subscribers after a reset on error or complete happened will cause a fresh subscription to the\n * source. To achieve transparent retries or restarts pipe the source through appropriate operators before sharing.\n *\n * ![](share.png)\n *\n * ## Example\n *\n * Generate new multicast Observable from the `source` Observable value\n *\n * ```ts\n * import { interval, tap, map, take, share } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   tap(x => console.log('Processing: ', x)),\n *   map(x => x * x),\n *   take(6),\n *   share()\n * );\n *\n * source.subscribe(x => console.log('subscription 1: ', x));\n * source.subscribe(x => console.log('subscription 2: ', x));\n *\n * // Logs:\n * // Processing: 0\n * // subscription 1: 0\n * // subscription 2: 0\n * // Processing: 1\n * // subscription 1: 1\n * // subscription 2: 1\n * // Processing: 2\n * // subscription 1: 4\n * // subscription 2: 4\n * // Processing: 3\n * // subscription 1: 9\n * // subscription 2: 9\n * // Processing: 4\n * // subscription 1: 16\n * // subscription 2: 16\n * // Processing: 5\n * // subscription 1: 25\n * // subscription 2: 25\n * ```\n *\n * ## Example with notifier factory: Delayed reset\n *\n * ```ts\n * import { interval, take, share, timer } from 'rxjs';\n *\n * const source = interval(1000).pipe(\n *   take(3),\n *   share({\n *     resetOnRefCountZero: () => timer(1000)\n *   })\n * );\n *\n * const subscriptionOne = source.subscribe(x => console.log('subscription 1: ', x));\n * setTimeout(() => subscriptionOne.unsubscribe(), 1300);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 2: ', x)), 1700);\n *\n * setTimeout(() => source.subscribe(x => console.log('subscription 3: ', x)), 5000);\n *\n * // Logs:\n * // subscription 1:  0\n * // (subscription 1 unsubscribes here)\n * // (subscription 2 subscribes here ~400ms later, source was not reset)\n * // subscription 2:  1\n * // subscription 2:  2\n * // (subscription 2 unsubscribes here)\n * // (subscription 3 subscribes here ~2000ms later, source did reset before)\n * // subscription 3:  0\n * // subscription 3:  1\n * // subscription 3:  2\n * ```\n *\n * @see {@link shareReplay}\n *\n * @return A function that returns an Observable that mirrors the source.\n */\nexport function share<T>(options: ShareConfig<T> = {}): MonoTypeOperatorFunction<T> {\n  const { connector = () => new Subject<T>(), resetOnError = true, resetOnComplete = true, resetOnRefCountZero = true } = options;\n  // It's necessary to use a wrapper here, as the _operator_ must be\n  // referentially transparent. Otherwise, it cannot be used in calls to the\n  // static `pipe` function - to create a partial pipeline.\n  //\n  // The _operator function_ - the function returned by the _operator_ - will\n  // not be referentially transparent - as it shares its source - but the\n  // _operator function_ is called when the complete pipeline is composed via a\n  // call to a source observable's `pipe` method - not when the static `pipe`\n  // function is called.\n  return (wrapperSource) => {\n    let connection: SafeSubscriber<T> | undefined;\n    let resetConnection: Subscription | undefined;\n    let subject: SubjectLike<T> | undefined;\n    let refCount = 0;\n    let hasCompleted = false;\n    let hasErrored = false;\n\n    const cancelReset = () => {\n      resetConnection?.unsubscribe();\n      resetConnection = undefined;\n    };\n    // Used to reset the internal state to a \"cold\"\n    // state, as though it had never been subscribed to.\n    const reset = () => {\n      cancelReset();\n      connection = subject = undefined;\n      hasCompleted = hasErrored = false;\n    };\n    const resetAndUnsubscribe = () => {\n      // We need to capture the connection before\n      // we reset (if we need to reset).\n      const conn = connection;\n      reset();\n      conn?.unsubscribe();\n    };\n\n    return operate<T, T>((source, subscriber) => {\n      refCount++;\n      if (!hasErrored && !hasCompleted) {\n        cancelReset();\n      }\n\n      // Create the subject if we don't have one yet. Grab a local reference to\n      // it as well, which avoids non-null assertions when using it and, if we\n      // connect to it now, then error/complete need a reference after it was\n      // reset.\n      const dest = (subject = subject ?? connector());\n\n      // Add the finalization directly to the subscriber - instead of returning it -\n      // so that the handling of the subscriber's unsubscription will be wired\n      // up _before_ the subscription to the source occurs. This is done so that\n      // the assignment to the source connection's `closed` property will be seen\n      // by synchronous firehose sources.\n      subscriber.add(() => {\n        refCount--;\n\n        // If we're resetting on refCount === 0, and it's 0, we only want to do\n        // that on \"unsubscribe\", really. Resetting on error or completion is a different\n        // configuration.\n        if (refCount === 0 && !hasErrored && !hasCompleted) {\n          resetConnection = handleReset(resetAndUnsubscribe, resetOnRefCountZero);\n        }\n      });\n\n      // The following line adds the subscription to the subscriber passed.\n      // Basically, `subscriber === dest.subscribe(subscriber)` is `true`.\n      dest.subscribe(subscriber);\n\n      if (\n        !connection &&\n        // Check this shareReplay is still activate - it can be reset to 0\n        // and be \"unsubscribed\" _before_ it actually subscribes.\n        // If we were to subscribe then, it'd leak and get stuck.\n        refCount > 0\n      ) {\n        // We need to create a subscriber here - rather than pass an observer and\n        // assign the returned subscription to connection - because it's possible\n        // for reentrant subscriptions to the shared observable to occur and in\n        // those situations we want connection to be already-assigned so that we\n        // don't create another connection to the source.\n        connection = new SafeSubscriber({\n          next: (value) => dest.next(value),\n          error: (err) => {\n            hasErrored = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnError, err);\n            dest.error(err);\n          },\n          complete: () => {\n            hasCompleted = true;\n            cancelReset();\n            resetConnection = handleReset(reset, resetOnComplete);\n            dest.complete();\n          },\n        });\n        innerFrom(source).subscribe(connection);\n      }\n    })(wrapperSource);\n  };\n}\n\nfunction handleReset<T extends unknown[] = never[]>(\n  reset: () => void,\n  on: boolean | ((...args: T) => ObservableInput<any>),\n  ...args: T\n): Subscription | undefined {\n  if (on === true) {\n    reset();\n    return;\n  }\n\n  if (on === false) {\n    return;\n  }\n\n  const onSubscriber = new SafeSubscriber({\n    next: () => {\n      onSubscriber.unsubscribe();\n      reset();\n    },\n  });\n\n  return innerFrom(on(...args)).subscribe(onSubscriber);\n}\n", "import { ReplaySubject } from '../ReplaySubject';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { share } from './share';\n\nexport interface ShareReplayConfig {\n  bufferSize?: number;\n  windowTime?: number;\n  refCount: boolean;\n  scheduler?: SchedulerLike;\n}\n\nexport function shareReplay<T>(config: ShareReplayConfig): MonoTypeOperatorFunction<T>;\nexport function shareReplay<T>(bufferSize?: number, windowTime?: number, scheduler?: SchedulerLike): MonoTypeOperatorFunction<T>;\n\n/**\n * Share source and replay specified number of emissions on subscription.\n *\n * This operator is a specialization of `replay` that connects to a source observable\n * and multicasts through a `ReplaySubject` constructed with the specified arguments.\n * A successfully completed source will stay cached in the `shareReplay`ed observable forever,\n * but an errored source can be retried.\n *\n * ## Why use `shareReplay`?\n *\n * You generally want to use `shareReplay` when you have side-effects or taxing computations\n * that you do not wish to be executed amongst multiple subscribers.\n * It may also be valuable in situations where you know you will have late subscribers to\n * a stream that need access to previously emitted values.\n * This ability to replay values on subscription is what differentiates {@link share} and `shareReplay`.\n *\n * ## Reference counting\n *\n * By default `shareReplay` will use `refCount` of false, meaning that it will _not_ unsubscribe the\n * source when the reference counter drops to zero, i.e. the inner `ReplaySubject` will _not_ be unsubscribed\n * (and potentially run for ever).\n * This is the default as it is expected that `shareReplay` is often used to keep around expensive to setup\n * observables which we want to keep running instead of having to do the expensive setup again.\n *\n * As of RXJS version 6.4.0 a new overload signature was added to allow for manual control over what\n * happens when the operators internal reference counter drops to zero.\n * If `refCount` is true, the source will be unsubscribed from once the reference count drops to zero, i.e.\n * the inner `ReplaySubject` will be unsubscribed. All new subscribers will receive value emissions from a\n * new `ReplaySubject` which in turn will cause a new subscription to the source observable.\n *\n * ## Examples\n *\n * Example with a third subscriber coming late to the party\n *\n * ```ts\n * import { interval, take, shareReplay } from 'rxjs';\n *\n * const shared$ = interval(2000).pipe(\n *   take(6),\n *   shareReplay(3)\n * );\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * setTimeout(() => {\n *   shared$.subscribe(y => console.log('sub C: ', y));\n * }, 11000);\n *\n * // Logs:\n * // (after ~2000 ms)\n * // sub A: 0\n * // sub B: 0\n * // (after ~4000 ms)\n * // sub A: 1\n * // sub B: 1\n * // (after ~6000 ms)\n * // sub A: 2\n * // sub B: 2\n * // (after ~8000 ms)\n * // sub A: 3\n * // sub B: 3\n * // (after ~10000 ms)\n * // sub A: 4\n * // sub B: 4\n * // (after ~11000 ms, sub C gets the last 3 values)\n * // sub C: 2\n * // sub C: 3\n * // sub C: 4\n * // (after ~12000 ms)\n * // sub A: 5\n * // sub B: 5\n * // sub C: 5\n * ```\n *\n * Example for `refCount` usage\n *\n * ```ts\n * import { Observable, tap, interval, shareReplay, take } from 'rxjs';\n *\n * const log = <T>(name: string, source: Observable<T>) => source.pipe(\n *   tap({\n *     subscribe: () => console.log(`${ name }: subscribed`),\n *     next: value => console.log(`${ name }: ${ value }`),\n *     complete: () => console.log(`${ name }: completed`),\n *     finalize: () => console.log(`${ name }: unsubscribed`)\n *   })\n * );\n *\n * const obs$ = log('source', interval(1000));\n *\n * const shared$ = log('shared', obs$.pipe(\n *   shareReplay({ bufferSize: 1, refCount: true }),\n *   take(2)\n * ));\n *\n * shared$.subscribe(x => console.log('sub A: ', x));\n * shared$.subscribe(y => console.log('sub B: ', y));\n *\n * // PRINTS:\n * // shared: subscribed <-- reference count = 1\n * // source: subscribed\n * // shared: subscribed <-- reference count = 2\n * // source: 0\n * // shared: 0\n * // sub A: 0\n * // shared: 0\n * // sub B: 0\n * // source: 1\n * // shared: 1\n * // sub A: 1\n * // shared: completed <-- take(2) completes the subscription for sub A\n * // shared: unsubscribed <-- reference count = 1\n * // shared: 1\n * // sub B: 1\n * // shared: completed <-- take(2) completes the subscription for sub B\n * // shared: unsubscribed <-- reference count = 0\n * // source: unsubscribed <-- replaySubject unsubscribes from source observable because the reference count dropped to 0 and refCount is true\n *\n * // In case of refCount being false, the unsubscribe is never called on the source and the source would keep on emitting, even if no subscribers\n * // are listening.\n * // source: 2\n * // source: 3\n * // source: 4\n * // ...\n * ```\n *\n * @see {@link publish}\n * @see {@link share}\n * @see {@link publishReplay}\n *\n * @param configOrBufferSize Maximum element count of the replay buffer or {@link ShareReplayConfig configuration}\n * object.\n * @param windowTime Maximum time length of the replay buffer in milliseconds.\n * @param scheduler Scheduler where connected observers within the selector function\n * will be invoked on.\n * @return A function that returns an Observable sequence that contains the\n * elements of a sequence produced by multicasting the source sequence within a\n * selector function.\n */\nexport function shareReplay<T>(\n  configOrBufferSize?: ShareReplayConfig | number,\n  windowTime?: number,\n  scheduler?: SchedulerLike\n): MonoTypeOperatorFunction<T> {\n  let bufferSize: number;\n  let refCount = false;\n  if (configOrBufferSize && typeof configOrBufferSize === 'object') {\n    ({ bufferSize = Infinity, windowTime = Infinity, refCount = false, scheduler } = configOrBufferSize);\n  } else {\n    bufferSize = (configOrBufferSize ?? Infinity) as number;\n  }\n  return share<T>({\n    connector: () => new ReplaySubject(bufferSize, windowTime, scheduler),\n    resetOnError: true,\n    resetOnComplete: false,\n    resetOnRefCountZero: refCount,\n  });\n}\n", "import { MonoTypeOperatorFunction } from '../types';\nimport { filter } from './filter';\n\n/**\n * Returns an Observable that skips the first `count` items emitted by the source Observable.\n *\n * ![](skip.png)\n *\n * Skips the values until the sent notifications are equal or less than provided skip count. It raises\n * an error if skip count is equal or more than the actual number of emits and source raises an error.\n *\n * ## Example\n *\n * Skip the values before the emission\n *\n * ```ts\n * import { interval, skip } from 'rxjs';\n *\n * // emit every half second\n * const source = interval(500);\n * // skip the first 10 emitted values\n * const result = source.pipe(skip(10));\n *\n * result.subscribe(value => console.log(value));\n * // output: 10...11...12...13...\n * ```\n *\n * @see {@link last}\n * @see {@link skipWhile}\n * @see {@link skipUntil}\n * @see {@link skipLast}\n *\n * @param {Number} count - The number of times, items emitted by source Observable should be skipped.\n * @return A function that returns an Observable that skips the first `count`\n * values emitted by the source Observable.\n */\nexport function skip<T>(count: number): MonoTypeOperatorFunction<T> {\n  return filter((_, index) => count <= index);\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Returns an Observable that skips items emitted by the source Observable until a second Observable emits an item.\n *\n * The `skipUntil` operator causes the observable stream to skip the emission of values until the passed in observable\n * emits the first value. This can be particularly useful in combination with user interactions, responses of HTTP\n * requests or waiting for specific times to pass by.\n *\n * ![](skipUntil.png)\n *\n * Internally, the `skipUntil` operator subscribes to the passed in `notifier` `ObservableInput` (which gets converted\n * to an Observable) in order to recognize the emission of its first value. When `notifier` emits next, the operator\n * unsubscribes from it and starts emitting the values of the *source* observable until it completes or errors. It\n * will never let the *source* observable emit any values if the `notifier` completes or throws an error without\n * emitting a value before.\n *\n * ## Example\n *\n * In the following example, all emitted values of the interval observable are skipped until the user clicks anywhere\n * within the page\n *\n * ```ts\n * import { interval, fromEvent, skipUntil } from 'rxjs';\n *\n * const intervalObservable = interval(1000);\n * const click = fromEvent(document, 'click');\n *\n * const emitAfterClick = intervalObservable.pipe(\n *   skipUntil(click)\n * );\n * // clicked at 4.6s. output: 5...6...7...8........ or\n * // clicked at 7.3s. output: 8...9...10..11.......\n * emitAfterClick.subscribe(value => console.log(value));\n * ```\n *\n * @see {@link last}\n * @see {@link skip}\n * @see {@link skipWhile}\n * @see {@link skipLast}\n *\n * @param notifier An `ObservableInput` that has to emit an item before the source Observable elements begin to\n * be mirrored by the resulting Observable.\n * @return A function that returns an Observable that skips items from the\n * source Observable until the `notifier` Observable emits an item, then emits the\n * remaining items.\n */\nexport function skipUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let taking = false;\n\n    const skipSubscriber = createOperatorSubscriber(\n      subscriber,\n      () => {\n        skipSubscriber?.unsubscribe();\n        taking = true;\n      },\n      noop\n    );\n\n    innerFrom(notifier).subscribe(skipSubscriber);\n\n    source.subscribe(createOperatorSubscriber(subscriber, (value) => taking && subscriber.next(value)));\n  });\n}\n", "import { concat } from '../observable/concat';\nimport { OperatorFunction, SchedulerLike, ValueFromArray } from '../types';\nimport { popScheduler } from '../util/args';\nimport { operate } from '../util/lift';\n\n// Devs are more likely to pass null or undefined than they are a scheduler\n// without accompanying values. To make things easier for (naughty) devs who\n// use the `strictNullChecks: false` TypeScript compiler option, these\n// overloads with explicit null and undefined values are included.\n\nexport function startWith<T>(value: null): OperatorFunction<T, T | null>;\nexport function startWith<T>(value: undefined): OperatorFunction<T, T | undefined>;\n\n/** @deprecated The `scheduler` parameter will be removed in v8. Use `scheduled` and `concatAll`. Details: https://rxjs.dev/deprecations/scheduler-argument */\nexport function startWith<T, A extends readonly unknown[] = T[]>(\n  ...valuesAndScheduler: [...A, SchedulerLike]\n): OperatorFunction<T, T | ValueFromArray<A>>;\nexport function startWith<T, A extends readonly unknown[] = T[]>(...values: A): OperatorFunction<T, T | ValueFromArray<A>>;\n\n/**\n * Returns an observable that, at the moment of subscription, will synchronously emit all\n * values provided to this operator, then subscribe to the source and mirror all of its emissions\n * to subscribers.\n *\n * This is a useful way to know when subscription has occurred on an existing observable.\n *\n * <span class=\"informal\">First emits its arguments in order, and then any\n * emissions from the source.</span>\n *\n * ![](startWith.png)\n *\n * ## Examples\n *\n * Emit a value when a timer starts.\n *\n * ```ts\n * import { timer, map, startWith } from 'rxjs';\n *\n * timer(1000)\n *   .pipe(\n *     map(() => 'timer emit'),\n *     startWith('timer start')\n *   )\n *   .subscribe(x => console.log(x));\n *\n * // results:\n * // 'timer start'\n * // 'timer emit'\n * ```\n *\n * @param values Items you want the modified Observable to emit first.\n * @return A function that returns an Observable that synchronously emits\n * provided values before subscribing to the source Observable.\n *\n * @see {@link endWith}\n * @see {@link finalize}\n * @see {@link concat}\n */\nexport function startWith<T, D>(...values: D[]): OperatorFunction<T, T | D> {\n  const scheduler = popScheduler(values);\n  return operate((source, subscriber) => {\n    // Here we can't pass `undefined` as a scheduler, because if we did, the\n    // code inside of `concat` would be confused by the `undefined`, and treat it\n    // like an invalid observable. So we have to split it two different ways.\n    (scheduler ? concat(values, source, scheduler) : concat(values, source)).subscribe(subscriber);\n  });\n}\n", "import { Subscriber } from '../Subscriber';\nimport { ObservableInput, OperatorFunction, ObservedValueOf } from '../types';\nimport { innerFrom } from '../observable/innerFrom';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\n/* tslint:disable:max-line-length */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: undefined\n): OperatorFunction<T, ObservedValueOf<O>>;\n/** @deprecated The `resultSelector` parameter will be removed in v8. Use an inner `map` instead. Details: https://rxjs.dev/deprecations/resultSelector */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, R>;\n/* tslint:enable:max-line-length */\n\n/**\n * Projects each source value to an Observable which is merged in the output\n * Observable, emitting values only from the most recently projected Observable.\n *\n * <span class=\"informal\">Maps each value to an Observable, then flattens all of\n * these inner Observables using {@link switchAll}.</span>\n *\n * ![](switchMap.png)\n *\n * Returns an Observable that emits items based on applying a function that you\n * supply to each item emitted by the source Observable, where that function\n * returns an (so-called \"inner\") Observable. Each time it observes one of these\n * inner Observables, the output Observable begins emitting the items emitted by\n * that inner Observable. When a new inner Observable is emitted, `switchMap`\n * stops emitting items from the earlier-emitted inner Observable and begins\n * emitting items from the new one. It continues to behave like this for\n * subsequent inner Observables.\n *\n * ## Example\n *\n * Generate new Observable according to source Observable values\n *\n * ```ts\n * import { of, switchMap } from 'rxjs';\n *\n * const switched = of(1, 2, 3).pipe(switchMap(x => of(x, x ** 2, x ** 3)));\n * switched.subscribe(x => console.log(x));\n * // outputs\n * // 1\n * // 1\n * // 1\n * // 2\n * // 4\n * // 8\n * // 3\n * // 9\n * // 27\n * ```\n *\n * Restart an interval Observable on every click event\n *\n * ```ts\n * import { fromEvent, switchMap, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(switchMap(() => interval(1000)));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link concatMap}\n * @see {@link exhaustMap}\n * @see {@link mergeMap}\n * @see {@link switchAll}\n * @see {@link switchMapTo}\n *\n * @param {function(value: T, index: number): ObservableInput} project A function\n * that, when applied to an item emitted by the source Observable, returns an\n * Observable.\n * @return A function that returns an Observable that emits the result of\n * applying the projection function (and the optional deprecated\n * `resultSelector`) to each item emitted by the source Observable and taking\n * only the values from the most recently projected inner Observable.\n */\nexport function switchMap<T, R, O extends ObservableInput<any>>(\n  project: (value: T, index: number) => O,\n  resultSelector?: (outerValue: T, innerValue: ObservedValueOf<O>, outerIndex: number, innerIndex: number) => R\n): OperatorFunction<T, ObservedValueOf<O> | R> {\n  return operate((source, subscriber) => {\n    let innerSubscriber: Subscriber<ObservedValueOf<O>> | null = null;\n    let index = 0;\n    // Whether or not the source subscription has completed\n    let isComplete = false;\n\n    // We only complete the result if the source is complete AND we don't have an active inner subscription.\n    // This is called both when the source completes and when the inners complete.\n    const checkComplete = () => isComplete && !innerSubscriber && subscriber.complete();\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        (value) => {\n          // Cancel the previous inner subscription if there was one\n          innerSubscriber?.unsubscribe();\n          let innerIndex = 0;\n          const outerIndex = index++;\n          // Start the next inner subscription\n          innerFrom(project(value, outerIndex)).subscribe(\n            (innerSubscriber = createOperatorSubscriber(\n              subscriber,\n              // When we get a new inner value, next it through. Note that this is\n              // handling the deprecate result selector here. This is because with this architecture\n              // it ends up being smaller than using the map operator.\n              (innerValue) => subscriber.next(resultSelector ? resultSelector(value, innerValue, outerIndex, innerIndex++) : innerValue),\n              () => {\n                // The inner has completed. Null out the inner subscriber to\n                // free up memory and to signal that we have no inner subscription\n                // currently.\n                innerSubscriber = null!;\n                checkComplete();\n              }\n            ))\n          );\n        },\n        () => {\n          isComplete = true;\n          checkComplete();\n        }\n      )\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { noop } from '../util/noop';\n\n/**\n * Emits the values emitted by the source Observable until a `notifier`\n * Observable emits a value.\n *\n * <span class=\"informal\">Lets values pass until a second Observable,\n * `notifier`, emits a value. Then, it completes.</span>\n *\n * ![](takeUntil.png)\n *\n * `takeUntil` subscribes and begins mirroring the source Observable. It also\n * monitors a second Observable, `notifier` that you provide. If the `notifier`\n * emits a value, the output Observable stops mirroring the source Observable\n * and completes. If the `notifier` doesn't emit any value and completes\n * then `takeUntil` will pass all values.\n *\n * ## Example\n *\n * Tick every second until the first click happens\n *\n * ```ts\n * import { interval, fromEvent, takeUntil } from 'rxjs';\n *\n * const source = interval(1000);\n * const clicks = fromEvent(document, 'click');\n * const result = source.pipe(takeUntil(clicks));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeWhile}\n * @see {@link skip}\n *\n * @param {Observable} notifier The Observable whose first emitted value will\n * cause the output Observable of `takeUntil` to stop emitting values from the\n * source Observable.\n * @return A function that returns an Observable that emits the values from the\n * source Observable until `notifier` emits its first value.\n */\nexport function takeUntil<T>(notifier: ObservableInput<any>): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    innerFrom(notifier).subscribe(createOperatorSubscriber(subscriber, () => subscriber.complete(), noop));\n    !subscriber.closed && source.subscribe(subscriber);\n  });\n}\n", "import { OperatorFunction, MonoTypeOperatorFunction, TruthyTypesOf } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\n\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: true): MonoTypeOperatorFunction<T>;\nexport function takeWhile<T>(predicate: BooleanConstructor, inclusive: false): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T>(predicate: BooleanConstructor): OperatorFunction<T, TruthyTypesOf<T>>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S): OperatorFunction<T, S>;\nexport function takeWhile<T, S extends T>(predicate: (value: T, index: number) => value is S, inclusive: false): OperatorFunction<T, S>;\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive?: boolean): MonoTypeOperatorFunction<T>;\n\n/**\n * Emits values emitted by the source Observable so long as each value satisfies\n * the given `predicate`, and then completes as soon as this `predicate` is not\n * satisfied.\n *\n * <span class=\"informal\">Takes values from the source only while they pass the\n * condition given. When the first value does not satisfy, it completes.</span>\n *\n * ![](takeWhile.png)\n *\n * `takeWhile` subscribes and begins mirroring the source Observable. Each value\n * emitted on the source is given to the `predicate` function which returns a\n * boolean, representing a condition to be satisfied by the source values. The\n * output Observable emits the source values until such time as the `predicate`\n * returns false, at which point `takeWhile` stops mirroring the source\n * Observable and completes the output Observable.\n *\n * ## Example\n *\n * Emit click events only while the clientX property is greater than 200\n *\n * ```ts\n * import { fromEvent, takeWhile } from 'rxjs';\n *\n * const clicks = fromEvent<PointerEvent>(document, 'click');\n * const result = clicks.pipe(takeWhile(ev => ev.clientX > 200));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link take}\n * @see {@link takeLast}\n * @see {@link takeUntil}\n * @see {@link skip}\n *\n * @param {function(value: T, index: number): boolean} predicate A function that\n * evaluates a value emitted by the source Observable and returns a boolean.\n * Also takes the (zero-based) index as the second argument.\n * @param {boolean} inclusive When set to `true` the value that caused\n * `predicate` to return `false` will also be emitted.\n * @return A function that returns an Observable that emits values from the\n * source Observable so long as each value satisfies the condition defined by\n * the `predicate`, then completes.\n */\nexport function takeWhile<T>(predicate: (value: T, index: number) => boolean, inclusive = false): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    let index = 0;\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        const result = predicate(value, index++);\n        (result || inclusive) && subscriber.next(value);\n        !result && subscriber.complete();\n      })\n    );\n  });\n}\n", "import { MonoTypeOperatorFunction, Observer } from '../types';\nimport { isFunction } from '../util/isFunction';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { identity } from '../util/identity';\n\n/**\n * An extension to the {@link Observer} interface used only by the {@link tap} operator.\n *\n * It provides a useful set of callbacks a user can register to do side-effects in\n * cases other than what the usual {@link Observer} callbacks are\n * ({@link guide/glossary-and-semantics#next next},\n * {@link guide/glossary-and-semantics#error error} and/or\n * {@link guide/glossary-and-semantics#complete complete}).\n *\n * ## Example\n *\n * ```ts\n * import { fromEvent, switchMap, tap, interval, take } from 'rxjs';\n *\n * const source$ = fromEvent(document, 'click');\n * const result$ = source$.pipe(\n *   switchMap((_, i) => i % 2 === 0\n *     ? fromEvent(document, 'mousemove').pipe(\n *         tap({\n *           subscribe: () => console.log('Subscribed to the mouse move events after click #' + i),\n *           unsubscribe: () => console.log('Mouse move events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('Mouse move events #' + i + ' finalized')\n *         })\n *       )\n *     : interval(1_000).pipe(\n *         take(5),\n *         tap({\n *           subscribe: () => console.log('Subscribed to the 1-second interval events after click #' + i),\n *           unsubscribe: () => console.log('1-second interval events #' + i + ' unsubscribed'),\n *           finalize: () => console.log('1-second interval events #' + i + ' finalized')\n *         })\n *       )\n *   )\n * );\n *\n * const subscription = result$.subscribe({\n *   next: console.log\n * });\n *\n * setTimeout(() => {\n *   console.log('Unsubscribe after 60 seconds');\n *   subscription.unsubscribe();\n * }, 60_000);\n * ```\n */\nexport interface TapObserver<T> extends Observer<T> {\n  /**\n   * The callback that `tap` operator invokes at the moment when the source Observable\n   * gets subscribed to.\n   */\n  subscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when an explicit\n   * {@link guide/glossary-and-semantics#unsubscription unsubscribe} happens. It won't get invoked on\n   * `error` or `complete` events.\n   */\n  unsubscribe: () => void;\n  /**\n   * The callback that `tap` operator invokes when any kind of\n   * {@link guide/glossary-and-semantics#finalization finalization} happens - either when\n   * the source Observable `error`s or `complete`s or when it gets explicitly unsubscribed\n   * by the user. There is no difference in using this callback or the {@link finalize}\n   * operator, but if you're already using `tap` operator, you can use this callback\n   * instead. You'd get the same result in either case.\n   */\n  finalize: () => void;\n}\nexport function tap<T>(observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void)): MonoTypeOperatorFunction<T>;\n/** @deprecated Instead of passing separate callback arguments, use an observer argument. Signatures taking separate callback arguments will be removed in v8. Details: https://rxjs.dev/deprecations/subscribe-arguments */\nexport function tap<T>(\n  next?: ((value: T) => void) | null,\n  error?: ((error: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T>;\n\n/**\n * Used to perform side-effects for notifications from the source observable\n *\n * <span class=\"informal\">Used when you want to affect outside state with a notification without altering the notification</span>\n *\n * ![](tap.png)\n *\n * Tap is designed to allow the developer a designated place to perform side effects. While you _could_ perform side-effects\n * inside of a `map` or a `mergeMap`, that would make their mapping functions impure, which isn't always a big deal, but will\n * make it so you can't do things like memoize those functions. The `tap` operator is designed solely for such side-effects to\n * help you remove side-effects from other operations.\n *\n * For any notification, next, error, or complete, `tap` will call the appropriate callback you have provided to it, via a function\n * reference, or a partial observer, then pass that notification down the stream.\n *\n * The observable returned by `tap` is an exact mirror of the source, with one exception: Any error that occurs -- synchronously -- in a handler\n * provided to `tap` will be emitted as an error from the returned observable.\n *\n * > Be careful! You can mutate objects as they pass through the `tap` operator's handlers.\n *\n * The most common use of `tap` is actually for debugging. You can place a `tap(console.log)` anywhere\n * in your observable `pipe`, log out the notifications as they are emitted by the source returned by the previous\n * operation.\n *\n * ## Examples\n *\n * Check a random number before it is handled. Below is an observable that will use a random number between 0 and 1,\n * and emit `'big'` or `'small'` depending on the size of that number. But we wanted to log what the original number\n * was, so we have added a `tap(console.log)`.\n *\n * ```ts\n * import { of, tap, map } from 'rxjs';\n *\n * of(Math.random()).pipe(\n *   tap(console.log),\n *   map(n => n > 0.5 ? 'big' : 'small')\n * ).subscribe(console.log);\n * ```\n *\n * Using `tap` to analyze a value and force an error. Below is an observable where in our system we only\n * want to emit numbers 3 or less we get from another source. We can force our observable to error\n * using `tap`.\n *\n * ```ts\n * import { of, tap } from 'rxjs';\n *\n * const source = of(1, 2, 3, 4, 5);\n *\n * source.pipe(\n *   tap(n => {\n *     if (n > 3) {\n *       throw new TypeError(`Value ${ n } is greater than 3`);\n *     }\n *   })\n * )\n * .subscribe({ next: console.log, error: err => console.log(err.message) });\n * ```\n *\n * We want to know when an observable completes before moving on to the next observable. The system\n * below will emit a random series of `'X'` characters from 3 different observables in sequence. The\n * only way we know when one observable completes and moves to the next one, in this case, is because\n * we have added a `tap` with the side effect of logging to console.\n *\n * ```ts\n * import { of, concatMap, interval, take, map, tap } from 'rxjs';\n *\n * of(1, 2, 3).pipe(\n *   concatMap(n => interval(1000).pipe(\n *     take(Math.round(Math.random() * 10)),\n *     map(() => 'X'),\n *     tap({ complete: () => console.log(`Done with ${ n }`) })\n *   ))\n * )\n * .subscribe(console.log);\n * ```\n *\n * @see {@link finalize}\n * @see {@link TapObserver}\n *\n * @param observerOrNext A next handler or partial observer\n * @param error An error handler\n * @param complete A completion handler\n * @return A function that returns an Observable identical to the source, but\n * runs the specified Observer or callback(s) for each item.\n */\nexport function tap<T>(\n  observerOrNext?: Partial<TapObserver<T>> | ((value: T) => void) | null,\n  error?: ((e: any) => void) | null,\n  complete?: (() => void) | null\n): MonoTypeOperatorFunction<T> {\n  // We have to check to see not only if next is a function,\n  // but if error or complete were passed. This is because someone\n  // could technically call tap like `tap(null, fn)` or `tap(null, null, fn)`.\n  const tapObserver =\n    isFunction(observerOrNext) || error || complete\n      ? // tslint:disable-next-line: no-object-literal-type-assertion\n        ({ next: observerOrNext as Exclude<typeof observerOrNext, Partial<TapObserver<T>>>, error, complete } as Partial<TapObserver<T>>)\n      : observerOrNext;\n\n  return tapObserver\n    ? operate((source, subscriber) => {\n        tapObserver.subscribe?.();\n        let isUnsub = true;\n        source.subscribe(\n          createOperatorSubscriber(\n            subscriber,\n            (value) => {\n              tapObserver.next?.(value);\n              subscriber.next(value);\n            },\n            () => {\n              isUnsub = false;\n              tapObserver.complete?.();\n              subscriber.complete();\n            },\n            (err) => {\n              isUnsub = false;\n              tapObserver.error?.(err);\n              subscriber.error(err);\n            },\n            () => {\n              if (isUnsub) {\n                tapObserver.unsubscribe?.();\n              }\n              tapObserver.finalize?.();\n            }\n          )\n        );\n      })\n    : // Tap was called with no valid tap observer or handler\n      // (e.g. `tap(null, null, null)` or `tap(null)` or `tap()`)\n      // so we're going to just mirror the source.\n      identity;\n}\n", "import { Subscription } from '../Subscription';\n\nimport { MonoTypeOperatorFunction, ObservableInput } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\n\n/**\n * An object interface used by {@link throttle} or {@link throttleTime} that ensure\n * configuration options of these operators.\n *\n * @see {@link throttle}\n * @see {@link throttleTime}\n */\nexport interface ThrottleConfig {\n  /**\n   * If `true`, the resulting Observable will emit the first value from the source\n   * Observable at the **start** of the \"throttling\" process (when starting an\n   * internal timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the first value from the source Observable at the\n   * start of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `true`.\n   */\n  leading?: boolean;\n  /**\n   * If `true`, the resulting Observable will emit the last value from the source\n   * Observable at the **end** of the \"throttling\" process (when ending an internal\n   * timer that prevents other emissions from the source to pass through).\n   * If `false`, it will not emit the last value from the source Observable at the\n   * end of the \"throttling\" process.\n   *\n   * If not provided, defaults to: `false`.\n   */\n  trailing?: boolean;\n}\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for a duration determined by another Observable, then repeats this\n * process.\n *\n * <span class=\"informal\">It's like {@link throttleTime}, but the silencing\n * duration is determined by a second Observable.</span>\n *\n * ![](throttle.svg)\n *\n * `throttle` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled by calling the `durationSelector` function with the source value,\n * which returns the \"duration\" Observable. When the duration Observable emits a\n * value, the timer is disabled, and this process repeats for the\n * next source value.\n *\n * ## Example\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttle, interval } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttle(() => interval(1000)));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link audit}\n * @see {@link debounce}\n * @see {@link delayWhen}\n * @see {@link sample}\n * @see {@link throttleTime}\n *\n * @param durationSelector A function that receives a value from the source\n * Observable, for computing the silencing duration for each source value,\n * returned as an `ObservableInput`.\n * @param config A configuration object to define `leading` and `trailing`\n * behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttle<T>(durationSelector: (value: T) => ObservableInput<any>, config?: ThrottleConfig): MonoTypeOperatorFunction<T> {\n  return operate((source, subscriber) => {\n    const { leading = true, trailing = false } = config ?? {};\n    let hasValue = false;\n    let sendValue: T | null = null;\n    let throttled: Subscription | null = null;\n    let isComplete = false;\n\n    const endThrottling = () => {\n      throttled?.unsubscribe();\n      throttled = null;\n      if (trailing) {\n        send();\n        isComplete && subscriber.complete();\n      }\n    };\n\n    const cleanupThrottling = () => {\n      throttled = null;\n      isComplete && subscriber.complete();\n    };\n\n    const startThrottle = (value: T) =>\n      (throttled = innerFrom(durationSelector(value)).subscribe(createOperatorSubscriber(subscriber, endThrottling, cleanupThrottling)));\n\n    const send = () => {\n      if (hasValue) {\n        // Ensure we clear out our value and hasValue flag\n        // before we emit, otherwise reentrant code can cause\n        // issues here.\n        hasValue = false;\n        const value = sendValue!;\n        sendValue = null;\n        // Emit the value.\n        subscriber.next(value);\n        !isComplete && startThrottle(value);\n      }\n    };\n\n    source.subscribe(\n      createOperatorSubscriber(\n        subscriber,\n        // Regarding the presence of throttled.closed in the following\n        // conditions, if a synchronous duration selector is specified - weird,\n        // but legal - an already-closed subscription will be assigned to\n        // throttled, so the subscription's closed property needs to be checked,\n        // too.\n        (value) => {\n          hasValue = true;\n          sendValue = value;\n          !(throttled && !throttled.closed) && (leading ? send() : startThrottle(value));\n        },\n        () => {\n          isComplete = true;\n          !(trailing && hasValue && throttled && !throttled.closed) && subscriber.complete();\n        }\n      )\n    );\n  });\n}\n", "import { asyncScheduler } from '../scheduler/async';\nimport { throttle, ThrottleConfig } from './throttle';\nimport { MonoTypeOperatorFunction, SchedulerLike } from '../types';\nimport { timer } from '../observable/timer';\n\n/**\n * Emits a value from the source Observable, then ignores subsequent source\n * values for `duration` milliseconds, then repeats this process.\n *\n * <span class=\"informal\">Lets a value pass, then ignores source values for the\n * next `duration` milliseconds.</span>\n *\n * ![](throttleTime.png)\n *\n * `throttleTime` emits the source Observable values on the output Observable\n * when its internal timer is disabled, and ignores source values when the timer\n * is enabled. Initially, the timer is disabled. As soon as the first source\n * value arrives, it is forwarded to the output Observable, and then the timer\n * is enabled. After `duration` milliseconds (or the time unit determined\n * internally by the optional `scheduler`) has passed, the timer is disabled,\n * and this process repeats for the next source value. Optionally takes a\n * {@link SchedulerLike} for managing timers.\n *\n * ## Examples\n *\n * ### Limit click rate\n *\n * Emit clicks at a rate of at most one click per second\n *\n * ```ts\n * import { fromEvent, throttleTime } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const result = clicks.pipe(throttleTime(1000));\n *\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link auditTime}\n * @see {@link debounceTime}\n * @see {@link delay}\n * @see {@link sampleTime}\n * @see {@link throttle}\n *\n * @param duration Time to wait before emitting another value after\n * emitting the last value, measured in milliseconds or the time unit determined\n * internally by the optional `scheduler`.\n * @param scheduler The {@link SchedulerLike} to use for\n * managing the timers that handle the throttling. Defaults to {@link asyncScheduler}.\n * @param config A configuration object to define `leading` and\n * `trailing` behavior. Defaults to `{ leading: true, trailing: false }`.\n * @return A function that returns an Observable that performs the throttle\n * operation to limit the rate of emissions from the source.\n */\nexport function throttleTime<T>(\n  duration: number,\n  scheduler: SchedulerLike = asyncScheduler,\n  config?: ThrottleConfig\n): MonoTypeOperatorFunction<T> {\n  const duration$ = timer(duration, scheduler);\n  return throttle(() => duration$, config);\n}\n", "import { OperatorFunction, ObservableInputTuple } from '../types';\nimport { operate } from '../util/lift';\nimport { createOperatorSubscriber } from './OperatorSubscriber';\nimport { innerFrom } from '../observable/innerFrom';\nimport { identity } from '../util/identity';\nimport { noop } from '../util/noop';\nimport { popResultSelector } from '../util/args';\n\nexport function withLatestFrom<T, O extends unknown[]>(...inputs: [...ObservableInputTuple<O>]): OperatorFunction<T, [T, ...O]>;\n\nexport function withLatestFrom<T, O extends unknown[], R>(\n  ...inputs: [...ObservableInputTuple<O>, (...value: [T, ...O]) => R]\n): OperatorFunction<T, R>;\n\n/**\n * Combines the source Observable with other Observables to create an Observable\n * whose values are calculated from the latest values of each, only when the\n * source emits.\n *\n * <span class=\"informal\">Whenever the source Observable emits a value, it\n * computes a formula using that value plus the latest values from other input\n * Observables, then emits the output of that formula.</span>\n *\n * ![](withLatestFrom.png)\n *\n * `withLatestFrom` combines each value from the source Observable (the\n * instance) with the latest values from the other input Observables only when\n * the source emits a value, optionally using a `project` function to determine\n * the value to be emitted on the output Observable. All input Observables must\n * emit at least one value before the output Observable will emit a value.\n *\n * ## Example\n *\n * On every click event, emit an array with the latest timer event plus the click event\n *\n * ```ts\n * import { fromEvent, interval, withLatestFrom } from 'rxjs';\n *\n * const clicks = fromEvent(document, 'click');\n * const timer = interval(1000);\n * const result = clicks.pipe(withLatestFrom(timer));\n * result.subscribe(x => console.log(x));\n * ```\n *\n * @see {@link combineLatest}\n *\n * @param {ObservableInput} other An input Observable to combine with the source\n * Observable. More than one input Observables may be given as argument.\n * @param {Function} [project] Projection function for combining values\n * together. Receives all values in order of the Observables passed, where the\n * first parameter is a value from the source Observable. (e.g.\n * `a.pipe(withLatestFrom(b, c), map(([a1, b1, c1]) => a1 + b1 + c1))`). If this is not\n * passed, arrays will be emitted on the output Observable.\n * @return A function that returns an Observable of projected values from the\n * most recent values from each input Observable, or an array of the most\n * recent values from each input Observable.\n */\nexport function withLatestFrom<T, R>(...inputs: any[]): OperatorFunction<T, R | any[]> {\n  const project = popResultSelector(inputs) as ((...args: any[]) => R) | undefined;\n\n  return operate((source, subscriber) => {\n    const len = inputs.length;\n    const otherValues = new Array(len);\n    // An array of whether or not the other sources have emitted. Matched with them by index.\n    // TODO: At somepoint, we should investigate the performance implications here, and look\n    // into using a `Set()` and checking the `size` to see if we're ready.\n    let hasValue = inputs.map(() => false);\n    // Flipped true when we have at least one value from all other sources and\n    // we are ready to start emitting values.\n    let ready = false;\n\n    // Other sources. Note that here we are not checking `subscriber.closed`,\n    // this causes all inputs to be subscribed to, even if nothing can be emitted\n    // from them. This is an important distinction because subscription constitutes\n    // a side-effect.\n    for (let i = 0; i < len; i++) {\n      innerFrom(inputs[i]).subscribe(\n        createOperatorSubscriber(\n          subscriber,\n          (value) => {\n            otherValues[i] = value;\n            if (!ready && !hasValue[i]) {\n              // If we're not ready yet, flag to show this observable has emitted.\n              hasValue[i] = true;\n              // Intentionally terse code.\n              // If all of our other observables have emitted, set `ready` to `true`,\n              // so we know we can start emitting values, then clean up the `hasValue` array,\n              // because we don't need it anymore.\n              (ready = hasValue.every(identity)) && (hasValue = null!);\n            }\n          },\n          // Completing one of the other sources has\n          // no bearing on the completion of our result.\n          noop\n        )\n      );\n    }\n\n    // Source subscription\n    source.subscribe(\n      createOperatorSubscriber(subscriber, (value) => {\n        if (ready) {\n          // We have at least one value from the other sources. Go ahead and emit.\n          const values = [value, ...otherValues];\n          subscriber.next(project ? project(...values) : values);\n        }\n      })\n    );\n  });\n}\n", "import { zip as zipStatic } from '../observable/zip';\nimport { ObservableInput, ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { operate } from '../util/lift';\n\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  otherInputsAndProject: [...ObservableInputTuple<A>],\n  project: (...values: Cons<T, A>) => R\n): OperatorFunction<T, R>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>>;\n/** @deprecated Replaced with {@link zipWith}. Will be removed in v8. */\nexport function zip<T, A extends readonly unknown[], R>(\n  ...otherInputsAndProject: [...ObservableInputTuple<A>, (...values: Cons<T, A>) => R]\n): OperatorFunction<T, R>;\n\n/**\n * @deprecated Replaced with {@link zipWith}. Will be removed in v8.\n */\nexport function zip<T, R>(...sources: Array<ObservableInput<any> | ((...values: Array<any>) => R)>): OperatorFunction<T, any> {\n  return operate((source, subscriber) => {\n    zipStatic(source as ObservableInput<any>, ...(sources as Array<ObservableInput<any>>)).subscribe(subscriber);\n  });\n}\n", "import { ObservableInputTuple, OperatorFunction, Cons } from '../types';\nimport { zip } from './zip';\n\n/**\n * Subscribes to the source, and the observable inputs provided as arguments, and combines their values, by index, into arrays.\n *\n * What is meant by \"combine by index\": The first value from each will be made into a single array, then emitted,\n * then the second value from each will be combined into a single array and emitted, then the third value\n * from each will be combined into a single array and emitted, and so on.\n *\n * This will continue until it is no longer able to combine values of the same index into an array.\n *\n * After the last value from any one completed source is emitted in an array, the resulting observable will complete,\n * as there is no way to continue \"zipping\" values together by index.\n *\n * Use-cases for this operator are limited. There are memory concerns if one of the streams is emitting\n * values at a much faster rate than the others. Usage should likely be limited to streams that emit\n * at a similar pace, or finite streams of known length.\n *\n * In many cases, authors want `combineLatestWith` and not `zipWith`.\n *\n * @param otherInputs other observable inputs to collate values from.\n * @return A function that returns an Observable that emits items by index\n * combined from the source Observable and provided Observables, in form of an\n * array.\n */\nexport function zipWith<T, A extends readonly unknown[]>(...otherInputs: [...ObservableInputTuple<A>]): OperatorFunction<T, Cons<T, A>> {\n  return zip(...otherInputs);\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ReplaySubject,\n  Subject,\n  fromEvent\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch document\n *\n * Documents are implemented as subjects, so all downstream observables are\n * automatically updated when a new document is emitted.\n *\n * @returns Document subject\n */\nexport function watchDocument(): Subject<Document> {\n  const document$ = new ReplaySubject<Document>(1)\n  fromEvent(document, \"DOMContentLoaded\", { once: true })\n    .subscribe(() => document$.next(document))\n\n  /* Return document */\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounceTime,\n  distinctUntilChanged,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Focus observable\n *\n * Previously, this observer used `focus` and `blur` events to determine whether\n * an element is focused, but this doesn't work if there are focusable elements\n * within the elements itself. A better solutions are `focusin` and `focusout`\n * events, which bubble up the tree and allow for more fine-grained control.\n *\n * `debounceTime` is necessary, because when a focus change happens inside an\n * element, the observable would first emit `false` and then `true` again.\n */\nconst observer$ = merge(\n  fromEvent(document.body, \"focusin\"),\n  fromEvent(document.body, \"focusout\")\n)\n  .pipe(\n    debounceTime(1),\n    startWith(undefined),\n    map(() => getActiveElement() || document.body),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element focus\n *\n * @param el - Element\n *\n * @returns Element focus observable\n */\nexport function watchElementFocus(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      map(active => el.contains(active)),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounce,\n  defer,\n  fromEvent,\n  identity,\n  map,\n  merge,\n  startWith,\n  timer\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element hover\n *\n * The second parameter allows to specify a timeout in milliseconds after which\n * the hover state will be reset to `false`. This is useful for tooltips which\n * should disappear after a certain amount of time, in order to allow the user\n * to move the cursor from the host to the tooltip.\n *\n * @param el - Element\n * @param timeout - Timeout\n *\n * @returns Element hover observable\n */\nexport function watchElementHover(\n  el: HTMLElement, timeout?: number\n): Observable<boolean> {\n  return defer(() => merge(\n    fromEvent(el, \"mouseenter\").pipe(map(() => true)),\n    fromEvent(el, \"mouseleave\").pipe(map(() => false))\n  )\n    .pipe(\n      timeout ? debounce(active => timer(+!active * timeout)) : identity,\n      startWith(el.matches(\":hover\"))\n    )\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { JSX as JSXInternal } from \"preact\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * HTML attributes\n */\ntype Attributes =\n  & JSXInternal.HTMLAttributes\n  & JSXInternal.SVGAttributes\n  & Record<string, any>\n\n/**\n * Child element\n */\ntype Child =\n  | ChildNode\n  | HTMLElement\n  | Text\n  | string\n  | number\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Append a child node to an element\n *\n * @param el - Element\n * @param child - Child node(s)\n */\nfunction appendChild(el: HTMLElement, child: Child | Child[]): void {\n\n  /* Handle primitive types (including raw HTML) */\n  if (typeof child === \"string\" || typeof child === \"number\") {\n    el.innerHTML += child.toString()\n\n  /* Handle nodes */\n  } else if (child instanceof Node) {\n    el.appendChild(child)\n\n  /* Handle nested children */\n  } else if (Array.isArray(child)) {\n    for (const node of child)\n      appendChild(el, node)\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * JSX factory\n *\n * @template T - Element type\n *\n * @param tag - HTML tag\n * @param attributes - HTML attributes\n * @param children - Child elements\n *\n * @returns Element\n */\nexport function h<T extends keyof HTMLElementTagNameMap>(\n  tag: T, attributes?: Attributes | null, ...children: Child[]\n): HTMLElementTagNameMap[T]\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T {\n  const el = document.createElement(tag)\n\n  /* Set attributes, if any */\n  if (attributes)\n    for (const attr of Object.keys(attributes)) {\n      if (typeof attributes[attr] === \"undefined\")\n        continue\n\n      /* Set default attribute or boolean */\n      if (typeof attributes[attr] !== \"boolean\")\n        el.setAttribute(attr, attributes[attr])\n      else\n        el.setAttribute(attr, \"\")\n    }\n\n  /* Append child nodes */\n  for (const child of children)\n    appendChild(el, child)\n\n  /* Return element */\n  return el as T\n}\n\n/* ----------------------------------------------------------------------------\n * Namespace\n * ------------------------------------------------------------------------- */\n\nexport declare namespace h {\n  namespace JSX {\n    type Element = HTMLElement\n    type IntrinsicElements = JSXInternal.IntrinsicElements\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Round a number for display with repository facts\n *\n * This is a reverse-engineered version of GitHub's weird rounding algorithm\n * for stars, forks and all other numbers. While all numbers below `1,000` are\n * returned as-is, bigger numbers are converted to fixed numbers:\n *\n * - `1,049` => `1k`\n * - `1,050` => `1.1k`\n * - `1,949` => `1.9k`\n * - `1,950` => `2k`\n *\n * @param value - Original value\n *\n * @returns Rounded value\n */\nexport function round(value: number): string {\n  if (value > 999) {\n    const digits = +((value - 950) % 1000 > 99)\n    return `${((value + 0.000001) / 1000).toFixed(digits)}k`\n  } else {\n    return value.toString()\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  switchMap,\n  take,\n  throwError\n} from \"rxjs\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create and load a `script` element\n *\n * This function returns an observable that will emit when the script was\n * successfully loaded, or throw an error if it wasn't.\n *\n * @param src - Script URL\n *\n * @returns Script observable\n */\nexport function watchScript(src: string): Observable<void> {\n  const script = h(\"script\", { src })\n  return defer(() => {\n    document.head.appendChild(script)\n    return merge(\n      fromEvent(script, \"load\"),\n      fromEvent(script, \"error\")\n        .pipe(\n          switchMap(() => (\n            throwError(() => new ReferenceError(`Invalid script: ${src}`))\n          ))\n        )\n    )\n      .pipe(\n        map(() => undefined),\n        finalize(() => document.head.removeChild(script)),\n        take(1)\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"../../../script\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementSize {\n  width: number                        /* Element width */\n  height: number                       /* Element height */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Resize observer entry subject\n */\nconst entry$ = new Subject<ResizeObserverEntry>()\n\n/**\n * Resize observer observable\n *\n * This observable will create a `ResizeObserver` on the first subscription\n * and will automatically terminate it when there are no more subscribers.\n * It's quite important to centralize observation in a single `ResizeObserver`,\n * as the performance difference can be quite dramatic, as the link shows.\n *\n * If the browser doesn't have a `ResizeObserver` implementation available, a\n * polyfill is automatically downloaded from unpkg.com. This is also compatible\n * with the built-in privacy plugin, which will download the polyfill and put\n * it alongside the built site for self-hosting.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => (\n  typeof ResizeObserver === \"undefined\"\n    ? watchScript(\"https://unpkg.com/resize-observer-polyfill\")\n    : of(undefined)\n))\n  .pipe(\n    map(() => new ResizeObserver(entries => (\n      entries.forEach(entry => entry$.next(entry))\n    ))),\n    switchMap(observer => merge(NEVER, of(observer)).pipe(\n      finalize(() => observer.disconnect())\n    )),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element size\n *\n * @param el - Element\n *\n * @returns Element size\n */\nexport function getElementSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.offsetWidth,\n    height: el.offsetHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element size\n *\n * This function returns an observable that subscribes to a single internal\n * instance of `ResizeObserver` upon subscription, and emit resize events until\n * termination. Note that this function should not be called with the same\n * element twice, as the first unsubscription will terminate observation.\n *\n * Sadly, we can't use the `DOMRect` objects returned by the observer, because\n * we need the emitted values to be consistent with `getElementSize`, which will\n * return the used values (rounded) and not actual values (unrounded). Thus, we\n * use the `offset*` properties. See the linked GitHub issue.\n *\n * @see https://bit.ly/3m0k3he - GitHub issue\n *\n * @param el - Element\n *\n * @returns Element size observable\n */\nexport function watchElementSize(\n  el: HTMLElement\n): Observable<ElementSize> {\n\n  // Compute target element - since inline elements cannot be observed by the\n  // current `ResizeObserver` implementation as provided by browsers, we need\n  // to determine the first containing parent element and use that one as a\n  // target, while we always compute the actual size from the element.\n  let target = el\n  while (target.clientWidth === 0)\n    if (target.parentElement)\n      target = target.parentElement\n    else\n      break\n\n  // Observe target element and recompute element size on resize - as described\n  // above, the target element is not necessarily the element of interest\n  return observer$.pipe(\n    tap(observer => observer.observe(target)),\n    switchMap(observer => entry$.pipe(\n      filter(entry => entry.target === target),\n      finalize(() => observer.unobserve(target))\n    )),\n    map(() => getElementSize(el)),\n    startWith(getElementSize(el))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ElementSize } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content size (= scroll width and height)\n *\n * @param el - Element\n *\n * @returns Element content size\n */\nexport function getElementContentSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.scrollWidth,\n    height: el.scrollHeight\n  }\n}\n\n/**\n * Retrieve the overflowing container of an element, if any\n *\n * @param el - Element\n *\n * @returns Overflowing container or nothing\n */\nexport function getElementContainer(\n  el: HTMLElement\n): HTMLElement | undefined {\n  let parent = el.parentElement\n  while (parent)\n    if (\n      el.scrollWidth  <= parent.scrollWidth &&\n      el.scrollHeight <= parent.scrollHeight\n    )\n      parent = (el = parent).parentElement\n    else\n      break\n\n  /* Return overflowing container */\n  return parent ? el : undefined\n}\n\n/**\n * Retrieve all overflowing containers of an element, if any\n *\n * Note that this function has a slightly different behavior, so we should at\n * some point consider refactoring how overflowing containers are handled.\n *\n * @param el - Element\n *\n * @returns Overflowing containers\n */\nexport function getElementContainers(\n  el: HTMLElement\n): HTMLElement[] {\n  const containers: HTMLElement[] = []\n\n  // Walk up the DOM tree until we find an overflowing container\n  let parent = el.parentElement\n  while (parent) {\n    if (\n      el.clientWidth  > parent.clientWidth ||\n      el.clientHeight > parent.clientHeight\n    )\n      containers.push(parent)\n\n    // Continue with parent element\n    parent = (el = parent).parentElement\n  }\n\n  // If the page is short, the body might not be overflowing and there might be\n  // no other containers, which is why we need to make sure the body is present\n  if (containers.length === 0)\n    containers.push(document.documentElement)\n\n  // Return overflowing containers\n  return containers\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { watchElementSize } from \"../../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.offsetLeft,\n    y: el.offsetTop\n  }\n}\n\n/**\n * Retrieve absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffsetAbsolute(\n  el: HTMLElement\n): ElementOffset {\n  const rect = el.getBoundingClientRect()\n  return {\n    x: rect.x + window.scrollX,\n    y: rect.y + window.scrollY\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(window, \"load\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementOffset(el)),\n      startWith(getElementOffset(el))\n    )\n}\n\n/**\n * Watch absolute element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffsetAbsolute(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    watchElementOffset(el),\n    watchElementSize(document.body) // @todo find a better way for this\n  )\n    .pipe(\n      map(() => getElementOffsetAbsolute(el)),\n      startWith(getElementOffsetAbsolute(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { ElementOffset } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content offset (= scroll offset)\n *\n * @param el - Element\n *\n * @returns Element content offset\n */\nexport function getElementContentOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.scrollLeft,\n    y: el.scrollTop\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element content offset\n *\n * @param el - Element\n *\n * @returns Element content offset observable\n */\nexport function watchElementContentOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(el, \"scroll\"),\n    fromEvent(window, \"scroll\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementContentOffset(el)),\n      startWith(getElementContentOffset(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElementContentSize,\n  getElementSize,\n  watchElementContentOffset\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Intersection observer entry subject\n */\nconst entry$ = new Subject<IntersectionObserverEntry>()\n\n/**\n * Intersection observer observable\n *\n * This observable will create an `IntersectionObserver` on first subscription\n * and will automatically terminate it when there are no more subscribers.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => of(\n  new IntersectionObserver(entries => {\n    for (const entry of entries)\n      entry$.next(entry)\n  }, {\n    threshold: 0\n  })\n))\n  .pipe(\n    switchMap(observer => merge(NEVER, of(observer))\n      .pipe(\n        finalize(() => observer.disconnect())\n      )\n    ),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element visibility\n *\n * @param el - Element\n *\n * @returns Element visibility observable\n */\nexport function watchElementVisibility(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      tap(observer => observer.observe(el)),\n      switchMap(observer => entry$\n        .pipe(\n          filter(({ target }) => target === el),\n          finalize(() => observer.unobserve(el)),\n          map(({ isIntersecting }) => isIntersecting)\n        )\n      )\n    )\n}\n\n/**\n * Watch element boundary\n *\n * This function returns an observable which emits whether the bottom content\n * boundary (= scroll offset) of an element is within a certain threshold.\n *\n * @param el - Element\n * @param threshold - Threshold\n *\n * @returns Element boundary observable\n */\nexport function watchElementBoundary(\n  el: HTMLElement, threshold = 16\n): Observable<boolean> {\n  return watchElementContentOffset(el)\n    .pipe(\n      map(({ y }) => {\n        const visible = getElementSize(el)\n        const content = getElementContentSize(el)\n        return y >= (\n          content.height - visible.height - threshold\n        )\n      }),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getElement } from \"../element\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle\n */\nexport type Toggle =\n  | \"drawer\"                           /* Toggle for drawer */\n  | \"search\"                           /* Toggle for search */\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle map\n */\nconst toggles: Record<Toggle, HTMLInputElement> = {\n  drawer: getElement(\"[data-md-toggle=drawer]\"),\n  search: getElement(\"[data-md-toggle=search]\")\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the value of a toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value\n */\nexport function getToggle(name: Toggle): boolean {\n  return toggles[name].checked\n}\n\n/**\n * Set toggle\n *\n * Simulating a click event seems to be the most cross-browser compatible way\n * of changing the value while also emitting a `change` event. Before, Material\n * used `CustomEvent` to programmatically change the value of a toggle, but this\n * is a much simpler and cleaner solution which doesn't require a polyfill.\n *\n * @param name - Toggle\n * @param value - Toggle value\n */\nexport function setToggle(name: Toggle, value: boolean): void {\n  if (toggles[name].checked !== value)\n    toggles[name].click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value observable\n */\nexport function watchToggle(name: Toggle): Observable<boolean> {\n  const el = toggles[name]\n  return fromEvent(el, \"change\")\n    .pipe(\n      map(() => el.checked),\n      startWith(el.checked)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  share,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../element\"\nimport { getToggle } from \"../toggle\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Keyboard mode\n */\nexport type KeyboardMode =\n  | \"global\"                           /* Global */\n  | \"search\"                           /* Search is open */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Keyboard\n */\nexport interface Keyboard {\n  mode: KeyboardMode                   /* Keyboard mode */\n  type: string                         /* Key type */\n  claim(): void                        /* Key claim */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether an element may receive keyboard input\n *\n * @param el - Element\n * @param type - Key type\n *\n * @returns Test result\n */\nfunction isSusceptibleToKeyboard(\n  el: HTMLElement, type: string\n): boolean {\n  switch (el.constructor) {\n\n    /* Input elements */\n    case HTMLInputElement:\n      /* @ts-expect-error - omit unnecessary type cast */\n      if (el.type === \"radio\")\n        return /^Arrow/.test(type)\n      else\n        return true\n\n    /* Select element and textarea */\n    case HTMLSelectElement:\n    case HTMLTextAreaElement:\n      return true\n\n    /* Everything else */\n    default:\n      return el.isContentEditable\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch composition events\n *\n * @returns Composition observable\n */\nexport function watchComposition(): Observable<boolean> {\n  return merge(\n    fromEvent(window, \"compositionstart\").pipe(map(() => true)),\n    fromEvent(window, \"compositionend\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(false)\n    )\n}\n\n/**\n * Watch keyboard\n *\n * @returns Keyboard observable\n */\nexport function watchKeyboard(): Observable<Keyboard> {\n  const keyboard$ = fromEvent<KeyboardEvent>(window, \"keydown\")\n    .pipe(\n      filter(ev => !(ev.metaKey || ev.ctrlKey)),\n      map(ev => ({\n        mode: getToggle(\"search\") ? \"search\" : \"global\",\n        type: ev.key,\n        claim() {\n          ev.preventDefault()\n          ev.stopPropagation()\n        }\n      } as Keyboard)),\n      filter(({ mode, type }) => {\n        if (mode === \"global\") {\n          const active = getActiveElement()\n          if (typeof active !== \"undefined\")\n            return !isSusceptibleToKeyboard(active, type)\n        }\n        return true\n      }),\n      share()\n    )\n\n  /* Don't emit during composition events - see https://bit.ly/3te3Wl8 */\n  return watchComposition()\n    .pipe(\n      switchMap(active => !active ? keyboard$ : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Subject } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location\n *\n * This function returns a `URL` object (and not `Location`) to normalize the\n * typings across the application. Furthermore, locations need to be tracked\n * without setting them and `Location` is a singleton which represents the\n * current location.\n *\n * @returns URL\n */\nexport function getLocation(): URL {\n  return new URL(location.href)\n}\n\n/**\n * Set location\n *\n * If instant navigation is enabled, this function creates a temporary anchor\n * element, sets the `href` attribute, appends it to the body, clicks it, and\n * then removes it again. The event will bubble up the DOM and trigger be\n * intercepted by the instant loading business logic.\n *\n * Note that we must append and remove the anchor element, or the event will\n * not bubble up the DOM, making it impossible to intercept it.\n *\n * @param url - URL to navigate to\n * @param navigate - Force navigation\n */\nexport function setLocation(\n  url: URL | HTMLLinkElement, navigate = false\n): void {\n  if (feature(\"navigation.instant\") && !navigate) {\n    const el = h(\"a\", { href: url.href })\n    document.body.appendChild(el)\n    el.click()\n    el.remove()\n\n  // If we're not using instant navigation, and the page should not be reloaded\n  // just instruct the browser to navigate to the given URL\n  } else {\n    location.href = url.href\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location\n *\n * @returns Location subject\n */\nexport function watchLocation(): Subject<URL> {\n  return new Subject<URL>()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getOptionalElement } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location hash\n *\n * @returns Location hash\n */\nexport function getLocationHash(): string {\n  return location.hash.slice(1)\n}\n\n/**\n * Set location hash\n *\n * Setting a new fragment identifier via `location.hash` will have no effect\n * if the value doesn't change. When a new fragment identifier is set, we want\n * the browser to target the respective element at all times, which is why we\n * use this dirty little trick.\n *\n * @param hash - Location hash\n */\nexport function setLocationHash(hash: string): void {\n  const el = h(\"a\", { href: hash })\n  el.addEventListener(\"click\", ev => ev.stopPropagation())\n  el.click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location hash\n *\n * @param location$ - Location observable\n *\n * @returns Location hash observable\n */\nexport function watchLocationHash(\n  location$: Observable<URL>\n): Observable<string> {\n  return merge(\n    fromEvent<HashChangeEvent>(window, \"hashchange\"),\n    location$\n  )\n    .pipe(\n      map(getLocationHash),\n      startWith(getLocationHash()),\n      filter(hash => hash.length > 0),\n      shareReplay(1)\n    )\n}\n\n/**\n * Watch location target\n *\n * @param location$ - Location observable\n *\n * @returns Location target observable\n */\nexport function watchLocationTarget(\n  location$: Observable<URL>\n): Observable<HTMLElement> {\n  return watchLocationHash(location$)\n    .pipe(\n      map(id => getOptionalElement(`[id=\"${id}\"]`)!),\n      filter(el => typeof el !== \"undefined\")\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  fromEvent,\n  fromEventPattern,\n  map,\n  merge,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch media query\n *\n * Note that although `MediaQueryList.addListener` is deprecated we have to\n * use it, because it's the only way to ensure proper downward compatibility.\n *\n * @see https://bit.ly/3dUBH2m - GitHub issue\n *\n * @param query - Media query\n *\n * @returns Media observable\n */\nexport function watchMedia(query: string): Observable<boolean> {\n  const media = matchMedia(query)\n  return fromEventPattern<boolean>(next => (\n    media.addListener(() => next(media.matches))\n  ))\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/**\n * Watch print mode\n *\n * @returns Print observable\n */\nexport function watchPrint(): Observable<boolean> {\n  const media = matchMedia(\"print\")\n  return merge(\n    fromEvent(window, \"beforeprint\").pipe(map(() => true)),\n    fromEvent(window, \"afterprint\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Toggle an observable with a media observable\n *\n * @template T - Data type\n *\n * @param query$ - Media observable\n * @param factory - Observable factory\n *\n * @returns Toggled observable\n */\nexport function at<T>(\n  query$: Observable<boolean>, factory: () => Observable<T>\n): Observable<T> {\n  return query$\n    .pipe(\n      switchMap(active => active ? factory() : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  map,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Options\n */\ninterface Options {\n  progress$?: Subject<number>          // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the given URL\n *\n * This function returns an observable that emits the response as a blob and\n * completes, or emits an error if the request failed. The caller can cancel\n * the request by unsubscribing at any time, which will automatically abort\n * the inflight request and complete the observable.\n *\n * Note that we use `XMLHTTPRequest` not because we're nostalgic, but because\n * it's the only way to get progress events for downloads and also allow for\n * cancellation of requests, as the official Fetch API does not support this\n * yet, even though we're already in 2024.\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function request(\n  url: URL | string, options?: Options\n): Observable<Blob> {\n  return new Observable<Blob>(observer => {\n    const req = new XMLHttpRequest()\n    req.open(\"GET\", `${url}`)\n    req.responseType = \"blob\"\n\n    // Handle response\n    req.addEventListener(\"load\", () => {\n      if (req.status >= 200 && req.status < 300) {\n        observer.next(req.response)\n        observer.complete()\n\n      // Every response that is not in the 2xx range is considered an error\n      } else {\n        observer.error(new Error(req.statusText))\n      }\n    })\n\n    // Handle network errors\n    req.addEventListener(\"error\", () => {\n      observer.error(new Error(\"Network error\"))\n    })\n\n    // Handle aborted requests\n    req.addEventListener(\"abort\", () => {\n      observer.complete()\n    })\n\n    // Handle download progress\n    if (typeof options?.progress$ !== \"undefined\") {\n      req.addEventListener(\"progress\", event => {\n        if (event.lengthComputable) {\n          options.progress$!.next((event.loaded / event.total) * 100)\n\n        // Hack: Chromium doesn't report the total number of bytes if content\n        // is compressed, so we need this fallback - see https://t.ly/ZXofI\n        } else {\n          const length = req.getResponseHeader(\"Content-Length\") ?? 0\n          options.progress$!.next((event.loaded / +length) * 100)\n        }\n      })\n\n      // Immediately set progress to 5% to indicate that we're loading\n      options.progress$.next(5)\n    }\n\n    // Send request and automatically abort request upon unsubscription\n    req.send()\n    return () => req.abort()\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Fetch JSON from the given URL\n *\n * @template T - Data type\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestJSON<T>(\n  url: URL | string, options?: Options\n): Observable<T> {\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(body => JSON.parse(body) as T),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch HTML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestHTML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/html\")),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch XML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestXML(\n  url: URL | string, options?: Options\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/xml\")),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport offset\n */\nexport interface ViewportOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport offset\n *\n * On iOS Safari, viewport offset can be negative due to overflow scrolling.\n * As this may induce strange behaviors downstream, we'll just limit it to 0.\n *\n * @returns Viewport offset\n */\nexport function getViewportOffset(): ViewportOffset {\n  return {\n    x: Math.max(0, scrollX),\n    y: Math.max(0, scrollY)\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport offset\n *\n * @returns Viewport offset observable\n */\nexport function watchViewportOffset(): Observable<ViewportOffset> {\n  return merge(\n    fromEvent(window, \"scroll\", { passive: true }),\n    fromEvent(window, \"resize\", { passive: true })\n  )\n    .pipe(\n      map(getViewportOffset),\n      startWith(getViewportOffset())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport size\n */\nexport interface ViewportSize {\n  width: number                        /* Viewport width */\n  height: number                       /* Viewport height */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport size\n *\n * @returns Viewport size\n */\nexport function getViewportSize(): ViewportSize {\n  return {\n    width:  innerWidth,\n    height: innerHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport size\n *\n * @returns Viewport size observable\n */\nexport function watchViewportSize(): Observable<ViewportSize> {\n  return fromEvent(window, \"resize\", { passive: true })\n    .pipe(\n      map(getViewportSize),\n      startWith(getViewportSize())\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  map,\n  shareReplay\n} from \"rxjs\"\n\nimport {\n  ViewportOffset,\n  watchViewportOffset\n} from \"../offset\"\nimport {\n  ViewportSize,\n  watchViewportSize\n} from \"../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport\n */\nexport interface Viewport {\n  offset: ViewportOffset               /* Viewport offset */\n  size: ViewportSize                   /* Viewport size */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport\n *\n * @returns Viewport observable\n */\nexport function watchViewport(): Observable<Viewport> {\n  return combineLatest([\n    watchViewportOffset(),\n    watchViewportSize()\n  ])\n    .pipe(\n      map(([offset, size]) => ({ offset, size })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilKeyChanged,\n  map\n} from \"rxjs\"\n\nimport { Header } from \"~/components\"\n\nimport { getElementOffset } from \"../../element\"\nimport { Viewport } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport relative to element\n *\n * @param el - Element\n * @param options - Options\n *\n * @returns Viewport observable\n */\nexport function watchViewportAt(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Viewport> {\n  const size$ = viewport$\n    .pipe(\n      distinctUntilKeyChanged(\"size\")\n    )\n\n  /* Compute element offset */\n  const offset$ = combineLatest([size$, header$])\n    .pipe(\n      map(() => getElementOffset(el))\n    )\n\n  /* Compute relative viewport, return hot observable */\n  return combineLatest([header$, viewport$, offset$])\n    .pipe(\n      map(([{ height }, { offset, size }, { x, y }]) => ({\n        offset: {\n          x: offset.x - x,\n          y: offset.y - y + height\n        },\n        size\n      }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  mergeWith,\n  share,\n  takeUntil\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Worker message\n */\nexport interface WorkerMessage {\n  type: unknown                        /* Message type */\n  data?: unknown                       /* Message data */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create an observable for receiving from a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message observable\n */\nfunction recv<T>(worker: Worker): Observable<T> {\n  return fromEvent<MessageEvent<T>, T>(worker, \"message\", ev => ev.data)\n}\n\n/**\n * Create a subject for sending to a web worker\n *\n * @template T - Data type\n *\n * @param worker - Web worker\n *\n * @returns Message subject\n */\nfunction send<T>(worker: Worker): Subject<T> {\n  const send$ = new Subject<T>()\n  send$.subscribe(data => worker.postMessage(data))\n\n  /* Return message subject */\n  return send$\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a bidirectional communication channel to a web worker\n *\n * @template T - Data type\n *\n * @param url - Worker URL\n * @param worker - Worker\n *\n * @returns Worker subject\n */\nexport function watchWorker<T extends WorkerMessage>(\n  url: string, worker = new Worker(url)\n): Subject<T> {\n  const recv$ = recv<T>(worker)\n  const send$ = send<T>(worker)\n\n  /* Create worker subject and forward messages */\n  const worker$ = new Subject<T>()\n  worker$.subscribe(send$)\n\n  /* Return worker subject */\n  const done$ = send$.pipe(ignoreElements(), endWith(true))\n  return worker$\n    .pipe(\n      ignoreElements(),\n      mergeWith(recv$.pipe(takeUntil(done$))),\n      share()\n    ) as Subject<T>\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getLocation } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Feature flag\n */\nexport type Flag =\n  | \"announce.dismiss\"                 /* Dismissable announcement bar */\n  | \"content.code.annotate\"            /* Code annotations */\n  | \"content.code.copy\"                /* Code copy button */\n  | \"content.lazy\"                     /* Lazy content elements */\n  | \"content.tabs.link\"                /* Link content tabs */\n  | \"content.tooltips\"                 /* Tooltips */\n  | \"header.autohide\"                  /* Hide header */\n  | \"navigation.expand\"                /* Automatic expansion */\n  | \"navigation.indexes\"               /* Section pages */\n  | \"navigation.instant\"               /* Instant navigation */\n  | \"navigation.instant.progress\"      /* Instant navigation progress */\n  | \"navigation.sections\"              /* Section navigation */\n  | \"navigation.tabs\"                  /* Tabs navigation */\n  | \"navigation.tabs.sticky\"           /* Tabs navigation (sticky) */\n  | \"navigation.top\"                   /* Back-to-top button */\n  | \"navigation.tracking\"              /* Anchor tracking */\n  | \"search.highlight\"                 /* Search highlighting */\n  | \"search.share\"                     /* Search sharing */\n  | \"search.suggest\"                   /* Search suggestions */\n  | \"toc.follow\"                       /* Following table of contents */\n  | \"toc.integrate\"                    /* Integrated table of contents */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Translation\n */\nexport type Translation =\n  | \"clipboard.copy\"                   /* Copy to clipboard */\n  | \"clipboard.copied\"                 /* Copied to clipboard */\n  | \"search.result.placeholder\"        /* Type to start searching */\n  | \"search.result.none\"               /* No matching documents */\n  | \"search.result.one\"                /* 1 matching document */\n  | \"search.result.other\"              /* # matching documents */\n  | \"search.result.more.one\"           /* 1 more on this page */\n  | \"search.result.more.other\"         /* # more on this page */\n  | \"search.result.term.missing\"       /* Missing */\n  | \"select.version\"                   /* Version selector */\n\n/**\n * Translations\n */\nexport type Translations =\n  Record<Translation, string>\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Versioning\n */\nexport interface Versioning {\n  provider: \"mike\"                     /* Version provider */\n  default?: string | string[]          /* Default version */\n  alias?: boolean                      /* Show alias */\n}\n\n/**\n * Configuration\n */\nexport interface Config {\n  base: string                         /* Base URL */\n  features: Flag[]                     /* Feature flags */\n  translations: Translations           /* Translations */\n  search: string                       /* Search worker URL */\n  tags?: Record<string, string>        /* Tags mapping */\n  version?: Versioning                 /* Versioning */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration and make base URL absolute\n */\nconst script = getElement(\"#__config\")\nconst config: Config = JSON.parse(script.textContent!)\nconfig.base = `${new URL(config.base, getLocation())}`\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration\n *\n * @returns Global configuration\n */\nexport function configuration(): Config {\n  return config\n}\n\n/**\n * Check whether a feature flag is enabled\n *\n * @param flag - Feature flag\n *\n * @returns Test result\n */\nexport function feature(flag: Flag): boolean {\n  return config.features.includes(flag)\n}\n\n/**\n * Retrieve the translation for the given key\n *\n * @param key - Key to be translated\n * @param value - Positional value, if any\n *\n * @returns Translation\n */\nexport function translation(\n  key: Translation, value?: string | number\n): string {\n  return typeof value !== \"undefined\"\n    ? config.translations[key].replace(\"#\", value.toString())\n    : config.translations[key]\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type\n */\nexport type ComponentType =\n  | \"announce\"                         /* Announcement bar */\n  | \"container\"                        /* Container */\n  | \"consent\"                          /* Consent */\n  | \"content\"                          /* Content */\n  | \"dialog\"                           /* Dialog */\n  | \"header\"                           /* Header */\n  | \"header-title\"                     /* Header title */\n  | \"header-topic\"                     /* Header topic */\n  | \"main\"                             /* Main area */\n  | \"outdated\"                         /* Version warning */\n  | \"palette\"                          /* Color palette */\n  | \"progress\"                         /* Progress indicator */\n  | \"search\"                           /* Search */\n  | \"search-query\"                     /* Search input */\n  | \"search-result\"                    /* Search results */\n  | \"search-share\"                     /* Search sharing */\n  | \"search-suggest\"                   /* Search suggestions */\n  | \"sidebar\"                          /* Sidebar */\n  | \"skip\"                             /* Skip link */\n  | \"source\"                           /* Repository information */\n  | \"tabs\"                             /* Navigation tabs */\n  | \"toc\"                              /* Table of contents */\n  | \"top\"                              /* Back-to-top button */\n\n/**\n * Component\n *\n * @template T - Component type\n * @template U - Reference type\n */\nexport type Component<\n  T extends {} = {},\n  U extends HTMLElement = HTMLElement\n> =\n  T & {\n    ref: U                             /* Component reference */\n  }\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type map\n */\ninterface ComponentTypeMap {\n  \"announce\": HTMLElement              /* Announcement bar */\n  \"container\": HTMLElement             /* Container */\n  \"consent\": HTMLElement               /* Consent */\n  \"content\": HTMLElement               /* Content */\n  \"dialog\": HTMLElement                /* Dialog */\n  \"header\": HTMLElement                /* Header */\n  \"header-title\": HTMLElement          /* Header title */\n  \"header-topic\": HTMLElement          /* Header topic */\n  \"main\": HTMLElement                  /* Main area */\n  \"outdated\": HTMLElement              /* Version warning */\n  \"palette\": HTMLElement               /* Color palette */\n  \"progress\": HTMLElement              /* Progress indicator */\n  \"search\": HTMLElement                /* Search */\n  \"search-query\": HTMLInputElement     /* Search input */\n  \"search-result\": HTMLElement         /* Search results */\n  \"search-share\": HTMLAnchorElement    /* Search sharing */\n  \"search-suggest\": HTMLElement        /* Search suggestions */\n  \"sidebar\": HTMLElement               /* Sidebar */\n  \"skip\": HTMLAnchorElement            /* Skip link */\n  \"source\": HTMLAnchorElement          /* Repository information */\n  \"tabs\": HTMLElement                  /* Navigation tabs */\n  \"toc\": HTMLElement                   /* Table of contents */\n  \"top\": HTMLAnchorElement             /* Back-to-top button */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the element for a given component or throw a reference error\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getComponentElement<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T] {\n  return getElement(`[data-md-component=${type}]`, node)\n}\n\n/**\n * Retrieve all elements for a given component\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getComponentElements<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T][] {\n  return getElements(`[data-md-component=${type}]`, node)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Announcement bar\n */\nexport interface Announce {\n  hash: number                        /* Content hash */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar observable\n */\nexport function watchAnnounce(\n  el: HTMLElement\n): Observable<Announce> {\n  const button = getElement(\".md-typeset > :first-child\", el)\n  return fromEvent(button, \"click\", { once: true })\n    .pipe(\n      map(() => getElement(\".md-typeset\", el)),\n      map(content => ({ hash: __md_hash(content.innerHTML) }))\n    )\n}\n\n/**\n * Mount announcement bar\n *\n * @param el - Announcement bar element\n *\n * @returns Announcement bar component observable\n */\nexport function mountAnnounce(\n  el: HTMLElement\n): Observable<Component<Announce>> {\n  if (!feature(\"announce.dismiss\") || !el.childElementCount)\n    return EMPTY\n\n  /* Support instant navigation - see https://t.ly/3FTme */\n  if (!el.hidden) {\n    const content = getElement(\".md-typeset\", el)\n    if (__md_hash(content.innerHTML) === __md_get(\"__announce\"))\n      el.hidden = true\n  }\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Announce>()\n    push$.subscribe(({ hash }) => {\n      el.hidden = true\n\n      /* Persist preference in local storage */\n      __md_set<number>(\"__announce\", hash)\n    })\n\n    /* Create and return component */\n    return watchAnnounce(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Consent\n */\nexport interface Consent {\n  hidden: boolean                      /* Consent is hidden */\n}\n\n/**\n * Consent defaults\n */\nexport interface ConsentDefaults {\n  analytics?: boolean                  /* Consent for Analytics */\n  github?: boolean                     /* Consent for GitHub */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent observable\n */\nexport function watchConsent(\n  el: HTMLElement, { target$ }: WatchOptions\n): Observable<Consent> {\n  return target$\n    .pipe(\n      map(target => ({ hidden: target !== el }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount consent\n *\n * @param el - Consent element\n * @param options - Options\n *\n * @returns Consent component observable\n */\nexport function mountConsent(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Consent>> {\n  const internal$ = new Subject<Consent>()\n  internal$.subscribe(({ hidden }) => {\n    el.hidden = hidden\n  })\n\n  /* Create and return component */\n  return watchConsent(el, options)\n    .pipe(\n      tap(state => internal$.next(state)),\n      finalize(() => internal$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ComponentChild } from \"preact\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip style\n */\nexport type TooltipStyle =\n  | \"inline\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a tooltip\n *\n * @param id - Tooltip identifier\n * @param style - Tooltip style\n *\n * @returns Element\n */\nexport function renderTooltip(\n  id?: string, style?: TooltipStyle\n): HTMLElement {\n  if (style === \"inline\") { // @todo refactor control flow\n    return (\n      <div class=\"md-tooltip md-tooltip--inline\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  } else {\n    return (\n      <div class=\"md-tooltip\" id={id} role=\"tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n    )\n  }\n}\n\n// @todo: rename\nexport function renderInlineTooltip2(\n  ...children: ComponentChild[]\n): HTMLElement {\n  return (\n    <div class=\"md-tooltip2\" role=\"tooltip\">\n      <div class=\"md-tooltip2__inner md-typeset\">\n        {children}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\nimport { renderTooltip } from \"../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render an annotation\n *\n * @param id - Annotation identifier\n * @param prefix - Tooltip identifier prefix\n *\n * @returns Element\n */\nexport function renderAnnotation(\n  id: string | number, prefix?: string\n): HTMLElement {\n  prefix = prefix ? `${prefix}_annotation_${id}` : undefined\n\n  /* Render tooltip with anchor, if given */\n  if (prefix) {\n    const anchor = prefix ? `#${prefix}` : undefined\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <a href={anchor} class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </a>\n      </aside>\n    )\n  } else {\n    return (\n      <aside class=\"md-annotation\" tabIndex={0}>\n        {renderTooltip(prefix)}\n        <span class=\"md-annotation__index\" tabIndex={-1}>\n          <span data-md-annotation-id={id}></span>\n        </span>\n      </aside>\n    )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a 'copy-to-clipboard' button\n *\n * @param id - Unique identifier\n *\n * @returns Element\n */\nexport function renderClipboardButton(id: string): HTMLElement {\n  return (\n    <button\n      class=\"md-clipboard md-icon\"\n      title={translation(\"clipboard.copy\")}\n      data-clipboard-target={`#${id} > code`}\n    ></button>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\nimport { ComponentChild } from \"preact\"\n\nimport { configuration, feature, translation } from \"~/_\"\nimport { SearchItem } from \"~/integrations/search\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Render flag\n */\nconst enum Flag {\n  TEASER = 1,                          /* Render teaser */\n  PARENT = 2                           /* Render as parent */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper function\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search document\n *\n * @param document - Search document\n * @param flag - Render flags\n *\n * @returns Element\n */\nfunction renderSearchDocument(\n  document: SearchItem, flag: Flag\n): HTMLElement {\n  const parent = flag & Flag.PARENT\n  const teaser = flag & Flag.TEASER\n\n  /* Render missing query terms */\n  const missing = Object.keys(document.terms)\n    .filter(key => !document.terms[key])\n    .reduce<ComponentChild[]>((list, key) => [\n      ...list, <del>{escapeHTML(key)}</del>, \" \"\n    ], [])\n    .slice(0, -1)\n\n  /* Assemble query string for highlighting */\n  const config = configuration()\n  const url = new URL(document.location, config.base)\n  if (feature(\"search.highlight\"))\n    url.searchParams.set(\"h\", Object.entries(document.terms)\n      .filter(([, match]) => match)\n      .reduce((highlight, [value]) => `${highlight} ${value}`.trim(), \"\")\n    )\n\n  /* Render article or section, depending on flags */\n  const { tags } = configuration()\n  return (\n    <a href={`${url}`} class=\"md-search-result__link\" tabIndex={-1}>\n      <article\n        class=\"md-search-result__article md-typeset\"\n        data-md-score={document.score.toFixed(2)}\n      >\n        {parent > 0 && <div class=\"md-search-result__icon md-icon\"></div>}\n        {parent > 0 && <h1>{document.title}</h1>}\n        {parent <= 0 && <h2>{document.title}</h2>}\n        {teaser > 0 && document.text.length > 0 &&\n          document.text\n        }\n        {document.tags && (\n          <nav class=\"md-tags\">\n            {document.tags.map(tag => {\n              const type = tags\n                ? tag in tags\n                  ? `md-tag-icon md-tag--${tags[tag]}`\n                  : \"md-tag-icon\"\n                : \"\"\n              return (\n                <span class={`md-tag ${type}`}>{tag}</span>\n              )\n            })}\n          </nav>\n        )}\n        {teaser > 0 && missing.length > 0 &&\n          <p class=\"md-search-result__terms\">\n            {translation(\"search.result.term.missing\")}: {...missing}\n          </p>\n        }\n      </article>\n    </a>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search result\n *\n * @param result - Search result\n *\n * @returns Element\n */\nexport function renderSearchResultItem(\n  result: SearchItem[]\n): HTMLElement {\n  const threshold = result[0].score\n  const docs = [...result]\n\n  const config = configuration()\n\n  /* Find and extract parent article */\n  const parent = docs.findIndex(doc => {\n    const l = `${new URL(doc.location, config.base)}` // @todo hacky\n    return !l.includes(\"#\")\n  })\n  const [article] = docs.splice(parent, 1)\n\n  /* Determine last index above threshold */\n  let index = docs.findIndex(doc => doc.score < threshold)\n  if (index === -1)\n    index = docs.length\n\n  /* Partition sections */\n  const best = docs.slice(0, index)\n  const more = docs.slice(index)\n\n  /* Render children */\n  const children = [\n    renderSearchDocument(article, Flag.PARENT | +(!parent && index === 0)),\n    ...best.map(section => renderSearchDocument(section, Flag.TEASER)),\n    ...more.length ? [\n      <details class=\"md-search-result__more\">\n        <summary tabIndex={-1}>\n          <div>\n            {more.length > 0 && more.length === 1\n              ? translation(\"search.result.more.one\")\n              : translation(\"search.result.more.other\", more.length)\n            }\n          </div>\n        </summary>\n        {...more.map(section => renderSearchDocument(section, Flag.TEASER))}\n      </details>\n    ] : []\n  ]\n\n  /* Render search result */\n  return (\n    <li class=\"md-search-result__item\">\n      {children}\n    </li>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SourceFacts } from \"~/components\"\nimport { h, round } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render repository facts\n *\n * @param facts - Repository facts\n *\n * @returns Element\n */\nexport function renderSourceFacts(facts: SourceFacts): HTMLElement {\n  return (\n    <ul class=\"md-source__facts\">\n      {Object.entries(facts).map(([key, value]) => (\n        <li class={`md-source__fact md-source__fact--${key}`}>\n          {typeof value === \"number\" ? round(value) : value}\n        </li>\n      ))}\n    </ul>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tabbed control type\n */\ntype TabbedControlType =\n  | \"prev\"\n  | \"next\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render control for content tabs\n *\n * @param type - Control type\n *\n * @returns Element\n */\nexport function renderTabbedControl(\n  type: TabbedControlType\n): HTMLElement {\n  const classes = `tabbed-control tabbed-control--${type}`\n  return (\n    <div class={classes} hidden>\n      <button class=\"tabbed-button\" tabIndex={-1} aria-hidden=\"true\"></button>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a table inside a wrapper to improve scrolling on mobile\n *\n * @param table - Table element\n *\n * @returns Element\n */\nexport function renderTable(table: HTMLElement): HTMLElement {\n  return (\n    <div class=\"md-typeset__scrollwrap\">\n      <div class=\"md-typeset__table\">\n        {table}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { configuration, translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Version properties\n */\nexport interface VersionProperties {\n  hidden?: boolean                     /* Version is hidden */\n}\n\n/**\n * Version\n */\nexport interface Version {\n  version: string                      /* Version identifier */\n  title: string                        /* Version title */\n  aliases: string[]                    /* Version aliases */\n  properties?: VersionProperties       /* Version properties */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version\n *\n * @param version - Version\n *\n * @returns Element\n */\nfunction renderVersion(version: Version): HTMLElement {\n  const config = configuration()\n\n  /* Ensure trailing slash - see https://bit.ly/3rL5u3f */\n  const url = new URL(`../${version.version}/`, config.base)\n  return (\n    <li class=\"md-version__item\">\n      <a href={`${url}`} class=\"md-version__link\">\n        {version.title}\n        {config.version?.alias && version.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {version.aliases[0]}\n          </span>\n        )}\n      </a>\n    </li>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version selector\n *\n * @param versions - Versions\n * @param active - Active version\n *\n * @returns Element\n */\nexport function renderVersionSelector(\n  versions: Version[], active: Version\n): HTMLElement {\n  const config = configuration()\n  versions = versions.filter(version => !version.properties?.hidden)\n  return (\n    <div class=\"md-version\">\n      <button\n        class=\"md-version__current\"\n        aria-label={translation(\"select.version\")}\n      >\n        {active.title}\n        {config.version?.alias && active.aliases.length > 0 && (\n          <span class=\"md-version__alias\">\n            {active.aliases[0]}\n          </span>\n        )}\n      </button>\n      <ul class=\"md-version__list\">\n        {versions.map(renderVersion)}\n      </ul>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  BehaviorSubject,\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  combineLatest,\n  combineLatestWith,\n  debounce,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  filter,\n  finalize,\n  first,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  queueScheduler,\n  share,\n  startWith,\n  switchMap,\n  tap,\n  throttleTime,\n  timer,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  Viewport,\n  getElement,\n  getElementContainers,\n  getElementOffsetAbsolute,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderInlineTooltip2 } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      // Tooltip is active\n  offset: ElementOffset                // Tooltip offset\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dependencies\n */\ninterface Dependencies {\n  content$: Observable<HTMLElement>    // Tooltip content observable\n  viewport$: Observable<Viewport>      // Viewport observable\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function tracks the tooltip host element, and deduces the active state\n * and offset of the tooltip from it. The active state is determined by whether\n * the host element is focused or hovered, and the offset is determined by the\n * host element's absolute position in the document.\n *\n * @param el - Tooltip host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip2(\n  el: HTMLElement\n): Observable<Tooltip> {\n\n  // Compute whether tooltip should be shown - we need to watch both focus and\n  // hover events on the host element and emit if one of them is active. In case\n  // of a hover event, we keep the element visible for a short amount of time\n  // after the pointer left the host element for a better user experience.\n  const active$ =\n    combineLatest([\n      watchElementFocus(el),\n      watchElementHover(el)\n    ])\n      .pipe(\n        map(([focus, hover]) => focus || hover),\n        distinctUntilChanged()\n      )\n\n  // We need to determine all parent elements of the host element that are\n  // currently scrollable, as they might affect the position of the tooltip\n  // depending on their horizontal of vertical offset. We must track all of\n  // them and recompute the position of the tooltip if they change.\n  const offset$ =\n    defer(() => getElementContainers(el)).pipe(\n      mergeMap(watchElementContentOffset),\n      throttleTime(1),\n      // Note that we need to poll the value again if the active state changes,\n      // as otherwise the tooltip might be misplaced. This particularly happens\n      // when using third-party integrations like tablesort that change the\n      // position of elements \u2013 see https://t.ly/Y-V7X\n      combineLatestWith(active$),\n      map(() => getElementOffsetAbsolute(el)),\n    )\n\n  // Only track parent elements and compute offset of the tooltip host if the\n  // tooltip should be shown - we defer the computation of the offset until the\n  // tooltip becomes active for the first time. This is necessary, because we\n  // must also keep the tooltip active as long as it is focused or hovered.\n  return active$.pipe(\n    first(active => active),\n    switchMap(() => combineLatest([active$, offset$])),\n    map(([active, offset]) => ({ active, offset })),\n    share()\n  )\n}\n\n/**\n * Mount tooltip\n *\n * This function renders a tooltip with the content from the provided `content$`\n * observable as passed via the dependencies. If the returned element has a role\n * of type `dialog`, the tooltip is considered to be interactive, and rendered\n * either above or below the host element, depending on the available space.\n *\n * If the returned element has a role of type `tooltip`, the tooltip is always\n * rendered below the host element and considered to be non-interactive. This\n * allows us to reuse the same positioning logic for both interactive and\n * non-interactive tooltips, as it is largely the same.\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip2(\n  el: HTMLElement, dependencies: Dependencies\n): Observable<Component<Tooltip>> {\n  const { content$, viewport$ } = dependencies\n\n  // Compute unique tooltip id - this is necessary to associate the tooltip host\n  // element with the tooltip element for ARIA purposes\n  const id = `__tooltip2_${sequence++}`\n\n  // Create component on subscription\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n\n    // Create subject to track tooltip presence and visibility - we use another\n    // purely internal subject to track the tooltip's presence and visibility,\n    // as the tooltip should be visible if the host element or tooltip itself\n    // is focused or hovered to allow for smooth pointer migration\n    const show$ = new BehaviorSubject(false)\n    push$.pipe(ignoreElements(), endWith(false))\n      .subscribe(show$)\n\n    // Create observable controlling tooltip element - we create and attach the\n    // tooltip only if it is actually present, in order to keep the number of\n    // elements low. We need to keep the tooltip visible for a short time after\n    // the pointer left the host element or tooltip itself. For this, we use an\n    // inner subscription to the tooltip observable, which we terminate when the\n    // tooltip should not be shown, automatically removing the element. Moreover\n    // we use the queue scheduler, which will schedule synchronously in case the\n    // tooltip should be shown, and asynchronously if it should be hidden.\n    const node$ = show$.pipe(\n      debounce(active => timer(+!active * 250, queueScheduler)),\n      distinctUntilChanged(),\n      switchMap(active => active ? content$ : EMPTY),\n      tap(node => node.id = id),\n      share()\n    )\n\n    // Compute tooltip presence and visibility - the tooltip should be shown if\n    // the host element or the tooltip itself is focused or hovered\n    combineLatest([\n      push$.pipe(map(({ active }) => active)),\n      node$.pipe(\n        switchMap(node => watchElementHover(node, 250)),\n        startWith(false)\n      )\n    ])\n      .pipe(map(states => states.some(active => active)))\n      .subscribe(show$)\n\n    // Compute tooltip origin - we need to compute the tooltip origin depending\n    // on the position of the host element, the viewport size, as well as the\n    // actual size of the tooltip, if positioned above. The tooltip must about\n    // to be rendered for this to be correct, which is why we do it here.\n    const origin$ = show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, viewport$),\n      map(([_, node, { size }]) => {\n        const host = el.getBoundingClientRect()\n        const x = host.width / 2\n\n        // If the tooltip is non-interactive, we always render it below the\n        // actual element because all operating systems do it that way\n        if (node.role === \"tooltip\") {\n          return { x, y: 8 + host.height }\n\n        // Otherwise, we determine where there is more space, and render the\n        // tooltip either above or below the host element\n        } else if (host.y >= size.height / 2) {\n          const { height } = getElementSize(node)\n          return { x, y: -16 - height }\n        } else {\n          return { x, y: +16 + host.height }\n        }\n      })\n    )\n\n    // Update tooltip position - we always need to update the position of the\n    // tooltip, as it might change depending on the viewport offset of the host\n    combineLatest([node$, push$, origin$])\n      .subscribe(([node, { offset }, origin]) => {\n        node.style.setProperty(\"--md-tooltip-host-x\", `${offset.x}px`)\n        node.style.setProperty(\"--md-tooltip-host-y\", `${offset.y}px`)\n\n        // Update tooltip origin - this is mainly set to determine the position\n        // of the tooltip tail, to show the direction it is originating from\n        node.style.setProperty(\"--md-tooltip-x\", `${origin.x}px`)\n        node.style.setProperty(\"--md-tooltip-y\", `${origin.y}px`)\n\n        // Update tooltip render location, i.e., whether the tooltip is shown\n        // above or below the host element, depending on the available space\n        node.classList.toggle(\"md-tooltip2--top\",    origin.y <  0)\n        node.classList.toggle(\"md-tooltip2--bottom\", origin.y >= 0)\n      })\n\n    // Update tooltip width - we only explicitly set the width of the tooltip\n    // if it is non-interactive, in case it should always be rendered centered\n    show$.pipe(\n      filter(active => active),\n      withLatestFrom(node$, (_, node) => node),\n      filter(node => node.role === \"tooltip\")\n    )\n      .subscribe(node => {\n        const size = getElementSize(getElement(\":scope > *\", node))\n\n        // Set tooltip width and remove tail by setting it to a width of zero -\n        // if authors want to keep the tail, we can move this to CSS later\n        node.style.setProperty(\"--md-tooltip-width\", `${size.width}px`)\n        node.style.setProperty(\"--md-tooltip-tail\",  `${0}px`)\n      })\n\n    // Update tooltip visibility - we defer to the next animation frame, because\n    // the tooltip must first be added to the document before we make it appear,\n    // or it will appear instantly without delay. Additionally, we need to keep\n    // the tooltip visible for a short time after the pointer left the host.\n    show$.pipe(\n      distinctUntilChanged(),\n      observeOn(animationFrameScheduler),\n      withLatestFrom(node$)\n    )\n      .subscribe(([active, node]) => {\n        node.classList.toggle(\"md-tooltip2--active\", active)\n      })\n\n    // Set up ARIA attributes when tooltip is visible\n    combineLatest([\n      show$.pipe(filter(active => active)),\n      node$\n    ])\n      .subscribe(([_, node]) => {\n        if (node.role === \"dialog\") {\n          el.setAttribute(\"aria-controls\", id)\n          el.setAttribute(\"aria-haspopup\", \"dialog\")\n        } else {\n          el.setAttribute(\"aria-describedby\", id)\n        }\n      })\n\n    // Remove ARIA attributes when tooltip is hidden\n    show$.pipe(filter(active => !active))\n      .subscribe(() => {\n        el.removeAttribute(\"aria-controls\")\n        el.removeAttribute(\"aria-describedby\")\n        el.removeAttribute(\"aria-haspopup\")\n      })\n\n    // Create and return component\n    return watchTooltip2(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n\n// ----------------------------------------------------------------------------\n\n/**\n * Mount inline tooltip\n *\n * @todo refactor this function\n *\n * @param el - Tooltip host element\n * @param dependencies - Dependencies\n * @param container - Container\n *\n * @returns Tooltip component observable\n */\nexport function mountInlineTooltip2(\n  el: HTMLElement, { viewport$ }: { viewport$: Observable<Viewport> },\n  container = document.body\n): Observable<Component<Tooltip>> {\n  return mountTooltip2(el, {\n    content$: new Observable<HTMLElement>(observer => {\n      const title = el.title\n      const node = renderInlineTooltip2(title)\n      observer.next(node)\n      el.removeAttribute(\"title\")\n      // Append tooltip and remove on unsubscription\n      container.append(node)\n      return () => {\n        node.remove()\n        el.setAttribute(\"title\", title)\n      }\n    }),\n    viewport$\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  delay,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  switchMap,\n  take,\n  takeUntil,\n  tap,\n  throttleTime,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getActiveElement,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementOffset,\n  watchElementVisibility\n} from \"~/browser\"\n\nimport { Component } from \"../../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Annotation\n */\nexport interface Annotation {\n  active: boolean                      /* Annotation is active */\n  offset: ElementOffset                /* Annotation offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n *\n * @returns Annotation observable\n */\nexport function watchAnnotation(\n  el: HTMLElement, container: HTMLElement\n): Observable<Annotation> {\n  const offset$ = defer(() => combineLatest([\n    watchElementOffset(el),\n    watchElementContentOffset(container)\n  ]))\n    .pipe(\n      map(([{ x, y }, scroll]): ElementOffset => {\n        const { width, height } = getElementSize(el)\n        return ({\n          x: x - scroll.x + width  / 2,\n          y: y - scroll.y + height / 2\n        })\n      })\n    )\n\n  /* Actively watch annotation on focus */\n  return watchElementFocus(el)\n    .pipe(\n      switchMap(active => offset$\n        .pipe(\n          map(offset => ({ active, offset })),\n          take(+!active || Infinity)\n        )\n      )\n    )\n}\n\n/**\n * Mount annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotation(\n  el: HTMLElement, container: HTMLElement, { target$ }: MountOptions\n): Observable<Component<Annotation>> {\n  const [tooltip, index] = Array.from(el.children)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Annotation>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        el.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        el.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.style.removeProperty(\"--md-tooltip-x\")\n        el.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Start animation only when annotation is visible */\n    watchElementVisibility(el)\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(visible => {\n          el.toggleAttribute(\"data-md-visible\", visible)\n        })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active)\n            el.prepend(tooltip)\n          else\n            tooltip.remove()\n        },\n\n        /* Handle complete */\n        complete() {\n          el.prepend(tooltip)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next(origin) {\n            if (origin)\n              el.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n            else\n              el.style.removeProperty(\"--md-tooltip-0\")\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-tooltip-0\")\n          }\n        })\n\n    /* Allow to copy link without scrolling to anchor */\n    fromEvent<MouseEvent>(index, \"click\")\n      .pipe(\n        takeUntil(done$),\n        filter(ev => !(ev.metaKey || ev.ctrlKey))\n      )\n        .subscribe(ev => {\n          ev.stopPropagation()\n          ev.preventDefault()\n        })\n\n    /* Allow to open link in new tab or blur on close */\n    fromEvent<MouseEvent>(index, \"mousedown\")\n      .pipe(\n        takeUntil(done$),\n        withLatestFrom(push$)\n      )\n        .subscribe(([ev, { active }]) => {\n\n          /* Open in new tab */\n          if (ev.button !== 0 || ev.metaKey || ev.ctrlKey) {\n            ev.preventDefault()\n\n          /* Close annotation */\n          } else if (active) {\n            ev.preventDefault()\n\n            /* Focus parent annotation, if any */\n            const parent = el.parentElement!.closest(\".md-annotation\")\n            if (parent instanceof HTMLElement)\n              parent.focus()\n            else\n              getActiveElement()?.blur()\n          }\n        })\n\n    /* Open and focus annotation on location target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(target => target === tooltip),\n        delay(125)\n      )\n        .subscribe(() => el.focus())\n\n    /* Create and return component */\n    return watchAnnotation(el, container)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  endWith,\n  finalize,\n  ignoreElements,\n  merge,\n  share,\n  takeUntil\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  getOptionalElement\n} from \"~/browser\"\nimport { renderAnnotation } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotation\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find all annotation hosts in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation hosts\n */\nfunction findHosts(container: HTMLElement): HTMLElement[] {\n  return container.tagName === \"CODE\"\n    ? getElements(\".c, .c1, .cm\", container)\n    : [container]\n}\n\n/**\n * Find all annotation markers in the containing element\n *\n * @param container - Containing element\n *\n * @returns Annotation markers\n */\nfunction findMarkers(container: HTMLElement): Text[] {\n  const markers: Text[] = []\n  for (const el of findHosts(container)) {\n    const nodes: Text[] = []\n\n    /* Find all text nodes in current element */\n    const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n    for (let node = it.nextNode(); node; node = it.nextNode())\n      nodes.push(node as Text)\n\n    /* Find all markers in each text node */\n    for (let text of nodes) {\n      let match: RegExpExecArray | null\n\n      /* Split text at marker and add to list */\n      while ((match = /(\\(\\d+\\))(!)?/.exec(text.textContent!))) {\n        const [, id, force] = match\n        if (typeof force === \"undefined\") {\n          const marker = text.splitText(match.index)\n          text = marker.splitText(id.length)\n          markers.push(marker)\n\n        /* Replace entire text with marker */\n        } else {\n          text.textContent = id\n          markers.push(text)\n          break\n        }\n      }\n    }\n  }\n  return markers\n}\n\n/**\n * Swap the child nodes of two elements\n *\n * @param source - Source element\n * @param target - Target element\n */\nfunction swap(source: HTMLElement, target: HTMLElement): void {\n  target.append(...Array.from(source.childNodes))\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation list\n *\n * This function analyzes the containing code block and checks for markers\n * referring to elements in the given annotation list. If no markers are found,\n * the list is left untouched. Otherwise, list elements are rendered as\n * annotations inside the code block.\n *\n * @param el - Annotation list element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationList(\n  el: HTMLElement, container: HTMLElement, { target$, print$ }: MountOptions\n): Observable<Component<Annotation>> {\n\n  /* Compute prefix for tooltip anchors */\n  const parent = container.closest(\"[id]\")\n  const prefix = parent?.id\n\n  /* Find and replace all markers with empty annotations */\n  const annotations = new Map<string, HTMLElement>()\n  for (const marker of findMarkers(container)) {\n    const [, id] = marker.textContent!.match(/\\((\\d+)\\)/)!\n    if (getOptionalElement(`:scope > li:nth-child(${id})`, el)) {\n      annotations.set(id, renderAnnotation(id, prefix))\n      marker.replaceWith(annotations.get(id)!)\n    }\n  }\n\n  /* Keep list if there are no annotations to render */\n  if (annotations.size === 0)\n    return EMPTY\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n    /* Retrieve container pairs for swapping */\n    const pairs: [HTMLElement, HTMLElement][] = []\n    for (const [id, annotation] of annotations)\n      pairs.push([\n        getElement(\".md-typeset\", annotation),\n        getElement(`:scope > li:nth-child(${id})`, el)\n      ])\n\n    /* Handle print mode - see https://bit.ly/3rgPdpt */\n    print$.pipe(takeUntil(done$))\n      .subscribe(active => {\n        el.hidden = !active\n\n        /* Add class to discern list element */\n        el.classList.toggle(\"md-annotation-list\", active)\n\n        /* Show annotations in code block or list (print) */\n        for (const [inner, child] of pairs)\n          if (!active)\n            swap(child, inner)\n          else\n            swap(inner, child)\n      })\n\n    /* Create and return component */\n    return merge(...[...annotations]\n      .map(([, annotation]) => (\n        mountAnnotation(annotation, container, { target$ })\n      ))\n    )\n      .pipe(\n        finalize(() => push$.complete()),\n        share()\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable, defer } from \"rxjs\"\n\nimport { Component } from \"../../../_\"\nimport { Annotation } from \"../_\"\nimport { mountAnnotationList } from \"../list\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find list element directly following a block\n *\n * @param el - Annotation block element\n *\n * @returns List element or nothing\n */\nfunction findList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation block\n *\n * @param el - Annotation block element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Annotation>> {\n  return defer(() => {\n    const list = findList(el)\n    return typeof list !== \"undefined\"\n      ? mountAnnotationList(list, el, options)\n      : EMPTY\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  finalize,\n  map,\n  mergeWith,\n  switchMap,\n  take,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  getElementContentSize,\n  getElements,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"~/components/tooltip2\"\nimport { renderClipboardButton } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotationList\n} from \"../../annotation\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Code block overflow\n */\nexport interface Overflow {\n  scrollable: boolean                  /* Code block overflows */\n}\n\n/**\n * Code block\n */\nexport type CodeBlock =\n  | Overflow\n  | Annotation\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for code blocks\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find candidate list element directly following a code block\n *\n * @param el - Code block element\n *\n * @returns List element or nothing\n */\nfunction findCandidateList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findCandidateList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch code block\n *\n * This function monitors size changes of the viewport, as well as switches of\n * content tabs with embedded code blocks, as both may trigger overflow.\n *\n * @param el - Code block element\n *\n * @returns Code block observable\n */\nexport function watchCodeBlock(\n  el: HTMLElement\n): Observable<Overflow> {\n  return watchElementSize(el)\n    .pipe(\n      map(({ width }) => {\n        const content = getElementContentSize(el)\n        return {\n          scrollable: content.width > width\n        }\n      }),\n      distinctUntilKeyChanged(\"scrollable\")\n    )\n}\n\n/**\n * Mount code block\n *\n * This function ensures that an overflowing code block is focusable through\n * keyboard, so it can be scrolled without a mouse to improve on accessibility.\n * Furthermore, if code annotations are enabled, they are mounted if and only\n * if the code block is currently visible, e.g., not in a hidden content tab.\n *\n * Note that code blocks may be mounted eagerly or lazily. If they're mounted\n * lazily (on first visibility), code annotation anchor links will not work,\n * as they are evaluated on initial page load, and code annotations in general\n * might feel a little bumpier.\n *\n * @param el - Code block element\n * @param options - Options\n *\n * @returns Code block and annotation component observable\n */\nexport function mountCodeBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<CodeBlock>> {\n  const { matches: hover } = matchMedia(\"(hover)\")\n\n  /* Defer mounting of code block - see https://bit.ly/3vHVoVD */\n  const factory$ = defer(() => {\n    const push$ = new Subject<Overflow>()\n    const done$ = push$.pipe(takeLast(1))\n    push$.subscribe(({ scrollable }) => {\n      if (scrollable && hover)\n        el.setAttribute(\"tabindex\", \"0\")\n      else\n        el.removeAttribute(\"tabindex\")\n    })\n\n    /* Render button for Clipboard.js integration */\n    const content$: Array<Observable<Component<CodeBlock>>> = []\n    if (ClipboardJS.isSupported()) {\n      if (el.closest(\".copy\") || (\n        feature(\"content.code.copy\") && !el.closest(\".no-copy\")\n      )) {\n        const parent = el.closest(\"pre\")!\n        parent.id = `__code_${sequence++}`\n\n        /* Mount tooltip, if enabled */\n        const button = renderClipboardButton(parent.id)\n        parent.insertBefore(button, el)\n        if (feature(\"content.tooltips\"))\n          content$.push(mountInlineTooltip2(button, { viewport$ }))\n      }\n    }\n\n    /* Handle code annotations */\n    const container = el.closest(\".highlight\")\n    if (container instanceof HTMLElement) {\n      const list = findCandidateList(container)\n\n      /* Mount code annotations, if enabled */\n      if (typeof list !== \"undefined\" && (\n        container.classList.contains(\"annotate\") ||\n        feature(\"content.code.annotate\")\n      )) {\n        const annotations$ = mountAnnotationList(list, el, options)\n        content$.push(\n          watchElementSize(container)\n            .pipe(\n              takeUntil(done$),\n              map(({ width, height }) => width && height),\n              distinctUntilChanged(),\n              switchMap(active => active ? annotations$ : EMPTY)\n            )\n        )\n      }\n    }\n\n    // If the code block has line spans, we can add this additional class to\n    // the code block element, which fixes the problem for highlighted code\n    // lines not stretching to the entirety of the screen when the code block\n    // overflows, e.g., on mobile - see\n    const spans = getElements(\":scope > span[id]\", el)\n    if (spans.length)\n      el.classList.add(\"md-code__content\")\n\n    /* Create and return component */\n    return watchCodeBlock(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(...content$)\n      )\n  })\n\n  /* Mount code block lazily */\n  if (feature(\"content.lazy\"))\n    return watchElementVisibility(el)\n      .pipe(\n        filter(visible => visible),\n        take(1),\n        switchMap(() => factory$)\n      )\n\n  /* Mount code block */\n  return factory$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Details\n */\nexport interface Details {\n  action: \"open\" | \"close\"             /* Details state */\n  reveal?: boolean                     /* Details is revealed */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch details\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details observable\n */\nexport function watchDetails(\n  el: HTMLDetailsElement, { target$, print$ }: WatchOptions\n): Observable<Details> {\n  let open = true\n  return merge(\n\n    /* Open and focus details on location target */\n    target$\n      .pipe(\n        map(target => target.closest(\"details:not([open])\")!),\n        filter(details => el === details),\n        map(() => ({\n          action: \"open\", reveal: true\n        }) as Details)\n      ),\n\n    /* Open details on print and close afterwards */\n    print$\n      .pipe(\n        filter(active => active || !open),\n        tap(() => open = el.open),\n        map(active => ({\n          action: active ? \"open\" : \"close\"\n        }) as Details)\n      )\n  )\n}\n\n/**\n * Mount details\n *\n * This function ensures that `details` tags are opened on anchor jumps and\n * prior to printing, so the whole content of the page is visible.\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details component observable\n */\nexport function mountDetails(\n  el: HTMLDetailsElement, options: MountOptions\n): Observable<Component<Details>> {\n  return defer(() => {\n    const push$ = new Subject<Details>()\n    push$.subscribe(({ action, reveal }) => {\n      el.toggleAttribute(\"open\", action === \"open\")\n      if (reveal)\n        el.scrollIntoView()\n    })\n\n    /* Create and return component */\n    return watchDetails(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", ".node circle,.node ellipse,.node path,.node polygon,.node rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}marker{fill:var(--md-mermaid-edge-color)!important}.edgeLabel .label rect{fill:#0000}.label{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.label foreignObject{line-height:normal;overflow:visible}.label div .edgeLabel{color:var(--md-mermaid-label-fg-color)}.edgeLabel,.edgeLabel p,.label div .edgeLabel{background-color:var(--md-mermaid-label-bg-color)}.edgeLabel,.edgeLabel p{fill:var(--md-mermaid-label-bg-color);color:var(--md-mermaid-edge-color)}.edgePath .path,.flowchart-link{stroke:var(--md-mermaid-edge-color);stroke-width:.05rem}.edgePath .arrowheadPath{fill:var(--md-mermaid-edge-color);stroke:none}.cluster rect{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}.cluster span{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}g #flowchart-circleEnd,g #flowchart-circleStart,g #flowchart-crossEnd,g #flowchart-crossStart,g #flowchart-pointEnd,g #flowchart-pointStart{stroke:none}g.classGroup line,g.classGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.classGroup text{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.classLabel .box{fill:var(--md-mermaid-label-bg-color);background-color:var(--md-mermaid-label-bg-color);opacity:1}.classLabel .label{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.node .divider{stroke:var(--md-mermaid-node-fg-color)}.relation{stroke:var(--md-mermaid-edge-color)}.cardinality{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.cardinality text{fill:inherit!important}defs #classDiagram-compositionEnd,defs #classDiagram-compositionStart,defs #classDiagram-dependencyEnd,defs #classDiagram-dependencyStart,defs #classDiagram-extensionEnd,defs #classDiagram-extensionStart{fill:var(--md-mermaid-edge-color)!important;stroke:var(--md-mermaid-edge-color)!important}defs #classDiagram-aggregationEnd,defs #classDiagram-aggregationStart{fill:var(--md-mermaid-label-bg-color)!important;stroke:var(--md-mermaid-edge-color)!important}g.stateGroup rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}g.stateGroup .state-title{fill:var(--md-mermaid-label-fg-color)!important;font-family:var(--md-mermaid-font-family)}g.stateGroup .composit{fill:var(--md-mermaid-label-bg-color)}.nodeLabel,.nodeLabel p{color:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}a .nodeLabel{text-decoration:underline}.node circle.state-end,.node circle.state-start,.start-state{fill:var(--md-mermaid-edge-color);stroke:none}.end-state-inner,.end-state-outer{fill:var(--md-mermaid-edge-color)}.end-state-inner,.node circle.state-end{stroke:var(--md-mermaid-label-bg-color)}.transition{stroke:var(--md-mermaid-edge-color)}[id^=state-fork] rect,[id^=state-join] rect{fill:var(--md-mermaid-edge-color)!important;stroke:none!important}.statediagram-cluster.statediagram-cluster .inner{fill:var(--md-default-bg-color)}.statediagram-cluster rect{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.statediagram-state rect.divider{fill:var(--md-default-fg-color--lightest);stroke:var(--md-default-fg-color--lighter)}defs #statediagram-barbEnd{stroke:var(--md-mermaid-edge-color)}.attributeBoxEven,.attributeBoxOdd{fill:var(--md-mermaid-node-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityBox{fill:var(--md-mermaid-label-bg-color);stroke:var(--md-mermaid-node-fg-color)}.entityLabel{fill:var(--md-mermaid-label-fg-color);font-family:var(--md-mermaid-font-family)}.relationshipLabelBox{fill:var(--md-mermaid-label-bg-color);fill-opacity:1;background-color:var(--md-mermaid-label-bg-color);opacity:1}.relationshipLabel{fill:var(--md-mermaid-label-fg-color)}.relationshipLine{stroke:var(--md-mermaid-edge-color)}defs #ONE_OR_MORE_END *,defs #ONE_OR_MORE_START *,defs #ONLY_ONE_END *,defs #ONLY_ONE_START *,defs #ZERO_OR_MORE_END *,defs #ZERO_OR_MORE_START *,defs #ZERO_OR_ONE_END *,defs #ZERO_OR_ONE_START *{stroke:var(--md-mermaid-edge-color)!important}defs #ZERO_OR_MORE_END circle,defs #ZERO_OR_MORE_START circle{fill:var(--md-mermaid-label-bg-color)}.actor{fill:var(--md-mermaid-sequence-actor-bg-color);stroke:var(--md-mermaid-sequence-actor-border-color)}text.actor>tspan{fill:var(--md-mermaid-sequence-actor-fg-color);font-family:var(--md-mermaid-font-family)}line{stroke:var(--md-mermaid-sequence-actor-line-color)}.actor-man circle,.actor-man line{fill:var(--md-mermaid-sequence-actorman-bg-color);stroke:var(--md-mermaid-sequence-actorman-line-color)}.messageLine0,.messageLine1{stroke:var(--md-mermaid-sequence-message-line-color)}.note{fill:var(--md-mermaid-sequence-note-bg-color);stroke:var(--md-mermaid-sequence-note-border-color)}.loopText,.loopText>tspan,.messageText,.noteText>tspan{stroke:none;font-family:var(--md-mermaid-font-family)!important}.messageText{fill:var(--md-mermaid-sequence-message-fg-color)}.loopText,.loopText>tspan{fill:var(--md-mermaid-sequence-loop-fg-color)}.noteText>tspan{fill:var(--md-mermaid-sequence-note-fg-color)}#arrowhead path{fill:var(--md-mermaid-sequence-message-line-color);stroke:none}.loopLine{fill:var(--md-mermaid-sequence-loop-bg-color);stroke:var(--md-mermaid-sequence-loop-border-color)}.labelBox{fill:var(--md-mermaid-sequence-label-bg-color);stroke:none}.labelText,.labelText>span{fill:var(--md-mermaid-sequence-label-fg-color);font-family:var(--md-mermaid-font-family)}.sequenceNumber{fill:var(--md-mermaid-sequence-number-fg-color)}rect.rect{fill:var(--md-mermaid-sequence-box-bg-color);stroke:none}rect.rect+text.text{fill:var(--md-mermaid-sequence-box-fg-color)}defs #sequencenumber{fill:var(--md-mermaid-sequence-number-bg-color)!important}", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\nimport themeCSS from \"./index.css\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid diagram\n */\nexport interface Mermaid {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid instance observable\n */\nlet mermaid$: Observable<void>\n\n/**\n * Global sequence number for diagrams\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch Mermaid script\n *\n * @returns Mermaid scripts observable\n */\nfunction fetchScripts(): Observable<void> {\n  return typeof mermaid === \"undefined\" || mermaid instanceof Element\n    ? watchScript(\"https://unpkg.com/mermaid@11/dist/mermaid.min.js\")\n    : of(undefined)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount Mermaid diagram\n *\n * @param el - Code block element\n *\n * @returns Mermaid diagram component observable\n */\nexport function mountMermaid(\n  el: HTMLElement\n): Observable<Component<Mermaid>> {\n  el.classList.remove(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n  mermaid$ ||= fetchScripts()\n    .pipe(\n      tap(() => mermaid.initialize({\n        startOnLoad: false,\n        themeCSS,\n        sequence: {\n          actorFontSize: \"16px\", // Hack: mitigate https://bit.ly/3y0NEi3\n          messageFontSize: \"16px\",\n          noteFontSize: \"16px\"\n        }\n      })),\n      map(() => undefined),\n      shareReplay(1)\n    )\n\n  /* Render diagram */\n  mermaid$.subscribe(async () => {\n    el.classList.add(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n    const id = `__mermaid_${sequence++}`\n\n    /* Create host element to replace code block */\n    const host = h(\"div\", { class: \"mermaid\" })\n    const text = el.textContent\n\n    /* Render and inject diagram */\n    const { svg, fn } = await mermaid.render(id, text)\n\n    /* Create a shadow root and inject diagram */\n    const shadow = host.attachShadow({ mode: \"closed\" })\n    shadow.innerHTML = svg\n\n    /* Replace code block with diagram and bind functions */\n    el.replaceWith(host)\n    fn?.(shadow)\n  })\n\n  /* Create and return component */\n  return mermaid$\n    .pipe(\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, of } from \"rxjs\"\n\nimport { renderTable } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Data table\n */\nexport interface DataTable {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Sentinel for replacement\n */\nconst sentinel = h(\"table\")\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount data table\n *\n * This function wraps a data table in another scrollable container, so it can\n * be smoothly scrolled on smaller screen sizes and won't break the layout.\n *\n * @param el - Data table element\n *\n * @returns Data table component observable\n */\nexport function mountDataTable(\n  el: HTMLElement\n): Observable<Component<DataTable>> {\n  el.replaceWith(sentinel)\n  sentinel.replaceWith(renderTable(el))\n\n  /* Create and return component */\n  return of({ ref: el })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  endWith,\n  filter,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  skip,\n  startWith,\n  subscribeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContentOffset,\n  getElementContentSize,\n  getElementOffset,\n  getElementSize,\n  getElements,\n  watchElementContentOffset,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport { renderTabbedControl } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content tabs\n */\nexport interface ContentTabs {\n  active: HTMLLabelElement             /* Active tab label */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch content tabs\n *\n * @param inputs - Content tabs input elements\n *\n * @returns Content tabs observable\n */\nexport function watchContentTabs(\n  inputs: HTMLInputElement[]\n): Observable<ContentTabs> {\n  const initial = inputs.find(input => input.checked) || inputs[0]\n  return merge(...inputs.map(input => fromEvent(input, \"change\")\n    .pipe(\n      map(() => getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`))\n    )\n  ))\n    .pipe(\n      startWith(getElement<HTMLLabelElement>(`label[for=\"${initial.id}\"]`)),\n      map(active => ({ active }))\n    )\n}\n\n/**\n * Mount content tabs\n *\n * @param el - Content tabs element\n * @param options - Options\n *\n * @returns Content tabs component observable\n */\nexport function mountContentTabs(\n  el: HTMLElement, { viewport$, target$ }: MountOptions\n): Observable<Component<ContentTabs>> {\n  const container = getElement(\".tabbed-labels\", el)\n  const inputs = getElements<HTMLInputElement>(\":scope > input\", el)\n\n  /* Render content tab previous button for pagination */\n  const prev = renderTabbedControl(\"prev\")\n  el.append(prev)\n\n  /* Render content tab next button for pagination */\n  const next = renderTabbedControl(\"next\")\n  el.append(next)\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<ContentTabs>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    combineLatest([push$, watchElementSize(el), watchElementVisibility(el)])\n      .pipe(\n        takeUntil(done$),\n        auditTime(1, animationFrameScheduler)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next([{ active }, size]) {\n            const offset = getElementOffset(active)\n            const { width } = getElementSize(active)\n\n            /* Set tab indicator offset and width */\n            el.style.setProperty(\"--md-indicator-x\", `${offset.x}px`)\n            el.style.setProperty(\"--md-indicator-width\", `${width}px`)\n\n            /* Scroll container to active content tab */\n            const content = getElementContentOffset(container)\n            if (\n              offset.x         < content.x              ||\n              offset.x + width > content.x + size.width\n            )\n              container.scrollTo({\n                left: Math.max(0, offset.x - 16),\n                behavior: \"smooth\"\n              })\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-indicator-x\")\n            el.style.removeProperty(\"--md-indicator-width\")\n          }\n        })\n\n    /* Hide content tab buttons on borders */\n    combineLatest([\n      watchElementContentOffset(container),\n      watchElementSize(container)\n    ])\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(([offset, size]) => {\n          const content = getElementContentSize(container)\n          prev.hidden = offset.x < 16\n          next.hidden = offset.x > content.width - size.width - 16\n        })\n\n    /* Paginate content tab container on click */\n    merge(\n      fromEvent(prev, \"click\").pipe(map(() => -1)),\n      fromEvent(next, \"click\").pipe(map(() => +1))\n    )\n      .pipe(\n        takeUntil(done$)\n      )\n        .subscribe(direction => {\n          const { width } = getElementSize(container)\n          container.scrollBy({\n            left: width * direction,\n            behavior: \"smooth\"\n          })\n        })\n\n    /* Switch to content tab target */\n    target$\n      .pipe(\n        takeUntil(done$),\n        filter(input => inputs.includes(input as HTMLInputElement))\n      )\n        .subscribe(input => input.click())\n\n    /* Add link to each content tab label */\n    container.classList.add(\"tabbed-labels--linked\")\n    for (const input of inputs) {\n      const label = getElement<HTMLLabelElement>(`label[for=\"${input.id}\"]`)\n      label.replaceChildren(h(\"a\", {\n        href: `#${label.htmlFor}`,\n        tabIndex: -1\n      }, ...Array.from(label.childNodes)))\n\n      /* Allow to copy link without scrolling to anchor */\n      fromEvent<MouseEvent>(label.firstElementChild!, \"click\")\n        .pipe(\n          takeUntil(done$),\n          filter(ev => !(ev.metaKey || ev.ctrlKey)),\n          tap(ev => {\n            ev.preventDefault()\n            ev.stopPropagation()\n          })\n        )\n          // @todo we might need to remove the anchor link on complete\n          .subscribe(() => {\n            history.replaceState({}, \"\", `#${label.htmlFor}`)\n            label.click()\n          })\n    }\n\n    /* Set up linking of content tabs, if enabled */\n    if (feature(\"content.tabs.link\"))\n      push$.pipe(\n        skip(1),\n        withLatestFrom(viewport$)\n      )\n        .subscribe(([{ active }, { offset }]) => {\n          const tab = active.innerText.trim()\n          if (active.hasAttribute(\"data-md-switching\")) {\n            active.removeAttribute(\"data-md-switching\")\n\n          /* Determine viewport offset of active tab */\n          } else {\n            const y = el.offsetTop - offset.y\n\n            /* Passively activate other tabs */\n            for (const set of getElements(\"[data-tabs]\"))\n              for (const input of getElements<HTMLInputElement>(\n                \":scope > input\", set\n              )) {\n                const label = getElement(`label[for=\"${input.id}\"]`)\n                if (\n                  label !== active &&\n                  label.innerText.trim() === tab\n                ) {\n                  label.setAttribute(\"data-md-switching\", \"\")\n                  input.click()\n                  break\n                }\n              }\n\n            /* Bring active tab into view */\n            window.scrollTo({\n              top: el.offsetTop - y\n            })\n\n            /* Persist active tabs in local storage */\n            const tabs = __md_get<string[]>(\"__tabs\") || []\n            __md_set(\"__tabs\", [...new Set([tab, ...tabs])])\n          }\n        })\n\n    /* Pause media (audio, video) on switch - see https://bit.ly/3Bk6cel */\n    push$.pipe(takeUntil(done$))\n      .subscribe(() => {\n        for (const media of getElements<HTMLAudioElement>(\"audio, video\", el))\n          media.pause()\n      })\n\n    /* Create and return component */\n    return watchContentTabs(inputs)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, merge } from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { Viewport, getElements } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport {\n  Tooltip,\n  mountInlineTooltip2\n} from \"../../tooltip2\"\nimport {\n  Annotation,\n  mountAnnotationBlock\n} from \"../annotation\"\nimport {\n  CodeBlock,\n  mountCodeBlock\n} from \"../code\"\nimport {\n  Details,\n  mountDetails\n} from \"../details\"\nimport {\n  Mermaid,\n  mountMermaid\n} from \"../mermaid\"\nimport {\n  DataTable,\n  mountDataTable\n} from \"../table\"\nimport {\n  ContentTabs,\n  mountContentTabs\n} from \"../tabs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content\n */\nexport type Content =\n  | Annotation\n  | CodeBlock\n  | ContentTabs\n  | DataTable\n  | Details\n  | Mermaid\n  | Tooltip\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount content\n *\n * This function mounts all components that are found in the content of the\n * actual article, including code blocks, data tables and details.\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Content component observable\n */\nexport function mountContent(\n  el: HTMLElement, { viewport$, target$, print$ }: MountOptions\n): Observable<Component<Content>> {\n  return merge(\n\n    /* Annotations */\n    ...getElements(\".annotate:not(.highlight)\", el)\n      .map(child => mountAnnotationBlock(child, { target$, print$ })),\n\n    /* Code blocks */\n    ...getElements(\"pre:not(.mermaid) > code\", el)\n      .map(child => mountCodeBlock(child, { target$, print$ })),\n\n    /* Mermaid diagrams */\n    ...getElements(\"pre.mermaid\", el)\n      .map(child => mountMermaid(child)),\n\n    /* Data tables */\n    ...getElements(\"table:not([class])\", el)\n      .map(child => mountDataTable(child)),\n\n    /* Details */\n    ...getElements(\"details\", el)\n      .map(child => mountDetails(child, { target$, print$ })),\n\n    /* Content tabs */\n    ...getElements(\"[data-tabs]\", el)\n      .map(child => mountContentTabs(child, { viewport$, target$ })),\n\n    /* Tooltips */\n    ...getElements(\"[title]\", el)\n      .filter(() => feature(\"content.tooltips\"))\n      .map(child => mountInlineTooltip2(child, { viewport$ }))\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  delay,\n  finalize,\n  map,\n  merge,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dialog\n */\nexport interface Dialog {\n  message: string                      /* Dialog message */\n  active: boolean                      /* Dialog is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch dialog\n *\n * @param _el - Dialog element\n * @param options - Options\n *\n * @returns Dialog observable\n */\nexport function watchDialog(\n  _el: HTMLElement, { alert$ }: WatchOptions\n): Observable<Dialog> {\n  return alert$\n    .pipe(\n      switchMap(message => merge(\n        of(true),\n        of(false).pipe(delay(2000))\n      )\n        .pipe(\n          map(active => ({ message, active }))\n        )\n      )\n    )\n}\n\n/**\n * Mount dialog\n *\n * This function reveals the dialog in the right corner when a new alert is\n * emitted through the subject that is passed as part of the options.\n *\n * @param el - Dialog element\n * @param options - Options\n *\n * @returns Dialog component observable\n */\nexport function mountDialog(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Dialog>> {\n  const inner = getElement(\".md-typeset\", el)\n  return defer(() => {\n    const push$ = new Subject<Dialog>()\n    push$.subscribe(({ message, active }) => {\n      el.classList.toggle(\"md-dialog--active\", active)\n      inner.textContent = message\n    })\n\n    /* Create and return component */\n    return watchDialog(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  subscribeOn,\n  tap,\n  throttleTime\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getElement,\n  getElementContainer,\n  getElementOffset,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementHover\n} from \"~/browser\"\nimport { renderTooltip } from \"~/templates\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Tooltip\n */\nexport interface Tooltip {\n  active: boolean                      /* Tooltip is active */\n  offset: ElementOffset                /* Tooltip offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for tooltips\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch tooltip\n *\n * This function will append the tooltip temporarily to compute its width,\n * which is necessary for correct centering, and then removing it again.\n *\n * @param el - Tooltip element\n * @param host - Host element\n *\n * @returns Tooltip observable\n */\nexport function watchTooltip(\n  el: HTMLElement, host: HTMLElement\n): Observable<Tooltip> {\n  document.body.append(el)\n\n  /* Compute width and remove tooltip immediately */\n  const { width } = getElementSize(el)\n  el.style.setProperty(\"--md-tooltip-width\", `${width}px`)\n  el.remove()\n\n  /* Retrieve and watch containing element */\n  const container = getElementContainer(host)\n  const scroll$ =\n    typeof container !== \"undefined\"\n      ? watchElementContentOffset(container)\n      : of({ x: 0, y: 0 })\n\n  /* Compute tooltip visibility */\n  const active$ = merge(\n    watchElementFocus(host),\n    watchElementHover(host)\n  )\n    .pipe(\n      distinctUntilChanged()\n    )\n\n  /* Compute tooltip offset */\n  return combineLatest([active$, scroll$])\n    .pipe(\n      map(([active, scroll]) => {\n        let { x, y } = getElementOffset(host)\n        const size = getElementSize(host)\n\n        /**\n         * Experimental: fix handling of tables - see https://bit.ly/3TQEj5O\n         *\n         * If this proves to be a viable fix, we should refactor tooltip\n         * positioning and somehow streamline the current process. This might\n         * also fix positioning for annotations inside tables, which is another\n         * limitation.\n         */\n        const table = host.closest(\"table\")\n        if (table && host.parentElement) {\n          x += table.offsetLeft + host.parentElement.offsetLeft\n          y += table.offsetTop  + host.parentElement.offsetTop\n        }\n        return {\n          active,\n          offset: {\n            x: x - scroll.x + size.width  / 2 - width / 2,\n            y: y - scroll.y + size.height + 8\n          }\n        }\n      })\n    )\n}\n\n/**\n * Mount tooltip\n *\n * @param el - Host element\n *\n * @returns Tooltip component observable\n */\nexport function mountTooltip(\n  el: HTMLElement\n): Observable<Component<Tooltip>> {\n  const title = el.title\n  if (!title.length)\n    return EMPTY\n\n  /* Render tooltip and set title from host element */\n  const id = `__tooltip_${sequence++}`\n  const tooltip = renderTooltip(id, \"inline\")\n  const typeset = getElement(\".md-typeset\", tooltip)\n  typeset.innerHTML = title\n\n  /* Mount component on subscription */\n  return defer(() => {\n    const push$ = new Subject<Tooltip>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        tooltip.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        tooltip.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        tooltip.style.removeProperty(\"--md-tooltip-x\")\n        tooltip.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Toggle tooltip presence to mitigate empty lines when copying */\n    merge(\n      push$.pipe(filter(({ active }) => active)),\n      push$.pipe(debounceTime(250), filter(({ active }) => !active))\n    )\n      .subscribe({\n\n        /* Handle emission */\n        next({ active }) {\n          if (active) {\n            el.insertAdjacentElement(\"afterend\", tooltip)\n            el.setAttribute(\"aria-describedby\", id)\n            el.removeAttribute(\"title\")\n          } else {\n            tooltip.remove()\n            el.removeAttribute(\"aria-describedby\")\n            el.setAttribute(\"title\", title)\n          }\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.remove()\n          el.removeAttribute(\"aria-describedby\")\n          el.setAttribute(\"title\", title)\n        }\n      })\n\n    /* Toggle tooltip visibility */\n    push$\n      .pipe(\n        auditTime(16, animationFrameScheduler)\n      )\n        .subscribe(({ active }) => {\n          tooltip.classList.toggle(\"md-tooltip--active\", active)\n        })\n\n    // @todo - refactor positioning together with annotations \u2013 there are\n    // several things that overlap and are identical in handling\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(125, animationFrameScheduler),\n        filter(() => !!el.offsetParent),\n        map(() => el.offsetParent!.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n      .subscribe({\n\n        /* Handle emission */\n        next(origin) {\n          if (origin)\n            tooltip.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n          else\n            tooltip.style.removeProperty(\"--md-tooltip-0\")\n        },\n\n        /* Handle complete */\n        complete() {\n          tooltip.style.removeProperty(\"--md-tooltip-0\")\n        }\n      })\n\n    /* Create and return component */\n    return watchTooltip(tooltip, el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  combineLatestWith,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  from,\n  ignoreElements,\n  map,\n  mergeMap,\n  mergeWith,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementSize,\n  watchToggle\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Main } from \"../../main\"\nimport {\n  Tooltip,\n  mountTooltip\n} from \"../../tooltip\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface Header {\n  height: number                       /* Header visible height */\n  hidden: boolean                      /* Header is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Compute whether the header is hidden\n *\n * If the user scrolls past a certain threshold, the header can be hidden when\n * scrolling down, and shown when scrolling up.\n *\n * @param options - Options\n *\n * @returns Toggle observable\n */\nfunction isHidden({ viewport$ }: WatchOptions): Observable<boolean> {\n  if (!feature(\"header.autohide\"))\n    return of(false)\n\n  /* Compute direction and turning point */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => [a < b, b] as const),\n      distinctUntilKeyChanged(0)\n    )\n\n  /* Compute whether header should be hidden */\n  const hidden$ = combineLatest([viewport$, direction$])\n    .pipe(\n      filter(([{ offset }, [, y]]) => Math.abs(y - offset.y) > 100),\n      map(([, [direction]]) => direction),\n      distinctUntilChanged()\n    )\n\n  /* Compute threshold for hiding */\n  const search$ = watchToggle(\"search\")\n  return combineLatest([viewport$, search$])\n    .pipe(\n      map(([{ offset }, search]) => offset.y > 400 && !search),\n      distinctUntilChanged(),\n      switchMap(active => active ? hidden$ : of(false)),\n      startWith(false)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header observable\n */\nexport function watchHeader(\n  el: HTMLElement, options: WatchOptions\n): Observable<Header> {\n  return defer(() => combineLatest([\n    watchElementSize(el),\n    isHidden(options)\n  ]))\n    .pipe(\n      map(([{ height }, hidden]) => ({\n        height,\n        hidden\n      })),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.hidden === b.hidden\n      )),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount header\n *\n * This function manages the different states of the header, i.e. whether it's\n * hidden or rendered with a shadow. This depends heavily on the main area.\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header component observable\n */\nexport function mountHeader(\n  el: HTMLElement, { header$, main$ }: MountOptions\n): Observable<Component<Header | Tooltip>> {\n  return defer(() => {\n    const push$ = new Subject<Main>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$\n      .pipe(\n        distinctUntilKeyChanged(\"active\"),\n        combineLatestWith(header$)\n      )\n        .subscribe(([{ active }, { hidden }]) => {\n          el.classList.toggle(\"md-header--shadow\", active && !hidden)\n          el.hidden = hidden\n        })\n\n    /* Mount tooltips, if enabled */\n    const tooltips = from(getElements(\"[title]\", el))\n      .pipe(\n        filter(() => feature(\"content.tooltips\")),\n        mergeMap(child => mountTooltip(child))\n      )\n\n    /* Link to main area */\n    main$.subscribe(push$)\n\n    /* Create and return component */\n    return header$\n      .pipe(\n        takeUntil(done$),\n        map(state => ({ ref: el, ...state })),\n        mergeWith(tooltips.pipe(takeUntil(done$)))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElementSize,\n  getOptionalElement,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Header } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface HeaderTitle {\n  active: boolean                      /* Header title is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header title\n *\n * @param el - Heading element\n * @param options - Options\n *\n * @returns Header title observable\n */\nexport function watchHeaderTitle(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<HeaderTitle> {\n  return watchViewportAt(el, { viewport$, header$ })\n    .pipe(\n      map(({ offset: { y } }) => {\n        const { height } = getElementSize(el)\n        return {\n          active: y >= height\n        }\n      }),\n      distinctUntilKeyChanged(\"active\")\n    )\n}\n\n/**\n * Mount header title\n *\n * This function swaps the header title from the site title to the title of the\n * current page when the user scrolls past the first headline.\n *\n * @param el - Header title element\n * @param options - Options\n *\n * @returns Header title component observable\n */\nexport function mountHeaderTitle(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<HeaderTitle>> {\n  return defer(() => {\n    const push$ = new Subject<HeaderTitle>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ active }) {\n        el.classList.toggle(\"md-header__title--active\", active)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.classList.remove(\"md-header__title--active\")\n      }\n    })\n\n    /* Obtain headline, if any */\n    const heading = getOptionalElement(\".md-content h1\")\n    if (typeof heading === \"undefined\")\n      return EMPTY\n\n    /* Create and return component */\n    return watchHeaderTitle(heading, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  map,\n  switchMap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchElementSize\n} from \"~/browser\"\n\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Main area\n */\nexport interface Main {\n  offset: number                       /* Main area top offset */\n  height: number                       /* Main area visible height */\n  active: boolean                      /* Main area is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch main area\n *\n * This function returns an observable that computes the visual parameters of\n * the main area which depends on the viewport vertical offset and height, as\n * well as the height of the header element, if the header is fixed.\n *\n * @param el - Main area element\n * @param options - Options\n *\n * @returns Main area observable\n */\nexport function watchMain(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Main> {\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      map(({ height }) => height),\n      distinctUntilChanged()\n    )\n\n  /* Compute the main area's top and bottom borders */\n  const border$ = adjust$\n    .pipe(\n      switchMap(() => watchElementSize(el)\n        .pipe(\n          map(({ height }) => ({\n            top:    el.offsetTop,\n            bottom: el.offsetTop + height\n          })),\n          distinctUntilKeyChanged(\"bottom\")\n        )\n      )\n    )\n\n  /* Compute the main area's offset, visible height and if we scrolled past */\n  return combineLatest([adjust$, border$, viewport$])\n    .pipe(\n      map(([header, { top, bottom }, { offset: { y }, size: { height } }]) => {\n        height = Math.max(0, height\n          - Math.max(0, top    - y,  header)\n          - Math.max(0, height + y - bottom)\n        )\n        return {\n          offset: top - header,\n          height,\n          active: top - header <= y\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.offset === b.offset &&\n        a.height === b.height &&\n        a.active === b.active\n      ))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  defer,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  mergeMap,\n  observeOn,\n  of,\n  repeat,\n  shareReplay,\n  skip,\n  startWith,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements, watchMedia } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Palette colors\n */\nexport interface PaletteColor {\n  media?: string                       /* Media query */\n  scheme?: string                      /* Color scheme */\n  primary?: string                     /* Primary color */\n  accent?: string                      /* Accent color */\n}\n\n/**\n * Palette\n */\nexport interface Palette {\n  index: number                        /* Palette index */\n  color: PaletteColor                  /* Palette colors */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch color palette\n *\n * @param inputs - Color palette element\n *\n * @returns Color palette observable\n */\nexport function watchPalette(\n  inputs: HTMLInputElement[]\n): Observable<Palette> {\n  const current = __md_get<Palette>(\"__palette\") || {\n    index: inputs.findIndex(input => matchMedia(\n      input.getAttribute(\"data-md-color-media\")!\n    ).matches)\n  }\n\n  /* Emit changes in color palette */\n  const index = Math.max(0, Math.min(current.index, inputs.length - 1))\n  return of(...inputs)\n    .pipe(\n      mergeMap(input => fromEvent(input, \"change\").pipe(map(() => input))),\n      startWith(inputs[index]),\n      map(input => ({\n        index: inputs.indexOf(input),\n        color: {\n          media:   input.getAttribute(\"data-md-color-media\"),\n          scheme:  input.getAttribute(\"data-md-color-scheme\"),\n          primary: input.getAttribute(\"data-md-color-primary\"),\n          accent:  input.getAttribute(\"data-md-color-accent\")\n        }\n      } as Palette)),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount color palette\n *\n * @param el - Color palette element\n *\n * @returns Color palette component observable\n */\nexport function mountPalette(\n  el: HTMLElement\n): Observable<Component<Palette>> {\n  const inputs = getElements<HTMLInputElement>(\"input\", el)\n  const meta = h(\"meta\", { name: \"theme-color\" })\n  document.head.appendChild(meta)\n\n  // Add color scheme meta tag\n  const scheme = h(\"meta\", { name: \"color-scheme\" })\n  document.head.appendChild(scheme)\n\n  /* Mount component on subscription */\n  const media$ = watchMedia(\"(prefers-color-scheme: light)\")\n  return defer(() => {\n    const push$ = new Subject<Palette>()\n    push$.subscribe(palette => {\n      document.body.setAttribute(\"data-md-color-switching\", \"\")\n\n      /* Retrieve color palette for system preference */\n      if (palette.color.media === \"(prefers-color-scheme)\") {\n        const media = matchMedia(\"(prefers-color-scheme: light)\")\n        const input = document.querySelector(media.matches\n          ? \"[data-md-color-media='(prefers-color-scheme: light)']\"\n          : \"[data-md-color-media='(prefers-color-scheme: dark)']\"\n        )!\n\n        /* Retrieve colors for system preference */\n        palette.color.scheme  = input.getAttribute(\"data-md-color-scheme\")!\n        palette.color.primary = input.getAttribute(\"data-md-color-primary\")!\n        palette.color.accent  = input.getAttribute(\"data-md-color-accent\")!\n      }\n\n      /* Set color palette */\n      for (const [key, value] of Object.entries(palette.color))\n        document.body.setAttribute(`data-md-color-${key}`, value)\n\n      /* Set toggle visibility */\n      for (let index = 0; index < inputs.length; index++) {\n        const label = inputs[index].nextElementSibling\n        if (label instanceof HTMLElement)\n          label.hidden = palette.index !== index\n      }\n\n      /* Persist preference in local storage */\n      __md_set(\"__palette\", palette)\n    })\n\n    // Handle color switch on Enter or Space - see https://t.ly/YIhVj\n    fromEvent<KeyboardEvent>(el, \"keydown\").pipe(\n      filter(ev => ev.key === \"Enter\"),\n      withLatestFrom(push$, (_, palette) => palette)\n    )\n      .subscribe(({ index }) => {\n        index = (index + 1) % inputs.length\n        inputs[index].click()\n        inputs[index].focus()\n      })\n\n    /* Update theme-color meta tag */\n    push$\n      .pipe(\n        map(() => {\n          const header = getComponentElement(\"header\")\n          const style  = window.getComputedStyle(header)\n\n          // Set color scheme\n          scheme.content = style.colorScheme\n\n          /* Return color in hexadecimal format */\n          return style.backgroundColor.match(/\\d+/g)!\n            .map(value => (+value).toString(16).padStart(2, \"0\"))\n            .join(\"\")\n        })\n      )\n        .subscribe(color => meta.content = `#${color}`)\n\n    /* Revert transition durations after color switch */\n    push$.pipe(observeOn(asyncScheduler))\n      .subscribe(() => {\n        document.body.removeAttribute(\"data-md-color-switching\")\n      })\n\n    /* Create and return component */\n    return watchPalette(inputs)\n      .pipe(\n        takeUntil(media$.pipe(skip(1))),\n        repeat(),\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Progress indicator\n */\nexport interface Progress {\n  value: number                        // Progress value\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount progress indicator\n *\n * @param el - Progress indicator element\n * @param options - Options\n *\n * @returns Progress indicator component observable\n */\nexport function mountProgress(\n  el: HTMLElement, { progress$ }: MountOptions\n): Observable<Component<Progress>> {\n\n  // Mount component on subscription\n  return defer(() => {\n    const push$ = new Subject<Progress>()\n    push$.subscribe(({ value }) => {\n      el.style.setProperty(\"--md-progress-value\", `${value}`)\n    })\n\n    // Create and return component\n    return progress$\n      .pipe(\n        tap(value => push$.next({ value })),\n        finalize(() => push$.complete()),\n        map(value => ({ ref: el, value }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  Observable,\n  Subject,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Extract text to copy\n *\n * @param el - HTML element\n *\n * @returns Extracted text\n */\nfunction extract(el: HTMLElement): string {\n  el.setAttribute(\"data-md-copying\", \"\")\n  const copy = el.closest(\"[data-copy]\")\n  const text = copy\n    ? copy.getAttribute(\"data-copy\")!\n    : el.innerText\n  el.removeAttribute(\"data-md-copying\")\n  return text.trimEnd()\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up Clipboard.js integration\n *\n * @param options - Options\n */\nexport function setupClipboardJS(\n  { alert$ }: SetupOptions\n): void {\n  if (ClipboardJS.isSupported()) {\n    new Observable<ClipboardJS.Event>(subscriber => {\n      new ClipboardJS(\"[data-clipboard-target], [data-clipboard-text]\", {\n        text: el => (\n          el.getAttribute(\"data-clipboard-text\")! ||\n          extract(getElement(\n            el.getAttribute(\"data-clipboard-target\")!\n          ))\n        )\n      })\n        .on(\"success\", ev => subscriber.next(ev))\n    })\n      .pipe(\n        tap(ev => {\n          const trigger = ev.trigger as HTMLElement\n          trigger.focus()\n        }),\n        map(() => translation(\"clipboard.copied\"))\n      )\n        .subscribe(alert$)\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  catchError,\n  map,\n  of\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  requestXML\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sitemap, i.e. a list of URLs\n */\nexport type Sitemap = Map<string, URL[]>\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Resolve URL to the given base URL\n *\n * When serving the site with instant navigation, MkDocs will set the hostname\n * to the value as specified in `dev_addr`, but the browser allows for several\n * hostnames to be used: `localhost`, `127.0.0.1` or even `0.0.0.0`, depending\n * on configuration. This function resolves the URL to the given hostname.\n *\n * @param url - URL\n * @param base - Base URL\n *\n * @returns Resolved URL\n */\nfunction resolve(url: URL, base: URL) {\n  url.protocol = base.protocol\n  url.hostname = base.hostname\n  return url\n}\n\n/**\n * Extract sitemap from document\n *\n * This function extracts the URLs and alternate links from the document, and\n * associates alternate links to the original URL as found in `loc`, allowing\n * the browser to navigate to the correct page when switching languages. The\n * format of the sitemap is expected to adhere to:\n *\n * ``` xml\n * <urlset>\n *   <url>\n *     <loc>...</loc>\n *     <xhtml:link rel=\"alternate\" hreflang=\"en\" href=\"...\"/>\n *     <xhtml:link rel=\"alternate\" hreflang=\"de\" href=\"...\"/>\n *     ...\n *   </url>\n *   ...\n * </urlset>\n * ```\n *\n * @param document - Document\n * @param base - Base URL\n *\n * @returns Sitemap\n */\nfunction extract(document: Document, base: URL): Sitemap {\n  const sitemap: Sitemap = new Map()\n  for (const el of getElements(\"url\", document)) {\n    const url = getElement(\"loc\", el)\n\n    // Create entry for location and add it to the list of links\n    const links = [resolve(new URL(url.textContent!), base)]\n    sitemap.set(`${links[0]}`, links)\n\n    // Attach alternate links to current entry\n    for (const link of getElements(\"[rel=alternate]\", el)) {\n      const href = link.getAttribute(\"href\")\n      if (href != null)\n        links.push(resolve(new URL(href), base))\n    }\n  }\n\n  // Return sitemap\n  return sitemap\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the sitemap for the given base URL\n *\n * If a network or parsing error occurs, we just default to an empty sitemap,\n * which means the caller should fall back to regular navigation.\n *\n * @param base - Base URL\n *\n * @returns Sitemap observable\n */\nexport function fetchSitemap(base: URL | string): Observable<Sitemap> {\n  return requestXML(new URL(\"sitemap.xml\", base))\n    .pipe(\n      map(document => extract(document, new URL(base))),\n      catchError(() => of(new Map())),\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  combineLatestWith,\n  concat,\n  debounceTime,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  of,\n  share,\n  switchMap,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration, feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  requestHTML,\n  setLocation,\n  setLocationHash\n} from \"~/browser\"\nimport { getComponentElement } from \"~/components\"\n\nimport { Sitemap, fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  location$: Subject<URL>              // Location subject\n  viewport$: Observable<Viewport>      // Viewport observable\n  progress$: Subject<number>           // Progress subject\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Handle clicks on internal URLs while skipping external URLs\n *\n * @param ev - Mouse event\n * @param sitemap - Sitemap\n *\n * @returns URL observable\n */\nfunction handle(\n  ev: MouseEvent, sitemap: Sitemap\n): Observable<URL> {\n  if (!(ev.target instanceof Element))\n    return EMPTY\n\n  // Skip, as target is not within a link - clicks on non-link elements are\n  // also captured, which we need to exclude from processing\n  const el = ev.target.closest(\"a\")\n  if (el === null)\n    return EMPTY\n\n  // Skip, as link opens in new window - we now know we have captured a click\n  // on a link, but the link either has a `target` property defined, or the\n  // user pressed the `meta` or `ctrl` key to open it in a new window. Thus,\n  // we need to filter this event as well.\n  if (el.target || ev.metaKey || ev.ctrlKey)\n    return EMPTY\n\n  // Next, we must check if the URL is relevant for us, i.e., if it's an\n  // internal link to a page that is managed by MkDocs. Only then we can be\n  // sure that the structure of the page to be loaded adheres to the current\n  // document structure and can subsequently be injected into it without doing\n  // a full reload. For this reason, we must canonicalize the URL by removing\n  // all search parameters and hash fragments.\n  const url = new URL(el.href)\n  url.search = url.hash = \"\"\n\n  // Skip, if URL is not included in the sitemap - this could be the case when\n  // linking between versions or languages, or to another page that the author\n  // included as part of the build, but that is not managed by MkDocs. In that\n  // case we must not continue with instant navigation.\n  if (!sitemap.has(`${url}`))\n    return EMPTY\n\n  // We now know that we have a link to an internal page, so we prevent the\n  // browser from navigation and emit the URL for instant navigation. Note that\n  // this also includes anchor links, which means we need to implement anchor\n  // positioning ourselves. The reason for this is that if we wouldn't manage\n  // anchor links as well, scroll restoration will not work correctly (e.g.\n  // following an anchor link and scrolling).\n  ev.preventDefault()\n  return of(new URL(el.href))\n}\n\n/**\n * Create a map of head elements for lookup and replacement\n *\n * @param document - Document\n *\n * @returns Tag map\n */\nfunction head(document: Document): Map<string, HTMLElement> {\n  const tags = new Map<string, HTMLElement>()\n  for (const el of getElements(\":scope > *\", document.head))\n    tags.set(el.outerHTML, el)\n\n  // Return tag map\n  return tags\n}\n\n/**\n * Resolve relative URLs in the given document\n *\n * This function resolves relative `href` and `src` attributes, which can belong\n * to all sorts of tags, like meta tags, links, images, scripts and more.\n *\n * @param document - Document\n *\n * @returns Document observable\n */\nfunction resolve(document: Document): Observable<Document> {\n  for (const el of getElements(\"[href], [src]\", document))\n    for (const key of [\"href\", \"src\"]) {\n      const value = el.getAttribute(key)\n      if (value && !/^(?:[a-z]+:)?\\/\\//i.test(value)) {\n        // @ts-expect-error - trick: self-assign to resolve URL\n        el[key] = el[key]\n        break\n      }\n    }\n\n  // Return document observable\n  return of(document)\n}\n\n/**\n * Inject the contents of a document into the current one\n *\n * @param next - Next document\n *\n * @returns Document observable\n */\nfunction inject(next: Document): Observable<Document> {\n  for (const selector of [\n    \"[data-md-component=announce]\",\n    \"[data-md-component=container]\",\n    \"[data-md-component=header-topic]\",\n    \"[data-md-component=outdated]\",\n    \"[data-md-component=logo]\",\n    \"[data-md-component=skip]\",\n    ...feature(\"navigation.tabs.sticky\")\n      ? [\"[data-md-component=tabs]\"]\n      : []\n  ]) {\n    const source = getOptionalElement(selector)\n    const target = getOptionalElement(selector, next)\n    if (\n      typeof source !== \"undefined\" &&\n      typeof target !== \"undefined\"\n    ) {\n      source.replaceWith(target)\n    }\n  }\n\n  // Update meta tags\n  const tags = head(document)\n  for (const [html, el] of head(next))\n    if (tags.has(html))\n      tags.delete(html)\n    else\n      document.head.appendChild(el)\n\n  // Remove meta tags that are not present in the new document\n  for (const el of tags.values()) {\n    const name = el.getAttribute(\"name\")\n    // @todo - find a better way to handle attributes we add dynamically in\n    // other components without mounting components on every navigation, as\n    // this might impact overall performance - see https://t.ly/ehp_O\n    if (name !== \"theme-color\" && name !== \"color-scheme\")\n      el.remove()\n  }\n\n  // After components and meta tags were replaced, re-evaluate scripts\n  // that were provided by the author as part of Markdown files\n  const container = getComponentElement(\"container\")\n  return concat(getElements(\"script\", container))\n    .pipe(\n      switchMap(el => {\n        const script = next.createElement(\"script\")\n        if (el.src) {\n          for (const name of el.getAttributeNames())\n            script.setAttribute(name, el.getAttribute(name)!)\n          el.replaceWith(script)\n\n          // Complete when script is loaded\n          return new Observable(observer => {\n            script.onload = () => observer.complete()\n          })\n\n        // Complete immediately\n        } else {\n          script.textContent = el.textContent\n          el.replaceWith(script)\n          return EMPTY\n        }\n      }),\n      ignoreElements(),\n      endWith(document)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up instant navigation\n *\n * This is a heavily orchestrated operation - see inline comments to learn how\n * this works with Material for MkDocs, and how you can hook into it.\n *\n * @param options - Options\n *\n * @returns Document observable\n */\nexport function setupInstantNavigation(\n  { location$, viewport$, progress$ }: SetupOptions\n): Observable<Document> {\n  const config = configuration()\n  if (location.protocol === \"file:\")\n    return EMPTY\n\n  // Load sitemap immediately, so we have it available when the user initiates\n  // the first navigation request without any perceivable delay\n  const sitemap$ = fetchSitemap(config.base)\n\n  // Since we might be on a slow connection, the user might trigger multiple\n  // instant navigation events that overlap. MkDocs produces relative URLs for\n  // all internal links, which becomes a problem in this case, because we need\n  // to change the base URL the moment the user clicks a link that should be\n  // intercepted in order to be consistent with popstate, which means that the\n  // base URL would now be incorrect when resolving another relative link from\n  // the same site. For this reason we always resolve all relative links to\n  // absolute links, so we can be sure this never happens.\n  of(document)\n    .subscribe(resolve)\n\n  // --------------------------------------------------------------------------\n  // Navigation interception\n  // --------------------------------------------------------------------------\n\n  // Intercept navigation - to keep the number of event listeners down we use\n  // the fact that uncaptured events bubble up to the body. This has the nice\n  // property that we don't need to detach and then re-attach event listeners\n  // when the document is replaced after a navigation event.\n  const instant$ =\n    fromEvent<MouseEvent>(document.body, \"click\")\n      .pipe(\n        combineLatestWith(sitemap$),\n        switchMap(([ev, sitemap]) => handle(ev, sitemap)),\n        share()\n      )\n\n  // Intercept history change events, e.g. when the user uses the browser's\n  // back or forward buttons, and emit new location for fetching and parsing\n  const history$ =\n    fromEvent<PopStateEvent>(window, \"popstate\")\n      .pipe(\n        map(getLocation),\n        share()\n      )\n\n  // While it would be better UX to defer navigation events until the document\n  // is fully fetched and parsed, we must schedule it here to synchronize with\n  // popstate events, as they are emitted immediately. Moreover we need to\n  // store the current viewport offset for scroll restoration later on.\n  instant$.pipe(withLatestFrom(viewport$))\n    .subscribe(([url, { offset }]) => {\n      history.replaceState(offset, \"\")\n      history.pushState(null, \"\", url)\n    })\n\n  // Emit URLs that should be fetched via instant navigation on location subject\n  // which was passed into this function. The state of instant navigation can be\n  // intercepted by other parts of the application, which can synchronously back\n  // up or restore state before or after instant navigation happens.\n  merge(instant$, history$)\n    .subscribe(location$)\n\n  // --------------------------------------------------------------------------\n  // Fetching and parsing\n  // --------------------------------------------------------------------------\n\n  // Fetch document - we deduplicate requests to the same location, so we don't\n  // end up with multiple requests for the same page. We use `switchMap`, since\n  // we want to cancel the previous request when a new one is triggered, which\n  // is automatically handled by the observable returned by `request`. This is\n  // essential to ensure a good user experience, as we don't want to load pages\n  // that are not needed anymore, e.g., when the user clicks multiple links in\n  // quick succession or on slow connections. If the request fails for some\n  // reason, we fall back and use regular navigation, forcing a reload.\n  const document$ =\n    location$.pipe(\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(url => requestHTML(url, { progress$ })\n        .pipe(\n          catchError(() => {\n            setLocation(url, true)\n            return EMPTY\n          })\n        )\n      ),\n\n      // The document was successfully fetched and parsed, so we can inject its\n      // contents into the currently active document\n      switchMap(resolve),\n      switchMap(inject),\n      share()\n    )\n\n  // --------------------------------------------------------------------------\n  // Scroll restoration\n  // --------------------------------------------------------------------------\n\n  // Handle scroll restoration - we must restore the viewport offset after the\n  // document has been fetched and injected, and every time the user clicks an\n  // anchor that leads to an element on the same page, which might also happen\n  // when the user uses the back or forward button.\n  merge(\n    document$.pipe(withLatestFrom(location$, (_, url) => url)),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with a hash fragment different from the current one, as\n    // well as from popstate events, which are emitted when the user navigates\n    // back and forth between pages. We use a two-layered subscription to scope\n    // the scroll restoration to the current page, as we don't need to restore\n    // the viewport offset when the user navigates to a different page, as this\n    // is already handled by the previous observable.\n    document$.pipe(\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(() => location$),\n      distinctUntilKeyChanged(\"hash\")\n    ),\n\n    // Handle instant navigation events that are triggered by the user clicking\n    // on an anchor link with the same hash fragment as the current one in the\n    // URL. It is essential that we only intercept those from instant navigation\n    // events and not from history change events, or we'll end up in and endless\n    // loop. The top-level history entry must be removed, as it will be replaced\n    // with a new one, which would otherwise lead to a duplicate entry.\n    location$.pipe(\n      distinctUntilChanged((a, b) => (\n        a.pathname === b.pathname &&\n        a.hash     === b.hash\n      )),\n      switchMap(() => instant$),\n      tap(() => history.back())\n    )\n  )\n    .subscribe(url => {\n\n      // Check if the current history entry has a state, which happens when the\n      // user presses the back or forward button to visit a page we've already\n      // seen. If there's no state, it means a new page was visited and we must\n      // scroll to the top, unless an anchor is given.\n      if (history.state !== null || !url.hash) {\n        window.scrollTo(0, history.state?.y ?? 0)\n      } else {\n        history.scrollRestoration = \"auto\"\n        setLocationHash(url.hash)\n        history.scrollRestoration = \"manual\"\n      }\n    })\n\n  // Disable scroll restoration when an instant navigation event occurs, so the\n  // browser does not immediately set the viewport offset to the prior history\n  // entry, scrolling to the position on the same page, which would look odd.\n  // Instead, we manually restore the position once the page has loaded.\n  location$.subscribe(() => {\n    history.scrollRestoration = \"manual\"\n  })\n\n  // Enable scroll restoration before window unloads - this is essential to\n  // ensure that full reloads (F5) restore the viewport offset correctly. If\n  // only popstate events wouldn't reset the viewport offset prior to their\n  // emission, we could just reset this in popstate. Meh.\n  fromEvent(window, \"beforeunload\")\n    .subscribe(() => {\n      history.scrollRestoration = \"auto\"\n    })\n\n  // Track viewport offset, so we can restore it when the user navigates back\n  // and forth between pages. Note that this must be debounced and cannot be\n  // done in popstate, as popstate has already removed the entry from the\n  // history, which means it is too late.\n  viewport$.pipe(\n    distinctUntilKeyChanged(\"offset\"),\n    debounceTime(100)\n  )\n    .subscribe(({ offset }) => {\n      history.replaceState(offset, \"\")\n    })\n\n  // Return document observable\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchConfig } from \"../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlight function\n *\n * @param value - Value\n *\n * @returns Highlighted value\n */\nexport type SearchHighlightFn = (value: string) => string\n\n/**\n * Search highlight factory function\n *\n * @param query - Query value\n *\n * @returns Search highlight function\n */\nexport type SearchHighlightFactoryFn = (query: string) => SearchHighlightFn\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search highlighter\n *\n * @param config - Search configuration\n *\n * @returns Search highlight factory function\n */\nexport function setupSearchHighlighter(\n  config: SearchConfig\n): SearchHighlightFactoryFn {\n  // Hack: temporarily remove pure lookaheads and lookbehinds\n  const regex = config.separator.split(\"|\").map(term => {\n    const temp = term.replace(/(\\(\\?[!=<][^)]+\\))/g, \"\")\n    return temp.length === 0 ? \"\uFFFD\" : term\n  })\n    .join(\"|\")\n\n  const separator = new RegExp(regex, \"img\")\n  const highlight = (_: unknown, data: string, term: string) => {\n    return `${data}<mark data-md-highlight>${term}</mark>`\n  }\n\n  /* Return factory function */\n  return (query: string) => {\n    query = query\n      .replace(/[\\s*+\\-:~^]+/g, \" \")\n      .trim()\n\n    /* Create search term match expression */\n    const match = new RegExp(`(^|${config.separator}|)(${\n      query\n        .replace(/[|\\\\{}()[\\]^$+*?.-]/g, \"\\\\$&\")\n        .replace(separator, \"|\")\n    })`, \"img\")\n\n    /* Highlight string value */\n    return value => escapeHTML(value)\n      .replace(match, highlight)\n      .replace(/<\\/mark>(\\s+)<mark[^>]*>/img, \"$1\")\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SearchResult } from \"../../_\"\nimport { SearchIndex } from \"../../config\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search message type\n */\nexport const enum SearchMessageType {\n  SETUP,                               /* Search index setup */\n  READY,                               /* Search index ready */\n  QUERY,                               /* Search query */\n  RESULT                               /* Search results */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message containing the data necessary to setup the search index\n */\nexport interface SearchSetupMessage {\n  type: SearchMessageType.SETUP        /* Message type */\n  data: SearchIndex                    /* Message data */\n}\n\n/**\n * Message indicating the search index is ready\n */\nexport interface SearchReadyMessage {\n  type: SearchMessageType.READY        /* Message type */\n}\n\n/**\n * Message containing a search query\n */\nexport interface SearchQueryMessage {\n  type: SearchMessageType.QUERY        /* Message type */\n  data: string                         /* Message data */\n}\n\n/**\n * Message containing results for a search query\n */\nexport interface SearchResultMessage {\n  type: SearchMessageType.RESULT       /* Message type */\n  data: SearchResult                   /* Message data */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message exchanged with the search worker\n */\nexport type SearchMessage =\n  | SearchSetupMessage\n  | SearchReadyMessage\n  | SearchQueryMessage\n  | SearchResultMessage\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Type guard for search ready messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchReadyMessage(\n  message: SearchMessage\n): message is SearchReadyMessage {\n  return message.type === SearchMessageType.READY\n}\n\n/**\n * Type guard for search result messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchResultMessage(\n  message: SearchMessage\n): message is SearchResultMessage {\n  return message.type === SearchMessageType.RESULT\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ObservableInput,\n  Subject,\n  first,\n  merge,\n  of,\n  switchMap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport { watchToggle, watchWorker } from \"~/browser\"\n\nimport { SearchIndex } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up search worker\n *\n * This function creates and initializes a web worker that is used for search,\n * so that the user interface doesn't freeze. In general, the application does\n * not care how search is implemented, as long as the web worker conforms to\n * the format expected by the application as defined in `SearchMessage`. This\n * allows the author to implement custom search functionality, by providing a\n * custom web worker via configuration.\n *\n * Material for MkDocs' built-in search implementation makes use of Lunr.js, an\n * efficient and fast implementation for client-side search. Leveraging a tiny\n * iframe-based web worker shim, search is even supported for the `file://`\n * protocol, enabling search for local non-hosted builds.\n *\n * If the protocol is `file://`, search initialization is deferred to mitigate\n * freezing, as it's now synchronous by design - see https://bit.ly/3C521EO\n *\n * @see https://bit.ly/3igvtQv - How to implement custom search\n *\n * @param url - Worker URL\n * @param index$ - Search index observable input\n *\n * @returns Search worker\n */\nexport function setupSearchWorker(\n  url: string, index$: ObservableInput<SearchIndex>\n): Subject<SearchMessage> {\n  const worker$ = watchWorker<SearchMessage>(url)\n  merge(\n    of(location.protocol !== \"file:\"),\n    watchToggle(\"search\")\n  )\n    .pipe(\n      first(active => active),\n      switchMap(() => index$)\n    )\n      .subscribe(({ config, docs }) => worker$.next({\n        type: SearchMessageType.SETUP,\n        data: {\n          config,\n          docs,\n          options: {\n            suggest: feature(\"search.suggest\")\n          }\n        }\n      }))\n\n  /* Return search worker */\n  return worker$\n}\n", "import { Sitemap } from \"../../sitemap\"\n\n/** See docstring for `selectedVersionCorrespondingURL` for the meaning of these fields. */\ntype CorrespondingURLParams = {\n  selectedVersionSitemap: Sitemap\n  selectedVersionBaseURL: URL\n  currentLocation: URL\n  currentBaseURL: string\n}\n\n/**\n * Choose a URL to navigate to when the user chooses a version in the version\n * selector.\n *\n * The parameters in `params` are named as follows, in order to make it clearer\n * which parameter means what when invoking the function:\n *\n *  - selectedVersionSitemap: Sitemap - as obtained by fetchSitemap from `${selectedVersionBaseURL}/sitemap.xml`\n *\n *  - selectedVersionBaseURL: URL - usually `${currentBaseURL}/../selectedVersion`\n *\n *  - currentLocation: URL - current web browser location\n *\n *  - currentBaseURL: string - as obtained from `config.base`\n *\n * @param params - arguments with the meanings explained above.\n * @returns the URL to navigate to or null if we can't be sure that the\n * corresponding page to the current page exists in the selected version\n */\nexport function selectedVersionCorrespondingURL(\n  params: CorrespondingURLParams\n): URL | undefined {\n  const {selectedVersionSitemap,\n    selectedVersionBaseURL,\n    currentLocation,\n    currentBaseURL} = params\n  const current_path = safeURLParse(currentBaseURL)?.pathname\n  if (current_path === undefined) {\n    return\n  }\n  const currentRelativePath = stripPrefix(currentLocation.pathname, current_path)\n  if (currentRelativePath === undefined) {\n    return\n  }\n  const sitemapCommonPrefix = shortestCommonPrefix(selectedVersionSitemap.keys())\n  if (!selectedVersionSitemap.has(sitemapCommonPrefix)) {\n    // We could also check that `commonSitemapPrefix` ends in the canonical version,\n    // similarly to https://github.com/squidfunk/mkdocs-material/pull/7227. However,\n    // I don't believe that Mike/MkDocs ever generate sitemaps where it would matter\n    return\n  }\n\n  const potentialSitemapURL = safeURLParse(currentRelativePath, sitemapCommonPrefix)\n  if (!potentialSitemapURL || !selectedVersionSitemap.has(potentialSitemapURL.href)) {\n    return\n  }\n\n  const result = safeURLParse(currentRelativePath, selectedVersionBaseURL)\n  if (!result) {\n    return\n  }\n  result.hash = currentLocation.hash\n  result.search = currentLocation.search\n  return result\n}\n\n/**\n * A version of `new URL` that never throws. A polyfill for URL.parse() which is\n * not yet ubuquitous.\n *\n * @param url - passed to `new URL` constructor\n * @param base - passed to `new URL` constructor\n *\n * @returns `new URL(url, base)` or undefined if the URL is invalid.\n */\nfunction safeURLParse(url: string|URL, base?: string|URL): URL | undefined {\n  try {\n    return new URL(url, base)\n  } catch {\n    return\n  }\n}\n\n// Basic string manipulation\n\n/** Strip a given prefix from a function\n *\n * @param s - string\n * @param prefix - prefix to strip\n *\n * @returns either the string with the prefix stripped or undefined if the\n * string did not begin with the prefix.\n */\nexport function stripPrefix(s: string, prefix: string): string | undefined {\n  if (s.startsWith(prefix)) {\n    return s.slice(prefix.length)\n  }\n  return undefined\n}\n\n/** Find the length of the longest common prefix of two strings\n *\n * @param s1 - first string\n * @param s2 - second string\n *\n * @returns - the length of the longest common prefix of the two strings.\n */\nfunction commonPrefixLen(s1: string, s2: string): number {\n  const max = Math.min(s1.length, s2.length)\n  let result\n  for (result = 0; result < max; ++result) {\n    if (s1[result] !== s2[result]) {\n      break\n    }\n  }\n  return result\n}\n\n/** Find the longest common prefix of any number of strings\n *\n * @param strs - an iterable of strings\n *\n * @returns the longest common prefix of all the strings\n */\nexport function shortestCommonPrefix(strs: Iterable<string>): string {\n  let result  // Undefined if no iterations happened\n  for (const s of strs) {\n    if (result === undefined) {\n      result = s\n    } else {\n      result = result.slice(0, commonPrefixLen(result, s))\n    }\n  }\n  return result ?? \"\"\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Subject,\n  catchError,\n  combineLatest,\n  filter,\n  fromEvent,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  getElement,\n  getLocation,\n  requestJSON,\n  setLocation\n} from \"~/browser\"\nimport { getComponentElements } from \"~/components\"\nimport {\n  Version,\n  renderVersionSelector\n} from \"~/templates\"\n\nimport { fetchSitemap } from \"../sitemap\"\n\nimport { selectedVersionCorrespondingURL } from \"./findurl\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  document$: Subject<Document>         /* Document subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up version selector\n *\n * @param options - Options\n */\nexport function setupVersionSelector(\n  { document$ }: SetupOptions\n): void {\n  const config = configuration()\n  const versions$ = requestJSON<Version[]>(\n    new URL(\"../versions.json\", config.base)\n  )\n    .pipe(\n      catchError(() => EMPTY) // @todo refactor instant loading\n    )\n\n  /* Determine current version */\n  const current$ = versions$\n    .pipe(\n      map(versions => {\n        const [, current] = config.base.match(/([^/]+)\\/?$/)!\n        return versions.find(({ version, aliases }) => (\n          version === current || aliases.includes(current)\n        )) || versions[0]\n      })\n    )\n\n  /* Intercept inter-version navigation */\n  versions$\n    .pipe(\n      map(versions => new Map(versions.map(version => [\n        `${new URL(`../${version.version}/`, config.base)}`,\n        version\n      ]))),\n      switchMap(urls => fromEvent<MouseEvent>(document.body, \"click\")\n        .pipe(\n          filter(ev => !ev.metaKey && !ev.ctrlKey),\n          withLatestFrom(current$),\n          switchMap(([ev, current]) => {\n            if (ev.target instanceof Element) {\n              const el = ev.target.closest(\"a\")\n              if (el && !el.target && urls.has(el.href)) {\n                const url = el.href\n                // This is a temporary hack to detect if a version inside the\n                // version selector or on another part of the site was clicked.\n                // If we're inside the version selector, we definitely want to\n                // find the same page, as we might have different deployments\n                // due to aliases. However, if we're outside the version\n                // selector, we must abort here, because we might otherwise\n                // interfere with instant navigation. We need to refactor this\n                // at some point together with instant navigation.\n                //\n                // See https://github.com/squidfunk/mkdocs-material/issues/4012\n                if (!ev.target.closest(\".md-version\")) {\n                  const version = urls.get(url)!\n                  if (version === current)\n                    return EMPTY\n                }\n                ev.preventDefault()\n                return of(new URL(url))\n              }\n            }\n            return EMPTY\n          }),\n          switchMap(selectedVersionBaseURL => {\n            return fetchSitemap(selectedVersionBaseURL).pipe(\n              map(\n                sitemap =>\n                  selectedVersionCorrespondingURL({\n                    selectedVersionSitemap: sitemap,\n                    selectedVersionBaseURL,\n                    currentLocation: getLocation(),\n                    currentBaseURL: config.base\n                  }) ?? selectedVersionBaseURL,\n              ),\n            )\n          })\n        )\n      )\n    )\n      .subscribe(url => setLocation(url, true))\n\n  /* Render version selector and warning */\n  combineLatest([versions$, current$])\n    .subscribe(([versions, current]) => {\n      const topic = getElement(\".md-header__topic\")\n      topic.appendChild(renderVersionSelector(versions, current))\n    })\n\n  /* Integrate outdated version banner with instant navigation */\n  document$.pipe(switchMap(() => current$))\n    .subscribe(current => {\n\n      /* Check if version state was already determined */\n      let outdated = __md_get(\"__outdated\", sessionStorage)\n      if (outdated === null) {\n        outdated = true\n\n        /* Obtain and normalize default versions */\n        let ignored = config.version?.default || \"latest\"\n        if (!Array.isArray(ignored))\n          ignored = [ignored]\n\n        /* Check if version is considered a default */\n        main: for (const ignore of ignored)\n          for (const version of current.aliases.concat(current.version))\n            if (new RegExp(ignore, \"i\").test(version)) {\n              outdated = false\n              break main\n            }\n\n        /* Persist version state in session storage */\n        __md_set(\"__outdated\", outdated, sessionStorage)\n      }\n\n      /* Unhide outdated version banner */\n      if (outdated)\n        for (const warning of getComponentElements(\"outdated\"))\n          warning.hidden = false\n    })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  first,\n  fromEvent,\n  ignoreElements,\n  map,\n  merge,\n  shareReplay,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getLocation,\n  setToggle,\n  watchElementFocus,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchMessageType,\n  isSearchReadyMessage\n} from \"~/integrations\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query\n */\nexport interface SearchQuery {\n  value: string                        /* Query value */\n  focus: boolean                       /* Query focus */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch search query\n *\n * Note that the focus event which triggers re-reading the current query value\n * is delayed by `1ms` so the input's empty state is allowed to propagate.\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query observable\n */\nexport function watchSearchQuery(\n  el: HTMLInputElement, { worker$ }: WatchOptions\n): Observable<SearchQuery> {\n\n  /* Support search deep linking */\n  const { searchParams } = getLocation()\n  if (searchParams.has(\"q\")) {\n    setToggle(\"search\", true)\n\n    /* Set query from parameter */\n    el.value = searchParams.get(\"q\")!\n    el.focus()\n\n    /* Remove query parameter on close */\n    watchToggle(\"search\")\n      .pipe(\n        first(active => !active)\n      )\n        .subscribe(() => {\n          const url = getLocation()\n          url.searchParams.delete(\"q\")\n          history.replaceState({}, \"\", `${url}`)\n        })\n  }\n\n  /* Intercept focus and input events */\n  const focus$ = watchElementFocus(el)\n  const value$ = merge(\n    worker$.pipe(first(isSearchReadyMessage)),\n    fromEvent(el, \"keyup\"),\n    focus$\n  )\n    .pipe(\n      map(() => el.value),\n      distinctUntilChanged()\n    )\n\n  /* Combine into single observable */\n  return combineLatest([value$, focus$])\n    .pipe(\n      map(([value, focus]) => ({ value, focus })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount search query\n *\n * @param el - Search query element\n * @param options - Options\n *\n * @returns Search query component observable\n */\nexport function mountSearchQuery(\n  el: HTMLInputElement, { worker$ }: MountOptions\n): Observable<Component<SearchQuery, HTMLInputElement>> {\n  const push$ = new Subject<SearchQuery>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n\n  /* Handle value change */\n  combineLatest([\n    worker$.pipe(first(isSearchReadyMessage)),\n    push$\n  ], (_, query) => query)\n    .pipe(\n      distinctUntilKeyChanged(\"value\")\n    )\n      .subscribe(({ value }) => worker$.next({\n        type: SearchMessageType.QUERY,\n        data: value\n      }))\n\n  /* Handle focus change */\n  push$\n    .pipe(\n      distinctUntilKeyChanged(\"focus\")\n    )\n      .subscribe(({ focus }) => {\n        if (focus)\n          setToggle(\"search\", focus)\n      })\n\n  /* Handle reset */\n  fromEvent(el.form!, \"reset\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(() => el.focus())\n\n  // Focus search query on label click - note that this is necessary to bring\n  // up the keyboard on iOS and other mobile platforms, as the search dialog is\n  // not visible at first, and programatically focusing an input element must\n  // be triggered by a user interaction - see https://t.ly/Cb30n\n  const label = getElement(\"header [for=__search]\")\n  fromEvent(label, \"click\")\n    .subscribe(() => el.focus())\n\n  /* Create and return component */\n  return watchSearchQuery(el, { worker$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  bufferCount,\n  filter,\n  finalize,\n  first,\n  fromEvent,\n  map,\n  merge,\n  mergeMap,\n  of,\n  share,\n  skipUntil,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom,\n  zipWith\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport {\n  getElement,\n  getOptionalElement,\n  watchElementBoundary,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchReadyMessage,\n  isSearchResultMessage\n} from \"~/integrations\"\nimport { renderSearchResultItem } from \"~/templates\"\nimport { round } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search result list\n *\n * This function performs a lazy rendering of the search results, depending on\n * the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchResult(\n  el: HTMLElement, { worker$, query$ }: MountOptions\n): Observable<Component<SearchResult>> {\n  const push$ = new Subject<SearchResult>()\n  const boundary$ = watchElementBoundary(el.parentElement!)\n    .pipe(\n      filter(Boolean)\n    )\n\n  /* Retrieve container */\n  const container = el.parentElement!\n\n  /* Retrieve nested components */\n  const meta = getElement(\":scope > :first-child\", el)\n  const list = getElement(\":scope > :last-child\", el)\n\n  /* Reveal to accessibility tree \u2013 see https://bit.ly/3iAA7t8 */\n  watchToggle(\"search\")\n    .subscribe(active => list.setAttribute(\n      \"role\", active ? \"list\" : \"presentation\"\n    ))\n\n  /* Update search result metadata */\n  push$\n    .pipe(\n      withLatestFrom(query$),\n      skipUntil(worker$.pipe(first(isSearchReadyMessage)))\n    )\n      .subscribe(([{ items }, { value }]) => {\n        switch (items.length) {\n\n          /* No results */\n          case 0:\n            meta.textContent = value.length\n              ? translation(\"search.result.none\")\n              : translation(\"search.result.placeholder\")\n            break\n\n          /* One result */\n          case 1:\n            meta.textContent = translation(\"search.result.one\")\n            break\n\n          /* Multiple result */\n          default:\n            const count = round(items.length)\n            meta.textContent = translation(\"search.result.other\", count)\n        }\n      })\n\n  /* Render search result item */\n  const render$ = push$\n    .pipe(\n      tap(() => list.innerHTML = \"\"),\n      switchMap(({ items }) => merge(\n        of(...items.slice(0, 10)),\n        of(...items.slice(10))\n          .pipe(\n            bufferCount(4),\n            zipWith(boundary$),\n            switchMap(([chunk]) => chunk)\n          )\n      )),\n      map(renderSearchResultItem),\n      share()\n    )\n\n  /* Update search result list */\n  render$.subscribe(item => list.appendChild(item))\n  render$\n    .pipe(\n      mergeMap(item => {\n        const details = getOptionalElement(\"details\", item)\n        if (typeof details === \"undefined\")\n          return EMPTY\n\n        /* Keep position of details element stable */\n        return fromEvent(details, \"toggle\")\n          .pipe(\n            takeUntil(push$),\n            map(() => details)\n          )\n      })\n    )\n      .subscribe(details => {\n        if (\n          details.open === false &&\n          details.offsetTop <= container.scrollTop\n        )\n          container.scrollTo({ top: details.offsetTop })\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search sharing\n */\nexport interface SearchShare {\n  url: URL                             /* Deep link for sharing */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search sharing\n *\n * @param _el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing observable\n */\nexport function watchSearchShare(\n  _el: HTMLElement, { query$ }: WatchOptions\n): Observable<SearchShare> {\n  return query$\n    .pipe(\n      map(({ value }) => {\n        const url = getLocation()\n        url.hash = \"\"\n\n        /* Compute readable query strings */\n        value = value\n          .replace(/\\s+/g, \"+\")        /* Collapse whitespace */\n          .replace(/&/g, \"%26\")        /* Escape '&' character */\n          .replace(/=/g, \"%3D\")        /* Escape '=' character */\n\n        /* Replace query string */\n        url.search = `q=${value}`\n        return { url }\n      })\n    )\n}\n\n/**\n * Mount search sharing\n *\n * @param el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing component observable\n */\nexport function mountSearchShare(\n  el: HTMLAnchorElement, options: MountOptions\n): Observable<Component<SearchShare>> {\n  const push$ = new Subject<SearchShare>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe(({ url }) => {\n    el.setAttribute(\"data-clipboard-text\", el.href)\n    el.href = `${url}`\n  })\n\n  /* Prevent following of link */\n  fromEvent(el, \"click\")\n    .pipe(\n      takeUntil(done$)\n    )\n      .subscribe(ev => ev.preventDefault())\n\n  /* Create and return component */\n  return watchSearchShare(el, options)\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  combineLatestWith,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  observeOn,\n  tap\n} from \"rxjs\"\n\nimport { Keyboard } from \"~/browser\"\nimport {\n  SearchMessage,\n  SearchResult,\n  isSearchResultMessage\n} from \"~/integrations\"\n\nimport { Component, getComponentElement } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search suggestions\n */\nexport interface SearchSuggest {}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n  worker$: Subject<SearchMessage>      /* Search worker */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search suggestions\n *\n * This function will perform a lazy rendering of the search results, depending\n * on the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchSuggest(\n  el: HTMLElement, { worker$, keyboard$ }: MountOptions\n): Observable<Component<SearchSuggest>> {\n  const push$ = new Subject<SearchResult>()\n\n  /* Retrieve query component and track all changes */\n  const query  = getComponentElement(\"search-query\")\n  const query$ = merge(\n    fromEvent(query, \"keydown\"),\n    fromEvent(query, \"focus\")\n  )\n    .pipe(\n      observeOn(asyncScheduler),\n      map(() => query.value),\n      distinctUntilChanged(),\n    )\n\n  /* Update search suggestions */\n  push$\n    .pipe(\n      combineLatestWith(query$),\n      map(([{ suggest }, value]) => {\n        const words = value.split(/([\\s-]+)/)\n        if (suggest?.length && words[words.length - 1]) {\n          const last = suggest[suggest.length - 1]\n          if (last.startsWith(words[words.length - 1]))\n            words[words.length - 1] = last\n        } else {\n          words.length = 0\n        }\n        return words\n      })\n    )\n      .subscribe(words => el.innerHTML = words\n        .join(\"\")\n        .replace(/\\s/g, \"&nbsp;\")\n      )\n\n  /* Set up search keyboard handlers */\n  keyboard$\n    .pipe(\n      filter(({ mode }) => mode === \"search\")\n    )\n      .subscribe(key => {\n        switch (key.type) {\n\n          /* Right arrow: accept current suggestion */\n          case \"ArrowRight\":\n            if (\n              el.innerText.length &&\n              query.selectionStart === query.value.length\n            )\n              query.value = el.innerText\n            break\n        }\n      })\n\n  /* Filter search result message */\n  const result$ = worker$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  ObservableInput,\n  filter,\n  fromEvent,\n  merge,\n  mergeWith\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  Keyboard,\n  getActiveElement,\n  getElements,\n  setToggle\n} from \"~/browser\"\nimport {\n  SearchIndex,\n  SearchResult,\n  setupSearchWorker\n} from \"~/integrations\"\n\nimport {\n  Component,\n  getComponentElement,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SearchQuery,\n  mountSearchQuery\n} from \"../query\"\nimport { mountSearchResult } from \"../result\"\nimport {\n  SearchShare,\n  mountSearchShare\n} from \"../share\"\nimport {\n  SearchSuggest,\n  mountSearchSuggest\n} from \"../suggest\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search\n */\nexport type Search =\n  | SearchQuery\n  | SearchResult\n  | SearchShare\n  | SearchSuggest\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search\n *\n * This function sets up the search functionality, including the underlying\n * web worker and all keyboard bindings.\n *\n * @param el - Search element\n * @param options - Options\n *\n * @returns Search component observable\n */\nexport function mountSearch(\n  el: HTMLElement, { index$, keyboard$ }: MountOptions\n): Observable<Component<Search>> {\n  const config = configuration()\n  try {\n    const worker$ = setupSearchWorker(config.search, index$)\n\n    /* Retrieve query and result components */\n    const query  = getComponentElement(\"search-query\", el)\n    const result = getComponentElement(\"search-result\", el)\n\n    /* Always close search on result selection */\n    fromEvent<PointerEvent>(el, \"click\")\n      .pipe(\n        filter(({ target }) => (\n          target instanceof Element && !!target.closest(\"a\")\n        ))\n      )\n        .subscribe(() => setToggle(\"search\", false))\n\n    /* Set up search keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"search\")\n      )\n        .subscribe(key => {\n          const active = getActiveElement()\n          switch (key.type) {\n\n            /* Enter: go to first (best) result */\n            case \"Enter\":\n              if (active === query) {\n                const anchors = new Map<HTMLAnchorElement, number>()\n                for (const anchor of getElements<HTMLAnchorElement>(\n                  \":first-child [href]\", result\n                )) {\n                  const article = anchor.firstElementChild!\n                  anchors.set(anchor, parseFloat(\n                    article.getAttribute(\"data-md-score\")!\n                  ))\n                }\n\n                /* Go to result with highest score, if any */\n                if (anchors.size) {\n                  const [[best]] = [...anchors].sort(([, a], [, b]) => b - a)\n                  best.click()\n                }\n\n                /* Otherwise omit form submission */\n                key.claim()\n              }\n              break\n\n            /* Escape or Tab: close search */\n            case \"Escape\":\n            case \"Tab\":\n              setToggle(\"search\", false)\n              query.blur()\n              break\n\n            /* Vertical arrows: select previous or next search result */\n            case \"ArrowUp\":\n            case \"ArrowDown\":\n              if (typeof active === \"undefined\") {\n                query.focus()\n              } else {\n                const els = [query, ...getElements(\n                  \":not(details) > [href], summary, details[open] [href]\",\n                  result\n                )]\n                const i = Math.max(0, (\n                  Math.max(0, els.indexOf(active)) + els.length + (\n                    key.type === \"ArrowUp\" ? -1 : +1\n                  )\n                ) % els.length)\n                els[i].focus()\n              }\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n\n            /* All other keys: hand to search query */\n            default:\n              if (query !== getActiveElement())\n                query.focus()\n          }\n        })\n\n    /* Set up global keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"global\")\n      )\n        .subscribe(key => {\n          switch (key.type) {\n\n            /* Open search and select query */\n            case \"f\":\n            case \"s\":\n            case \"/\":\n              query.focus()\n              query.select()\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n          }\n        })\n\n    /* Create and return component */\n    const query$ = mountSearchQuery(query, { worker$ })\n    return merge(\n      query$,\n      mountSearchResult(result, { worker$, query$ })\n    )\n      .pipe(\n        mergeWith(\n\n          /* Search sharing */\n          ...getComponentElements(\"search-share\", el)\n            .map(child => mountSearchShare(child, { query$ })),\n\n          /* Search suggestions */\n          ...getComponentElements(\"search-suggest\", el)\n            .map(child => mountSearchSuggest(child, { worker$, keyboard$ }))\n        )\n      )\n\n  /* Gracefully handle broken search */\n  } catch (err) {\n    el.hidden = true\n    return NEVER\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  ObservableInput,\n  combineLatest,\n  filter,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\nimport {\n  SearchIndex,\n  setupSearchHighlighter\n} from \"~/integrations\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlighting\n */\nexport interface SearchHighlight {\n  nodes: Map<ChildNode, string>        /* Map of replacements */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  location$: Observable<URL>           /* Location observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search highlighting\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Search highlighting component observable\n */\nexport function mountSearchHiglight(\n  el: HTMLElement, { index$, location$ }: MountOptions\n): Observable<Component<SearchHighlight>> {\n  return combineLatest([\n    index$,\n    location$\n      .pipe(\n        startWith(getLocation()),\n        filter(url => !!url.searchParams.get(\"h\"))\n      )\n  ])\n    .pipe(\n      map(([index, url]) => setupSearchHighlighter(index.config)(\n        url.searchParams.get(\"h\")!\n      )),\n      map(fn => {\n        const nodes = new Map<ChildNode, string>()\n\n        /* Traverse text nodes and collect matches */\n        const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n        for (let node = it.nextNode(); node; node = it.nextNode()) {\n          if (node.parentElement?.offsetHeight) {\n            const original = node.textContent!\n            const replaced = fn(original)\n            if (replaced.length > original.length)\n              nodes.set(node as ChildNode, replaced)\n          }\n        }\n\n        /* Replace original nodes with matches */\n        for (const [node, text] of nodes) {\n          const { childNodes } = h(\"span\", null, text)\n          node.replaceWith(...Array.from(childNodes))\n        }\n\n        /* Return component */\n        return { ref: el, nodes }\n      })\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  distinctUntilChanged,\n  endWith,\n  finalize,\n  first,\n  from,\n  fromEvent,\n  ignoreElements,\n  map,\n  mergeMap,\n  observeOn,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElement,\n  getElementOffset,\n  getElementSize,\n  getElements\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sidebar\n */\nexport interface Sidebar {\n  height: number                       /* Sidebar height */\n  locked: boolean                      /* Sidebar is locked */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch sidebar\n *\n * This function returns an observable that computes the visual parameters of\n * the sidebar which depends on the vertical viewport offset, as well as the\n * height of the main area. When the page is scrolled beyond the header, the\n * sidebar is locked and fills the remaining space.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar observable\n */\nexport function watchSidebar(\n  el: HTMLElement, { viewport$, main$ }: WatchOptions\n): Observable<Sidebar> {\n  const parent = el.closest<HTMLElement>(\".md-grid\")!\n  const adjust =\n    parent.offsetTop -\n    parent.parentElement!.offsetTop\n\n  /* Compute the sidebar's available height and if it should be locked */\n  return combineLatest([main$, viewport$])\n    .pipe(\n      map(([{ offset, height }, { offset: { y } }]) => {\n        height = height\n          + Math.min(adjust, Math.max(0, y - offset))\n          - adjust\n        return {\n          height,\n          locked: y >= offset + adjust\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.locked === b.locked\n      ))\n    )\n}\n\n/**\n * Mount sidebar\n *\n * This function doesn't set the height of the actual sidebar, but of its first\n * child \u2013 the `.md-sidebar__scrollwrap` element in order to mitigiate jittery\n * sidebars when the footer is scrolled into view. At some point we switched\n * from `absolute` / `fixed` positioning to `sticky` positioning, significantly\n * reducing jitter in some browsers (respectively Firefox and Safari) when\n * scrolling from the top. However, top-aligned sticky positioning means that\n * the sidebar snaps to the bottom when the end of the container is reached.\n * This is what leads to the mentioned jitter, as the sidebar's height may be\n * updated too slowly.\n *\n * This behaviour can be mitigiated by setting the height of the sidebar to `0`\n * while preserving the padding, and the height on its first element.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar component observable\n */\nexport function mountSidebar(\n  el: HTMLElement, { header$, ...options }: MountOptions\n): Observable<Component<Sidebar>> {\n  const inner = getElement(\".md-sidebar__scrollwrap\", el)\n  const { y } = getElementOffset(inner)\n  return defer(() => {\n    const push$ = new Subject<Sidebar>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    const next$ = push$\n      .pipe(\n        auditTime(0, animationFrameScheduler)\n      )\n\n    /* Update sidebar height and offset */\n    next$.pipe(withLatestFrom(header$))\n      .subscribe({\n\n        /* Handle emission */\n        next([{ height }, { height: offset }]) {\n          inner.style.height = `${height - 2 * y}px`\n          el.style.top       = `${offset}px`\n        },\n\n        /* Handle complete */\n        complete() {\n          inner.style.height = \"\"\n          el.style.top       = \"\"\n        }\n      })\n\n    /* Bring active item into view on initial load */\n    next$.pipe(first())\n      .subscribe(() => {\n        for (const item of getElements(\".md-nav__link--active[href]\", el)) {\n          if (!item.clientHeight) // skip invisible toc in left sidebar\n            continue\n          const container = item.closest<HTMLElement>(\".md-sidebar__scrollwrap\")!\n          if (typeof container !== \"undefined\") {\n            const offset = item.offsetTop - container.offsetTop\n            const { height } = getElementSize(container)\n            container.scrollTo({\n              top: offset - height / 2\n            })\n          }\n        }\n      })\n\n    /* Handle accessibility for expandable items, see https://bit.ly/3jaod9p */\n    from(getElements<HTMLLabelElement>(\"label[tabindex]\", el))\n      .pipe(\n        mergeMap(label => fromEvent(label, \"click\")\n          .pipe(\n            observeOn(asyncScheduler),\n            map(() => label),\n            takeUntil(done$)\n          )\n        )\n      )\n        .subscribe(label => {\n          const input = getElement<HTMLInputElement>(`[id=\"${label.htmlFor}\"]`)\n          const nav = getElement(`[aria-labelledby=\"${label.id}\"]`)\n          nav.setAttribute(\"aria-expanded\", `${input.checked}`)\n        })\n\n    /* Create and return component */\n    return watchSidebar(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Repo, User } from \"github-types\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitHub release (partial)\n */\ninterface Release {\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitHub repository facts\n *\n * @param user - GitHub user or organization\n * @param repo - GitHub repository\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitHub(\n  user: string, repo?: string\n): Observable<SourceFacts> {\n  if (typeof repo !== \"undefined\") {\n    const url = `https://api.github.com/repos/${user}/${repo}`\n    return zip(\n\n      /* Fetch version */\n      requestJSON<Release>(`${url}/releases/latest`)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(release => ({\n            version: release.tag_name\n          })),\n          defaultIfEmpty({})\n        ),\n\n      /* Fetch stars and forks */\n      requestJSON<Repo>(url)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(info => ({\n            stars: info.stargazers_count,\n            forks: info.forks_count\n          })),\n          defaultIfEmpty({})\n        )\n    )\n      .pipe(\n        map(([release, info]) => ({ ...release, ...info }))\n      )\n\n  /* User or organization */\n  } else {\n    const url = `https://api.github.com/users/${user}`\n    return requestJSON<User>(url)\n      .pipe(\n        map(info => ({\n          repositories: info.public_repos\n        })),\n        defaultIfEmpty({})\n      )\n  }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ProjectSchema } from \"gitlab\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitLab release (partial)\n */\ninterface Release { // @todo remove and use the ReleaseSchema type instead after switching from gitlab to @gitbeaker/rest\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitLab repository facts\n *\n * @param base - GitLab base\n * @param project - GitLab project\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitLab(\n  base: string, project: string\n): Observable<SourceFacts> {\n  const url = `https://${base}/api/v4/projects/${encodeURIComponent(project)}`\n  return zip(\n\n    /* Fetch version */\n    requestJSON<Release>(`${url}/releases/permalink/latest`)\n      .pipe(\n        catchError(() => EMPTY), // @todo refactor instant loading\n        map(({ tag_name }) => ({\n          version: tag_name\n        })),\n        defaultIfEmpty({})\n      ),\n\n    /* Fetch stars and forks */\n    requestJSON<ProjectSchema>(url)\n      .pipe(\n        catchError(() => EMPTY), // @todo refactor instant loading\n        map(({ star_count, forks_count }) => ({\n          stars: star_count,\n          forks: forks_count\n        })),\n        defaultIfEmpty({})\n      )\n  )\n    .pipe(\n      map(([release, info]) => ({ ...release, ...info }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable } from \"rxjs\"\n\nimport { fetchSourceFactsFromGitHub } from \"../github\"\nimport { fetchSourceFactsFromGitLab } from \"../gitlab\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository facts for repositories\n */\nexport interface RepositoryFacts {\n  stars?: number                       /* Number of stars */\n  forks?: number                       /* Number of forks */\n  version?: string                     /* Latest version */\n}\n\n/**\n * Repository facts for organizations\n */\nexport interface OrganizationFacts {\n  repositories?: number                /* Number of repositories */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Repository facts\n */\nexport type SourceFacts =\n  | RepositoryFacts\n  | OrganizationFacts\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch repository facts\n *\n * @param url - Repository URL\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFacts(\n  url: string\n): Observable<SourceFacts> {\n\n  /* Try to match GitHub repository */\n  let match = url.match(/^.+github\\.com\\/([^/]+)\\/?([^/]+)?/i)\n  if (match) {\n    const [, user, repo] = match\n    return fetchSourceFactsFromGitHub(user, repo)\n  }\n\n  /* Try to match GitLab repository */\n  match = url.match(/^.+?([^/]*gitlab[^/]+)\\/(.+?)\\/?$/i)\n  if (match) {\n    const [, base, slug] = match\n    return fetchSourceFactsFromGitLab(base, slug)\n  }\n\n  /* Fallback */\n  return EMPTY\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  defer,\n  filter,\n  finalize,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\nimport { ConsentDefaults } from \"~/components/consent\"\nimport { renderSourceFacts } from \"~/templates\"\n\nimport {\n  Component,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SourceFacts,\n  fetchSourceFacts\n} from \"../facts\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information\n */\nexport interface Source {\n  facts: SourceFacts                   /* Repository facts */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information observable\n */\nlet fetch$: Observable<Source>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch repository information\n *\n * This function tries to read the repository facts from session storage, and\n * if unsuccessful, fetches them from the underlying provider.\n *\n * @param el - Repository information element\n *\n * @returns Repository information observable\n */\nexport function watchSource(\n  el: HTMLAnchorElement\n): Observable<Source> {\n  return fetch$ ||= defer(() => {\n    const cached = __md_get<SourceFacts>(\"__source\", sessionStorage)\n    if (cached) {\n      return of(cached)\n    } else {\n\n      /* Check if consent is configured and was given */\n      const els = getComponentElements(\"consent\")\n      if (els.length) {\n        const consent = __md_get<ConsentDefaults>(\"__consent\")\n        if (!(consent && consent.github))\n          return EMPTY\n      }\n\n      /* Fetch repository facts */\n      return fetchSourceFacts(el.href)\n        .pipe(\n          tap(facts => __md_set(\"__source\", facts, sessionStorage))\n        )\n    }\n  })\n    .pipe(\n      catchError(() => EMPTY),\n      filter(facts => Object.keys(facts).length > 0),\n      map(facts => ({ facts })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount repository information\n *\n * @param el - Repository information element\n *\n * @returns Repository information component observable\n */\nexport function mountSource(\n  el: HTMLAnchorElement\n): Observable<Component<Source>> {\n  const inner = getElement(\":scope > :last-child\", el)\n  return defer(() => {\n    const push$ = new Subject<Source>()\n    push$.subscribe(({ facts }) => {\n      inner.appendChild(renderSourceFacts(facts))\n      inner.classList.add(\"md-source__repository--active\")\n    })\n\n    /* Create and return component */\n    return watchSource(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  watchElementSize,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Navigation tabs\n */\nexport interface Tabs {\n  hidden: boolean                      /* Navigation tabs are hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch navigation tabs\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs observable\n */\nexport function watchTabs(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Tabs> {\n  return watchElementSize(document.body)\n    .pipe(\n      switchMap(() => watchViewportAt(el, { header$, viewport$ })),\n      map(({ offset: { y } }) => {\n        return {\n          hidden: y >= 10\n        }\n      }),\n      distinctUntilKeyChanged(\"hidden\")\n    )\n}\n\n/**\n * Mount navigation tabs\n *\n * This function hides the navigation tabs when scrolling past the threshold\n * and makes them reappear in a nice CSS animation when scrolling back up.\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs component observable\n */\nexport function mountTabs(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Tabs>> {\n  return defer(() => {\n    const push$ = new Subject<Tabs>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ hidden }) {\n        el.hidden = hidden\n      },\n\n      /* Handle complete */\n      complete() {\n        el.hidden = false\n      }\n    })\n\n    /* Create and return component */\n    return (\n      feature(\"navigation.tabs.sticky\")\n        ? of({ hidden: false })\n        : watchTabs(el, options)\n    )\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  bufferCount,\n  combineLatestWith,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  filter,\n  finalize,\n  ignoreElements,\n  map,\n  merge,\n  observeOn,\n  of,\n  repeat,\n  scan,\n  share,\n  skip,\n  startWith,\n  switchMap,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElementContainer,\n  getElementSize,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  watchElementSize\n} from \"~/browser\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Table of contents\n */\nexport interface TableOfContents {\n  prev: HTMLAnchorElement[][]          /* Anchors (previous) */\n  next: HTMLAnchorElement[][]          /* Anchors (next) */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch table of contents\n *\n * This is effectively a scroll spy implementation which will account for the\n * fixed header and automatically re-calculate anchor offsets when the viewport\n * is resized. The returned observable will only emit if the table of contents\n * needs to be repainted.\n *\n * This implementation tracks an anchor element's entire path starting from its\n * level up to the top-most anchor element, e.g. `[h3, h2, h1]`. Although the\n * Material theme currently doesn't make use of this information, it enables\n * the styling of the entire hierarchy through customization.\n *\n * Note that the current anchor is the last item of the `prev` anchor list.\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents observable\n */\nexport function watchTableOfContents(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<TableOfContents> {\n  const table = new Map<HTMLAnchorElement, HTMLElement>()\n\n  /* Compute anchor-to-target mapping */\n  const anchors = getElements<HTMLAnchorElement>(\".md-nav__link\", el)\n  for (const anchor of anchors) {\n    const id = decodeURIComponent(anchor.hash.substring(1))\n    const target = getOptionalElement(`[id=\"${id}\"]`)\n    if (typeof target !== \"undefined\")\n      table.set(anchor, target)\n  }\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n      map(({ height }) => {\n        const main = getComponentElement(\"main\")\n        const grid = getElement(\":scope > :first-child\", main)\n        return height + 0.8 * (\n          grid.offsetTop -\n          main.offsetTop\n        )\n      }),\n      share()\n    )\n\n  /* Compute partition of previous and next anchors */\n  const partition$ = watchElementSize(document.body)\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n\n      /* Build index to map anchor paths to vertical offsets */\n      switchMap(body => defer(() => {\n        let path: HTMLAnchorElement[] = []\n        return of([...table].reduce((index, [anchor, target]) => {\n          while (path.length) {\n            const last = table.get(path[path.length - 1])!\n            if (last.tagName >= target.tagName) {\n              path.pop()\n            } else {\n              break\n            }\n          }\n\n          /* If the current anchor is hidden, continue with its parent */\n          let offset = target.offsetTop\n          while (!offset && target.parentElement) {\n            target = target.parentElement\n            offset = target.offsetTop\n          }\n\n          /* Fix anchor offsets in tables - see https://bit.ly/3CUFOcn */\n          let parent = target.offsetParent as HTMLElement\n          for (; parent; parent = parent.offsetParent as HTMLElement)\n            offset += parent.offsetTop\n\n          /* Map reversed anchor path to vertical offset */\n          return index.set(\n            [...path = [...path, anchor]].reverse(),\n            offset\n          )\n        }, new Map<HTMLAnchorElement[], number>()))\n      })\n        .pipe(\n\n          /* Sort index by vertical offset (see https://bit.ly/30z6QSO) */\n          map(index => new Map([...index].sort(([, a], [, b]) => a - b))),\n          combineLatestWith(adjust$),\n\n          /* Re-compute partition when viewport offset changes */\n          switchMap(([index, adjust]) => viewport$\n            .pipe(\n              scan(([prev, next], { offset: { y }, size }) => {\n                const last = y + size.height >= Math.floor(body.height)\n\n                /* Look forward */\n                while (next.length) {\n                  const [, offset] = next[0]\n                  if (offset - adjust < y || last) {\n                    prev = [...prev, next.shift()!]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Look backward */\n                while (prev.length) {\n                  const [, offset] = prev[prev.length - 1]\n                  if (offset - adjust >= y && !last) {\n                    next = [prev.pop()!, ...next]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Return partition */\n                return [prev, next]\n              }, [[], [...index]]),\n              distinctUntilChanged((a, b) => (\n                a[0] === b[0] &&\n                a[1] === b[1]\n              ))\n            )\n          )\n        )\n      )\n    )\n\n  /* Compute and return anchor list migrations */\n  return partition$\n    .pipe(\n      map(([prev, next]) => ({\n        prev: prev.map(([path]) => path),\n        next: next.map(([path]) => path)\n      })),\n\n      /* Extract anchor list migrations */\n      startWith({ prev: [], next: [] }),\n      bufferCount(2, 1),\n      map(([a, b]) => {\n\n        /* Moving down */\n        if (a.prev.length < b.prev.length) {\n          return {\n            prev: b.prev.slice(Math.max(0, a.prev.length - 1), b.prev.length),\n            next: []\n          }\n\n        /* Moving up */\n        } else {\n          return {\n            prev: b.prev.slice(-1),\n            next: b.next.slice(0, b.next.length - a.next.length)\n          }\n        }\n      })\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount table of contents\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents component observable\n */\nexport function mountTableOfContents(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<TableOfContents>> {\n  return defer(() => {\n    const push$ = new Subject<TableOfContents>()\n    const done$ = push$.pipe(ignoreElements(), endWith(true))\n    push$.subscribe(({ prev, next }) => {\n\n      /* Look forward */\n      for (const [anchor] of next) {\n        anchor.classList.remove(\"md-nav__link--passed\")\n        anchor.classList.remove(\"md-nav__link--active\")\n      }\n\n      /* Look backward */\n      for (const [index, [anchor]] of prev.entries()) {\n        anchor.classList.add(\"md-nav__link--passed\")\n        anchor.classList.toggle(\n          \"md-nav__link--active\",\n          index === prev.length - 1\n        )\n      }\n    })\n\n    /* Set up following, if enabled */\n    if (feature(\"toc.follow\")) {\n\n      /* Toggle smooth scrolling only for anchor clicks */\n      const smooth$ = merge(\n        viewport$.pipe(debounceTime(1), map(() => undefined)),\n        viewport$.pipe(debounceTime(250), map(() => \"smooth\" as const))\n      )\n\n      /* Bring active anchor into view */ // @todo: refactor\n      push$\n        .pipe(\n          filter(({ prev }) => prev.length > 0),\n          combineLatestWith(main$.pipe(observeOn(asyncScheduler))),\n          withLatestFrom(smooth$)\n        )\n          .subscribe(([[{ prev }], behavior]) => {\n            const [anchor] = prev[prev.length - 1]\n            if (anchor.offsetHeight) {\n\n              /* Retrieve overflowing container and scroll */\n              const container = getElementContainer(anchor)\n              if (typeof container !== \"undefined\") {\n                const offset = anchor.offsetTop - container.offsetTop\n                const { height } = getElementSize(container)\n                container.scrollTo({\n                  top: offset - height / 2,\n                  behavior\n                })\n              }\n            }\n          })\n    }\n\n    /* Set up anchor tracking, if enabled */\n    if (feature(\"navigation.tracking\"))\n      viewport$\n        .pipe(\n          takeUntil(done$),\n          distinctUntilKeyChanged(\"offset\"),\n          debounceTime(250),\n          skip(1),\n          takeUntil(target$.pipe(skip(1))),\n          repeat({ delay: 250 }),\n          withLatestFrom(push$)\n        )\n          .subscribe(([, { prev }]) => {\n            const url = getLocation()\n\n            /* Set hash fragment to active anchor */\n            const anchor = prev[prev.length - 1]\n            if (anchor && anchor.length) {\n              const [active] = anchor\n              const { hash } = new URL(active.href)\n              if (url.hash !== hash) {\n                url.hash = hash\n                history.replaceState({}, \"\", `${url}`)\n              }\n\n            /* Reset anchor when at the top */\n            } else {\n              url.hash = \"\"\n              history.replaceState({}, \"\", `${url}`)\n            }\n          })\n\n    /* Create and return component */\n    return watchTableOfContents(el, { viewport$, header$ })\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  fromEvent,\n  ignoreElements,\n  map,\n  repeat,\n  skip,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { Viewport } from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Back-to-top button\n */\nexport interface BackToTop {\n  hidden: boolean                      /* Back-to-top button is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch back-to-top\n *\n * @param _el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top observable\n */\nexport function watchBackToTop(\n  _el: HTMLElement, { viewport$, main$, target$ }: WatchOptions\n): Observable<BackToTop> {\n\n  /* Compute direction */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => a > b && b > 0),\n      distinctUntilChanged()\n    )\n\n  /* Compute whether main area is active */\n  const active$ = main$\n    .pipe(\n      map(({ active }) => active)\n    )\n\n  /* Compute threshold for hiding */\n  return combineLatest([active$, direction$])\n    .pipe(\n      map(([active, direction]) => !(active && direction)),\n      distinctUntilChanged(),\n      takeUntil(target$.pipe(skip(1))),\n      endWith(true),\n      repeat({ delay: 250 }),\n      map(hidden => ({ hidden }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount back-to-top\n *\n * @param el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top component observable\n */\nexport function mountBackToTop(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<BackToTop>> {\n  const push$ = new Subject<BackToTop>()\n  const done$ = push$.pipe(ignoreElements(), endWith(true))\n  push$.subscribe({\n\n    /* Handle emission */\n    next({ hidden }) {\n      el.hidden = hidden\n      if (hidden) {\n        el.setAttribute(\"tabindex\", \"-1\")\n        el.blur()\n      } else {\n        el.removeAttribute(\"tabindex\")\n      }\n    },\n\n    /* Handle complete */\n    complete() {\n      el.style.top = \"\"\n      el.hidden = true\n      el.removeAttribute(\"tabindex\")\n    }\n  })\n\n  /* Watch header height */\n  header$\n    .pipe(\n      takeUntil(done$),\n      distinctUntilKeyChanged(\"height\")\n    )\n      .subscribe(({ height }) => {\n        el.style.top = `${height + 16}px`\n      })\n\n  /* Go back to top */\n  fromEvent(el, \"click\")\n    .subscribe(ev => {\n      ev.preventDefault()\n      window.scrollTo({ top: 0 })\n    })\n\n  /* Create and return component */\n  return watchBackToTop(el, { viewport$, main$, target$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  filter,\n  finalize,\n  map,\n  mergeMap,\n  skip,\n  switchMap,\n  take,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElements,\n  watchElementVisibility\n} from \"~/browser\"\nimport { mountInlineTooltip2 } from \"~/components/tooltip2\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch ellipsis\n *\n * This function will fetch all elements that are shortened with ellipsis, and\n * filter those which are visible. Once they become visible, they stay in that\n * state, even though they may be hidden again. This optimization is necessary\n * to reduce pressure on the browser, with elements fading in and out of view.\n *\n * @param options - Options\n */\nexport function patchEllipsis(\n  { document$, viewport$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\".md-ellipsis\")),\n      mergeMap(el => watchElementVisibility(el)\n        .pipe(\n          takeUntil(document$.pipe(skip(1))),\n          filter(visible => visible),\n          map(() => el),\n          take(1)\n        )\n      ),\n      filter(el => el.offsetWidth < el.scrollWidth),\n      mergeMap(el => {\n        const text = el.innerText\n        const host = el.closest(\"a\") || el\n        host.title = text\n\n        // Do not mount improved tooltip if feature is disabled\n        if (!feature(\"content.tooltips\"))\n          return EMPTY\n\n        /* Mount tooltip */\n        return mountInlineTooltip2(host, { viewport$ })\n          .pipe(\n            takeUntil(document$.pipe(skip(1))),\n            finalize(() => host.removeAttribute(\"title\"))\n          )\n      })\n    )\n      .subscribe()\n\n  // @todo move this outside of here and fix memleaks\n  if (feature(\"content.tooltips\"))\n    document$\n      .pipe(\n        switchMap(() => getElements(\".md-status\")),\n        mergeMap(el => mountInlineTooltip2(el, { viewport$ }))\n      )\n        .subscribe()\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  takeWhile,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch indeterminate checkboxes\n *\n * This function replaces the indeterminate \"pseudo state\" with the actual\n * indeterminate state, which is used to keep navigation always expanded.\n *\n * @param options - Options\n */\nexport function patchIndeterminate(\n  { document$, tablet$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements<HTMLInputElement>(\n        \".md-toggle--indeterminate\"\n      )),\n      tap(el => {\n        el.indeterminate = true\n        el.checked = false\n      }),\n      mergeMap(el => fromEvent(el, \"change\")\n        .pipe(\n          takeWhile(() => el.classList.contains(\"md-toggle--indeterminate\")),\n          map(() => el)\n        )\n      ),\n      withLatestFrom(tablet$)\n    )\n      .subscribe(([el, tablet]) => {\n        el.classList.remove(\"md-toggle--indeterminate\")\n        if (tablet)\n          el.checked = false\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether the given device is an Apple device\n *\n * @returns Test result\n */\nfunction isAppleDevice(): boolean {\n  return /(iPad|iPhone|iPod)/.test(navigator.userAgent)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch all elements with `data-md-scrollfix` attributes\n *\n * This is a year-old patch which ensures that overflow scrolling works at the\n * top and bottom of containers on iOS by ensuring a `1px` scroll offset upon\n * the start of a touch event.\n *\n * @see https://bit.ly/2SCtAOO - Original source\n *\n * @param options - Options\n */\nexport function patchScrollfix(\n  { document$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\"[data-md-scrollfix]\")),\n      tap(el => el.removeAttribute(\"data-md-scrollfix\")),\n      filter(isAppleDevice),\n      mergeMap(el => fromEvent(el, \"touchstart\")\n        .pipe(\n          map(() => el)\n        )\n      )\n    )\n      .subscribe(el => {\n        const top = el.scrollTop\n\n        /* We're at the top of the container */\n        if (top === 0) {\n          el.scrollTop = 1\n\n        /* We're at the bottom of the container */\n        } else if (top + el.offsetHeight === el.scrollHeight) {\n          el.scrollTop = top - 1\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  delay,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchToggle\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch the document body to lock when search is open\n *\n * For mobile and tablet viewports, the search is rendered full screen, which\n * leads to scroll leaking when at the top or bottom of the search result. This\n * function locks the body when the search is in full screen mode, and restores\n * the scroll position when leaving.\n *\n * @param options - Options\n */\nexport function patchScrolllock(\n  { viewport$, tablet$ }: PatchOptions\n): void {\n  combineLatest([watchToggle(\"search\"), tablet$])\n    .pipe(\n      map(([active, tablet]) => active && !tablet),\n      switchMap(active => of(active)\n        .pipe(\n          delay(active ? 400 : 100)\n        )\n      ),\n      withLatestFrom(viewport$)\n    )\n      .subscribe(([active, { offset: { y }}]) => {\n        if (active) {\n          document.body.setAttribute(\"data-md-scrolllock\", \"\")\n          document.body.style.top = `-${y}px`\n        } else {\n          const value = -1 * parseInt(document.body.style.top, 10)\n          document.body.removeAttribute(\"data-md-scrolllock\")\n          document.body.style.top = \"\"\n          if (value)\n            window.scrollTo(0, value)\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n"],
+  "mappings": 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Fi({document$:e}){e.pipe(x(()=>G("[data-md-scrollfix]")),O(t=>t.removeAttribute("data-md-scrollfix")),M(Hs),oe(t=>y(t,"touchstart").pipe(m(()=>t)))).subscribe(t=>{let r=t.scrollTop;r===0?t.scrollTop=1:r+t.offsetHeight===t.scrollHeight&&(t.scrollTop=r-1)})}function Ui({viewport$:e,tablet$:t}){Y([lt("search"),t]).pipe(m(([r,n])=>r&&!n),x(r=>P(r).pipe(je(r?400:100))),Me(e)).subscribe(([r,{offset:{y:n}}])=>{if(r)document.body.setAttribute("data-md-state","lock"),document.body.style.top=`-${n}px`;else{let o=-1*parseInt(document.body.style.top,10);document.body.removeAttribute("data-md-state"),document.body.style.top="",o&&window.scrollTo(0,o)}})}Object.entries||(Object.entries=function(e){let t=[];for(let r of Object.keys(e))t.push([r,e[r]]);return t});Object.values||(Object.values=function(e){let t=[];for(let r of Object.keys(e))t.push(e[r]);return t});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(e,t){typeof e=="object"?(this.scrollLeft=e.left,this.scrollTop=e.top):(this.scrollLeft=e,this.scrollTop=t)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...e){let t=this.parentNode;if(t){e.length===0&&t.removeChild(this);for(let r=e.length-1;r>=0;r--){let n=e[r];typeof n!="object"?n=document.createTextNode(n):n.parentNode&&n.parentNode.removeChild(n),r?t.insertBefore(this.previousSibling,n):t.replaceChild(n,this)}}}));document.documentElement.classList.remove("no-js");document.documentElement.classList.add("js");var et=lo(),hr=Ao(),Mt=Po(),Zr=Lo(),we=Vo(),br=Nr("(min-width: 960px)"),Wi=Nr("(min-width: 1220px)"),Vi=Io(),Ni=de(),zi=document.forms.namedItem("search")?(__search==null?void 0:__search.index)||Re(new URL("search/search_index.json",Ni.base)):ye,en=new _;bi({alert$:en});ce("navigation.instant")&&vi({document$:et,location$:hr,viewport$:we});var Di;((Di=Ni.version)==null?void 0:Di.provider)==="mike"&&Ei({document$:et});C(hr,Mt).pipe(je(125)).subscribe(()=>{qe("drawer",!1),qe("search",!1)});Zr.pipe(M(({mode:e})=>e==="global")).subscribe(e=>{switch(e.type){case"p":case",":let t=fe("[href][rel=prev]");typeof t!="undefined"&&t.click();break;case"n":case".":let r=fe("[href][rel=next]");typeof r!="undefined"&&r.click();break}});ji({document$:et,tablet$:br});Fi({document$:et});Ui({viewport$:we,tablet$:br});var Qe=pi(Se("header"),{viewport$:we}),dr=et.pipe(m(()=>Se("main")),x(e=>di(e,{viewport$:we,header$:Qe})),X(1)),Ps=C(...ne("dialog").map(e=>fi(e,{alert$:en})),...ne("header").map(e=>li(e,{viewport$:we,header$:Qe,main$:dr})),...ne("palette").map(e=>hi(e)),...ne("search").map(e=>Li(e,{index$:zi,keyboard$:Zr})),...ne("source").map(e=>Hi(e))),Is=j(()=>C(...ne("content").map(e=>ui(e,{target$:Mt,print$:Vi})),...ne("content").map(e=>ce("search.highlight")?Ai(e,{index$:zi,location$:hr}):k),...ne("header-title").map(e=>mi(e,{viewport$:we,header$:Qe})),...ne("sidebar").map(e=>e.getAttribute("data-md-type")==="navigation"?zr(Wi,()=>Xr(e,{viewport$:we,header$:Qe,main$:dr})):zr(br,()=>Xr(e,{viewport$:we,header$:Qe,main$:dr}))),...ne("tabs").map(e=>Pi(e,{viewport$:we,header$:Qe})),...ne("toc").map(e=>Ii(e,{viewport$:we,header$:Qe,target$:Mt})),...ne("top").map(e=>$i(e,{viewport$:we,header$:Qe,main$:dr,target$:Mt})))),qi=et.pipe(x(()=>Is),Ze(Ps),X(1));qi.subscribe();window.document$=et;window.location$=hr;window.target$=Mt;window.keyboard$=Zr;window.viewport$=we;window.tablet$=br;window.screen$=Wi;window.print$=Vi;window.alert$=en;window.component$=qi;})();
-//# sourceMappingURL=bundle.a6c66575.min.js.map
-
diff --git a/assets/javascripts/bundle.a6c66575.min.js.map b/assets/javascripts/bundle.a6c66575.min.js.map
deleted file mode 100644
index c910e18..0000000
--- a/assets/javascripts/bundle.a6c66575.min.js.map
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "version": 3,
-  "sources": ["node_modules/focus-visible/dist/focus-visible.js", "node_modules/url-polyfill/url-polyfill.js", "node_modules/rxjs/node_modules/tslib/tslib.js", "node_modules/clipboard/dist/clipboard.js", "node_modules/escape-html/index.js", "node_modules/array-flat-polyfill/index.mjs", "src/assets/javascripts/bundle.ts", "node_modules/unfetch/polyfill/index.js", "node_modules/rxjs/node_modules/tslib/modules/index.js", "node_modules/rxjs/src/internal/util/isFunction.ts", "node_modules/rxjs/src/internal/util/createErrorClass.ts", "node_modules/rxjs/src/internal/util/UnsubscriptionError.ts", "node_modules/rxjs/src/internal/util/arrRemove.ts", "node_modules/rxjs/src/internal/Subscription.ts", "node_modules/rxjs/src/internal/config.ts", "node_modules/rxjs/src/internal/scheduler/timeoutProvider.ts", "node_modules/rxjs/src/internal/util/reportUnhandledError.ts", "node_modules/rxjs/src/internal/util/noop.ts", "node_modules/rxjs/src/internal/NotificationFactories.ts", "node_modules/rxjs/src/internal/util/errorContext.ts", "node_modules/rxjs/src/internal/Subscriber.ts", "node_modules/rxjs/src/internal/symbol/observable.ts", "node_modules/rxjs/src/internal/util/identity.ts", "node_modules/rxjs/src/internal/util/pipe.ts", "node_modules/rxjs/src/internal/Observable.ts", "node_modules/rxjs/src/internal/util/lift.ts", "node_modules/rxjs/src/internal/operators/OperatorSubscriber.ts", "node_modules/rxjs/src/internal/scheduler/animationFrameProvider.ts", "node_modules/rxjs/src/internal/util/ObjectUnsubscribedError.ts", "node_modules/rxjs/src/internal/Subject.ts", "node_modules/rxjs/src/internal/scheduler/dateTimestampProvider.ts", "node_modules/rxjs/src/internal/ReplaySubject.ts", "node_modules/rxjs/src/internal/scheduler/Action.ts", "node_modules/rxjs/src/internal/scheduler/intervalProvider.ts", "node_modules/rxjs/src/internal/scheduler/AsyncAction.ts", "node_modules/rxjs/src/internal/Scheduler.ts", "node_modules/rxjs/src/internal/scheduler/AsyncScheduler.ts", "node_modules/rxjs/src/internal/scheduler/async.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameAction.ts", "node_modules/rxjs/src/internal/scheduler/AnimationFrameScheduler.ts", "node_modules/rxjs/src/internal/scheduler/animationFrame.ts", "node_modules/rxjs/src/internal/observable/empty.ts", "node_modules/rxjs/src/internal/util/isScheduler.ts", "node_modules/rxjs/src/internal/util/args.ts", "node_modules/rxjs/src/internal/util/isArrayLike.ts", "node_modules/rxjs/src/internal/util/isPromise.ts", "node_modules/rxjs/src/internal/util/isInteropObservable.ts", "node_modules/rxjs/src/internal/util/isAsyncIterable.ts", "node_modules/rxjs/src/internal/util/throwUnobservableError.ts", "node_modules/rxjs/src/internal/symbol/iterator.ts", "node_modules/rxjs/src/internal/util/isIterable.ts", "node_modules/rxjs/src/internal/util/isReadableStreamLike.ts", "node_modules/rxjs/src/internal/observable/innerFrom.ts", "node_modules/rxjs/src/internal/util/executeSchedule.ts", "node_modules/rxjs/src/internal/operators/observeOn.ts", "node_modules/rxjs/src/internal/operators/subscribeOn.ts", "node_modules/rxjs/src/internal/scheduled/scheduleObservable.ts", "node_modules/rxjs/src/internal/scheduled/schedulePromise.ts", "node_modules/rxjs/src/internal/scheduled/scheduleArray.ts", "node_modules/rxjs/src/internal/scheduled/scheduleIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleAsyncIterable.ts", "node_modules/rxjs/src/internal/scheduled/scheduleReadableStreamLike.ts", "node_modules/rxjs/src/internal/scheduled/scheduled.ts", "node_modules/rxjs/src/internal/observable/from.ts", "node_modules/rxjs/src/internal/observable/of.ts", "node_modules/rxjs/src/internal/observable/throwError.ts", "node_modules/rxjs/src/internal/util/isDate.ts", "node_modules/rxjs/src/internal/operators/map.ts", "node_modules/rxjs/src/internal/util/mapOneOrManyArgs.ts", "node_modules/rxjs/src/internal/util/argsArgArrayOrObject.ts", "node_modules/rxjs/src/internal/util/createObject.ts", "node_modules/rxjs/src/internal/observable/combineLatest.ts", "node_modules/rxjs/src/internal/operators/mergeInternals.ts", "node_modules/rxjs/src/internal/operators/mergeMap.ts", "node_modules/rxjs/src/internal/operators/mergeAll.ts", "node_modules/rxjs/src/internal/operators/concatAll.ts", "node_modules/rxjs/src/internal/observable/concat.ts", "node_modules/rxjs/src/internal/observable/defer.ts", "node_modules/rxjs/src/internal/observable/fromEvent.ts", "node_modules/rxjs/src/internal/observable/fromEventPattern.ts", "node_modules/rxjs/src/internal/observable/timer.ts", "node_modules/rxjs/src/internal/observable/merge.ts", "node_modules/rxjs/src/internal/observable/never.ts", "node_modules/rxjs/src/internal/util/argsOrArgArray.ts", "node_modules/rxjs/src/internal/operators/filter.ts", "node_modules/rxjs/src/internal/observable/zip.ts", "node_modules/rxjs/src/internal/operators/audit.ts", "node_modules/rxjs/src/internal/operators/auditTime.ts", "node_modules/rxjs/src/internal/operators/bufferCount.ts", "node_modules/rxjs/src/internal/operators/catchError.ts", "node_modules/rxjs/src/internal/operators/scanInternals.ts", "node_modules/rxjs/src/internal/operators/combineLatest.ts", "node_modules/rxjs/src/internal/operators/combineLatestWith.ts", "node_modules/rxjs/src/internal/operators/concatMap.ts", "node_modules/rxjs/src/internal/operators/debounceTime.ts", "node_modules/rxjs/src/internal/operators/defaultIfEmpty.ts", "node_modules/rxjs/src/internal/operators/take.ts", "node_modules/rxjs/src/internal/operators/ignoreElements.ts", "node_modules/rxjs/src/internal/operators/mapTo.ts", "node_modules/rxjs/src/internal/operators/delayWhen.ts", "node_modules/rxjs/src/internal/operators/delay.ts", "node_modules/rxjs/src/internal/operators/distinctUntilChanged.ts", "node_modules/rxjs/src/internal/operators/distinctUntilKeyChanged.ts", "node_modules/rxjs/src/internal/operators/endWith.ts", "node_modules/rxjs/src/internal/operators/finalize.ts", "node_modules/rxjs/src/internal/operators/takeLast.ts", "node_modules/rxjs/src/internal/operators/merge.ts", "node_modules/rxjs/src/internal/operators/mergeWith.ts", "node_modules/rxjs/src/internal/operators/repeat.ts", "node_modules/rxjs/src/internal/operators/sample.ts", "node_modules/rxjs/src/internal/operators/scan.ts", "node_modules/rxjs/src/internal/operators/share.ts", "node_modules/rxjs/src/internal/operators/shareReplay.ts", "node_modules/rxjs/src/internal/operators/skip.ts", "node_modules/rxjs/src/internal/operators/skipUntil.ts", "node_modules/rxjs/src/internal/operators/startWith.ts", "node_modules/rxjs/src/internal/operators/switchMap.ts", "node_modules/rxjs/src/internal/operators/takeUntil.ts", "node_modules/rxjs/src/internal/operators/takeWhile.ts", "node_modules/rxjs/src/internal/operators/tap.ts", "node_modules/rxjs/src/internal/operators/throttle.ts", "node_modules/rxjs/src/internal/operators/throttleTime.ts", "node_modules/rxjs/src/internal/operators/withLatestFrom.ts", "node_modules/rxjs/src/internal/operators/zip.ts", "node_modules/rxjs/src/internal/operators/zipWith.ts", "src/assets/javascripts/browser/document/index.ts", "src/assets/javascripts/browser/element/_/index.ts", "src/assets/javascripts/browser/element/focus/index.ts", "src/assets/javascripts/browser/element/offset/_/index.ts", "src/assets/javascripts/browser/element/offset/content/index.ts", "node_modules/resize-observer-polyfill/dist/ResizeObserver.es.js", "src/assets/javascripts/browser/element/size/_/index.ts", "src/assets/javascripts/browser/element/size/content/index.ts", "src/assets/javascripts/browser/element/visibility/index.ts", "src/assets/javascripts/browser/toggle/index.ts", "src/assets/javascripts/browser/keyboard/index.ts", "src/assets/javascripts/browser/location/_/index.ts", "src/assets/javascripts/utilities/h/index.ts", "src/assets/javascripts/utilities/string/index.ts", "src/assets/javascripts/browser/location/hash/index.ts", "src/assets/javascripts/browser/media/index.ts", "src/assets/javascripts/browser/request/index.ts", "src/assets/javascripts/browser/script/index.ts", "src/assets/javascripts/browser/viewport/offset/index.ts", "src/assets/javascripts/browser/viewport/size/index.ts", "src/assets/javascripts/browser/viewport/_/index.ts", "src/assets/javascripts/browser/viewport/at/index.ts", "src/assets/javascripts/browser/worker/index.ts", "src/assets/javascripts/_/index.ts", "src/assets/javascripts/components/_/index.ts", "src/assets/javascripts/components/content/code/_/index.ts", "src/assets/javascripts/templates/annotation/index.tsx", "src/assets/javascripts/templates/clipboard/index.tsx", "src/assets/javascripts/templates/search/index.tsx", "src/assets/javascripts/templates/source/index.tsx", "src/assets/javascripts/templates/table/index.tsx", "src/assets/javascripts/templates/version/index.tsx", "src/assets/javascripts/components/content/annotation/_/index.ts", "src/assets/javascripts/components/content/annotation/list/index.ts", "src/assets/javascripts/components/content/code/mermaid/index.ts", "src/assets/javascripts/components/content/details/index.ts", "src/assets/javascripts/components/content/table/index.ts", "src/assets/javascripts/components/content/tabs/index.ts", "src/assets/javascripts/components/content/_/index.ts", "src/assets/javascripts/components/dialog/index.ts", "src/assets/javascripts/components/header/_/index.ts", "src/assets/javascripts/components/header/title/index.ts", "src/assets/javascripts/components/main/index.ts", "src/assets/javascripts/components/palette/index.ts", "src/assets/javascripts/integrations/clipboard/index.ts", "src/assets/javascripts/integrations/sitemap/index.ts", "src/assets/javascripts/integrations/instant/index.ts", "src/assets/javascripts/integrations/search/document/index.ts", "src/assets/javascripts/integrations/search/highlighter/index.ts", "src/assets/javascripts/integrations/search/query/transform/index.ts", "src/assets/javascripts/integrations/search/worker/message/index.ts", "src/assets/javascripts/integrations/search/worker/_/index.ts", "src/assets/javascripts/integrations/version/index.ts", "src/assets/javascripts/components/search/query/index.ts", "src/assets/javascripts/components/search/result/index.ts", "src/assets/javascripts/components/search/share/index.ts", "src/assets/javascripts/components/search/suggest/index.ts", "src/assets/javascripts/components/search/_/index.ts", "src/assets/javascripts/components/search/highlight/index.ts", "src/assets/javascripts/components/sidebar/index.ts", "src/assets/javascripts/components/source/facts/github/index.ts", "src/assets/javascripts/components/source/facts/gitlab/index.ts", "src/assets/javascripts/components/source/facts/_/index.ts", "src/assets/javascripts/components/source/_/index.ts", "src/assets/javascripts/components/tabs/index.ts", "src/assets/javascripts/components/toc/index.ts", "src/assets/javascripts/components/top/index.ts", "src/assets/javascripts/patches/indeterminate/index.ts", "src/assets/javascripts/patches/scrollfix/index.ts", "src/assets/javascripts/patches/scrolllock/index.ts", "src/assets/javascripts/polyfills/index.ts"],
-  "sourceRoot": "../../../..",
-  "sourcesContent": ["(function (global, factory) {\n  typeof exports === 'object' && typeof module !== 'undefined' ? factory() :\n  typeof define === 'function' && define.amd ? define(factory) :\n  (factory());\n}(this, (function () { 'use strict';\n\n  /**\n   * Applies the :focus-visible polyfill at the given scope.\n   * A scope in this case is either the top-level Document or a Shadow Root.\n   *\n   * @param {(Document|ShadowRoot)} scope\n   * @see https://github.com/WICG/focus-visible\n   */\n  function applyFocusVisiblePolyfill(scope) {\n    var hadKeyboardEvent = true;\n    var hadFocusVisibleRecently = false;\n    var hadFocusVisibleRecentlyTimeout = null;\n\n    var inputTypesAllowlist = {\n      text: true,\n      search: true,\n      url: true,\n      tel: true,\n      email: true,\n      password: true,\n      number: true,\n      date: true,\n      month: true,\n      week: true,\n      time: true,\n      datetime: true,\n      'datetime-local': true\n    };\n\n    /**\n     * Helper function for legacy browsers and iframes which sometimes focus\n     * elements like document, body, and non-interactive SVG.\n     * @param {Element} el\n     */\n    function isValidFocusTarget(el) {\n      if (\n        el &&\n        el !== document &&\n        el.nodeName !== 'HTML' &&\n        el.nodeName !== 'BODY' &&\n        'classList' in el &&\n        'contains' in el.classList\n      ) {\n        return true;\n      }\n      return false;\n    }\n\n    /**\n     * Computes whether the given element should automatically trigger the\n     * `focus-visible` class being added, i.e. whether it should always match\n     * `:focus-visible` when focused.\n     * @param {Element} el\n     * @return {boolean}\n     */\n    function focusTriggersKeyboardModality(el) {\n      var type = el.type;\n      var tagName = el.tagName;\n\n      if (tagName === 'INPUT' && inputTypesAllowlist[type] && !el.readOnly) {\n        return true;\n      }\n\n      if (tagName === 'TEXTAREA' && !el.readOnly) {\n        return true;\n      }\n\n      if (el.isContentEditable) {\n        return true;\n      }\n\n      return false;\n    }\n\n    /**\n     * Add the `focus-visible` class to the given element if it was not added by\n     * the author.\n     * @param {Element} el\n     */\n    function addFocusVisibleClass(el) {\n      if (el.classList.contains('focus-visible')) {\n        return;\n      }\n      el.classList.add('focus-visible');\n      el.setAttribute('data-focus-visible-added', '');\n    }\n\n    /**\n     * Remove the `focus-visible` class from the given element if it was not\n     * originally added by the author.\n     * @param {Element} el\n     */\n    function removeFocusVisibleClass(el) {\n      if (!el.hasAttribute('data-focus-visible-added')) {\n        return;\n      }\n      el.classList.remove('focus-visible');\n      el.removeAttribute('data-focus-visible-added');\n    }\n\n    /**\n     * If the most recent user interaction was via the keyboard;\n     * and the key press did not include a meta, alt/option, or control key;\n     * then the modality is keyboard. Otherwise, the modality is not keyboard.\n     * Apply `focus-visible` to any current active element and keep track\n     * of our keyboard modality state with `hadKeyboardEvent`.\n     * @param {KeyboardEvent} e\n     */\n    function onKeyDown(e) {\n      if (e.metaKey || e.altKey || e.ctrlKey) {\n        return;\n      }\n\n      if (isValidFocusTarget(scope.activeElement)) {\n        addFocusVisibleClass(scope.activeElement);\n      }\n\n      hadKeyboardEvent = true;\n    }\n\n    /**\n     * If at any point a user clicks with a pointing device, ensure that we change\n     * the modality away from keyboard.\n     * This avoids the situation where a user presses a key on an already focused\n     * element, and then clicks on a different element, focusing it with a\n     * pointing device, while we still think we're in keyboard modality.\n     * @param {Event} e\n     */\n    function onPointerDown(e) {\n      hadKeyboardEvent = false;\n    }\n\n    /**\n     * On `focus`, add the `focus-visible` class to the target if:\n     * - the target received focus as a result of keyboard navigation, or\n     * - the event target is an element that will likely require interaction\n     *   via the keyboard (e.g. a text box)\n     * @param {Event} e\n     */\n    function onFocus(e) {\n      // Prevent IE from focusing the document or HTML element.\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (hadKeyboardEvent || focusTriggersKeyboardModality(e.target)) {\n        addFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * On `blur`, remove the `focus-visible` class from the target.\n     * @param {Event} e\n     */\n    function onBlur(e) {\n      if (!isValidFocusTarget(e.target)) {\n        return;\n      }\n\n      if (\n        e.target.classList.contains('focus-visible') ||\n        e.target.hasAttribute('data-focus-visible-added')\n      ) {\n        // To detect a tab/window switch, we look for a blur event followed\n        // rapidly by a visibility change.\n        // If we don't see a visibility change within 100ms, it's probably a\n        // regular focus change.\n        hadFocusVisibleRecently = true;\n        window.clearTimeout(hadFocusVisibleRecentlyTimeout);\n        hadFocusVisibleRecentlyTimeout = window.setTimeout(function() {\n          hadFocusVisibleRecently = false;\n        }, 100);\n        removeFocusVisibleClass(e.target);\n      }\n    }\n\n    /**\n     * If the user changes tabs, keep track of whether or not the previously\n     * focused element had .focus-visible.\n     * @param {Event} e\n     */\n    function onVisibilityChange(e) {\n      if (document.visibilityState === 'hidden') {\n        // If the tab becomes active again, the browser will handle calling focus\n        // on the element (Safari actually calls it twice).\n        // If this tab change caused a blur on an element with focus-visible,\n        // re-apply the class when the user switches back to the tab.\n        if (hadFocusVisibleRecently) {\n          hadKeyboardEvent = true;\n        }\n        addInitialPointerMoveListeners();\n      }\n    }\n\n    /**\n     * Add a group of listeners to detect usage of any pointing devices.\n     * These listeners will be added when the polyfill first loads, and anytime\n     * the window is blurred, so that they are active when the window regains\n     * focus.\n     */\n    function addInitialPointerMoveListeners() {\n      document.addEventListener('mousemove', onInitialPointerMove);\n      document.addEventListener('mousedown', onInitialPointerMove);\n      document.addEventListener('mouseup', onInitialPointerMove);\n      document.addEventListener('pointermove', onInitialPointerMove);\n      document.addEventListener('pointerdown', onInitialPointerMove);\n      document.addEventListener('pointerup', onInitialPointerMove);\n      document.addEventListener('touchmove', onInitialPointerMove);\n      document.addEventListener('touchstart', onInitialPointerMove);\n      document.addEventListener('touchend', onInitialPointerMove);\n    }\n\n    function removeInitialPointerMoveListeners() {\n      document.removeEventListener('mousemove', onInitialPointerMove);\n      document.removeEventListener('mousedown', onInitialPointerMove);\n      document.removeEventListener('mouseup', onInitialPointerMove);\n      document.removeEventListener('pointermove', onInitialPointerMove);\n      document.removeEventListener('pointerdown', onInitialPointerMove);\n      document.removeEventListener('pointerup', onInitialPointerMove);\n      document.removeEventListener('touchmove', onInitialPointerMove);\n      document.removeEventListener('touchstart', onInitialPointerMove);\n      document.removeEventListener('touchend', onInitialPointerMove);\n    }\n\n    /**\n     * When the polfyill first loads, assume the user is in keyboard modality.\n     * If any event is received from a pointing device (e.g. mouse, pointer,\n     * touch), turn off keyboard modality.\n     * This accounts for situations where focus enters the page from the URL bar.\n     * @param {Event} e\n     */\n    function onInitialPointerMove(e) {\n      // Work around a Safari quirk that fires a mousemove on <html> whenever the\n      // window blurs, even if you're tabbing out of the page. \u00AF\\_(\u30C4)_/\u00AF\n      if (e.target.nodeName && e.target.nodeName.toLowerCase() === 'html') {\n        return;\n      }\n\n      hadKeyboardEvent = false;\n      removeInitialPointerMoveListeners();\n    }\n\n    // For some kinds of state, we are interested in changes at the global scope\n    // only. For example, global pointer input, global key presses and global\n    // visibility change should affect the state at every scope:\n    document.addEventListener('keydown', onKeyDown, true);\n    document.addEventListener('mousedown', onPointerDown, true);\n    document.addEventListener('pointerdown', onPointerDown, true);\n    document.addEventListener('touchstart', onPointerDown, true);\n    document.addEventListener('visibilitychange', onVisibilityChange, true);\n\n    addInitialPointerMoveListeners();\n\n    // For focus and blur, we specifically care about state changes in the local\n    // scope. This is because focus / blur events that originate from within a\n    // shadow root are not re-dispatched from the host element if it was already\n    // the active element in its own scope:\n    scope.addEventListener('focus', onFocus, true);\n    scope.addEventListener('blur', onBlur, true);\n\n    // We detect that a node is a ShadowRoot by ensuring that it is a\n    // DocumentFragment and also has a host property. This check covers native\n    // implementation and polyfill implementation transparently. If we only cared\n    // about the native implementation, we could just check if the scope was\n    // an instance of a ShadowRoot.\n    if (scope.nodeType === Node.DOCUMENT_FRAGMENT_NODE && scope.host) {\n      // Since a ShadowRoot is a special kind of DocumentFragment, it does not\n      // have a root element to add a class to. So, we add this attribute to the\n      // host element instead:\n      scope.host.setAttribute('data-js-focus-visible', '');\n    } else if (scope.nodeType === Node.DOCUMENT_NODE) {\n      document.documentElement.classList.add('js-focus-visible');\n      document.documentElement.setAttribute('data-js-focus-visible', '');\n    }\n  }\n\n  // It is important to wrap all references to global window and document in\n  // these checks to support server-side rendering use cases\n  // @see https://github.com/WICG/focus-visible/issues/199\n  if (typeof window !== 'undefined' && typeof document !== 'undefined') {\n    // Make the polyfill helper globally available. This can be used as a signal\n    // to interested libraries that wish to coordinate with the polyfill for e.g.,\n    // applying the polyfill to a shadow root:\n    window.applyFocusVisiblePolyfill = applyFocusVisiblePolyfill;\n\n    // Notify interested libraries of the polyfill's presence, in case the\n    // polyfill was loaded lazily:\n    var event;\n\n    try {\n      event = new CustomEvent('focus-visible-polyfill-ready');\n    } catch (error) {\n      // IE11 does not support using CustomEvent as a constructor directly:\n      event = document.createEvent('CustomEvent');\n      event.initCustomEvent('focus-visible-polyfill-ready', false, false, {});\n    }\n\n    window.dispatchEvent(event);\n  }\n\n  if (typeof document !== 'undefined') {\n    // Apply the polyfill to the global document, so that no JavaScript\n    // coordination is required to use the polyfill in the top-level document:\n    applyFocusVisiblePolyfill(document);\n  }\n\n})));\n", "(function(global) {\r\n  /**\r\n   * Polyfill URLSearchParams\r\n   *\r\n   * Inspired from : https://github.com/WebReflection/url-search-params/blob/master/src/url-search-params.js\r\n   */\r\n\r\n  var checkIfIteratorIsSupported = function() {\r\n    try {\r\n      return !!Symbol.iterator;\r\n    } catch (error) {\r\n      return false;\r\n    }\r\n  };\r\n\r\n\r\n  var iteratorSupported = checkIfIteratorIsSupported();\r\n\r\n  var createIterator = function(items) {\r\n    var iterator = {\r\n      next: function() {\r\n        var value = items.shift();\r\n        return { done: value === void 0, value: value };\r\n      }\r\n    };\r\n\r\n    if (iteratorSupported) {\r\n      iterator[Symbol.iterator] = function() {\r\n        return iterator;\r\n      };\r\n    }\r\n\r\n    return iterator;\r\n  };\r\n\r\n  /**\r\n   * Search param name and values should be encoded according to https://url.spec.whatwg.org/#urlencoded-serializing\r\n   * encodeURIComponent() produces the same result except encoding spaces as `%20` instead of `+`.\r\n   */\r\n  var serializeParam = function(value) {\r\n    return encodeURIComponent(value).replace(/%20/g, '+');\r\n  };\r\n\r\n  var deserializeParam = function(value) {\r\n    return decodeURIComponent(String(value).replace(/\\+/g, ' '));\r\n  };\r\n\r\n  var polyfillURLSearchParams = function() {\r\n\r\n    var URLSearchParams = function(searchString) {\r\n      Object.defineProperty(this, '_entries', { writable: true, value: {} });\r\n      var typeofSearchString = typeof searchString;\r\n\r\n      if (typeofSearchString === 'undefined') {\r\n        // do nothing\r\n      } else if (typeofSearchString === 'string') {\r\n        if (searchString !== '') {\r\n          this._fromString(searchString);\r\n        }\r\n      } else if (searchString instanceof URLSearchParams) {\r\n        var _this = this;\r\n        searchString.forEach(function(value, name) {\r\n          _this.append(name, value);\r\n        });\r\n      } else if ((searchString !== null) && (typeofSearchString === 'object')) {\r\n        if (Object.prototype.toString.call(searchString) === '[object Array]') {\r\n          for (var i = 0; i < searchString.length; i++) {\r\n            var entry = searchString[i];\r\n            if ((Object.prototype.toString.call(entry) === '[object Array]') || (entry.length !== 2)) {\r\n              this.append(entry[0], entry[1]);\r\n            } else {\r\n              throw new TypeError('Expected [string, any] as entry at index ' + i + ' of URLSearchParams\\'s input');\r\n            }\r\n          }\r\n        } else {\r\n          for (var key in searchString) {\r\n            if (searchString.hasOwnProperty(key)) {\r\n              this.append(key, searchString[key]);\r\n            }\r\n          }\r\n        }\r\n      } else {\r\n        throw new TypeError('Unsupported input\\'s type for URLSearchParams');\r\n      }\r\n    };\r\n\r\n    var proto = URLSearchParams.prototype;\r\n\r\n    proto.append = function(name, value) {\r\n      if (name in this._entries) {\r\n        this._entries[name].push(String(value));\r\n      } else {\r\n        this._entries[name] = [String(value)];\r\n      }\r\n    };\r\n\r\n    proto.delete = function(name) {\r\n      delete this._entries[name];\r\n    };\r\n\r\n    proto.get = function(name) {\r\n      return (name in this._entries) ? this._entries[name][0] : null;\r\n    };\r\n\r\n    proto.getAll = function(name) {\r\n      return (name in this._entries) ? this._entries[name].slice(0) : [];\r\n    };\r\n\r\n    proto.has = function(name) {\r\n      return (name in this._entries);\r\n    };\r\n\r\n    proto.set = function(name, value) {\r\n      this._entries[name] = [String(value)];\r\n    };\r\n\r\n    proto.forEach = function(callback, thisArg) {\r\n      var entries;\r\n      for (var name in this._entries) {\r\n        if (this._entries.hasOwnProperty(name)) {\r\n          entries = this._entries[name];\r\n          for (var i = 0; i < entries.length; i++) {\r\n            callback.call(thisArg, entries[i], name, this);\r\n          }\r\n        }\r\n      }\r\n    };\r\n\r\n    proto.keys = function() {\r\n      var items = [];\r\n      this.forEach(function(value, name) {\r\n        items.push(name);\r\n      });\r\n      return createIterator(items);\r\n    };\r\n\r\n    proto.values = function() {\r\n      var items = [];\r\n      this.forEach(function(value) {\r\n        items.push(value);\r\n      });\r\n      return createIterator(items);\r\n    };\r\n\r\n    proto.entries = function() {\r\n      var items = [];\r\n      this.forEach(function(value, name) {\r\n        items.push([name, value]);\r\n      });\r\n      return createIterator(items);\r\n    };\r\n\r\n    if (iteratorSupported) {\r\n      proto[Symbol.iterator] = proto.entries;\r\n    }\r\n\r\n    proto.toString = function() {\r\n      var searchArray = [];\r\n      this.forEach(function(value, name) {\r\n        searchArray.push(serializeParam(name) + '=' + serializeParam(value));\r\n      });\r\n      return searchArray.join('&');\r\n    };\r\n\r\n\r\n    global.URLSearchParams = URLSearchParams;\r\n  };\r\n\r\n  var checkIfURLSearchParamsSupported = function() {\r\n    try {\r\n      var URLSearchParams = global.URLSearchParams;\r\n\r\n      return (\r\n        (new URLSearchParams('?a=1').toString() === 'a=1') &&\r\n        (typeof URLSearchParams.prototype.set === 'function') &&\r\n        (typeof URLSearchParams.prototype.entries === 'function')\r\n      );\r\n    } catch (e) {\r\n      return false;\r\n    }\r\n  };\r\n\r\n  if (!checkIfURLSearchParamsSupported()) {\r\n    polyfillURLSearchParams();\r\n  }\r\n\r\n  var proto = global.URLSearchParams.prototype;\r\n\r\n  if (typeof proto.sort !== 'function') {\r\n    proto.sort = function() {\r\n      var _this = this;\r\n      var items = [];\r\n      this.forEach(function(value, name) {\r\n        items.push([name, value]);\r\n        if (!_this._entries) {\r\n          _this.delete(name);\r\n        }\r\n      });\r\n      items.sort(function(a, b) {\r\n        if (a[0] < b[0]) {\r\n          return -1;\r\n        } else if (a[0] > b[0]) {\r\n          return +1;\r\n        } else {\r\n          return 0;\r\n        }\r\n      });\r\n      if (_this._entries) { // force reset because IE keeps keys index\r\n        _this._entries = {};\r\n      }\r\n      for (var i = 0; i < items.length; i++) {\r\n        this.append(items[i][0], items[i][1]);\r\n      }\r\n    };\r\n  }\r\n\r\n  if (typeof proto._fromString !== 'function') {\r\n    Object.defineProperty(proto, '_fromString', {\r\n      enumerable: false,\r\n      configurable: false,\r\n      writable: false,\r\n      value: function(searchString) {\r\n        if (this._entries) {\r\n          this._entries = {};\r\n        } else {\r\n          var keys = [];\r\n          this.forEach(function(value, name) {\r\n            keys.push(name);\r\n          });\r\n          for (var i = 0; i < keys.length; i++) {\r\n            this.delete(keys[i]);\r\n          }\r\n        }\r\n\r\n        searchString = searchString.replace(/^\\?/, '');\r\n        var attributes = searchString.split('&');\r\n        var attribute;\r\n        for (var i = 0; i < attributes.length; i++) {\r\n          attribute = attributes[i].split('=');\r\n          this.append(\r\n            deserializeParam(attribute[0]),\r\n            (attribute.length > 1) ? deserializeParam(attribute[1]) : ''\r\n          );\r\n        }\r\n      }\r\n    });\r\n  }\r\n\r\n  // HTMLAnchorElement\r\n\r\n})(\r\n  (typeof global !== 'undefined') ? global\r\n    : ((typeof window !== 'undefined') ? window\r\n    : ((typeof self !== 'undefined') ? self : this))\r\n);\r\n\r\n(function(global) {\r\n  /**\r\n   * Polyfill URL\r\n   *\r\n   * Inspired from : https://github.com/arv/DOM-URL-Polyfill/blob/master/src/url.js\r\n   */\r\n\r\n  var checkIfURLIsSupported = function() {\r\n    try {\r\n      var u = new global.URL('b', 'http://a');\r\n      u.pathname = 'c d';\r\n      return (u.href === 'http://a/c%20d') && u.searchParams;\r\n    } catch (e) {\r\n      return false;\r\n    }\r\n  };\r\n\r\n\r\n  var polyfillURL = function() {\r\n    var _URL = global.URL;\r\n\r\n    var URL = function(url, base) {\r\n      if (typeof url !== 'string') url = String(url);\r\n      if (base && typeof base !== 'string') base = String(base);\r\n\r\n      // Only create another document if the base is different from current location.\r\n      var doc = document, baseElement;\r\n      if (base && (global.location === void 0 || base !== global.location.href)) {\r\n        base = base.toLowerCase();\r\n        doc = document.implementation.createHTMLDocument('');\r\n        baseElement = doc.createElement('base');\r\n        baseElement.href = base;\r\n        doc.head.appendChild(baseElement);\r\n        try {\r\n          if (baseElement.href.indexOf(base) !== 0) throw new Error(baseElement.href);\r\n        } catch (err) {\r\n          throw new Error('URL unable to set base ' + base + ' due to ' + err);\r\n        }\r\n      }\r\n\r\n      var anchorElement = doc.createElement('a');\r\n      anchorElement.href = url;\r\n      if (baseElement) {\r\n        doc.body.appendChild(anchorElement);\r\n        anchorElement.href = anchorElement.href; // force href to refresh\r\n      }\r\n\r\n      var inputElement = doc.createElement('input');\r\n      inputElement.type = 'url';\r\n      inputElement.value = url;\r\n\r\n      if (anchorElement.protocol === ':' || !/:/.test(anchorElement.href) || (!inputElement.checkValidity() && !base)) {\r\n        throw new TypeError('Invalid URL');\r\n      }\r\n\r\n      Object.defineProperty(this, '_anchorElement', {\r\n        value: anchorElement\r\n      });\r\n\r\n\r\n      // create a linked searchParams which reflect its changes on URL\r\n      var searchParams = new global.URLSearchParams(this.search);\r\n      var enableSearchUpdate = true;\r\n      var enableSearchParamsUpdate = true;\r\n      var _this = this;\r\n      ['append', 'delete', 'set'].forEach(function(methodName) {\r\n        var method = searchParams[methodName];\r\n        searchParams[methodName] = function() {\r\n          method.apply(searchParams, arguments);\r\n          if (enableSearchUpdate) {\r\n            enableSearchParamsUpdate = false;\r\n            _this.search = searchParams.toString();\r\n            enableSearchParamsUpdate = true;\r\n          }\r\n        };\r\n      });\r\n\r\n      Object.defineProperty(this, 'searchParams', {\r\n        value: searchParams,\r\n        enumerable: true\r\n      });\r\n\r\n      var search = void 0;\r\n      Object.defineProperty(this, '_updateSearchParams', {\r\n        enumerable: false,\r\n        configurable: false,\r\n        writable: false,\r\n        value: function() {\r\n          if (this.search !== search) {\r\n            search = this.search;\r\n            if (enableSearchParamsUpdate) {\r\n              enableSearchUpdate = false;\r\n              this.searchParams._fromString(this.search);\r\n              enableSearchUpdate = true;\r\n            }\r\n          }\r\n        }\r\n      });\r\n    };\r\n\r\n    var proto = URL.prototype;\r\n\r\n    var linkURLWithAnchorAttribute = function(attributeName) {\r\n      Object.defineProperty(proto, attributeName, {\r\n        get: function() {\r\n          return this._anchorElement[attributeName];\r\n        },\r\n        set: function(value) {\r\n          this._anchorElement[attributeName] = value;\r\n        },\r\n        enumerable: true\r\n      });\r\n    };\r\n\r\n    ['hash', 'host', 'hostname', 'port', 'protocol']\r\n      .forEach(function(attributeName) {\r\n        linkURLWithAnchorAttribute(attributeName);\r\n      });\r\n\r\n    Object.defineProperty(proto, 'search', {\r\n      get: function() {\r\n        return this._anchorElement['search'];\r\n      },\r\n      set: function(value) {\r\n        this._anchorElement['search'] = value;\r\n        this._updateSearchParams();\r\n      },\r\n      enumerable: true\r\n    });\r\n\r\n    Object.defineProperties(proto, {\r\n\r\n      'toString': {\r\n        get: function() {\r\n          var _this = this;\r\n          return function() {\r\n            return _this.href;\r\n          };\r\n        }\r\n      },\r\n\r\n      'href': {\r\n        get: function() {\r\n          return this._anchorElement.href.replace(/\\?$/, '');\r\n        },\r\n        set: function(value) {\r\n          this._anchorElement.href = value;\r\n          this._updateSearchParams();\r\n        },\r\n        enumerable: true\r\n      },\r\n\r\n      'pathname': {\r\n        get: function() {\r\n          return this._anchorElement.pathname.replace(/(^\\/?)/, '/');\r\n        },\r\n        set: function(value) {\r\n          this._anchorElement.pathname = value;\r\n        },\r\n        enumerable: true\r\n      },\r\n\r\n      'origin': {\r\n        get: function() {\r\n          // get expected port from protocol\r\n          var expectedPort = { 'http:': 80, 'https:': 443, 'ftp:': 21 }[this._anchorElement.protocol];\r\n          // add port to origin if, expected port is different than actual port\r\n          // and it is not empty f.e http://foo:8080\r\n          // 8080 != 80 && 8080 != ''\r\n          var addPortToOrigin = this._anchorElement.port != expectedPort &&\r\n            this._anchorElement.port !== '';\r\n\r\n          return this._anchorElement.protocol +\r\n            '//' +\r\n            this._anchorElement.hostname +\r\n            (addPortToOrigin ? (':' + this._anchorElement.port) : '');\r\n        },\r\n        enumerable: true\r\n      },\r\n\r\n      'password': { // TODO\r\n        get: function() {\r\n          return '';\r\n        },\r\n        set: function(value) {\r\n        },\r\n        enumerable: true\r\n      },\r\n\r\n      'username': { // TODO\r\n        get: function() {\r\n          return '';\r\n        },\r\n        set: function(value) {\r\n        },\r\n        enumerable: true\r\n      },\r\n    });\r\n\r\n    URL.createObjectURL = function(blob) {\r\n      return _URL.createObjectURL.apply(_URL, arguments);\r\n    };\r\n\r\n    URL.revokeObjectURL = function(url) {\r\n      return _URL.revokeObjectURL.apply(_URL, arguments);\r\n    };\r\n\r\n    global.URL = URL;\r\n\r\n  };\r\n\r\n  if (!checkIfURLIsSupported()) {\r\n    polyfillURL();\r\n  }\r\n\r\n  if ((global.location !== void 0) && !('origin' in global.location)) {\r\n    var getOrigin = function() {\r\n      return global.location.protocol + '//' + global.location.hostname + (global.location.port ? 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Simulate it. https://developer.mozilla.org/en-US/docs/Web/API/HTMLInputElement/setSelectionRange\n    selectedText = fakeCopyAction(target.value, options);\n  } else {\n    selectedText = select_default()(target);\n    command('copy');\n  }\n\n  return selectedText;\n};\n\n/* harmony default export */ var actions_copy = (ClipboardActionCopy);\n;// CONCATENATED MODULE: ./src/actions/default.js\nfunction _typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { _typeof = function _typeof(obj) { return typeof obj; }; } else { _typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return _typeof(obj); }\n\n\n\n/**\n * Inner function which performs selection from either `text` or `target`\n * properties and then executes copy or cut operations.\n * @param {Object} options\n */\n\nvar ClipboardActionDefault = function ClipboardActionDefault() {\n  var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n  // Defines base properties passed from constructor.\n  var _options$action = options.action,\n      action = _options$action === void 0 ? 'copy' : _options$action,\n      container = options.container,\n      target = options.target,\n      text = options.text; // Sets the `action` to be performed which can be either 'copy' or 'cut'.\n\n  if (action !== 'copy' && action !== 'cut') {\n    throw new Error('Invalid \"action\" value, use either \"copy\" or \"cut\"');\n  } // Sets the `target` property using an element that will be have its content copied.\n\n\n  if (target !== undefined) {\n    if (target && _typeof(target) === 'object' && target.nodeType === 1) {\n      if (action === 'copy' && target.hasAttribute('disabled')) {\n        throw new Error('Invalid \"target\" attribute. Please use \"readonly\" instead of \"disabled\" attribute');\n      }\n\n      if (action === 'cut' && (target.hasAttribute('readonly') || target.hasAttribute('disabled'))) {\n        throw new Error('Invalid \"target\" attribute. You can\\'t cut text from elements with \"readonly\" or \"disabled\" attributes');\n      }\n    } else {\n      throw new Error('Invalid \"target\" value, use a valid Element');\n    }\n  } // Define selection strategy based on `text` property.\n\n\n  if (text) {\n    return actions_copy(text, {\n      container: container\n    });\n  } // Defines which selection strategy based on `target` property.\n\n\n  if (target) {\n    return action === 'cut' ? actions_cut(target) : actions_copy(target, {\n      container: container\n    });\n  }\n};\n\n/* harmony default export */ var actions_default = (ClipboardActionDefault);\n;// CONCATENATED MODULE: ./src/clipboard.js\nfunction clipboard_typeof(obj) { \"@babel/helpers - typeof\"; if (typeof Symbol === \"function\" && typeof Symbol.iterator === \"symbol\") { clipboard_typeof = function _typeof(obj) { return typeof obj; }; } else { clipboard_typeof = function _typeof(obj) { return obj && typeof Symbol === \"function\" && obj.constructor === Symbol && obj !== Symbol.prototype ? \"symbol\" : typeof obj; }; } return clipboard_typeof(obj); }\n\nfunction _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError(\"Cannot call a class as a function\"); } }\n\nfunction _defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if (\"value\" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } }\n\nfunction _createClass(Constructor, protoProps, staticProps) { if (protoProps) _defineProperties(Constructor.prototype, protoProps); if (staticProps) _defineProperties(Constructor, staticProps); return Constructor; }\n\nfunction _inherits(subClass, superClass) { if (typeof superClass !== \"function\" && superClass !== null) { throw new TypeError(\"Super expression must either be null or a function\"); } subClass.prototype = Object.create(superClass && superClass.prototype, { constructor: { value: subClass, writable: true, configurable: true } }); if (superClass) _setPrototypeOf(subClass, superClass); }\n\nfunction _setPrototypeOf(o, p) { _setPrototypeOf = Object.setPrototypeOf || function _setPrototypeOf(o, p) { o.__proto__ = p; return o; }; return _setPrototypeOf(o, p); }\n\nfunction _createSuper(Derived) { var hasNativeReflectConstruct = _isNativeReflectConstruct(); return function _createSuperInternal() { var Super = _getPrototypeOf(Derived), result; if (hasNativeReflectConstruct) { var NewTarget = _getPrototypeOf(this).constructor; result = Reflect.construct(Super, arguments, NewTarget); } else { result = Super.apply(this, arguments); } return _possibleConstructorReturn(this, result); }; }\n\nfunction _possibleConstructorReturn(self, call) { if (call && (clipboard_typeof(call) === \"object\" || typeof call === \"function\")) { return call; } return _assertThisInitialized(self); }\n\nfunction _assertThisInitialized(self) { if (self === void 0) { throw new ReferenceError(\"this hasn't been initialised - super() hasn't been called\"); } return self; }\n\nfunction _isNativeReflectConstruct() { if (typeof Reflect === \"undefined\" || !Reflect.construct) return false; if (Reflect.construct.sham) return false; if (typeof Proxy === \"function\") return true; try { Date.prototype.toString.call(Reflect.construct(Date, [], function () {})); return true; } catch (e) { return false; } }\n\nfunction _getPrototypeOf(o) { _getPrototypeOf = Object.setPrototypeOf ? Object.getPrototypeOf : function _getPrototypeOf(o) { return o.__proto__ || Object.getPrototypeOf(o); }; return _getPrototypeOf(o); }\n\n\n\n\n\n\n/**\n * Helper function to retrieve attribute value.\n * @param {String} suffix\n * @param {Element} element\n */\n\nfunction getAttributeValue(suffix, element) {\n  var attribute = \"data-clipboard-\".concat(suffix);\n\n  if (!element.hasAttribute(attribute)) {\n    return;\n  }\n\n  return element.getAttribute(attribute);\n}\n/**\n * Base class which takes one or more elements, adds event listeners to them,\n * and instantiates a new `ClipboardAction` on each click.\n */\n\n\nvar Clipboard = /*#__PURE__*/function (_Emitter) {\n  _inherits(Clipboard, _Emitter);\n\n  var _super = _createSuper(Clipboard);\n\n  /**\n   * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n   * @param {Object} options\n   */\n  function Clipboard(trigger, options) {\n    var _this;\n\n    _classCallCheck(this, Clipboard);\n\n    _this = _super.call(this);\n\n    _this.resolveOptions(options);\n\n    _this.listenClick(trigger);\n\n    return _this;\n  }\n  /**\n   * Defines if attributes would be resolved using internal setter functions\n   * or custom functions that were passed in the constructor.\n   * @param {Object} options\n   */\n\n\n  _createClass(Clipboard, [{\n    key: \"resolveOptions\",\n    value: function resolveOptions() {\n      var options = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {};\n      this.action = typeof options.action === 'function' ? options.action : this.defaultAction;\n      this.target = typeof options.target === 'function' ? options.target : this.defaultTarget;\n      this.text = typeof options.text === 'function' ? options.text : this.defaultText;\n      this.container = clipboard_typeof(options.container) === 'object' ? options.container : document.body;\n    }\n    /**\n     * Adds a click event listener to the passed trigger.\n     * @param {String|HTMLElement|HTMLCollection|NodeList} trigger\n     */\n\n  }, {\n    key: \"listenClick\",\n    value: function listenClick(trigger) {\n      var _this2 = this;\n\n      this.listener = listen_default()(trigger, 'click', function (e) {\n        return _this2.onClick(e);\n      });\n    }\n    /**\n     * Defines a new `ClipboardAction` on each click event.\n     * @param {Event} e\n     */\n\n  }, {\n    key: \"onClick\",\n    value: function onClick(e) {\n      var trigger = e.delegateTarget || e.currentTarget;\n      var action = this.action(trigger) || 'copy';\n      var text = actions_default({\n        action: action,\n        container: this.container,\n        target: this.target(trigger),\n        text: this.text(trigger)\n      }); // Fires an event based on the copy operation result.\n\n      this.emit(text ? 'success' : 'error', {\n        action: action,\n        text: text,\n        trigger: trigger,\n        clearSelection: function clearSelection() {\n          if (trigger) {\n            trigger.focus();\n          }\n\n          window.getSelection().removeAllRanges();\n        }\n      });\n    }\n    /**\n     * Default `action` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultAction\",\n    value: function defaultAction(trigger) {\n      return getAttributeValue('action', trigger);\n    }\n    /**\n     * Default `target` lookup function.\n     * @param {Element} trigger\n     */\n\n  }, {\n    key: \"defaultTarget\",\n    value: function defaultTarget(trigger) {\n      var selector = getAttributeValue('target', trigger);\n\n      if (selector) {\n        return document.querySelector(selector);\n      }\n    }\n    /**\n     * Allow fire programmatically a copy action\n     * @param {String|HTMLElement} target\n     * @param {Object} options\n     * @returns Text copied.\n     */\n\n  }, {\n    key: \"defaultText\",\n\n    /**\n     * Default `text` lookup function.\n     * @param {Element} trigger\n     */\n    value: function defaultText(trigger) {\n      return getAttributeValue('text', trigger);\n    }\n    /**\n     * Destroy lifecycle.\n     */\n\n  }, {\n    key: \"destroy\",\n    value: function destroy() {\n      this.listener.destroy();\n    }\n  }], [{\n    key: \"copy\",\n    value: function copy(target) {\n      var options = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : {\n        container: document.body\n      };\n      return actions_copy(target, options);\n    }\n    /**\n     * Allow fire programmatically a cut action\n     * @param {String|HTMLElement} target\n     * @returns Text cutted.\n     */\n\n  }, {\n    key: \"cut\",\n    value: function cut(target) {\n      return actions_cut(target);\n    }\n    /**\n     * Returns the support of the given action, or all actions if no action is\n     * given.\n     * @param {String} [action]\n     */\n\n  }, {\n    key: \"isSupported\",\n    value: function isSupported() {\n      var action = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : ['copy', 'cut'];\n      var actions = typeof action === 'string' ? [action] : action;\n      var support = !!document.queryCommandSupported;\n      actions.forEach(function (action) {\n        support = support && !!document.queryCommandSupported(action);\n      });\n      return support;\n    }\n  }]);\n\n  return Clipboard;\n}((tiny_emitter_default()));\n\n/* harmony default export */ var clipboard = (Clipboard);\n\n/***/ }),\n\n/***/ 828:\n/***/ (function(module) {\n\nvar DOCUMENT_NODE_TYPE = 9;\n\n/**\n * A polyfill for Element.matches()\n */\nif (typeof Element !== 'undefined' && !Element.prototype.matches) {\n    var proto = Element.prototype;\n\n    proto.matches = proto.matchesSelector ||\n                    proto.mozMatchesSelector ||\n                    proto.msMatchesSelector ||\n                    proto.oMatchesSelector ||\n                    proto.webkitMatchesSelector;\n}\n\n/**\n * Finds the closest parent that matches a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @return {Function}\n */\nfunction closest (element, selector) {\n    while (element && element.nodeType !== DOCUMENT_NODE_TYPE) {\n        if (typeof element.matches === 'function' &&\n            element.matches(selector)) {\n          return element;\n        }\n        element = element.parentNode;\n    }\n}\n\nmodule.exports = closest;\n\n\n/***/ }),\n\n/***/ 438:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar closest = __webpack_require__(828);\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction _delegate(element, selector, type, callback, useCapture) {\n    var listenerFn = listener.apply(this, arguments);\n\n    element.addEventListener(type, listenerFn, useCapture);\n\n    return {\n        destroy: function() {\n            element.removeEventListener(type, listenerFn, useCapture);\n        }\n    }\n}\n\n/**\n * Delegates event to a selector.\n *\n * @param {Element|String|Array} [elements]\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @param {Boolean} useCapture\n * @return {Object}\n */\nfunction delegate(elements, selector, type, callback, useCapture) {\n    // Handle the regular Element usage\n    if (typeof elements.addEventListener === 'function') {\n        return _delegate.apply(null, arguments);\n    }\n\n    // Handle Element-less usage, it defaults to global delegation\n    if (typeof type === 'function') {\n        // Use `document` as the first parameter, then apply arguments\n        // This is a short way to .unshift `arguments` without running into deoptimizations\n        return _delegate.bind(null, document).apply(null, arguments);\n    }\n\n    // Handle Selector-based usage\n    if (typeof elements === 'string') {\n        elements = document.querySelectorAll(elements);\n    }\n\n    // Handle Array-like based usage\n    return Array.prototype.map.call(elements, function (element) {\n        return _delegate(element, selector, type, callback, useCapture);\n    });\n}\n\n/**\n * Finds closest match and invokes callback.\n *\n * @param {Element} element\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Function}\n */\nfunction listener(element, selector, type, callback) {\n    return function(e) {\n        e.delegateTarget = closest(e.target, selector);\n\n        if (e.delegateTarget) {\n            callback.call(element, e);\n        }\n    }\n}\n\nmodule.exports = delegate;\n\n\n/***/ }),\n\n/***/ 879:\n/***/ (function(__unused_webpack_module, exports) {\n\n/**\n * Check if argument is a HTML element.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.node = function(value) {\n    return value !== undefined\n        && value instanceof HTMLElement\n        && value.nodeType === 1;\n};\n\n/**\n * Check if argument is a list of HTML elements.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.nodeList = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return value !== undefined\n        && (type === '[object NodeList]' || type === '[object HTMLCollection]')\n        && ('length' in value)\n        && (value.length === 0 || exports.node(value[0]));\n};\n\n/**\n * Check if argument is a string.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.string = function(value) {\n    return typeof value === 'string'\n        || value instanceof String;\n};\n\n/**\n * Check if argument is a function.\n *\n * @param {Object} value\n * @return {Boolean}\n */\nexports.fn = function(value) {\n    var type = Object.prototype.toString.call(value);\n\n    return type === '[object Function]';\n};\n\n\n/***/ }),\n\n/***/ 370:\n/***/ (function(module, __unused_webpack_exports, __webpack_require__) {\n\nvar is = __webpack_require__(879);\nvar delegate = __webpack_require__(438);\n\n/**\n * Validates all params and calls the right\n * listener function based on its target type.\n *\n * @param {String|HTMLElement|HTMLCollection|NodeList} target\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listen(target, type, callback) {\n    if (!target && !type && !callback) {\n        throw new Error('Missing required arguments');\n    }\n\n    if (!is.string(type)) {\n        throw new TypeError('Second argument must be a String');\n    }\n\n    if (!is.fn(callback)) {\n        throw new TypeError('Third argument must be a Function');\n    }\n\n    if (is.node(target)) {\n        return listenNode(target, type, callback);\n    }\n    else if (is.nodeList(target)) {\n        return listenNodeList(target, type, callback);\n    }\n    else if (is.string(target)) {\n        return listenSelector(target, type, callback);\n    }\n    else {\n        throw new TypeError('First argument must be a String, HTMLElement, HTMLCollection, or NodeList');\n    }\n}\n\n/**\n * Adds an event listener to a HTML element\n * and returns a remove listener function.\n *\n * @param {HTMLElement} node\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNode(node, type, callback) {\n    node.addEventListener(type, callback);\n\n    return {\n        destroy: function() {\n            node.removeEventListener(type, callback);\n        }\n    }\n}\n\n/**\n * Add an event listener to a list of HTML elements\n * and returns a remove listener function.\n *\n * @param {NodeList|HTMLCollection} nodeList\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenNodeList(nodeList, type, callback) {\n    Array.prototype.forEach.call(nodeList, function(node) {\n        node.addEventListener(type, callback);\n    });\n\n    return {\n        destroy: function() {\n            Array.prototype.forEach.call(nodeList, function(node) {\n                node.removeEventListener(type, callback);\n            });\n        }\n    }\n}\n\n/**\n * Add an event listener to a selector\n * and returns a remove listener function.\n *\n * @param {String} selector\n * @param {String} type\n * @param {Function} callback\n * @return {Object}\n */\nfunction listenSelector(selector, type, callback) {\n    return delegate(document.body, selector, type, callback);\n}\n\nmodule.exports = listen;\n\n\n/***/ }),\n\n/***/ 817:\n/***/ (function(module) {\n\nfunction select(element) {\n    var selectedText;\n\n    if (element.nodeName === 'SELECT') {\n        element.focus();\n\n        selectedText = element.value;\n    }\n    else if (element.nodeName === 'INPUT' || element.nodeName === 'TEXTAREA') {\n        var isReadOnly = element.hasAttribute('readonly');\n\n        if (!isReadOnly) {\n            element.setAttribute('readonly', '');\n        }\n\n        element.select();\n        element.setSelectionRange(0, element.value.length);\n\n        if (!isReadOnly) {\n            element.removeAttribute('readonly');\n        }\n\n        selectedText = element.value;\n    }\n    else {\n        if (element.hasAttribute('contenteditable')) {\n            element.focus();\n        }\n\n        var selection = window.getSelection();\n        var range = document.createRange();\n\n        range.selectNodeContents(element);\n        selection.removeAllRanges();\n        selection.addRange(range);\n\n        selectedText = selection.toString();\n    }\n\n    return selectedText;\n}\n\nmodule.exports = select;\n\n\n/***/ }),\n\n/***/ 279:\n/***/ (function(module) {\n\nfunction E () {\n  // Keep this empty so it's easier to inherit from\n  // (via https://github.com/lipsmack from https://github.com/scottcorgan/tiny-emitter/issues/3)\n}\n\nE.prototype = {\n  on: function (name, callback, ctx) {\n    var e = this.e || (this.e = {});\n\n    (e[name] || (e[name] = [])).push({\n      fn: callback,\n      ctx: ctx\n    });\n\n    return this;\n  },\n\n  once: function (name, callback, ctx) {\n    var self = this;\n    function listener () {\n      self.off(name, listener);\n      callback.apply(ctx, arguments);\n    };\n\n    listener._ = callback\n    return this.on(name, listener, ctx);\n  },\n\n  emit: function (name) {\n    var data = [].slice.call(arguments, 1);\n    var evtArr = ((this.e || (this.e = {}))[name] || []).slice();\n    var i = 0;\n    var len = evtArr.length;\n\n    for (i; i < len; i++) {\n      evtArr[i].fn.apply(evtArr[i].ctx, data);\n    }\n\n    return this;\n  },\n\n  off: function (name, callback) {\n    var e = this.e || (this.e = {});\n    var evts = e[name];\n    var liveEvents = [];\n\n    if (evts && callback) {\n      for (var i = 0, len = evts.length; i < len; i++) {\n        if (evts[i].fn !== callback && evts[i].fn._ !== callback)\n          liveEvents.push(evts[i]);\n      }\n    }\n\n    // Remove event from queue to prevent memory leak\n    // Suggested by https://github.com/lazd\n    // Ref: https://github.com/scottcorgan/tiny-emitter/commit/c6ebfaa9bc973b33d110a84a307742b7cf94c953#commitcomment-5024910\n\n    (liveEvents.length)\n      ? e[name] = liveEvents\n      : delete e[name];\n\n    return this;\n  }\n};\n\nmodule.exports = E;\nmodule.exports.TinyEmitter = E;\n\n\n/***/ })\n\n/******/ \t});\n/************************************************************************/\n/******/ \t// The module cache\n/******/ \tvar __webpack_module_cache__ = {};\n/******/ \t\n/******/ \t// The require function\n/******/ \tfunction __webpack_require__(moduleId) {\n/******/ \t\t// Check if module is in cache\n/******/ \t\tif(__webpack_module_cache__[moduleId]) {\n/******/ \t\t\treturn __webpack_module_cache__[moduleId].exports;\n/******/ \t\t}\n/******/ \t\t// Create a new module (and put it into the cache)\n/******/ \t\tvar module = __webpack_module_cache__[moduleId] = {\n/******/ \t\t\t// no module.id needed\n/******/ \t\t\t// no module.loaded needed\n/******/ \t\t\texports: {}\n/******/ \t\t};\n/******/ \t\n/******/ \t\t// Execute the module function\n/******/ \t\t__webpack_modules__[moduleId](module, module.exports, __webpack_require__);\n/******/ \t\n/******/ \t\t// Return the exports of the module\n/******/ \t\treturn module.exports;\n/******/ \t}\n/******/ \t\n/************************************************************************/\n/******/ \t/* webpack/runtime/compat get default export */\n/******/ \t!function() {\n/******/ \t\t// getDefaultExport function for compatibility with non-harmony modules\n/******/ \t\t__webpack_require__.n = function(module) {\n/******/ \t\t\tvar getter = module && module.__esModule ?\n/******/ \t\t\t\tfunction() { return module['default']; } :\n/******/ \t\t\t\tfunction() { return module; };\n/******/ \t\t\t__webpack_require__.d(getter, { a: getter });\n/******/ \t\t\treturn getter;\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/define property getters */\n/******/ \t!function() {\n/******/ \t\t// define getter functions for harmony exports\n/******/ \t\t__webpack_require__.d = function(exports, definition) {\n/******/ \t\t\tfor(var key in definition) {\n/******/ \t\t\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n/******/ \t\t\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n/******/ \t\t\t\t}\n/******/ \t\t\t}\n/******/ \t\t};\n/******/ \t}();\n/******/ \t\n/******/ \t/* webpack/runtime/hasOwnProperty shorthand */\n/******/ \t!function() {\n/******/ \t\t__webpack_require__.o = function(obj, prop) { return Object.prototype.hasOwnProperty.call(obj, prop); }\n/******/ \t}();\n/******/ \t\n/************************************************************************/\n/******/ \t// module exports must be returned from runtime so entry inlining is disabled\n/******/ \t// startup\n/******/ \t// Load entry module and return exports\n/******/ \treturn __webpack_require__(686);\n/******/ })()\n.default;\n});", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param  {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n  var str = '' + string;\n  var match = matchHtmlRegExp.exec(str);\n\n  if (!match) {\n    return str;\n  }\n\n  var escape;\n  var html = '';\n  var index = 0;\n  var lastIndex = 0;\n\n  for (index = match.index; index < str.length; index++) {\n    switch (str.charCodeAt(index)) {\n      case 34: // \"\n        escape = '&quot;';\n        break;\n      case 38: // &\n        escape = '&amp;';\n        break;\n      case 39: // '\n        escape = '&#39;';\n        break;\n      case 60: // <\n        escape = '&lt;';\n        break;\n      case 62: // >\n        escape = '&gt;';\n        break;\n      default:\n        continue;\n    }\n\n    if (lastIndex !== index) {\n      html += str.substring(lastIndex, index);\n    }\n\n    lastIndex = index + 1;\n    html += escape;\n  }\n\n  return lastIndex !== index\n    ? html + str.substring(lastIndex, index)\n    : html;\n}\n", "Array.prototype.flat||Object.defineProperty(Array.prototype,\"flat\",{configurable:!0,value:function r(){var t=isNaN(arguments[0])?1:Number(arguments[0]);return t?Array.prototype.reduce.call(this,function(a,e){return Array.isArray(e)?a.push.apply(a,r.call(e,t-1)):a.push(e),a},[]):Array.prototype.slice.call(this)},writable:!0}),Array.prototype.flatMap||Object.defineProperty(Array.prototype,\"flatMap\",{configurable:!0,value:function(r){return Array.prototype.map.apply(this,arguments).flat()},writable:!0})\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport \"array-flat-polyfill\"\nimport \"focus-visible\"\nimport \"unfetch/polyfill\"\nimport \"url-polyfill\"\n\nimport {\n  EMPTY,\n  NEVER,\n  Subject,\n  defer,\n  delay,\n  filter,\n  map,\n  merge,\n  mergeWith,\n  shareReplay,\n  switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"./_\"\nimport {\n  at,\n  getOptionalElement,\n  requestJSON,\n  setToggle,\n  watchDocument,\n  watchKeyboard,\n  watchLocation,\n  watchLocationTarget,\n  watchMedia,\n  watchPrint,\n  watchViewport\n} from \"./browser\"\nimport {\n  getComponentElement,\n  getComponentElements,\n  mountBackToTop,\n  mountContent,\n  mountDialog,\n  mountHeader,\n  mountHeaderTitle,\n  mountPalette,\n  mountSearch,\n  mountSearchHiglight,\n  mountSidebar,\n  mountSource,\n  mountTableOfContents,\n  mountTabs,\n  watchHeader,\n  watchMain\n} from \"./components\"\nimport {\n  SearchIndex,\n  setupClipboardJS,\n  setupInstantLoading,\n  setupVersionSelector\n} from \"./integrations\"\nimport {\n  patchIndeterminate,\n  patchScrollfix,\n  patchScrolllock\n} from \"./patches\"\nimport \"./polyfills\"\n\n/* ----------------------------------------------------------------------------\n * Application\n * ------------------------------------------------------------------------- */\n\n/* Yay, JavaScript is available */\ndocument.documentElement.classList.remove(\"no-js\")\ndocument.documentElement.classList.add(\"js\")\n\n/* Set up navigation observables and subjects */\nconst document$ = watchDocument()\nconst location$ = watchLocation()\nconst target$   = watchLocationTarget()\nconst keyboard$ = watchKeyboard()\n\n/* Set up media observables */\nconst viewport$ = watchViewport()\nconst tablet$   = watchMedia(\"(min-width: 960px)\")\nconst screen$   = watchMedia(\"(min-width: 1220px)\")\nconst print$    = watchPrint()\n\n/* Retrieve search index, if search is enabled */\nconst config = configuration()\nconst index$ = document.forms.namedItem(\"search\")\n  ? __search?.index || requestJSON<SearchIndex>(\n    new URL(\"search/search_index.json\", config.base)\n  )\n  : NEVER\n\n/* Set up Clipboard.js integration */\nconst alert$ = new Subject<string>()\nsetupClipboardJS({ alert$ })\n\n/* Set up instant loading, if enabled */\nif (feature(\"navigation.instant\"))\n  setupInstantLoading({ document$, location$, viewport$ })\n\n/* Set up version selector */\nif (config.version?.provider === \"mike\")\n  setupVersionSelector({ document$ })\n\n/* Always close drawer and search on navigation */\nmerge(location$, target$)\n  .pipe(\n    delay(125)\n  )\n    .subscribe(() => {\n      setToggle(\"drawer\", false)\n      setToggle(\"search\", false)\n    })\n\n/* Set up global keyboard handlers */\nkeyboard$\n  .pipe(\n    filter(({ mode }) => mode === \"global\")\n  )\n    .subscribe(key => {\n      switch (key.type) {\n\n        /* Go to previous page */\n        case \"p\":\n        case \",\":\n          const prev = getOptionalElement(\"[href][rel=prev]\")\n          if (typeof prev !== \"undefined\")\n            prev.click()\n          break\n\n        /* Go to next page */\n        case \"n\":\n        case \".\":\n          const next = getOptionalElement(\"[href][rel=next]\")\n          if (typeof next !== \"undefined\")\n            next.click()\n          break\n      }\n    })\n\n/* Set up patches */\npatchIndeterminate({ document$, tablet$ })\npatchScrollfix({ document$ })\npatchScrolllock({ viewport$, tablet$ })\n\n/* Set up header and main area observable */\nconst header$ = watchHeader(getComponentElement(\"header\"), { viewport$ })\nconst main$ = document$\n  .pipe(\n    map(() => getComponentElement(\"main\")),\n    switchMap(el => watchMain(el, { viewport$, header$ })),\n    shareReplay(1)\n  )\n\n/* Set up control component observables */\nconst control$ = merge(\n\n  /* Dialog */\n  ...getComponentElements(\"dialog\")\n    .map(el => mountDialog(el, { alert$ })),\n\n  /* Header */\n  ...getComponentElements(\"header\")\n    .map(el => mountHeader(el, { viewport$, header$, main$ })),\n\n  /* Color palette */\n  ...getComponentElements(\"palette\")\n    .map(el => mountPalette(el)),\n\n  /* Search */\n  ...getComponentElements(\"search\")\n    .map(el => mountSearch(el, { index$, keyboard$ })),\n\n  /* Repository information */\n  ...getComponentElements(\"source\")\n    .map(el => mountSource(el))\n)\n\n/* Set up content component observables */\nconst content$ = defer(() => merge(\n\n  /* Content */\n  ...getComponentElements(\"content\")\n    .map(el => mountContent(el, { target$, print$ })),\n\n  /* Search highlighting */\n  ...getComponentElements(\"content\")\n    .map(el => feature(\"search.highlight\")\n      ? mountSearchHiglight(el, { index$, location$ })\n      : EMPTY\n    ),\n\n  /* Header title */\n  ...getComponentElements(\"header-title\")\n    .map(el => mountHeaderTitle(el, { viewport$, header$ })),\n\n  /* Sidebar */\n  ...getComponentElements(\"sidebar\")\n    .map(el => el.getAttribute(\"data-md-type\") === \"navigation\"\n      ? at(screen$, () => mountSidebar(el, { viewport$, header$, main$ }))\n      : at(tablet$, () => mountSidebar(el, { viewport$, header$, main$ }))\n    ),\n\n  /* Navigation tabs */\n  ...getComponentElements(\"tabs\")\n    .map(el => mountTabs(el, { viewport$, header$ })),\n\n  /* Table of contents */\n  ...getComponentElements(\"toc\")\n    .map(el => mountTableOfContents(el, { viewport$, header$, target$ })),\n\n  /* Back-to-top button */\n  ...getComponentElements(\"top\")\n    .map(el => mountBackToTop(el, { viewport$, header$, main$, target$ }))\n))\n\n/* Set up component observables */\nconst component$ = document$\n  .pipe(\n    switchMap(() => content$),\n    mergeWith(control$),\n    shareReplay(1)\n  )\n\n/* Subscribe to all components */\ncomponent$.subscribe()\n\n/* ----------------------------------------------------------------------------\n * Exports\n * ------------------------------------------------------------------------- */\n\nwindow.document$  = document$          /* Document observable */\nwindow.location$  = location$          /* Location subject */\nwindow.target$    = target$            /* Location target observable */\nwindow.keyboard$  = keyboard$          /* Keyboard observable */\nwindow.viewport$  = viewport$          /* Viewport observable */\nwindow.tablet$    = tablet$            /* Media tablet observable */\nwindow.screen$    = screen$            /* Media screen observable */\nwindow.print$     = print$             /* Media print observable */\nwindow.alert$     = alert$             /* Alert subject */\nwindow.component$ = component$         /* Component observable */\n", "self.fetch||(self.fetch=function(e,n){return n=n||{},new Promise(function(t,s){var r=new XMLHttpRequest,o=[],u=[],i={},a=function(){return{ok:2==(r.status/100|0),statusText:r.statusText,status:r.status,url:r.responseURL,text:function(){return Promise.resolve(r.responseText)},json:function(){return Promise.resolve(r.responseText).then(JSON.parse)},blob:function(){return Promise.resolve(new Blob([r.response]))},clone:a,headers:{keys:function(){return o},entries:function(){return u},get:function(e){return i[e.toLowerCase()]},has:function(e){return e.toLowerCase()in i}}}};for(var c in r.open(n.method||\"get\",e,!0),r.onload=function(){r.getAllResponseHeaders().replace(/^(.*?):[^\\S\\n]*([\\s\\S]*?)$/gm,function(e,n,t){o.push(n=n.toLowerCase()),u.push([n,t]),i[n]=i[n]?i[n]+\",\"+t:t}),t(a())},r.onerror=s,r.withCredentials=\"include\"==n.credentials,n.headers)r.setRequestHeader(c,n.headers[c]);r.send(n.body||null)})});\n", "import tslib from '../tslib.js';\r\nconst {\r\n    __extends,\r\n    __assign,\r\n    __rest,\r\n    __decorate,\r\n    __param,\r\n    __metadata,\r\n    __awaiter,\r\n    __generator,\r\n    __exportStar,\r\n    __createBinding,\r\n    __values,\r\n    __read,\r\n    __spread,\r\n    __spreadArrays,\r\n    __spreadArray,\r\n    __await,\r\n    __asyncGenerator,\r\n    __asyncDelegator,\r\n    __asyncValues,\r\n    __makeTemplateObject,\r\n    __importStar,\r\n    __importDefault,\r\n    __classPrivateFieldGet,\r\n    __classPrivateFieldSet,\r\n} = tslib;\r\nexport {\r\n    __extends,\r\n    __assign,\r\n    __rest,\r\n    __decorate,\r\n    __param,\r\n    __metadata,\r\n    __awaiter,\r\n    __generator,\r\n    __exportStar,\r\n    __createBinding,\r\n    __values,\r\n    __read,\r\n    __spread,\r\n    __spreadArrays,\r\n    __spreadArray,\r\n    __await,\r\n    __asyncGenerator,\r\n    __asyncDelegator,\r\n    __asyncValues,\r\n    __makeTemplateObject,\r\n    __importStar,\r\n    __importDefault,\r\n    __classPrivateFieldGet,\r\n    __classPrivateFieldSet,\r\n};\r\n", null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, null, "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ReplaySubject,\n  Subject,\n  fromEvent\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch document\n *\n * Documents are implemented as subjects, so all downstream observables are\n * automatically updated when a new document is emitted.\n *\n * @returns Document subject\n */\nexport function watchDocument(): Subject<Document> {\n  const document$ = new ReplaySubject<Document>(1)\n  fromEvent(document, \"DOMContentLoaded\", { once: true })\n    .subscribe(() => document$.next(document))\n\n  /* Return document */\n  return document$\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return document.activeElement instanceof HTMLElement\n    ? document.activeElement || undefined\n    : undefined\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  debounceTime,\n  distinctUntilChanged,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element focus\n *\n * Previously, this function used `focus` and `blur` events to determine whether\n * an element is focused, but this doesn't work if there are focusable elements\n * within the elements itself. A better solutions are `focusin` and `focusout`\n * events, which bubble up the tree and allow for more fine-grained control.\n *\n * `debounceTime` is necessary, because when a focus change happens inside an\n * element, the observable would first emit `false` and then `true` again.\n *\n * @param el - Element\n *\n * @returns Element focus observable\n */\nexport function watchElementFocus(\n  el: HTMLElement\n): Observable<boolean> {\n  return merge(\n    fromEvent(document.body, \"focusin\"),\n    fromEvent(document.body, \"focusout\")\n  )\n    .pipe(\n      debounceTime(1),\n      map(() => {\n        const active = getActiveElement()\n        return typeof active !== \"undefined\"\n          ? el.contains(active)\n          : false\n      }),\n      startWith(el === getActiveElement()),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element offset\n *\n * @param el - Element\n *\n * @returns Element offset\n */\nexport function getElementOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.offsetLeft,\n    y: el.offsetTop\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element offset\n *\n * @param el - Element\n *\n * @returns Element offset observable\n */\nexport function watchElementOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(window, \"load\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementOffset(el)),\n      startWith(getElementOffset(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  animationFrameScheduler,\n  auditTime,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\nimport { ElementOffset } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content offset (= scroll offset)\n *\n * @param el - Element\n *\n * @returns Element content offset\n */\nexport function getElementContentOffset(\n  el: HTMLElement\n): ElementOffset {\n  return {\n    x: el.scrollLeft,\n    y: el.scrollTop\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element content offset\n *\n * @param el - Element\n *\n * @returns Element content offset observable\n */\nexport function watchElementContentOffset(\n  el: HTMLElement\n): Observable<ElementOffset> {\n  return merge(\n    fromEvent(el, \"scroll\"),\n    fromEvent(window, \"resize\")\n  )\n    .pipe(\n      auditTime(0, animationFrameScheduler),\n      map(() => getElementContentOffset(el)),\n      startWith(getElementContentOffset(el))\n    )\n}\n", "/**\r\n * A collection of shims that provide minimal functionality of the ES6 collections.\r\n *\r\n * These implementations are not meant to be used outside of the ResizeObserver\r\n * modules as they cover only a limited range of use cases.\r\n */\r\n/* eslint-disable require-jsdoc, valid-jsdoc */\r\nvar MapShim = (function () {\r\n    if (typeof Map !== 'undefined') {\r\n        return Map;\r\n    }\r\n    /**\r\n     * Returns index in provided array that matches the specified key.\r\n     *\r\n     * @param {Array<Array>} arr\r\n     * @param {*} key\r\n     * @returns {number}\r\n     */\r\n    function getIndex(arr, key) {\r\n        var result = -1;\r\n        arr.some(function (entry, index) {\r\n            if (entry[0] === key) {\r\n                result = index;\r\n                return true;\r\n            }\r\n            return false;\r\n        });\r\n        return result;\r\n    }\r\n    return /** @class */ (function () {\r\n        function class_1() {\r\n            this.__entries__ = [];\r\n        }\r\n        Object.defineProperty(class_1.prototype, \"size\", {\r\n            /**\r\n             * @returns {boolean}\r\n             */\r\n            get: function () {\r\n                return this.__entries__.length;\r\n            },\r\n            enumerable: true,\r\n            configurable: true\r\n        });\r\n        /**\r\n         * @param {*} key\r\n         * @returns {*}\r\n         */\r\n        class_1.prototype.get = function (key) {\r\n            var index = getIndex(this.__entries__, key);\r\n            var entry = this.__entries__[index];\r\n            return entry && entry[1];\r\n        };\r\n        /**\r\n         * @param {*} key\r\n         * @param {*} value\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.set = function (key, value) {\r\n            var index = getIndex(this.__entries__, key);\r\n            if (~index) {\r\n                this.__entries__[index][1] = value;\r\n            }\r\n            else {\r\n                this.__entries__.push([key, value]);\r\n            }\r\n        };\r\n        /**\r\n         * @param {*} key\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.delete = function (key) {\r\n            var entries = this.__entries__;\r\n            var index = getIndex(entries, key);\r\n            if (~index) {\r\n                entries.splice(index, 1);\r\n            }\r\n        };\r\n        /**\r\n         * @param {*} key\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.has = function (key) {\r\n            return !!~getIndex(this.__entries__, key);\r\n        };\r\n        /**\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.clear = function () {\r\n            this.__entries__.splice(0);\r\n        };\r\n        /**\r\n         * @param {Function} callback\r\n         * @param {*} [ctx=null]\r\n         * @returns {void}\r\n         */\r\n        class_1.prototype.forEach = function (callback, ctx) {\r\n            if (ctx === void 0) { ctx = null; }\r\n            for (var _i = 0, _a = this.__entries__; _i < _a.length; _i++) {\r\n                var entry = _a[_i];\r\n                callback.call(ctx, entry[1], entry[0]);\r\n            }\r\n        };\r\n        return class_1;\r\n    }());\r\n})();\n\n/**\r\n * Detects whether window and document objects are available in current environment.\r\n */\r\nvar isBrowser = typeof window !== 'undefined' && typeof document !== 'undefined' && window.document === document;\n\n// Returns global object of a current environment.\r\nvar global$1 = (function () {\r\n    if (typeof global !== 'undefined' && global.Math === Math) {\r\n        return global;\r\n    }\r\n    if (typeof self !== 'undefined' && self.Math === Math) {\r\n        return self;\r\n    }\r\n    if (typeof window !== 'undefined' && window.Math === Math) {\r\n        return window;\r\n    }\r\n    // eslint-disable-next-line no-new-func\r\n    return Function('return this')();\r\n})();\n\n/**\r\n * A shim for the requestAnimationFrame which falls back to the setTimeout if\r\n * first one is not supported.\r\n *\r\n * @returns {number} Requests' identifier.\r\n */\r\nvar requestAnimationFrame$1 = (function () {\r\n    if (typeof requestAnimationFrame === 'function') {\r\n        // It's required to use a bounded function because IE sometimes throws\r\n        // an \"Invalid calling object\" error if rAF is invoked without the global\r\n        // object on the left hand side.\r\n        return requestAnimationFrame.bind(global$1);\r\n    }\r\n    return function (callback) { return setTimeout(function () { return callback(Date.now()); }, 1000 / 60); };\r\n})();\n\n// Defines minimum timeout before adding a trailing call.\r\nvar trailingTimeout = 2;\r\n/**\r\n * Creates a wrapper function which ensures that provided callback will be\r\n * invoked only once during the specified delay period.\r\n *\r\n * @param {Function} callback - Function to be invoked after the delay period.\r\n * @param {number} delay - Delay after which to invoke callback.\r\n * @returns {Function}\r\n */\r\nfunction throttle (callback, delay) {\r\n    var leadingCall = false, trailingCall = false, lastCallTime = 0;\r\n    /**\r\n     * Invokes the original callback function and schedules new invocation if\r\n     * the \"proxy\" was called during current request.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    function resolvePending() {\r\n        if (leadingCall) {\r\n            leadingCall = false;\r\n            callback();\r\n        }\r\n        if (trailingCall) {\r\n            proxy();\r\n        }\r\n    }\r\n    /**\r\n     * Callback invoked after the specified delay. It will further postpone\r\n     * invocation of the original function delegating it to the\r\n     * requestAnimationFrame.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    function timeoutCallback() {\r\n        requestAnimationFrame$1(resolvePending);\r\n    }\r\n    /**\r\n     * Schedules invocation of the original function.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    function proxy() {\r\n        var timeStamp = Date.now();\r\n        if (leadingCall) {\r\n            // Reject immediately following calls.\r\n            if (timeStamp - lastCallTime < trailingTimeout) {\r\n                return;\r\n            }\r\n            // Schedule new call to be in invoked when the pending one is resolved.\r\n            // This is important for \"transitions\" which never actually start\r\n            // immediately so there is a chance that we might miss one if change\r\n            // happens amids the pending invocation.\r\n            trailingCall = true;\r\n        }\r\n        else {\r\n            leadingCall = true;\r\n            trailingCall = false;\r\n            setTimeout(timeoutCallback, delay);\r\n        }\r\n        lastCallTime = timeStamp;\r\n    }\r\n    return proxy;\r\n}\n\n// Minimum delay before invoking the update of observers.\r\nvar REFRESH_DELAY = 20;\r\n// A list of substrings of CSS properties used to find transition events that\r\n// might affect dimensions of observed elements.\r\nvar transitionKeys = ['top', 'right', 'bottom', 'left', 'width', 'height', 'size', 'weight'];\r\n// Check if MutationObserver is available.\r\nvar mutationObserverSupported = typeof MutationObserver !== 'undefined';\r\n/**\r\n * Singleton controller class which handles updates of ResizeObserver instances.\r\n */\r\nvar ResizeObserverController = /** @class */ (function () {\r\n    /**\r\n     * Creates a new instance of ResizeObserverController.\r\n     *\r\n     * @private\r\n     */\r\n    function ResizeObserverController() {\r\n        /**\r\n         * Indicates whether DOM listeners have been added.\r\n         *\r\n         * @private {boolean}\r\n         */\r\n        this.connected_ = false;\r\n        /**\r\n         * Tells that controller has subscribed for Mutation Events.\r\n         *\r\n         * @private {boolean}\r\n         */\r\n        this.mutationEventsAdded_ = false;\r\n        /**\r\n         * Keeps reference to the instance of MutationObserver.\r\n         *\r\n         * @private {MutationObserver}\r\n         */\r\n        this.mutationsObserver_ = null;\r\n        /**\r\n         * A list of connected observers.\r\n         *\r\n         * @private {Array<ResizeObserverSPI>}\r\n         */\r\n        this.observers_ = [];\r\n        this.onTransitionEnd_ = this.onTransitionEnd_.bind(this);\r\n        this.refresh = throttle(this.refresh.bind(this), REFRESH_DELAY);\r\n    }\r\n    /**\r\n     * Adds observer to observers list.\r\n     *\r\n     * @param {ResizeObserverSPI} observer - Observer to be added.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.addObserver = function (observer) {\r\n        if (!~this.observers_.indexOf(observer)) {\r\n            this.observers_.push(observer);\r\n        }\r\n        // Add listeners if they haven't been added yet.\r\n        if (!this.connected_) {\r\n            this.connect_();\r\n        }\r\n    };\r\n    /**\r\n     * Removes observer from observers list.\r\n     *\r\n     * @param {ResizeObserverSPI} observer - Observer to be removed.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.removeObserver = function (observer) {\r\n        var observers = this.observers_;\r\n        var index = observers.indexOf(observer);\r\n        // Remove observer if it's present in registry.\r\n        if (~index) {\r\n            observers.splice(index, 1);\r\n        }\r\n        // Remove listeners if controller has no connected observers.\r\n        if (!observers.length && this.connected_) {\r\n            this.disconnect_();\r\n        }\r\n    };\r\n    /**\r\n     * Invokes the update of observers. It will continue running updates insofar\r\n     * it detects changes.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.refresh = function () {\r\n        var changesDetected = this.updateObservers_();\r\n        // Continue running updates if changes have been detected as there might\r\n        // be future ones caused by CSS transitions.\r\n        if (changesDetected) {\r\n            this.refresh();\r\n        }\r\n    };\r\n    /**\r\n     * Updates every observer from observers list and notifies them of queued\r\n     * entries.\r\n     *\r\n     * @private\r\n     * @returns {boolean} Returns \"true\" if any observer has detected changes in\r\n     *      dimensions of it's elements.\r\n     */\r\n    ResizeObserverController.prototype.updateObservers_ = function () {\r\n        // Collect observers that have active observations.\r\n        var activeObservers = this.observers_.filter(function (observer) {\r\n            return observer.gatherActive(), observer.hasActive();\r\n        });\r\n        // Deliver notifications in a separate cycle in order to avoid any\r\n        // collisions between observers, e.g. when multiple instances of\r\n        // ResizeObserver are tracking the same element and the callback of one\r\n        // of them changes content dimensions of the observed target. Sometimes\r\n        // this may result in notifications being blocked for the rest of observers.\r\n        activeObservers.forEach(function (observer) { return observer.broadcastActive(); });\r\n        return activeObservers.length > 0;\r\n    };\r\n    /**\r\n     * Initializes DOM listeners.\r\n     *\r\n     * @private\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.connect_ = function () {\r\n        // Do nothing if running in a non-browser environment or if listeners\r\n        // have been already added.\r\n        if (!isBrowser || this.connected_) {\r\n            return;\r\n        }\r\n        // Subscription to the \"Transitionend\" event is used as a workaround for\r\n        // delayed transitions. This way it's possible to capture at least the\r\n        // final state of an element.\r\n        document.addEventListener('transitionend', this.onTransitionEnd_);\r\n        window.addEventListener('resize', this.refresh);\r\n        if (mutationObserverSupported) {\r\n            this.mutationsObserver_ = new MutationObserver(this.refresh);\r\n            this.mutationsObserver_.observe(document, {\r\n                attributes: true,\r\n                childList: true,\r\n                characterData: true,\r\n                subtree: true\r\n            });\r\n        }\r\n        else {\r\n            document.addEventListener('DOMSubtreeModified', this.refresh);\r\n            this.mutationEventsAdded_ = true;\r\n        }\r\n        this.connected_ = true;\r\n    };\r\n    /**\r\n     * Removes DOM listeners.\r\n     *\r\n     * @private\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.disconnect_ = function () {\r\n        // Do nothing if running in a non-browser environment or if listeners\r\n        // have been already removed.\r\n        if (!isBrowser || !this.connected_) {\r\n            return;\r\n        }\r\n        document.removeEventListener('transitionend', this.onTransitionEnd_);\r\n        window.removeEventListener('resize', this.refresh);\r\n        if (this.mutationsObserver_) {\r\n            this.mutationsObserver_.disconnect();\r\n        }\r\n        if (this.mutationEventsAdded_) {\r\n            document.removeEventListener('DOMSubtreeModified', this.refresh);\r\n        }\r\n        this.mutationsObserver_ = null;\r\n        this.mutationEventsAdded_ = false;\r\n        this.connected_ = false;\r\n    };\r\n    /**\r\n     * \"Transitionend\" event handler.\r\n     *\r\n     * @private\r\n     * @param {TransitionEvent} event\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverController.prototype.onTransitionEnd_ = function (_a) {\r\n        var _b = _a.propertyName, propertyName = _b === void 0 ? '' : _b;\r\n        // Detect whether transition may affect dimensions of an element.\r\n        var isReflowProperty = transitionKeys.some(function (key) {\r\n            return !!~propertyName.indexOf(key);\r\n        });\r\n        if (isReflowProperty) {\r\n            this.refresh();\r\n        }\r\n    };\r\n    /**\r\n     * Returns instance of the ResizeObserverController.\r\n     *\r\n     * @returns {ResizeObserverController}\r\n     */\r\n    ResizeObserverController.getInstance = function () {\r\n        if (!this.instance_) {\r\n            this.instance_ = new ResizeObserverController();\r\n        }\r\n        return this.instance_;\r\n    };\r\n    /**\r\n     * Holds reference to the controller's instance.\r\n     *\r\n     * @private {ResizeObserverController}\r\n     */\r\n    ResizeObserverController.instance_ = null;\r\n    return ResizeObserverController;\r\n}());\n\n/**\r\n * Defines non-writable/enumerable properties of the provided target object.\r\n *\r\n * @param {Object} target - Object for which to define properties.\r\n * @param {Object} props - Properties to be defined.\r\n * @returns {Object} Target object.\r\n */\r\nvar defineConfigurable = (function (target, props) {\r\n    for (var _i = 0, _a = Object.keys(props); _i < _a.length; _i++) {\r\n        var key = _a[_i];\r\n        Object.defineProperty(target, key, {\r\n            value: props[key],\r\n            enumerable: false,\r\n            writable: false,\r\n            configurable: true\r\n        });\r\n    }\r\n    return target;\r\n});\n\n/**\r\n * Returns the global object associated with provided element.\r\n *\r\n * @param {Object} target\r\n * @returns {Object}\r\n */\r\nvar getWindowOf = (function (target) {\r\n    // Assume that the element is an instance of Node, which means that it\r\n    // has the \"ownerDocument\" property from which we can retrieve a\r\n    // corresponding global object.\r\n    var ownerGlobal = target && target.ownerDocument && target.ownerDocument.defaultView;\r\n    // Return the local global object if it's not possible extract one from\r\n    // provided element.\r\n    return ownerGlobal || global$1;\r\n});\n\n// Placeholder of an empty content rectangle.\r\nvar emptyRect = createRectInit(0, 0, 0, 0);\r\n/**\r\n * Converts provided string to a number.\r\n *\r\n * @param {number|string} value\r\n * @returns {number}\r\n */\r\nfunction toFloat(value) {\r\n    return parseFloat(value) || 0;\r\n}\r\n/**\r\n * Extracts borders size from provided styles.\r\n *\r\n * @param {CSSStyleDeclaration} styles\r\n * @param {...string} positions - Borders positions (top, right, ...)\r\n * @returns {number}\r\n */\r\nfunction getBordersSize(styles) {\r\n    var positions = [];\r\n    for (var _i = 1; _i < arguments.length; _i++) {\r\n        positions[_i - 1] = arguments[_i];\r\n    }\r\n    return positions.reduce(function (size, position) {\r\n        var value = styles['border-' + position + '-width'];\r\n        return size + toFloat(value);\r\n    }, 0);\r\n}\r\n/**\r\n * Extracts paddings sizes from provided styles.\r\n *\r\n * @param {CSSStyleDeclaration} styles\r\n * @returns {Object} Paddings box.\r\n */\r\nfunction getPaddings(styles) {\r\n    var positions = ['top', 'right', 'bottom', 'left'];\r\n    var paddings = {};\r\n    for (var _i = 0, positions_1 = positions; _i < positions_1.length; _i++) {\r\n        var position = positions_1[_i];\r\n        var value = styles['padding-' + position];\r\n        paddings[position] = toFloat(value);\r\n    }\r\n    return paddings;\r\n}\r\n/**\r\n * Calculates content rectangle of provided SVG element.\r\n *\r\n * @param {SVGGraphicsElement} target - Element content rectangle of which needs\r\n *      to be calculated.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction getSVGContentRect(target) {\r\n    var bbox = target.getBBox();\r\n    return createRectInit(0, 0, bbox.width, bbox.height);\r\n}\r\n/**\r\n * Calculates content rectangle of provided HTMLElement.\r\n *\r\n * @param {HTMLElement} target - Element for which to calculate the content rectangle.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction getHTMLElementContentRect(target) {\r\n    // Client width & height properties can't be\r\n    // used exclusively as they provide rounded values.\r\n    var clientWidth = target.clientWidth, clientHeight = target.clientHeight;\r\n    // By this condition we can catch all non-replaced inline, hidden and\r\n    // detached elements. Though elements with width & height properties less\r\n    // than 0.5 will be discarded as well.\r\n    //\r\n    // Without it we would need to implement separate methods for each of\r\n    // those cases and it's not possible to perform a precise and performance\r\n    // effective test for hidden elements. E.g. even jQuery's ':visible' filter\r\n    // gives wrong results for elements with width & height less than 0.5.\r\n    if (!clientWidth && !clientHeight) {\r\n        return emptyRect;\r\n    }\r\n    var styles = getWindowOf(target).getComputedStyle(target);\r\n    var paddings = getPaddings(styles);\r\n    var horizPad = paddings.left + paddings.right;\r\n    var vertPad = paddings.top + paddings.bottom;\r\n    // Computed styles of width & height are being used because they are the\r\n    // only dimensions available to JS that contain non-rounded values. It could\r\n    // be possible to utilize the getBoundingClientRect if only it's data wasn't\r\n    // affected by CSS transformations let alone paddings, borders and scroll bars.\r\n    var width = toFloat(styles.width), height = toFloat(styles.height);\r\n    // Width & height include paddings and borders when the 'border-box' box\r\n    // model is applied (except for IE).\r\n    if (styles.boxSizing === 'border-box') {\r\n        // Following conditions are required to handle Internet Explorer which\r\n        // doesn't include paddings and borders to computed CSS dimensions.\r\n        //\r\n        // We can say that if CSS dimensions + paddings are equal to the \"client\"\r\n        // properties then it's either IE, and thus we don't need to subtract\r\n        // anything, or an element merely doesn't have paddings/borders styles.\r\n        if (Math.round(width + horizPad) !== clientWidth) {\r\n            width -= getBordersSize(styles, 'left', 'right') + horizPad;\r\n        }\r\n        if (Math.round(height + vertPad) !== clientHeight) {\r\n            height -= getBordersSize(styles, 'top', 'bottom') + vertPad;\r\n        }\r\n    }\r\n    // Following steps can't be applied to the document's root element as its\r\n    // client[Width/Height] properties represent viewport area of the window.\r\n    // Besides, it's as well not necessary as the <html> itself neither has\r\n    // rendered scroll bars nor it can be clipped.\r\n    if (!isDocumentElement(target)) {\r\n        // In some browsers (only in Firefox, actually) CSS width & height\r\n        // include scroll bars size which can be removed at this step as scroll\r\n        // bars are the only difference between rounded dimensions + paddings\r\n        // and \"client\" properties, though that is not always true in Chrome.\r\n        var vertScrollbar = Math.round(width + horizPad) - clientWidth;\r\n        var horizScrollbar = Math.round(height + vertPad) - clientHeight;\r\n        // Chrome has a rather weird rounding of \"client\" properties.\r\n        // E.g. for an element with content width of 314.2px it sometimes gives\r\n        // the client width of 315px and for the width of 314.7px it may give\r\n        // 314px. And it doesn't happen all the time. So just ignore this delta\r\n        // as a non-relevant.\r\n        if (Math.abs(vertScrollbar) !== 1) {\r\n            width -= vertScrollbar;\r\n        }\r\n        if (Math.abs(horizScrollbar) !== 1) {\r\n            height -= horizScrollbar;\r\n        }\r\n    }\r\n    return createRectInit(paddings.left, paddings.top, width, height);\r\n}\r\n/**\r\n * Checks whether provided element is an instance of the SVGGraphicsElement.\r\n *\r\n * @param {Element} target - Element to be checked.\r\n * @returns {boolean}\r\n */\r\nvar isSVGGraphicsElement = (function () {\r\n    // Some browsers, namely IE and Edge, don't have the SVGGraphicsElement\r\n    // interface.\r\n    if (typeof SVGGraphicsElement !== 'undefined') {\r\n        return function (target) { return target instanceof getWindowOf(target).SVGGraphicsElement; };\r\n    }\r\n    // If it's so, then check that element is at least an instance of the\r\n    // SVGElement and that it has the \"getBBox\" method.\r\n    // eslint-disable-next-line no-extra-parens\r\n    return function (target) { return (target instanceof getWindowOf(target).SVGElement &&\r\n        typeof target.getBBox === 'function'); };\r\n})();\r\n/**\r\n * Checks whether provided element is a document element (<html>).\r\n *\r\n * @param {Element} target - Element to be checked.\r\n * @returns {boolean}\r\n */\r\nfunction isDocumentElement(target) {\r\n    return target === getWindowOf(target).document.documentElement;\r\n}\r\n/**\r\n * Calculates an appropriate content rectangle for provided html or svg element.\r\n *\r\n * @param {Element} target - Element content rectangle of which needs to be calculated.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction getContentRect(target) {\r\n    if (!isBrowser) {\r\n        return emptyRect;\r\n    }\r\n    if (isSVGGraphicsElement(target)) {\r\n        return getSVGContentRect(target);\r\n    }\r\n    return getHTMLElementContentRect(target);\r\n}\r\n/**\r\n * Creates rectangle with an interface of the DOMRectReadOnly.\r\n * Spec: https://drafts.fxtf.org/geometry/#domrectreadonly\r\n *\r\n * @param {DOMRectInit} rectInit - Object with rectangle's x/y coordinates and dimensions.\r\n * @returns {DOMRectReadOnly}\r\n */\r\nfunction createReadOnlyRect(_a) {\r\n    var x = _a.x, y = _a.y, width = _a.width, height = _a.height;\r\n    // If DOMRectReadOnly is available use it as a prototype for the rectangle.\r\n    var Constr = typeof DOMRectReadOnly !== 'undefined' ? DOMRectReadOnly : Object;\r\n    var rect = Object.create(Constr.prototype);\r\n    // Rectangle's properties are not writable and non-enumerable.\r\n    defineConfigurable(rect, {\r\n        x: x, y: y, width: width, height: height,\r\n        top: y,\r\n        right: x + width,\r\n        bottom: height + y,\r\n        left: x\r\n    });\r\n    return rect;\r\n}\r\n/**\r\n * Creates DOMRectInit object based on the provided dimensions and the x/y coordinates.\r\n * Spec: https://drafts.fxtf.org/geometry/#dictdef-domrectinit\r\n *\r\n * @param {number} x - X coordinate.\r\n * @param {number} y - Y coordinate.\r\n * @param {number} width - Rectangle's width.\r\n * @param {number} height - Rectangle's height.\r\n * @returns {DOMRectInit}\r\n */\r\nfunction createRectInit(x, y, width, height) {\r\n    return { x: x, y: y, width: width, height: height };\r\n}\n\n/**\r\n * Class that is responsible for computations of the content rectangle of\r\n * provided DOM element and for keeping track of it's changes.\r\n */\r\nvar ResizeObservation = /** @class */ (function () {\r\n    /**\r\n     * Creates an instance of ResizeObservation.\r\n     *\r\n     * @param {Element} target - Element to be observed.\r\n     */\r\n    function ResizeObservation(target) {\r\n        /**\r\n         * Broadcasted width of content rectangle.\r\n         *\r\n         * @type {number}\r\n         */\r\n        this.broadcastWidth = 0;\r\n        /**\r\n         * Broadcasted height of content rectangle.\r\n         *\r\n         * @type {number}\r\n         */\r\n        this.broadcastHeight = 0;\r\n        /**\r\n         * Reference to the last observed content rectangle.\r\n         *\r\n         * @private {DOMRectInit}\r\n         */\r\n        this.contentRect_ = createRectInit(0, 0, 0, 0);\r\n        this.target = target;\r\n    }\r\n    /**\r\n     * Updates content rectangle and tells whether it's width or height properties\r\n     * have changed since the last broadcast.\r\n     *\r\n     * @returns {boolean}\r\n     */\r\n    ResizeObservation.prototype.isActive = function () {\r\n        var rect = getContentRect(this.target);\r\n        this.contentRect_ = rect;\r\n        return (rect.width !== this.broadcastWidth ||\r\n            rect.height !== this.broadcastHeight);\r\n    };\r\n    /**\r\n     * Updates 'broadcastWidth' and 'broadcastHeight' properties with a data\r\n     * from the corresponding properties of the last observed content rectangle.\r\n     *\r\n     * @returns {DOMRectInit} Last observed content rectangle.\r\n     */\r\n    ResizeObservation.prototype.broadcastRect = function () {\r\n        var rect = this.contentRect_;\r\n        this.broadcastWidth = rect.width;\r\n        this.broadcastHeight = rect.height;\r\n        return rect;\r\n    };\r\n    return ResizeObservation;\r\n}());\n\nvar ResizeObserverEntry = /** @class */ (function () {\r\n    /**\r\n     * Creates an instance of ResizeObserverEntry.\r\n     *\r\n     * @param {Element} target - Element that is being observed.\r\n     * @param {DOMRectInit} rectInit - Data of the element's content rectangle.\r\n     */\r\n    function ResizeObserverEntry(target, rectInit) {\r\n        var contentRect = createReadOnlyRect(rectInit);\r\n        // According to the specification following properties are not writable\r\n        // and are also not enumerable in the native implementation.\r\n        //\r\n        // Property accessors are not being used as they'd require to define a\r\n        // private WeakMap storage which may cause memory leaks in browsers that\r\n        // don't support this type of collections.\r\n        defineConfigurable(this, { target: target, contentRect: contentRect });\r\n    }\r\n    return ResizeObserverEntry;\r\n}());\n\nvar ResizeObserverSPI = /** @class */ (function () {\r\n    /**\r\n     * Creates a new instance of ResizeObserver.\r\n     *\r\n     * @param {ResizeObserverCallback} callback - Callback function that is invoked\r\n     *      when one of the observed elements changes it's content dimensions.\r\n     * @param {ResizeObserverController} controller - Controller instance which\r\n     *      is responsible for the updates of observer.\r\n     * @param {ResizeObserver} callbackCtx - Reference to the public\r\n     *      ResizeObserver instance which will be passed to callback function.\r\n     */\r\n    function ResizeObserverSPI(callback, controller, callbackCtx) {\r\n        /**\r\n         * Collection of resize observations that have detected changes in dimensions\r\n         * of elements.\r\n         *\r\n         * @private {Array<ResizeObservation>}\r\n         */\r\n        this.activeObservations_ = [];\r\n        /**\r\n         * Registry of the ResizeObservation instances.\r\n         *\r\n         * @private {Map<Element, ResizeObservation>}\r\n         */\r\n        this.observations_ = new MapShim();\r\n        if (typeof callback !== 'function') {\r\n            throw new TypeError('The callback provided as parameter 1 is not a function.');\r\n        }\r\n        this.callback_ = callback;\r\n        this.controller_ = controller;\r\n        this.callbackCtx_ = callbackCtx;\r\n    }\r\n    /**\r\n     * Starts observing provided element.\r\n     *\r\n     * @param {Element} target - Element to be observed.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.observe = function (target) {\r\n        if (!arguments.length) {\r\n            throw new TypeError('1 argument required, but only 0 present.');\r\n        }\r\n        // Do nothing if current environment doesn't have the Element interface.\r\n        if (typeof Element === 'undefined' || !(Element instanceof Object)) {\r\n            return;\r\n        }\r\n        if (!(target instanceof getWindowOf(target).Element)) {\r\n            throw new TypeError('parameter 1 is not of type \"Element\".');\r\n        }\r\n        var observations = this.observations_;\r\n        // Do nothing if element is already being observed.\r\n        if (observations.has(target)) {\r\n            return;\r\n        }\r\n        observations.set(target, new ResizeObservation(target));\r\n        this.controller_.addObserver(this);\r\n        // Force the update of observations.\r\n        this.controller_.refresh();\r\n    };\r\n    /**\r\n     * Stops observing provided element.\r\n     *\r\n     * @param {Element} target - Element to stop observing.\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.unobserve = function (target) {\r\n        if (!arguments.length) {\r\n            throw new TypeError('1 argument required, but only 0 present.');\r\n        }\r\n        // Do nothing if current environment doesn't have the Element interface.\r\n        if (typeof Element === 'undefined' || !(Element instanceof Object)) {\r\n            return;\r\n        }\r\n        if (!(target instanceof getWindowOf(target).Element)) {\r\n            throw new TypeError('parameter 1 is not of type \"Element\".');\r\n        }\r\n        var observations = this.observations_;\r\n        // Do nothing if element is not being observed.\r\n        if (!observations.has(target)) {\r\n            return;\r\n        }\r\n        observations.delete(target);\r\n        if (!observations.size) {\r\n            this.controller_.removeObserver(this);\r\n        }\r\n    };\r\n    /**\r\n     * Stops observing all elements.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.disconnect = function () {\r\n        this.clearActive();\r\n        this.observations_.clear();\r\n        this.controller_.removeObserver(this);\r\n    };\r\n    /**\r\n     * Collects observation instances the associated element of which has changed\r\n     * it's content rectangle.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.gatherActive = function () {\r\n        var _this = this;\r\n        this.clearActive();\r\n        this.observations_.forEach(function (observation) {\r\n            if (observation.isActive()) {\r\n                _this.activeObservations_.push(observation);\r\n            }\r\n        });\r\n    };\r\n    /**\r\n     * Invokes initial callback function with a list of ResizeObserverEntry\r\n     * instances collected from active resize observations.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.broadcastActive = function () {\r\n        // Do nothing if observer doesn't have active observations.\r\n        if (!this.hasActive()) {\r\n            return;\r\n        }\r\n        var ctx = this.callbackCtx_;\r\n        // Create ResizeObserverEntry instance for every active observation.\r\n        var entries = this.activeObservations_.map(function (observation) {\r\n            return new ResizeObserverEntry(observation.target, observation.broadcastRect());\r\n        });\r\n        this.callback_.call(ctx, entries, ctx);\r\n        this.clearActive();\r\n    };\r\n    /**\r\n     * Clears the collection of active observations.\r\n     *\r\n     * @returns {void}\r\n     */\r\n    ResizeObserverSPI.prototype.clearActive = function () {\r\n        this.activeObservations_.splice(0);\r\n    };\r\n    /**\r\n     * Tells whether observer has active observations.\r\n     *\r\n     * @returns {boolean}\r\n     */\r\n    ResizeObserverSPI.prototype.hasActive = function () {\r\n        return this.activeObservations_.length > 0;\r\n    };\r\n    return ResizeObserverSPI;\r\n}());\n\n// Registry of internal observers. If WeakMap is not available use current shim\r\n// for the Map collection as it has all required methods and because WeakMap\r\n// can't be fully polyfilled anyway.\r\nvar observers = typeof WeakMap !== 'undefined' ? new WeakMap() : new MapShim();\r\n/**\r\n * ResizeObserver API. Encapsulates the ResizeObserver SPI implementation\r\n * exposing only those methods and properties that are defined in the spec.\r\n */\r\nvar ResizeObserver = /** @class */ (function () {\r\n    /**\r\n     * Creates a new instance of ResizeObserver.\r\n     *\r\n     * @param {ResizeObserverCallback} callback - Callback that is invoked when\r\n     *      dimensions of the observed elements change.\r\n     */\r\n    function ResizeObserver(callback) {\r\n        if (!(this instanceof ResizeObserver)) {\r\n            throw new TypeError('Cannot call a class as a function.');\r\n        }\r\n        if (!arguments.length) {\r\n            throw new TypeError('1 argument required, but only 0 present.');\r\n        }\r\n        var controller = ResizeObserverController.getInstance();\r\n        var observer = new ResizeObserverSPI(callback, controller, this);\r\n        observers.set(this, observer);\r\n    }\r\n    return ResizeObserver;\r\n}());\r\n// Expose public methods of ResizeObserver.\r\n[\r\n    'observe',\r\n    'unobserve',\r\n    'disconnect'\r\n].forEach(function (method) {\r\n    ResizeObserver.prototype[method] = function () {\r\n        var _a;\r\n        return (_a = observers.get(this))[method].apply(_a, arguments);\r\n    };\r\n});\n\nvar index = (function () {\r\n    // Export existing implementation if available.\r\n    if (typeof global$1.ResizeObserver !== 'undefined') {\r\n        return global$1.ResizeObserver;\r\n    }\r\n    return ResizeObserver;\r\n})();\n\nexport default index;\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ResizeObserver from \"resize-observer-polyfill\"\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  tap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Element offset\n */\nexport interface ElementSize {\n  width: number                        /* Element width */\n  height: number                       /* Element height */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Resize observer entry subject\n */\nconst entry$ = new Subject<ResizeObserverEntry>()\n\n/**\n * Resize observer observable\n *\n * This observable will create a `ResizeObserver` on the first subscription\n * and will automatically terminate it when there are no more subscribers.\n * It's quite important to centralize observation in a single `ResizeObserver`,\n * as the performance difference can be quite dramatic, as the link shows.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => of(\n  new ResizeObserver(entries => {\n    for (const entry of entries)\n      entry$.next(entry)\n  })\n))\n  .pipe(\n    switchMap(observer => merge(NEVER, of(observer))\n      .pipe(\n        finalize(() => observer.disconnect())\n      )\n    ),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element size\n *\n * @param el - Element\n *\n * @returns Element size\n */\nexport function getElementSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.offsetWidth,\n    height: el.offsetHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch element size\n *\n * This function returns an observable that subscribes to a single internal\n * instance of `ResizeObserver` upon subscription, and emit resize events until\n * termination. Note that this function should not be called with the same\n * element twice, as the first unsubscription will terminate observation.\n *\n * Sadly, we can't use the `DOMRect` objects returned by the observer, because\n * we need the emitted values to be consistent with `getElementSize`, which will\n * return the used values (rounded) and not actual values (unrounded). Thus, we\n * use the `offset*` properties. See the linked GitHub issue.\n *\n * @see https://bit.ly/3m0k3he - GitHub issue\n *\n * @param el - Element\n *\n * @returns Element size observable\n */\nexport function watchElementSize(\n  el: HTMLElement\n): Observable<ElementSize> {\n  return observer$\n    .pipe(\n      tap(observer => observer.observe(el)),\n      switchMap(observer => entry$\n        .pipe(\n          filter(({ target }) => target === el),\n          finalize(() => observer.unobserve(el)),\n          map(() => getElementSize(el))\n        )\n      ),\n      startWith(getElementSize(el))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ElementSize } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve element content size (= scroll width and height)\n *\n * @param el - Element\n *\n * @returns Element content size\n */\nexport function getElementContentSize(\n  el: HTMLElement\n): ElementSize {\n  return {\n    width:  el.scrollWidth,\n    height: el.scrollHeight\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  shareReplay,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElementContentSize,\n  getElementSize,\n  watchElementContentOffset\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Intersection observer entry subject\n */\nconst entry$ = new Subject<IntersectionObserverEntry>()\n\n/**\n * Intersection observer observable\n *\n * This observable will create an `IntersectionObserver` on first subscription\n * and will automatically terminate it when there are no more subscribers.\n *\n * @see https://bit.ly/3iIYfEm - Google Groups on performance\n */\nconst observer$ = defer(() => of(\n  new IntersectionObserver(entries => {\n    for (const entry of entries)\n      entry$.next(entry)\n  }, {\n    threshold: 0\n  })\n))\n  .pipe(\n    switchMap(observer => merge(NEVER, of(observer))\n      .pipe(\n        finalize(() => observer.disconnect())\n      )\n    ),\n    shareReplay(1)\n  )\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch element visibility\n *\n * @param el - Element\n *\n * @returns Element visibility observable\n */\nexport function watchElementVisibility(\n  el: HTMLElement\n): Observable<boolean> {\n  return observer$\n    .pipe(\n      tap(observer => observer.observe(el)),\n      switchMap(observer => entry$\n        .pipe(\n          filter(({ target }) => target === el),\n          finalize(() => observer.unobserve(el)),\n          map(({ isIntersecting }) => isIntersecting)\n        )\n      )\n    )\n}\n\n/**\n * Watch element boundary\n *\n * This function returns an observable which emits whether the bottom content\n * boundary (= scroll offset) of an element is within a certain threshold.\n *\n * @param el - Element\n * @param threshold - Threshold\n *\n * @returns Element boundary observable\n */\nexport function watchElementBoundary(\n  el: HTMLElement, threshold = 16\n): Observable<boolean> {\n  return watchElementContentOffset(el)\n    .pipe(\n      map(({ y }) => {\n        const visible = getElementSize(el)\n        const content = getElementContentSize(el)\n        return y >= (\n          content.height - visible.height - threshold\n        )\n      }),\n      distinctUntilChanged()\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getElement } from \"../element\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle\n */\nexport type Toggle =\n  | \"drawer\"                           /* Toggle for drawer */\n  | \"search\"                           /* Toggle for search */\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Toggle map\n */\nconst toggles: Record<Toggle, HTMLInputElement> = {\n  drawer: getElement(\"[data-md-toggle=drawer]\"),\n  search: getElement(\"[data-md-toggle=search]\")\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the value of a toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value\n */\nexport function getToggle(name: Toggle): boolean {\n  return toggles[name].checked\n}\n\n/**\n * Set toggle\n *\n * Simulating a click event seems to be the most cross-browser compatible way\n * of changing the value while also emitting a `change` event. Before, Material\n * used `CustomEvent` to programmatically change the value of a toggle, but this\n * is a much simpler and cleaner solution which doesn't require a polyfill.\n *\n * @param name - Toggle\n * @param value - Toggle value\n */\nexport function setToggle(name: Toggle, value: boolean): void {\n  if (toggles[name].checked !== value)\n    toggles[name].click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch toggle\n *\n * @param name - Toggle\n *\n * @returns Toggle value observable\n */\nexport function watchToggle(name: Toggle): Observable<boolean> {\n  const el = toggles[name]\n  return fromEvent(el, \"change\")\n    .pipe(\n      map(() => el.checked),\n      startWith(el.checked)\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  share\n} from \"rxjs\"\n\nimport { getActiveElement } from \"../element\"\nimport { getToggle } from \"../toggle\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Keyboard mode\n */\nexport type KeyboardMode =\n  | \"global\"                           /* Global */\n  | \"search\"                           /* Search is open */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Keyboard\n */\nexport interface Keyboard {\n  mode: KeyboardMode                   /* Keyboard mode */\n  type: string                         /* Key type */\n  claim(): void                        /* Key claim */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether an element may receive keyboard input\n *\n * @param el - Element\n * @param type - Key type\n *\n * @returns Test result\n */\nfunction isSusceptibleToKeyboard(\n  el: HTMLElement, type: string\n): boolean {\n  switch (el.constructor) {\n\n    /* Input elements */\n    case HTMLInputElement:\n      /* @ts-expect-error - omit unnecessary type cast */\n      if (el.type === \"radio\")\n        return /^Arrow/.test(type)\n      else\n        return true\n\n    /* Select element and textarea */\n    case HTMLSelectElement:\n    case HTMLTextAreaElement:\n      return true\n\n    /* Everything else */\n    default:\n      return el.isContentEditable\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch keyboard\n *\n * @returns Keyboard observable\n */\nexport function watchKeyboard(): Observable<Keyboard> {\n  return fromEvent<KeyboardEvent>(window, \"keydown\")\n    .pipe(\n      filter(ev => !(ev.metaKey || ev.ctrlKey)),\n      map(ev => ({\n        mode: getToggle(\"search\") ? \"search\" : \"global\",\n        type: ev.key,\n        claim() {\n          ev.preventDefault()\n          ev.stopPropagation()\n        }\n      } as Keyboard)),\n      filter(({ mode, type }) => {\n        if (mode === \"global\") {\n          const active = getActiveElement()\n          if (typeof active !== \"undefined\")\n            return !isSusceptibleToKeyboard(active, type)\n        }\n        return true\n      }),\n      share()\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Subject } from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location\n *\n * This function returns a `URL` object (and not `Location`) to normalize the\n * typings across the application. Furthermore, locations need to be tracked\n * without setting them and `Location` is a singleton which represents the\n * current location.\n *\n * @returns URL\n */\nexport function getLocation(): URL {\n  return new URL(location.href)\n}\n\n/**\n * Set location\n *\n * @param url - URL to change to\n */\nexport function setLocation(url: URL): void {\n  location.href = url.href\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location\n *\n * @returns Location subject\n */\nexport function watchLocation(): Subject<URL> {\n  return new Subject<URL>()\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { JSX as JSXInternal } from \"preact\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * HTML attributes\n */\ntype Attributes =\n  & JSXInternal.HTMLAttributes\n  & JSXInternal.SVGAttributes\n  & Record<string, any>\n\n/**\n * Child element\n */\ntype Child =\n  | HTMLElement\n  | Text\n  | string\n  | number\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Append a child node to an element\n *\n * @param el - Element\n * @param child - Child node(s)\n */\nfunction appendChild(el: HTMLElement, child: Child | Child[]): void {\n\n  /* Handle primitive types (including raw HTML) */\n  if (typeof child === \"string\" || typeof child === \"number\") {\n    el.innerHTML += child.toString()\n\n  /* Handle nodes */\n  } else if (child instanceof Node) {\n    el.appendChild(child)\n\n  /* Handle nested children */\n  } else if (Array.isArray(child)) {\n    for (const node of child)\n      appendChild(el, node)\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * JSX factory\n *\n * @template T - Element type\n *\n * @param tag - HTML tag\n * @param attributes - HTML attributes\n * @param children - Child elements\n *\n * @returns Element\n */\nexport function h<T extends keyof HTMLElementTagNameMap>(\n  tag: T, attributes?: Attributes | null, ...children: Child[]\n): HTMLElementTagNameMap[T]\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T\n\nexport function h<T extends h.JSX.Element>(\n  tag: string, attributes?: Attributes | null, ...children: Child[]\n): T {\n  const el = document.createElement(tag)\n\n  /* Set attributes, if any */\n  if (attributes)\n    for (const attr of Object.keys(attributes))\n      if (typeof attributes[attr] !== \"boolean\")\n        el.setAttribute(attr, attributes[attr])\n      else if (attributes[attr])\n        el.setAttribute(attr, \"\")\n\n  /* Append child nodes */\n  for (const child of children)\n    appendChild(el, child)\n\n  /* Return element */\n  return el as T\n}\n\n/* ----------------------------------------------------------------------------\n * Namespace\n * ------------------------------------------------------------------------- */\n\nexport declare namespace h {\n  namespace JSX {\n    type Element = HTMLElement\n    type IntrinsicElements = JSXInternal.IntrinsicElements\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Truncate a string after the given number of characters\n *\n * This is not a very reasonable approach, since the summaries kind of suck.\n * It would be better to create something more intelligent, highlighting the\n * search occurrences and making a better summary out of it, but this note was\n * written three years ago, so who knows if we'll ever fix it.\n *\n * @param value - Value to be truncated\n * @param n - Number of characters\n *\n * @returns Truncated value\n */\nexport function truncate(value: string, n: number): string {\n  let i = n\n  if (value.length > i) {\n    while (value[i] !== \" \" && --i > 0) { /* keep eating */ }\n    return `${value.substring(0, i)}...`\n  }\n  return value\n}\n\n/**\n * Round a number for display with repository facts\n *\n * This is a reverse-engineered version of GitHub's weird rounding algorithm\n * for stars, forks and all other numbers. While all numbers below `1,000` are\n * returned as-is, bigger numbers are converted to fixed numbers:\n *\n * - `1,049` => `1k`\n * - `1,050` => `1.1k`\n * - `1,949` => `1.9k`\n * - `1,950` => `2k`\n *\n * @param value - Original value\n *\n * @returns Rounded value\n */\nexport function round(value: number): string {\n  if (value > 999) {\n    const digits = +((value - 950) % 1000 > 99)\n    return `${((value + 0.000001) / 1000).toFixed(digits)}k`\n  } else {\n    return value.toString()\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  shareReplay,\n  startWith\n} from \"rxjs\"\n\nimport { getOptionalElement } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve location hash\n *\n * @returns Location hash\n */\nexport function getLocationHash(): string {\n  return location.hash.substring(1)\n}\n\n/**\n * Set location hash\n *\n * Setting a new fragment identifier via `location.hash` will have no effect\n * if the value doesn't change. When a new fragment identifier is set, we want\n * the browser to target the respective element at all times, which is why we\n * use this dirty little trick.\n *\n * @param hash - Location hash\n */\nexport function setLocationHash(hash: string): void {\n  const el = h(\"a\", { href: hash })\n  el.addEventListener(\"click\", ev => ev.stopPropagation())\n  el.click()\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch location hash\n *\n * @returns Location hash observable\n */\nexport function watchLocationHash(): Observable<string> {\n  return fromEvent<HashChangeEvent>(window, \"hashchange\")\n    .pipe(\n      map(getLocationHash),\n      startWith(getLocationHash()),\n      filter(hash => hash.length > 0),\n      shareReplay(1)\n    )\n}\n\n/**\n * Watch location target\n *\n * @returns Location target observable\n */\nexport function watchLocationTarget(): Observable<HTMLElement> {\n  return watchLocationHash()\n    .pipe(\n      map(id => getOptionalElement(`[id=\"${id}\"]`)!),\n      filter(el => typeof el !== \"undefined\")\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  fromEvent,\n  fromEventPattern,\n  map,\n  merge,\n  startWith,\n  switchMap\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch media query\n *\n * Note that although `MediaQueryList.addListener` is deprecated we have to\n * use it, because it's the only way to ensure proper downward compatibility.\n *\n * @see https://bit.ly/3dUBH2m - GitHub issue\n *\n * @param query - Media query\n *\n * @returns Media observable\n */\nexport function watchMedia(query: string): Observable<boolean> {\n  const media = matchMedia(query)\n  return fromEventPattern<boolean>(next => (\n    media.addListener(() => next(media.matches))\n  ))\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/**\n * Watch print mode\n *\n * @returns Print observable\n */\nexport function watchPrint(): Observable<boolean> {\n  const media = matchMedia(\"print\")\n  return merge(\n    fromEvent(window, \"beforeprint\").pipe(map(() => true)),\n    fromEvent(window, \"afterprint\").pipe(map(() => false))\n  )\n    .pipe(\n      startWith(media.matches)\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Toggle an observable with a media observable\n *\n * @template T - Data type\n *\n * @param query$ - Media observable\n * @param factory - Observable factory\n *\n * @returns Toggled observable\n */\nexport function at<T>(\n  query$: Observable<boolean>, factory: () => Observable<T>\n): Observable<T> {\n  return query$\n    .pipe(\n      switchMap(active => active ? factory() : EMPTY)\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  from,\n  map,\n  of,\n  shareReplay,\n  switchMap,\n  throwError\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the given URL\n *\n * If the request fails (e.g. when dispatched from `file://` locations), the\n * observable will complete without emitting a value.\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Response observable\n */\nexport function request(\n  url: URL | string, options: RequestInit = { credentials: \"same-origin\" }\n): Observable<Response> {\n  return from(fetch(`${url}`, options))\n    .pipe(\n      catchError(() => EMPTY),\n      switchMap(res => res.status !== 200\n        ? throwError(() => new Error(res.statusText))\n        : of(res)\n      )\n    )\n}\n\n/**\n * Fetch JSON from the given URL\n *\n * @template T - Data type\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestJSON<T>(\n  url: URL | string, options?: RequestInit\n): Observable<T> {\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.json()),\n      shareReplay(1)\n    )\n}\n\n/**\n * Fetch XML from the given URL\n *\n * @param url - Request URL\n * @param options - Options\n *\n * @returns Data observable\n */\nexport function requestXML(\n  url: URL | string, options?: RequestInit\n): Observable<Document> {\n  const dom = new DOMParser()\n  return request(url, options)\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/xml\")),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  switchMap,\n  take,\n  throwError\n} from \"rxjs\"\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create and load a `script` element\n *\n * This function returns an observable that will emit when the script was\n * successfully loaded, or throw an error if it didn't.\n *\n * @param src - Script URL\n *\n * @returns Script observable\n */\nexport function watchScript(src: string): Observable<void> {\n  const script = h(\"script\", { src })\n  return defer(() => {\n    document.head.appendChild(script)\n    return merge(\n      fromEvent(script, \"load\"),\n      fromEvent(script, \"error\")\n        .pipe(\n          switchMap(() => (\n            throwError(() => new ReferenceError(`Invalid script: ${src}`))\n          ))\n        )\n    )\n      .pipe(\n        map(() => undefined),\n        finalize(() => document.head.removeChild(script)),\n        take(1)\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  merge,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport offset\n */\nexport interface ViewportOffset {\n  x: number                            /* Horizontal offset */\n  y: number                            /* Vertical offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport offset\n *\n * On iOS Safari, viewport offset can be negative due to overflow scrolling.\n * As this may induce strange behaviors downstream, we'll just limit it to 0.\n *\n * @returns Viewport offset\n */\nexport function getViewportOffset(): ViewportOffset {\n  return {\n    x: Math.max(0, scrollX),\n    y: Math.max(0, scrollY)\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport offset\n *\n * @returns Viewport offset observable\n */\nexport function watchViewportOffset(): Observable<ViewportOffset> {\n  return merge(\n    fromEvent(window, \"scroll\", { passive: true }),\n    fromEvent(window, \"resize\", { passive: true })\n  )\n    .pipe(\n      map(getViewportOffset),\n      startWith(getViewportOffset())\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  startWith\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport size\n */\nexport interface ViewportSize {\n  width: number                        /* Viewport width */\n  height: number                       /* Viewport height */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve viewport size\n *\n * @returns Viewport size\n */\nexport function getViewportSize(): ViewportSize {\n  return {\n    width:  innerWidth,\n    height: innerHeight\n  }\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport size\n *\n * @returns Viewport size observable\n */\nexport function watchViewportSize(): Observable<ViewportSize> {\n  return fromEvent(window, \"resize\", { passive: true })\n    .pipe(\n      map(getViewportSize),\n      startWith(getViewportSize())\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  map,\n  shareReplay\n} from \"rxjs\"\n\nimport {\n  ViewportOffset,\n  watchViewportOffset\n} from \"../offset\"\nimport {\n  ViewportSize,\n  watchViewportSize\n} from \"../size\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Viewport\n */\nexport interface Viewport {\n  offset: ViewportOffset               /* Viewport offset */\n  size: ViewportSize                   /* Viewport size */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport\n *\n * @returns Viewport observable\n */\nexport function watchViewport(): Observable<Viewport> {\n  return combineLatest([\n    watchViewportOffset(),\n    watchViewportSize()\n  ])\n    .pipe(\n      map(([offset, size]) => ({ offset, size })),\n      shareReplay(1)\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilKeyChanged,\n  map\n} from \"rxjs\"\n\nimport { Header } from \"~/components\"\n\nimport { getElementOffset } from \"../../element\"\nimport { Viewport } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch viewport relative to element\n *\n * @param el - Element\n * @param options - Options\n *\n * @returns Viewport observable\n */\nexport function watchViewportAt(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Viewport> {\n  const size$ = viewport$\n    .pipe(\n      distinctUntilKeyChanged(\"size\")\n    )\n\n  /* Compute element offset */\n  const offset$ = combineLatest([size$, header$])\n    .pipe(\n      map(() => getElementOffset(el))\n    )\n\n  /* Compute relative viewport, return hot observable */\n  return combineLatest([header$, viewport$, offset$])\n    .pipe(\n      map(([{ height }, { offset, size }, { x, y }]) => ({\n        offset: {\n          x: offset.x - x,\n          y: offset.y - y + height\n        },\n        size\n      }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  fromEvent,\n  map,\n  share,\n  switchMap,\n  tap,\n  throttle\n} from \"rxjs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Worker message\n */\nexport interface WorkerMessage {\n  type: unknown                        /* Message type */\n  data?: unknown                       /* Message data */\n}\n\n/**\n * Worker handler\n *\n * @template T - Message type\n */\nexport interface WorkerHandler<\n  T extends WorkerMessage\n> {\n  tx$: Subject<T>                      /* Message transmission subject */\n  rx$: Observable<T>                   /* Message receive observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n *\n * @template T - Worker message type\n */\ninterface WatchOptions<T extends WorkerMessage> {\n  tx$: Observable<T>                   /* Message transmission observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch a web worker\n *\n * This function returns an observable that sends all values emitted by the\n * message observable to the web worker. Web worker communication is expected\n * to be bidirectional (request-response) and synchronous. Messages that are\n * emitted during a pending request are throttled, the last one is emitted.\n *\n * @param worker - Web worker\n * @param options - Options\n *\n * @returns Worker message observable\n */\nexport function watchWorker<T extends WorkerMessage>(\n  worker: Worker, { tx$ }: WatchOptions<T>\n): Observable<T> {\n\n  /* Intercept messages from worker-like objects */\n  const rx$ = fromEvent<MessageEvent>(worker, \"message\")\n    .pipe(\n      map(({ data }) => data as T)\n    )\n\n  /* Send and receive messages, return hot observable */\n  return tx$\n    .pipe(\n      throttle(() => rx$, { leading: true, trailing: true }),\n      tap(message => worker.postMessage(message)),\n      switchMap(() => rx$),\n      share()\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getLocation } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Feature flag\n */\nexport type Flag =\n  | \"content.code.annotate\"            /* Code annotations */\n  | \"header.autohide\"                  /* Hide header */\n  | \"navigation.expand\"                /* Automatic expansion */\n  | \"navigation.indexes\"               /* Section pages */\n  | \"navigation.instant\"               /* Instant loading */\n  | \"navigation.sections\"              /* Section navigation */\n  | \"navigation.tabs\"                  /* Tabs navigation */\n  | \"navigation.tabs.sticky\"           /* Tabs navigation (sticky) */\n  | \"navigation.top\"                   /* Back-to-top button */\n  | \"navigation.tracking\"              /* Anchor tracking */\n  | \"search.highlight\"                 /* Search highlighting */\n  | \"search.share\"                     /* Search sharing */\n  | \"search.suggest\"                   /* Search suggestions */\n  | \"toc.integrate\"                    /* Integrated table of contents */\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Translation\n */\nexport type Translation =\n  | \"clipboard.copy\"                   /* Copy to clipboard */\n  | \"clipboard.copied\"                 /* Copied to clipboard */\n  | \"search.config.lang\"               /* Search language */\n  | \"search.config.pipeline\"           /* Search pipeline */\n  | \"search.config.separator\"          /* Search separator */\n  | \"search.placeholder\"               /* Search */\n  | \"search.result.placeholder\"        /* Type to start searching */\n  | \"search.result.none\"               /* No matching documents */\n  | \"search.result.one\"                /* 1 matching document */\n  | \"search.result.other\"              /* # matching documents */\n  | \"search.result.more.one\"           /* 1 more on this page */\n  | \"search.result.more.other\"         /* # more on this page */\n  | \"search.result.term.missing\"       /* Missing */\n  | \"select.version.title\"             /* Version selector */\n\n/**\n * Translations\n */\nexport type Translations = Record<Translation, string>\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Versioning\n */\nexport interface Versioning {\n  provider: \"mike\"                     /* Version provider */\n  default?: string                     /* Default version */\n}\n\n/**\n * Configuration\n */\nexport interface Config {\n  base: string                         /* Base URL */\n  features: Flag[]                     /* Feature flags */\n  translations: Translations           /* Translations */\n  search: string                       /* Search worker URL */\n  version?: Versioning                 /* Versioning */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration and make base URL absolute\n */\nconst script = getElement(\"#__config\")\nconst config: Config = JSON.parse(script.textContent!)\nconfig.base = `${new URL(config.base, getLocation())}`\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve global configuration\n *\n * @returns Global configuration\n */\nexport function configuration(): Config {\n  return config\n}\n\n/**\n * Check whether a feature flag is enabled\n *\n * @param flag - Feature flag\n *\n * @returns Test result\n */\nexport function feature(flag: Flag): boolean {\n  return config.features.includes(flag)\n}\n\n/**\n * Retrieve the translation for the given key\n *\n * @param key - Key to be translated\n * @param value - Positional value, if any\n *\n * @returns Translation\n */\nexport function translation(\n  key: Translation, value?: string | number\n): string {\n  return typeof value !== \"undefined\"\n    ? config.translations[key].replace(\"#\", value.toString())\n    : config.translations[key]\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { getElement, getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type\n */\nexport type ComponentType =\n  | \"announce\"                         /* Announcement bar */\n  | \"container\"                        /* Container */\n  | \"content\"                          /* Content */\n  | \"dialog\"                           /* Dialog */\n  | \"header\"                           /* Header */\n  | \"header-title\"                     /* Header title */\n  | \"header-topic\"                     /* Header topic */\n  | \"main\"                             /* Main area */\n  | \"outdated\"                         /* Version warning */\n  | \"palette\"                          /* Color palette */\n  | \"search\"                           /* Search */\n  | \"search-query\"                     /* Search input */\n  | \"search-result\"                    /* Search results */\n  | \"search-share\"                     /* Search sharing */\n  | \"search-suggest\"                   /* Search suggestions */\n  | \"sidebar\"                          /* Sidebar */\n  | \"skip\"                             /* Skip link */\n  | \"source\"                           /* Repository information */\n  | \"tabs\"                             /* Navigation tabs */\n  | \"toc\"                              /* Table of contents */\n  | \"top\"                              /* Back-to-top button */\n\n/**\n * Component\n *\n * @template T - Component type\n * @template U - Reference type\n */\nexport type Component<\n  T extends {} = {},\n  U extends HTMLElement = HTMLElement\n> =\n  T & {\n    ref: U                             /* Component reference */\n  }\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Component type map\n */\ninterface ComponentTypeMap {\n  \"announce\": HTMLElement              /* Announcement bar */\n  \"container\": HTMLElement             /* Container */\n  \"content\": HTMLElement               /* Content */\n  \"dialog\": HTMLElement                /* Dialog */\n  \"header\": HTMLElement                /* Header */\n  \"header-title\": HTMLElement          /* Header title */\n  \"header-topic\": HTMLElement          /* Header topic */\n  \"main\": HTMLElement                  /* Main area */\n  \"outdated\": HTMLElement              /* Version warning */\n  \"palette\": HTMLElement               /* Color palette */\n  \"search\": HTMLElement                /* Search */\n  \"search-query\": HTMLInputElement     /* Search input */\n  \"search-result\": HTMLElement         /* Search results */\n  \"search-share\": HTMLAnchorElement    /* Search sharing */\n  \"search-suggest\": HTMLElement        /* Search suggestions */\n  \"sidebar\": HTMLElement               /* Sidebar */\n  \"skip\": HTMLAnchorElement            /* Skip link */\n  \"source\": HTMLAnchorElement          /* Repository information */\n  \"tabs\": HTMLElement                  /* Navigation tabs */\n  \"toc\": HTMLElement                   /* Table of contents */\n  \"top\": HTMLAnchorElement             /* Back-to-top button */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve the element for a given component or throw a reference error\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getComponentElement<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T] {\n  return getElement(`[data-md-component=${type}]`, node)\n}\n\n/**\n * Retrieve all elements for a given component\n *\n * @template T - Component type\n *\n * @param type - Component type\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getComponentElements<T extends ComponentType>(\n  type: T, node: ParentNode = document\n): ComponentTypeMap[T][] {\n  return getElements(`[data-md-component=${type}]`, node)\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  finalize,\n  map,\n  mergeWith,\n  switchMap,\n  take,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  getElementContentSize,\n  watchElementSize,\n  watchElementVisibility\n} from \"~/browser\"\nimport { renderClipboardButton } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotationList\n} from \"../../annotation\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Code block\n */\nexport interface CodeBlock {\n  scrollable: boolean                  /* Code block overflows */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Global sequence number for Clipboard.js integration\n */\nlet sequence = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find candidate list element directly following a code block\n *\n * @param el - Code block element\n *\n * @returns List element or nothing\n */\nfunction findCandidateList(el: HTMLElement): HTMLElement | undefined {\n  if (el.nextElementSibling) {\n    const sibling = el.nextElementSibling as HTMLElement\n    if (sibling.tagName === \"OL\")\n      return sibling\n\n    /* Skip empty paragraphs - see https://bit.ly/3r4ZJ2O */\n    else if (sibling.tagName === \"P\" && !sibling.children.length)\n      return findCandidateList(sibling)\n  }\n\n  /* Everything else */\n  return undefined\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch code block\n *\n * This function monitors size changes of the viewport, as well as switches of\n * content tabs with embedded code blocks, as both may trigger overflow.\n *\n * @param el - Code block element\n *\n * @returns Code block observable\n */\nexport function watchCodeBlock(\n  el: HTMLElement\n): Observable<CodeBlock> {\n  return watchElementSize(el)\n    .pipe(\n      map(({ width }) => {\n        const content = getElementContentSize(el)\n        return {\n          scrollable: content.width > width\n        }\n      }),\n      distinctUntilKeyChanged(\"scrollable\")\n    )\n}\n\n/**\n * Mount code block\n *\n * This function ensures that an overflowing code block is focusable through\n * keyboard, so it can be scrolled without a mouse to improve on accessibility.\n * Furthermore, if code annotations are enabled, they are mounted if and only\n * if the code block is currently visible, e.g., not in a hidden content tab.\n *\n * @param el - Code block element\n * @param options - Options\n *\n * @returns Code block and annotation component observable\n */\nexport function mountCodeBlock(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<CodeBlock | Annotation>> {\n  const { matches: hover } = matchMedia(\"(hover)\")\n\n  /* Defer mounting of code block - see https://bit.ly/3vHVoVD */\n  const factory$ = defer(() => {\n    const push$ = new Subject<CodeBlock>()\n    push$.subscribe(({ scrollable }) => {\n      if (scrollable && hover)\n        el.setAttribute(\"tabindex\", \"0\")\n      else\n        el.removeAttribute(\"tabindex\")\n    })\n\n    /* Render button for Clipboard.js integration */\n    if (ClipboardJS.isSupported()) {\n      const parent = el.closest(\"pre\")!\n      parent.id = `__code_${++sequence}`\n      parent.insertBefore(\n        renderClipboardButton(parent.id),\n        el\n      )\n    }\n\n    /* Handle code annotations */\n    const container = el.closest(\".highlight\")\n    if (container instanceof HTMLElement) {\n      const list = findCandidateList(container)\n\n      /* Mount code annotations, if enabled */\n      if (typeof list !== \"undefined\" && (\n        container.classList.contains(\"annotate\") ||\n        feature(\"content.code.annotate\")\n      )) {\n        const annotations$ = mountAnnotationList(list, el, options)\n\n        /* Create and return component */\n        return watchCodeBlock(el)\n          .pipe(\n            tap(state => push$.next(state)),\n            finalize(() => push$.complete()),\n            map(state => ({ ref: el, ...state })),\n            mergeWith(\n              watchElementSize(container)\n                .pipe(\n                  takeUntil(push$.pipe(takeLast(1))),\n                  map(({ width, height }) => width && height),\n                  distinctUntilChanged(),\n                  switchMap(active => active ? annotations$ : EMPTY)\n                )\n            )\n          )\n      }\n    }\n\n    /* Create and return component */\n    return watchCodeBlock(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n\n  /* Mount code block on first sight */\n  return watchElementVisibility(el)\n    .pipe(\n      filter(visible => visible),\n      take(1),\n      switchMap(() => factory$)\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render an empty annotation\n *\n * @param id - Annotation identifier\n *\n * @returns Element\n */\nexport function renderAnnotation(id: number): HTMLElement {\n  return (\n    <aside class=\"md-annotation\" tabIndex={0}>\n      <div class=\"md-annotation__inner md-tooltip\">\n        <div class=\"md-tooltip__inner md-typeset\"></div>\n      </div>\n      <span class=\"md-annotation__index\">\n        <span data-md-annotation-id={id}></span>\n      </span>\n    </aside>\n  )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a 'copy-to-clipboard' button\n *\n * @param id - Unique identifier\n *\n * @returns Element\n */\nexport function renderClipboardButton(id: string): HTMLElement {\n  return (\n    <button\n      class=\"md-clipboard md-icon\"\n      title={translation(\"clipboard.copy\")}\n      data-clipboard-target={`#${id} > code`}\n    ></button>\n  )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ComponentChild } from \"preact\"\n\nimport { feature, translation } from \"~/_\"\nimport {\n  SearchDocument,\n  SearchMetadata,\n  SearchResultItem\n} from \"~/integrations/search\"\nimport { h, truncate } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Render flag\n */\nconst enum Flag {\n  TEASER = 1,                          /* Render teaser */\n  PARENT = 2                           /* Render as parent */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper function\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search document\n *\n * @param document - Search document\n * @param flag - Render flags\n *\n * @returns Element\n */\nfunction renderSearchDocument(\n  document: SearchDocument & SearchMetadata, flag: Flag\n): HTMLElement {\n  const parent = flag & Flag.PARENT\n  const teaser = flag & Flag.TEASER\n\n  /* Render missing query terms */\n  const missing = Object.keys(document.terms)\n    .filter(key => !document.terms[key])\n    .reduce<ComponentChild[]>((list, key) => [\n      ...list, <del>{key}</del>, \" \"\n    ], [])\n    .slice(0, -1)\n\n  /* Assemble query string for highlighting */\n  const url = new URL(document.location)\n  if (feature(\"search.highlight\"))\n    url.searchParams.set(\"h\", Object.entries(document.terms)\n      .filter(([, match]) => match)\n      .reduce((highlight, [value]) => `${highlight} ${value}`.trim(), \"\")\n    )\n\n  /* Render article or section, depending on flags */\n  return (\n    <a href={`${url}`} class=\"md-search-result__link\" tabIndex={-1}>\n      <article\n        class={[\"md-search-result__article\", ...parent\n          ? [\"md-search-result__article--document\"]\n          : []\n        ].join(\" \")}\n        data-md-score={document.score.toFixed(2)}\n      >\n        {parent > 0 && <div class=\"md-search-result__icon md-icon\"></div>}\n        <h1 class=\"md-search-result__title\">{document.title}</h1>\n        {teaser > 0 && document.text.length > 0 &&\n          <p class=\"md-search-result__teaser\">\n            {truncate(document.text, 320)}\n          </p>\n        }\n        {document.tags && document.tags.map(tag => (\n          <span class=\"md-tag\">{tag}</span>\n        ))}\n        {teaser > 0 && missing.length > 0 &&\n          <p class=\"md-search-result__terms\">\n            {translation(\"search.result.term.missing\")}: {...missing}\n          </p>\n        }\n      </article>\n    </a>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a search result\n *\n * @param result - Search result\n *\n * @returns Element\n */\nexport function renderSearchResultItem(\n  result: SearchResultItem\n): HTMLElement {\n  const threshold = result[0].score\n  const docs = [...result]\n\n  /* Find and extract parent article */\n  const parent = docs.findIndex(doc => !doc.location.includes(\"#\"))\n  const [article] = docs.splice(parent, 1)\n\n  /* Determine last index above threshold */\n  let index = docs.findIndex(doc => doc.score < threshold)\n  if (index === -1)\n    index = docs.length\n\n  /* Partition sections */\n  const best = docs.slice(0, index)\n  const more = docs.slice(index)\n\n  /* Render children */\n  const children = [\n    renderSearchDocument(article, Flag.PARENT | +(!parent && index === 0)),\n    ...best.map(section => renderSearchDocument(section, Flag.TEASER)),\n    ...more.length ? [\n      <details class=\"md-search-result__more\">\n        <summary tabIndex={-1}>\n          {more.length > 0 && more.length === 1\n            ? translation(\"search.result.more.one\")\n            : translation(\"search.result.more.other\", more.length)\n          }\n        </summary>\n        {...more.map(section => renderSearchDocument(section, Flag.TEASER))}\n      </details>\n    ] : []\n  ]\n\n  /* Render search result */\n  return (\n    <li class=\"md-search-result__item\">\n      {children}\n    </li>\n  )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SourceFacts } from \"~/components\"\nimport { h, round } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render repository facts\n *\n * @param facts - Repository facts\n *\n * @returns Element\n */\nexport function renderSourceFacts(facts: SourceFacts): HTMLElement {\n  return (\n    <ul class=\"md-source__facts\">\n      {Object.entries(facts).map(([key, value]) => (\n        <li class={`md-source__fact md-source__fact--${key}`}>\n          {typeof value === \"number\" ? round(value) : value}\n        </li>\n      ))}\n    </ul>\n  )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a table inside a wrapper to improve scrolling on mobile\n *\n * @param table - Table element\n *\n * @returns Element\n */\nexport function renderTable(table: HTMLElement): HTMLElement {\n  return (\n    <div class=\"md-typeset__scrollwrap\">\n      <div class=\"md-typeset__table\">\n        {table}\n      </div>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { configuration, translation } from \"~/_\"\nimport { h } from \"~/utilities\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Version\n */\nexport interface Version {\n  version: string                      /* Version identifier */\n  title: string                        /* Version title */\n  aliases: string[]                    /* Version aliases */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version\n *\n * @param version - Version\n *\n * @returns Element\n */\nfunction renderVersion(version: Version): HTMLElement {\n  const config = configuration()\n\n  /* Ensure trailing slash, see https://bit.ly/3rL5u3f */\n  const url = new URL(`../${version.version}/`, config.base)\n  return (\n    <li class=\"md-version__item\">\n      <a href={url.toString()} class=\"md-version__link\">\n        {version.title}\n      </a>\n    </li>\n  )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Render a version selector\n *\n * @param versions - Versions\n * @param active - Active version\n *\n * @returns Element\n */\nexport function renderVersionSelector(\n  versions: Version[], active: Version\n): HTMLElement {\n  return (\n    <div class=\"md-version\">\n      <button\n        class=\"md-version__current\"\n        aria-label={translation(\"select.version.title\")}\n      >\n        {active.title}\n      </button>\n      <ul class=\"md-version__list\">\n        {versions.map(renderVersion)}\n      </ul>\n    </div>\n  )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  combineLatest,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  switchMap,\n  take,\n  tap,\n  throttleTime\n} from \"rxjs\"\n\nimport {\n  ElementOffset,\n  getElement,\n  getElementSize,\n  watchElementContentOffset,\n  watchElementFocus,\n  watchElementOffset\n} from \"~/browser\"\n\nimport { Component } from \"../../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Annotation\n */\nexport interface Annotation {\n  active: boolean                      /* Annotation is active */\n  offset: ElementOffset                /* Annotation offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n *\n * @returns Annotation observable\n */\nexport function watchAnnotation(\n  el: HTMLElement, container: HTMLElement\n): Observable<Annotation> {\n  const offset$ = defer(() => combineLatest([\n    watchElementOffset(el),\n    watchElementContentOffset(container)\n  ]))\n    .pipe(\n      map(([{ x, y }, scroll]) => {\n        const { width } = getElementSize(el)\n        return ({\n          x: x - scroll.x + width / 2,\n          y: y - scroll.y\n        })\n      })\n    )\n\n  /* Actively watch annotation on focus */\n  return watchElementFocus(el)\n    .pipe(\n      switchMap(active => offset$\n        .pipe(\n          map(offset => ({ active, offset })),\n          take(+!active || Infinity)\n        )\n      )\n    )\n}\n\n/**\n * Mount annotation\n *\n * @param el - Annotation element\n * @param container - Containing element\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotation(\n  el: HTMLElement, container: HTMLElement\n): Observable<Component<Annotation>> {\n  return defer(() => {\n    const push$ = new Subject<Annotation>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ offset }) {\n        el.style.setProperty(\"--md-tooltip-x\", `${offset.x}px`)\n        el.style.setProperty(\"--md-tooltip-y\", `${offset.y}px`)\n      },\n\n      /* Handle complete */\n      complete() {\n        el.style.removeProperty(\"--md-tooltip-x\")\n        el.style.removeProperty(\"--md-tooltip-y\")\n      }\n    })\n\n    /* Track relative origin of tooltip */\n    push$\n      .pipe(\n        throttleTime(500, animationFrameScheduler),\n        map(() => container.getBoundingClientRect()),\n        map(({ x }) => x)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next(origin) {\n            if (origin)\n              el.style.setProperty(\"--md-tooltip-0\", `${-origin}px`)\n            else\n              el.style.removeProperty(\"--md-tooltip-0\")\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-tooltip-0\")\n          }\n        })\n\n    /* Close open annotation on click */\n    const index = getElement(\":scope > :last-child\", el)\n    const blur$ = fromEvent(index, \"mousedown\", { once: true })\n    push$\n      .pipe(\n        switchMap(({ active }) => active ? blur$ : EMPTY),\n        tap(ev => ev.preventDefault())\n      )\n        .subscribe(() => el.blur())\n\n    /* Create and return component */\n    return watchAnnotation(el, container)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  finalize,\n  merge,\n  share,\n  takeLast,\n  takeUntil\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElements,\n  getOptionalElement\n} from \"~/browser\"\nimport { renderAnnotation } from \"~/templates\"\n\nimport { Component } from \"../../../_\"\nimport {\n  Annotation,\n  mountAnnotation\n} from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Find all annotation markers in the given code block\n *\n * @param container - Containing element\n *\n * @returns Annotation markers\n */\nfunction findAnnotationMarkers(container: HTMLElement): Text[] {\n  const markers: Text[] = []\n  for (const comment of getElements(\".c, .c1, .cm\", container)) {\n    let match: RegExpExecArray | null\n\n    /* Split text at marker and add to list */\n    let text = comment.firstChild as Text\n    if (text instanceof Text)\n      while ((match = /\\((\\d+)\\)/.exec(text.textContent!))) {\n        const marker = text.splitText(match.index)\n        text = marker.splitText(match[0].length)\n        markers.push(marker)\n      }\n  }\n  return markers\n}\n\n/**\n * Swap the child nodes of two elements\n *\n * @param source - Source element\n * @param target - Target element\n */\nfunction swap(source: HTMLElement, target: HTMLElement): void {\n  target.append(...Array.from(source.childNodes))\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount annotation list\n *\n * This function analyzes the containing code block and checks for markers\n * referring to elements in the given annotation list. If no markers are found,\n * the list is left untouched. Otherwise, list elements are rendered as\n * annotations inside the code block.\n *\n * @param el - Annotation list element\n * @param container - Containing element\n * @param options - Options\n *\n * @returns Annotation component observable\n */\nexport function mountAnnotationList(\n  el: HTMLElement, container: HTMLElement, { print$ }: MountOptions\n): Observable<Component<Annotation>> {\n\n  /* Find and replace all markers with empty annotations */\n  const annotations = new Map<number, HTMLElement>()\n  for (const marker of findAnnotationMarkers(container)) {\n    const [, id] = marker.textContent!.match(/\\((\\d+)\\)/)!\n    if (getOptionalElement(`li:nth-child(${id})`, el)) {\n      annotations.set(+id, renderAnnotation(+id))\n      marker.replaceWith(annotations.get(+id)!)\n    }\n  }\n\n  /* Keep list if there are no annotations to render */\n  if (annotations.size === 0)\n    return EMPTY\n\n  /* Create and return component */\n  return defer(() => {\n    const done$ = new Subject<void>()\n\n    /* Handle print mode - see https://bit.ly/3rgPdpt */\n    print$\n      .pipe(\n        takeUntil(done$.pipe(takeLast(1)))\n      )\n        .subscribe(active => {\n          el.hidden = !active\n\n          /* Show annotations in code block or list (print) */\n          for (const [id, annotation] of annotations) {\n            const inner = getElement(\".md-typeset\", annotation)\n            const child = getElement(`li:nth-child(${id})`, el)\n            if (!active)\n              swap(child, inner)\n            else\n              swap(inner, child)\n          }\n        })\n\n    /* Create and return component */\n    return merge(...[...annotations]\n      .map(([, annotation]) => (\n        mountAnnotation(annotation, container)\n      ))\n    )\n      .pipe(\n        finalize(() => done$.complete()),\n        share()\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { watchScript } from \"~/browser\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../../_\"\n\nimport themeCSS from \"./index.css\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid diagram\n */\nexport interface Mermaid {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Mermaid instance observable\n */\nlet mermaid$: Observable<void>\n\n/**\n * Global index for Mermaid integration\n */\nlet index = 0\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch Mermaid script\n *\n * @returns Mermaid scripts observable\n */\nfunction fetchScripts(): Observable<void> {\n  return typeof mermaid === \"undefined\" || mermaid instanceof Element\n    ? watchScript(\"https://unpkg.com/mermaid@9.0.1/dist/mermaid.min.js\")\n    : of(undefined)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount Mermaid diagram\n *\n * @param el - Code block element\n *\n * @returns Mermaid diagram component observable\n */\nexport function mountMermaid(\n  el: HTMLElement\n): Observable<Component<Mermaid>> {\n  el.classList.remove(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n  mermaid$ ||= fetchScripts()\n    .pipe(\n      tap(() => mermaid.initialize({\n        startOnLoad: false,\n        themeCSS\n      })),\n      map(() => undefined),\n      shareReplay(1)\n    )\n\n  /* Render diagram */\n  mermaid$.subscribe(() => {\n    el.classList.add(\"mermaid\") // Hack: mitigate https://bit.ly/3CiN6Du\n    const id = `__mermaid_${index++}`\n    const host = h(\"div\", { class: \"mermaid\" })\n    mermaid.mermaidAPI.render(id, el.textContent, (svg: string) => {\n\n      /* Create a shadow root and inject diagram */\n      const shadow = host.attachShadow({ mode: \"closed\" })\n      shadow.innerHTML = svg\n\n      /* Replace code block with diagram */\n      el.replaceWith(host)\n    })\n  })\n\n  /* Create and return component */\n  return mermaid$\n    .pipe(\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  filter,\n  finalize,\n  map,\n  merge,\n  tap\n} from \"rxjs\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Details\n */\nexport interface Details {\n  action: \"open\" | \"close\"             /* Details state */\n  reveal?: boolean                     /* Details is revealed */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch details\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details observable\n */\nexport function watchDetails(\n  el: HTMLDetailsElement, { target$, print$ }: WatchOptions\n): Observable<Details> {\n  let open = true\n  return merge(\n\n    /* Open and focus details on location target */\n    target$\n      .pipe(\n        map(target => target.closest(\"details:not([open])\")!),\n        filter(details => el === details),\n        map(() => ({\n          action: \"open\", reveal: true\n        }) as Details)\n      ),\n\n    /* Open details on print and close afterwards */\n    print$\n      .pipe(\n        filter(active => active || !open),\n        tap(() => open = el.open),\n        map(active => ({\n          action: active ? \"open\" : \"close\"\n        }) as Details)\n      )\n  )\n}\n\n/**\n * Mount details\n *\n * This function ensures that `details` tags are opened on anchor jumps and\n * prior to printing, so the whole content of the page is visible.\n *\n * @param el - Details element\n * @param options - Options\n *\n * @returns Details component observable\n */\nexport function mountDetails(\n  el: HTMLDetailsElement, options: MountOptions\n): Observable<Component<Details>> {\n  return defer(() => {\n    const push$ = new Subject<Details>()\n    push$.subscribe(({ action, reveal }) => {\n      if (action === \"open\")\n        el.setAttribute(\"open\", \"\")\n      else\n        el.removeAttribute(\"open\")\n      if (reveal)\n        el.scrollIntoView()\n    })\n\n    /* Create and return component */\n    return watchDetails(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, of } from \"rxjs\"\n\nimport { renderTable } from \"~/templates\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Data table\n */\nexport interface DataTable {}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Sentinel for replacement\n */\nconst sentinel = h(\"table\")\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount data table\n *\n * This function wraps a data table in another scrollable container, so it can\n * be smoothly scrolled on smaller screen sizes and won't break the layout.\n *\n * @param el - Data table element\n *\n * @returns Data table component observable\n */\nexport function mountDataTable(\n  el: HTMLElement\n): Observable<Component<DataTable>> {\n  el.replaceWith(sentinel)\n  sentinel.replaceWith(renderTable(el))\n\n  /* Create and return component */\n  return of({ ref: el })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  asyncScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  startWith,\n  subscribeOn,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport {\n  getElement,\n  getElementOffset,\n  getElementSize,\n  getElements,\n  watchElementSize\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content tabs\n */\nexport interface ContentTabs {\n  active: HTMLLabelElement             /* Active tab label */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch content tabs\n *\n * @param el - Content tabs element\n *\n * @returns Content tabs observable\n */\nexport function watchContentTabs(\n  el: HTMLElement\n): Observable<ContentTabs> {\n  const inputs = getElements<HTMLInputElement>(\":scope > input\", el)\n  const active = inputs.find(input => input.checked) || inputs[0]\n  return merge(...inputs.map(input => fromEvent(input, \"change\")\n    .pipe(\n      map(() => ({\n        active: getElement(`label[for=${input.id}]`)\n      }) as ContentTabs)\n    )\n  ))\n    .pipe(\n      startWith({\n        active: getElement(`label[for=${active.id}]`)\n      } as ContentTabs)\n    )\n}\n\n/**\n * Mount content tabs\n *\n * This function scrolls the active tab into view. While this functionality is\n * provided by browsers as part of `scrollInfoView`, browsers will always also\n * scroll the vertical axis, which we do not want. Thus, we decided to provide\n * this functionality ourselves.\n *\n * @param el - Content tabs element\n *\n * @returns Content tabs component observable\n */\nexport function mountContentTabs(\n  el: HTMLElement\n): Observable<Component<ContentTabs>> {\n  const container = getElement(\".tabbed-labels\", el)\n  return defer(() => {\n    const push$ = new Subject<ContentTabs>()\n    combineLatest([push$, watchElementSize(el)])\n      .pipe(\n        auditTime(1, animationFrameScheduler),\n        takeUntil(push$.pipe(takeLast(1)))\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next([{ active }]) {\n            const offset = getElementOffset(active)\n            const { width } = getElementSize(active)\n\n            /* Set tab indicator offset and width */\n            el.style.setProperty(\"--md-indicator-x\", `${offset.x}px`)\n            el.style.setProperty(\"--md-indicator-width\", `${width}px`)\n\n            /* Smoothly scroll container */\n            container.scrollTo({\n              behavior: \"smooth\",\n              left: offset.x\n            })\n          },\n\n          /* Handle complete */\n          complete() {\n            el.style.removeProperty(\"--md-indicator-x\")\n            el.style.removeProperty(\"--md-indicator-width\")\n          }\n        })\n\n    /* Create and return component */\n    return watchContentTabs(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n    .pipe(\n      subscribeOn(asyncScheduler)\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Observable, merge } from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Annotation } from \"../annotation\"\nimport {\n  CodeBlock,\n  Mermaid,\n  mountCodeBlock,\n  mountMermaid\n} from \"../code\"\nimport {\n  Details,\n  mountDetails\n} from \"../details\"\nimport {\n  DataTable,\n  mountDataTable\n} from \"../table\"\nimport {\n  ContentTabs,\n  mountContentTabs\n} from \"../tabs\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Content\n */\nexport type Content =\n  | Annotation\n  | ContentTabs\n  | CodeBlock\n  | Mermaid\n  | DataTable\n  | Details\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  target$: Observable<HTMLElement>     /* Location target observable */\n  print$: Observable<boolean>          /* Media print observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount content\n *\n * This function mounts all components that are found in the content of the\n * actual article, including code blocks, data tables and details.\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Content component observable\n */\nexport function mountContent(\n  el: HTMLElement, { target$, print$ }: MountOptions\n): Observable<Component<Content>> {\n  return merge(\n\n    /* Code blocks */\n    ...getElements(\"pre:not(.mermaid) > code\", el)\n      .map(child => mountCodeBlock(child, { print$ })),\n\n    /* Mermaid diagrams */\n    ...getElements(\"pre.mermaid\", el)\n      .map(child => mountMermaid(child)),\n\n    /* Data tables */\n    ...getElements(\"table:not([class])\", el)\n      .map(child => mountDataTable(child)),\n\n    /* Details */\n    ...getElements(\"details\", el)\n      .map(child => mountDetails(child, { target$, print$ })),\n\n    /* Content tabs */\n    ...getElements(\"[data-tabs]\", el)\n      .map(child => mountContentTabs(child))\n  )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  delay,\n  finalize,\n  map,\n  merge,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Dialog\n */\nexport interface Dialog {\n  message: string                      /* Dialog message */\n  active: boolean                      /* Dialog is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch dialog\n *\n * @param _el - Dialog element\n * @param options - Options\n *\n * @returns Dialog observable\n */\nexport function watchDialog(\n  _el: HTMLElement, { alert$ }: WatchOptions\n): Observable<Dialog> {\n  return alert$\n    .pipe(\n      switchMap(message => merge(\n        of(true),\n        of(false).pipe(delay(2000))\n      )\n        .pipe(\n          map(active => ({ message, active }))\n        )\n      )\n    )\n}\n\n/**\n * Mount dialog\n *\n * This function reveals the dialog in the right corner when a new alert is\n * emitted through the subject that is passed as part of the options.\n *\n * @param el - Dialog element\n * @param options - Options\n *\n * @returns Dialog component observable\n */\nexport function mountDialog(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Dialog>> {\n  const inner = getElement(\".md-typeset\", el)\n  return defer(() => {\n    const push$ = new Subject<Dialog>()\n    push$.subscribe(({ message, active }) => {\n      inner.textContent = message\n      if (active)\n        el.setAttribute(\"data-md-state\", \"open\")\n      else\n        el.removeAttribute(\"data-md-state\")\n    })\n\n    /* Create and return component */\n    return watchDialog(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  combineLatestWith,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  map,\n  of,\n  shareReplay,\n  startWith,\n  switchMap,\n  takeLast,\n  takeUntil\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  watchElementSize,\n  watchToggle\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Main } from \"../../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface Header {\n  height: number                       /* Header visible height */\n  hidden: boolean                      /* Header is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Compute whether the header is hidden\n *\n * If the user scrolls past a certain threshold, the header can be hidden when\n * scrolling down, and shown when scrolling up.\n *\n * @param options - Options\n *\n * @returns Toggle observable\n */\nfunction isHidden({ viewport$ }: WatchOptions): Observable<boolean> {\n  if (!feature(\"header.autohide\"))\n    return of(false)\n\n  /* Compute direction and turning point */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => [a < b, b] as const),\n      distinctUntilKeyChanged(0)\n    )\n\n  /* Compute whether header should be hidden */\n  const hidden$ = combineLatest([viewport$, direction$])\n    .pipe(\n      filter(([{ offset }, [, y]]) => Math.abs(y - offset.y) > 100),\n      map(([, [direction]]) => direction),\n      distinctUntilChanged()\n    )\n\n  /* Compute threshold for hiding */\n  const search$ = watchToggle(\"search\")\n  return combineLatest([viewport$, search$])\n    .pipe(\n      map(([{ offset }, search]) => offset.y > 400 && !search),\n      distinctUntilChanged(),\n      switchMap(active => active ? hidden$ : of(false)),\n      startWith(false)\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header observable\n */\nexport function watchHeader(\n  el: HTMLElement, options: WatchOptions\n): Observable<Header> {\n  return defer(() => combineLatest([\n    watchElementSize(el),\n    isHidden(options)\n  ]))\n    .pipe(\n      map(([{ height }, hidden]) => ({\n        height,\n        hidden\n      })),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.hidden === b.hidden\n      )),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount header\n *\n * This function manages the different states of the header, i.e. whether it's\n * hidden or rendered with a shadow. This depends heavily on the main area.\n *\n * @param el - Header element\n * @param options - Options\n *\n * @returns Header component observable\n */\nexport function mountHeader(\n  el: HTMLElement, { header$, main$ }: MountOptions\n): Observable<Component<Header>> {\n  return defer(() => {\n    const push$ = new Subject<Main>()\n    push$\n      .pipe(\n        distinctUntilKeyChanged(\"active\"),\n        combineLatestWith(header$)\n      )\n        .subscribe(([{ active }, { hidden }]) => {\n          if (active)\n            el.setAttribute(\"data-md-state\", hidden ? \"hidden\" : \"shadow\")\n          else\n            el.removeAttribute(\"data-md-state\")\n        })\n\n    /* Link to main area */\n    main$.subscribe(push$)\n\n    /* Create and return component */\n    return header$\n      .pipe(\n        takeUntil(push$.pipe(takeLast(1))),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  tap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElementSize,\n  getOptionalElement,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { Header } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Header\n */\nexport interface HeaderTitle {\n  active: boolean                      /* Header title is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch header title\n *\n * @param el - Heading element\n * @param options - Options\n *\n * @returns Header title observable\n */\nexport function watchHeaderTitle(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<HeaderTitle> {\n  return watchViewportAt(el, { viewport$, header$ })\n    .pipe(\n      map(({ offset: { y } }) => {\n        const { height } = getElementSize(el)\n        return {\n          active: y >= height\n        }\n      }),\n      distinctUntilKeyChanged(\"active\")\n    )\n}\n\n/**\n * Mount header title\n *\n * This function swaps the header title from the site title to the title of the\n * current page when the user scrolls past the first headline.\n *\n * @param el - Header title element\n * @param options - Options\n *\n * @returns Header title component observable\n */\nexport function mountHeaderTitle(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<HeaderTitle>> {\n  return defer(() => {\n    const push$ = new Subject<HeaderTitle>()\n    push$.subscribe(({ active }) => {\n      if (active)\n        el.setAttribute(\"data-md-state\", \"active\")\n      else\n        el.removeAttribute(\"data-md-state\")\n    })\n\n    /* Obtain headline, if any */\n    const heading = getOptionalElement(\"article h1\")\n    if (typeof heading === \"undefined\")\n      return EMPTY\n\n    /* Create and return component */\n    return watchHeaderTitle(heading, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  map,\n  switchMap\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchElementSize\n} from \"~/browser\"\n\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Main area\n */\nexport interface Main {\n  offset: number                       /* Main area top offset */\n  height: number                       /* Main area visible height */\n  active: boolean                      /* Main area is active */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch main area\n *\n * This function returns an observable that computes the visual parameters of\n * the main area which depends on the viewport vertical offset and height, as\n * well as the height of the header element, if the header is fixed.\n *\n * @param el - Main area element\n * @param options - Options\n *\n * @returns Main area observable\n */\nexport function watchMain(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Main> {\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      map(({ height }) => height),\n      distinctUntilChanged()\n    )\n\n  /* Compute the main area's top and bottom borders */\n  const border$ = adjust$\n    .pipe(\n      switchMap(() => watchElementSize(el)\n        .pipe(\n          map(({ height }) => ({\n            top:    el.offsetTop,\n            bottom: el.offsetTop + height\n          })),\n          distinctUntilKeyChanged(\"bottom\")\n        )\n      )\n    )\n\n  /* Compute the main area's offset, visible height and if we scrolled past */\n  return combineLatest([adjust$, border$, viewport$])\n    .pipe(\n      map(([header, { top, bottom }, { offset: { y }, size: { height } }]) => {\n        height = Math.max(0, height\n          - Math.max(0, top    - y,  header)\n          - Math.max(0, height + y - bottom)\n        )\n        return {\n          offset: top - header,\n          height,\n          active: top - header <= y\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.offset === b.offset &&\n        a.height === b.height &&\n        a.active === b.active\n      ))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  defer,\n  finalize,\n  fromEvent,\n  map,\n  mergeMap,\n  observeOn,\n  of,\n  shareReplay,\n  startWith,\n  tap\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\nimport { Component } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Palette colors\n */\nexport interface PaletteColor {\n  scheme?: string                      /* Color scheme */\n  primary?: string                     /* Primary color */\n  accent?: string                      /* Accent color */\n}\n\n/**\n * Palette\n */\nexport interface Palette {\n  index: number                        /* Palette index */\n  color: PaletteColor                  /* Palette colors */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch color palette\n *\n * @param inputs - Color palette element\n *\n * @returns Color palette observable\n */\nexport function watchPalette(\n  inputs: HTMLInputElement[]\n): Observable<Palette> {\n  const current = __md_get<Palette>(\"__palette\") || {\n    index: inputs.findIndex(input => matchMedia(\n      input.getAttribute(\"data-md-color-media\")!\n    ).matches)\n  }\n\n  /* Emit changes in color palette */\n  return of(...inputs)\n    .pipe(\n      mergeMap(input => fromEvent(input, \"change\")\n        .pipe(\n          map(() => input)\n        )\n      ),\n      startWith(inputs[Math.max(0, current.index)]),\n      map(input => ({\n        index: inputs.indexOf(input),\n        color: {\n          scheme:  input.getAttribute(\"data-md-color-scheme\"),\n          primary: input.getAttribute(\"data-md-color-primary\"),\n          accent:  input.getAttribute(\"data-md-color-accent\")\n        }\n      } as Palette)),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount color palette\n *\n * @param el - Color palette element\n *\n * @returns Color palette component observable\n */\nexport function mountPalette(\n  el: HTMLElement\n): Observable<Component<Palette>> {\n  return defer(() => {\n    const push$ = new Subject<Palette>()\n    push$.subscribe(palette => {\n      document.body.setAttribute(\"data-md-color-switching\", \"\")\n\n      /* Set color palette */\n      for (const [key, value] of Object.entries(palette.color))\n        document.body.setAttribute(`data-md-color-${key}`, value)\n\n      /* Toggle visibility */\n      for (let index = 0; index < inputs.length; index++) {\n        const label = inputs[index].nextElementSibling\n        if (label instanceof HTMLElement)\n          label.hidden = palette.index !== index\n      }\n\n      /* Persist preference in local storage */\n      __md_set(\"__palette\", palette)\n    })\n\n    /* Revert transition durations after color switch */\n    push$.pipe(observeOn(asyncScheduler))\n      .subscribe(() => {\n        document.body.removeAttribute(\"data-md-color-switching\")\n      })\n\n    /* Create and return component */\n    const inputs = getElements<HTMLInputElement>(\"input\", el)\n    return watchPalette(inputs)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport ClipboardJS from \"clipboard\"\nimport {\n  Observable,\n  Subject,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport { getElement } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  alert$: Subject<string>              /* Alert subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Extract text to copy\n *\n * @param el - HTML element\n *\n * @returns Extracted text\n */\nfunction extract(el: HTMLElement): string {\n  el.setAttribute(\"data-md-copying\", \"\")\n  const text = el.innerText\n  el.removeAttribute(\"data-md-copying\")\n  return text\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up Clipboard.js integration\n *\n * @param options - Options\n */\nexport function setupClipboardJS(\n  { alert$ }: SetupOptions\n): void {\n  if (ClipboardJS.isSupported()) {\n    new Observable<ClipboardJS.Event>(subscriber => {\n      new ClipboardJS(\"[data-clipboard-target], [data-clipboard-text]\", {\n        text: el => (\n          el.getAttribute(\"data-clipboard-text\")! ||\n          extract(getElement(\n            el.getAttribute(\"data-clipboard-target\")!\n          ))\n        )\n      })\n        .on(\"success\", ev => subscriber.next(ev))\n    })\n      .pipe(\n        tap(ev => {\n          const trigger = ev.trigger as HTMLElement\n          trigger.focus()\n        }),\n        map(() => translation(\"clipboard.copied\"))\n      )\n        .subscribe(alert$)\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  of,\n  tap\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport { getElements, requestXML } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sitemap, i.e. a list of URLs\n */\nexport type Sitemap = string[]\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Preprocess a list of URLs\n *\n * This function replaces the `site_url` in the sitemap with the actual base\n * URL, to allow instant loading to work in occasions like Netlify previews.\n *\n * @param urls - URLs\n *\n * @returns URL path parts\n */\nfunction preprocess(urls: Sitemap): Sitemap {\n  if (urls.length < 2)\n    return [\"\"]\n\n  /* Take the first two URLs and remove everything after the last slash */\n  const [root, next] = [...urls]\n    .sort((a, b) => a.length - b.length)\n    .map(url => url.replace(/[^/]+$/, \"\"))\n\n  /* Compute common prefix */\n  let index = 0\n  if (root === next)\n    index = root.length\n  else\n    while (root.charCodeAt(index) === next.charCodeAt(index))\n      index++\n\n  /* Remove common prefix and return in original order */\n  return urls.map(url => url.replace(root.slice(0, index), \"\"))\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch the sitemap for the given base URL\n *\n * @param base - Base URL\n *\n * @returns Sitemap observable\n */\nexport function fetchSitemap(base?: URL): Observable<Sitemap> {\n  const cached = __md_get<Sitemap>(\"__sitemap\", sessionStorage, base)\n  if (cached) {\n    return of(cached)\n  } else {\n    const config = configuration()\n    return requestXML(new URL(\"sitemap.xml\", base || config.base))\n      .pipe(\n        map(sitemap => preprocess(getElements(\"loc\", sitemap)\n          .map(node => node.textContent!)\n        )),\n        catchError(() => EMPTY), // @todo refactor instant loading\n        defaultIfEmpty([]),\n        tap(sitemap => __md_set(\"__sitemap\", sitemap, sessionStorage, base))\n      )\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  NEVER,\n  Observable,\n  Subject,\n  bufferCount,\n  catchError,\n  concatMap,\n  debounceTime,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  fromEvent,\n  map,\n  merge,\n  of,\n  sample,\n  share,\n  skip,\n  skipUntil,\n  switchMap\n} from \"rxjs\"\n\nimport { configuration, feature } from \"~/_\"\nimport {\n  Viewport,\n  ViewportOffset,\n  getElements,\n  getOptionalElement,\n  request,\n  setLocation,\n  setLocationHash\n} from \"~/browser\"\nimport { getComponentElement } from \"~/components\"\nimport { h } from \"~/utilities\"\n\nimport { fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * History state\n */\nexport interface HistoryState {\n  url: URL                             /* State URL */\n  offset?: ViewportOffset              /* State viewport offset */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  document$: Subject<Document>         /* Document subject */\n  location$: Subject<URL>              /* Location subject */\n  viewport$: Observable<Viewport>      /* Viewport observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up instant loading\n *\n * When fetching, theoretically, we could use `responseType: \"document\"`, but\n * since all MkDocs links are relative, we need to make sure that the current\n * location matches the document we just loaded. Otherwise any relative links\n * in the document could use the old location.\n *\n * This is the reason why we need to synchronize history events and the process\n * of fetching the document for navigation changes (except `popstate` events):\n *\n * 1. Fetch document via `XMLHTTPRequest`\n * 2. Set new location via `history.pushState`\n * 3. Parse and emit fetched document\n *\n * For `popstate` events, we must not use `history.pushState`, or the forward\n * history will be irreversibly overwritten. In case the request fails, the\n * location change is dispatched regularly.\n *\n * @param options - Options\n */\nexport function setupInstantLoading(\n  { document$, location$, viewport$ }: SetupOptions\n): void {\n  const config = configuration()\n  if (location.protocol === \"file:\")\n    return\n\n  /* Disable automatic scroll restoration */\n  if (\"scrollRestoration\" in history) {\n    history.scrollRestoration = \"manual\"\n\n    /* Hack: ensure that reloads restore viewport offset */\n    fromEvent(window, \"beforeunload\")\n      .subscribe(() => {\n        history.scrollRestoration = \"auto\"\n      })\n  }\n\n  /* Hack: ensure absolute favicon link to omit 404s when switching */\n  const favicon = getOptionalElement<HTMLLinkElement>(\"link[rel=icon]\")\n  if (typeof favicon !== \"undefined\")\n    favicon.href = favicon.href\n\n  /* Intercept internal navigation */\n  const push$ = fetchSitemap()\n    .pipe(\n      map(paths => paths.map(path => `${new URL(path, config.base)}`)),\n      switchMap(urls => fromEvent<MouseEvent>(document.body, \"click\")\n        .pipe(\n          filter(ev => !ev.metaKey && !ev.ctrlKey),\n          switchMap(ev => {\n            if (ev.target instanceof Element) {\n              const el = ev.target.closest(\"a\")\n              if (el && !el.target) {\n                const url = new URL(el.href)\n\n                /* Canonicalize URL */\n                url.search = \"\"\n                url.hash = \"\"\n\n                /* Check if URL should be intercepted */\n                if (\n                  url.pathname !== location.pathname &&\n                  urls.includes(url.toString())\n                ) {\n                  ev.preventDefault()\n                  return of({\n                    url: new URL(el.href)\n                  })\n                }\n              }\n            }\n            return NEVER\n          })\n        )\n      ),\n      share<HistoryState>()\n    )\n\n  /* Intercept history back and forward */\n  const pop$ = fromEvent<PopStateEvent>(window, \"popstate\")\n    .pipe(\n      filter(ev => ev.state !== null),\n      map(ev => ({\n        url: new URL(location.href),\n        offset: ev.state\n      })),\n      share<HistoryState>()\n    )\n\n  /* Emit location change */\n  merge(push$, pop$)\n    .pipe(\n      distinctUntilChanged((a, b) => a.url.href === b.url.href),\n      map(({ url }) => url)\n    )\n      .subscribe(location$)\n\n  /* Fetch document via `XMLHTTPRequest` */\n  const response$ = location$\n    .pipe(\n      distinctUntilKeyChanged(\"pathname\"),\n      switchMap(url => request(url.href)\n        .pipe(\n          catchError(() => {\n            setLocation(url)\n            return NEVER\n          })\n        )\n      ),\n      share()\n    )\n\n  /* Set new location via `history.pushState` */\n  push$\n    .pipe(\n      sample(response$)\n    )\n      .subscribe(({ url }) => {\n        history.pushState({}, \"\", `${url}`)\n      })\n\n  /* Parse and emit fetched document */\n  const dom = new DOMParser()\n  response$\n    .pipe(\n      switchMap(res => res.text()),\n      map(res => dom.parseFromString(res, \"text/html\"))\n    )\n      .subscribe(document$)\n\n  /* Replace meta tags and components */\n  document$\n    .pipe(\n      skip(1)\n    )\n      .subscribe(replacement => {\n        for (const selector of [\n\n          /* Meta tags */\n          \"title\",\n          \"link[rel=canonical]\",\n          \"meta[name=author]\",\n          \"meta[name=description]\",\n\n          /* Components */\n          \"[data-md-component=announce]\",\n          \"[data-md-component=container]\",\n          \"[data-md-component=header-topic]\",\n          \"[data-md-component=outdated]\",\n          \"[data-md-component=logo]\",\n          \"[data-md-component=skip]\",\n          ...feature(\"navigation.tabs.sticky\")\n            ? [\"[data-md-component=tabs]\"]\n            : []\n        ]) {\n          const source = getOptionalElement(selector)\n          const target = getOptionalElement(selector, replacement)\n          if (\n            typeof source !== \"undefined\" &&\n            typeof target !== \"undefined\"\n          ) {\n            source.replaceWith(target)\n          }\n        }\n      })\n\n  /* Re-evaluate scripts */\n  document$\n    .pipe(\n      skip(1),\n      map(() => getComponentElement(\"container\")),\n      switchMap(el => getElements(\"script\", el)),\n      concatMap(el => {\n        const script = h(\"script\")\n        if (el.src) {\n          for (const name of el.getAttributeNames())\n            script.setAttribute(name, el.getAttribute(name)!)\n          el.replaceWith(script)\n\n          /* Complete when script is loaded */\n          return new Observable(observer => {\n            script.onload = () => observer.complete()\n          })\n\n        /* Complete immediately */\n        } else {\n          script.textContent = el.textContent\n          el.replaceWith(script)\n          return EMPTY\n        }\n      })\n    )\n      .subscribe()\n\n  /* Emit history state change */\n  merge(push$, pop$)\n    .pipe(\n      sample(document$)\n    )\n      .subscribe(({ url, offset }) => {\n        if (url.hash && !offset) {\n          setLocationHash(url.hash)\n        } else {\n          window.scrollTo(0, offset?.y || 0)\n        }\n      })\n\n  /* Debounce update of viewport offset */\n  viewport$\n    .pipe(\n      skipUntil(push$),\n      debounceTime(250),\n      distinctUntilKeyChanged(\"offset\")\n    )\n      .subscribe(({ offset }) => {\n        history.replaceState(offset, \"\")\n      })\n\n  /* Set viewport offset from history */\n  merge(push$, pop$)\n    .pipe(\n      bufferCount(2, 1),\n      filter(([a, b]) => a.url.pathname === b.url.pathname),\n      map(([, state]) => state)\n    )\n      .subscribe(({ offset }) => {\n        window.scrollTo(0, offset?.y || 0)\n      })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchIndexDocument } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search document\n */\nexport interface SearchDocument extends SearchIndexDocument {\n  parent?: SearchIndexDocument         /* Parent article */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search document mapping\n */\nexport type SearchDocumentMap = Map<string, SearchDocument>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search document mapping\n *\n * @param docs - Search index documents\n *\n * @returns Search document map\n */\nexport function setupSearchDocumentMap(\n  docs: SearchIndexDocument[]\n): SearchDocumentMap {\n  const documents = new Map<string, SearchDocument>()\n  const parents   = new Set<SearchDocument>()\n  for (const doc of docs) {\n    const [path, hash] = doc.location.split(\"#\")\n\n    /* Extract location, title and tags */\n    const location = doc.location\n    const title    = doc.title\n    const tags     = doc.tags\n\n    /* Escape and cleanup text */\n    const text = escapeHTML(doc.text)\n      .replace(/\\s+(?=[,.:;!?])/g, \"\")\n      .replace(/\\s+/g, \" \")\n\n    /* Handle section */\n    if (hash) {\n      const parent = documents.get(path)!\n\n      /* Ignore first section, override article */\n      if (!parents.has(parent)) {\n        parent.title = doc.title\n        parent.text  = text\n\n        /* Remember that we processed the article */\n        parents.add(parent)\n\n      /* Add subsequent section */\n      } else {\n        documents.set(location, {\n          location,\n          title,\n          text,\n          parent\n        })\n      }\n\n    /* Add article */\n    } else {\n      documents.set(location, {\n        location,\n        title,\n        text,\n        ...tags && { tags }\n      })\n    }\n  }\n  return documents\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchIndexConfig } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlight function\n *\n * @param value - Value\n *\n * @returns Highlighted value\n */\nexport type SearchHighlightFn = (value: string) => string\n\n/**\n * Search highlight factory function\n *\n * @param query - Query value\n *\n * @returns Search highlight function\n */\nexport type SearchHighlightFactoryFn = (query: string) => SearchHighlightFn\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search highlighter\n *\n * @param config - Search index configuration\n * @param escape - Whether to escape HTML\n *\n * @returns Search highlight factory function\n */\nexport function setupSearchHighlighter(\n  config: SearchIndexConfig, escape: boolean\n): SearchHighlightFactoryFn {\n  const separator = new RegExp(config.separator, \"img\")\n  const highlight = (_: unknown, data: string, term: string) => {\n    return `${data}<mark data-md-highlight>${term}</mark>`\n  }\n\n  /* Return factory function */\n  return (query: string) => {\n    query = query\n      .replace(/[\\s*+\\-:~^]+/g, \" \")\n      .trim()\n\n    /* Create search term match expression */\n    const match = new RegExp(`(^|${config.separator})(${\n      query\n        .replace(/[|\\\\{}()[\\]^$+*?.-]/g, \"\\\\$&\")\n        .replace(separator, \"|\")\n    })`, \"img\")\n\n    /* Highlight string value */\n    return value => (\n      escape\n        ? escapeHTML(value)\n        : value\n      )\n        .replace(match, highlight)\n        .replace(/<\\/mark>(\\s+)<mark[^>]*>/img, \"$1\")\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search transformation function\n *\n * @param value - Query value\n *\n * @returns Transformed query value\n */\nexport type SearchTransformFn = (value: string) => string\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Default transformation function\n *\n * 1. Search for terms in quotation marks and prepend a `+` modifier to denote\n *    that the resulting document must contain all terms, converting the query\n *    to an `AND` query (as opposed to the default `OR` behavior). While users\n *    may expect terms enclosed in quotation marks to map to span queries, i.e.\n *    for which order is important, Lunr.js doesn't support them, so the best\n *    we can do is to convert the terms to an `AND` query.\n *\n * 2. Replace control characters which are not located at the beginning of the\n *    query or preceded by white space, or are not followed by a non-whitespace\n *    character or are at the end of the query string. Furthermore, filter\n *    unmatched quotation marks.\n *\n * 3. Trim excess whitespace from left and right.\n *\n * @param query - Query value\n *\n * @returns Transformed query value\n */\nexport function defaultTransform(query: string): string {\n  return query\n    .split(/\"([^\"]+)\"/g)                            /* => 1 */\n      .map((terms, index) => index & 1\n        ? terms.replace(/^\\b|^(?![^\\x00-\\x7F]|$)|\\s+/g, \" +\")\n        : terms\n      )\n      .join(\"\")\n    .replace(/\"|(?:^|\\s+)[*+\\-:^~]+(?=\\s+|$)/g, \"\") /* => 2 */\n    .trim()                                         /* => 3 */\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { SearchIndex, SearchResult } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search message type\n */\nexport const enum SearchMessageType {\n  SETUP,                               /* Search index setup */\n  READY,                               /* Search index ready */\n  QUERY,                               /* Search query */\n  RESULT                               /* Search results */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message containing the data necessary to setup the search index\n */\nexport interface SearchSetupMessage {\n  type: SearchMessageType.SETUP        /* Message type */\n  data: SearchIndex                    /* Message data */\n}\n\n/**\n * Message indicating the search index is ready\n */\nexport interface SearchReadyMessage {\n  type: SearchMessageType.READY        /* Message type */\n}\n\n/**\n * Message containing a search query\n */\nexport interface SearchQueryMessage {\n  type: SearchMessageType.QUERY        /* Message type */\n  data: string                         /* Message data */\n}\n\n/**\n * Message containing results for a search query\n */\nexport interface SearchResultMessage {\n  type: SearchMessageType.RESULT       /* Message type */\n  data: SearchResult                   /* Message data */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Message exchanged with the search worker\n */\nexport type SearchMessage =\n  | SearchSetupMessage\n  | SearchReadyMessage\n  | SearchQueryMessage\n  | SearchResultMessage\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Type guard for search setup messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchSetupMessage(\n  message: SearchMessage\n): message is SearchSetupMessage {\n  return message.type === SearchMessageType.SETUP\n}\n\n/**\n * Type guard for search ready messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchReadyMessage(\n  message: SearchMessage\n): message is SearchReadyMessage {\n  return message.type === SearchMessageType.READY\n}\n\n/**\n * Type guard for search query messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchQueryMessage(\n  message: SearchMessage\n): message is SearchQueryMessage {\n  return message.type === SearchMessageType.QUERY\n}\n\n/**\n * Type guard for search result messages\n *\n * @param message - Search worker message\n *\n * @returns Test result\n */\nexport function isSearchResultMessage(\n  message: SearchMessage\n): message is SearchResultMessage {\n  return message.type === SearchMessageType.RESULT\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  ObservableInput,\n  Subject,\n  from,\n  map,\n  share\n} from \"rxjs\"\n\nimport { configuration, feature, translation } from \"~/_\"\nimport { WorkerHandler, watchWorker } from \"~/browser\"\n\nimport { SearchIndex } from \"../../_\"\nimport {\n  SearchOptions,\n  SearchPipeline\n} from \"../../options\"\nimport {\n  SearchMessage,\n  SearchMessageType,\n  SearchSetupMessage,\n  isSearchResultMessage\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search worker\n */\nexport type SearchWorker = WorkerHandler<SearchMessage>\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up search index\n *\n * @param data - Search index\n *\n * @returns Search index\n */\nfunction setupSearchIndex({ config, docs }: SearchIndex): SearchIndex {\n\n  /* Override default language with value from translation */\n  if (config.lang.length === 1 && config.lang[0] === \"en\")\n    config.lang = [\n      translation(\"search.config.lang\")\n    ]\n\n  /* Override default separator with value from translation */\n  if (config.separator === \"[\\\\s\\\\-]+\")\n    config.separator = translation(\"search.config.separator\")\n\n  /* Set pipeline from translation */\n  const pipeline = translation(\"search.config.pipeline\")\n    .split(/\\s*,\\s*/)\n    .filter(Boolean) as SearchPipeline\n\n  /* Determine search options */\n  const options: SearchOptions = {\n    pipeline,\n    suggestions: feature(\"search.suggest\")\n  }\n\n  /* Return search index after defaulting */\n  return { config, docs, options }\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up search worker\n *\n * This function creates a web worker to set up and query the search index,\n * which is done using Lunr.js. The index must be passed as an observable to\n * enable hacks like _localsearch_ via search index embedding as JSON.\n *\n * @param url - Worker URL\n * @param index - Search index observable input\n *\n * @returns Search worker\n */\nexport function setupSearchWorker(\n  url: string, index: ObservableInput<SearchIndex>\n): SearchWorker {\n  const config = configuration()\n  const worker = new Worker(url)\n\n  /* Create communication channels and resolve relative links */\n  const tx$ = new Subject<SearchMessage>()\n  const rx$ = watchWorker(worker, { tx$ })\n    .pipe(\n      map(message => {\n        if (isSearchResultMessage(message)) {\n          for (const result of message.data.items)\n            for (const document of result)\n              document.location = `${new URL(document.location, config.base)}`\n        }\n        return message\n      }),\n      share()\n    )\n\n  /* Set up search index */\n  from(index)\n    .pipe(\n      map(data => ({\n        type: SearchMessageType.SETUP,\n        data: setupSearchIndex(data)\n      } as SearchSetupMessage))\n    )\n      .subscribe(tx$.next.bind(tx$))\n\n  /* Return search worker */\n  return { tx$, rx$ }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Subject,\n  catchError,\n  combineLatest,\n  filter,\n  fromEvent,\n  map,\n  of,\n  switchMap\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  getElement,\n  getLocation,\n  requestJSON,\n  setLocation\n} from \"~/browser\"\nimport { getComponentElements } from \"~/components\"\nimport {\n  Version,\n  renderVersionSelector\n} from \"~/templates\"\n\nimport { fetchSitemap } from \"../sitemap\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Setup options\n */\ninterface SetupOptions {\n  document$: Subject<Document>         /* Document subject */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Set up version selector\n *\n * @param options - Options\n */\nexport function setupVersionSelector(\n  { document$ }: SetupOptions\n): void {\n  const config = configuration()\n  const versions$ = requestJSON<Version[]>(\n    new URL(\"../versions.json\", config.base)\n  )\n    .pipe(\n      catchError(() => EMPTY) // @todo refactor instant loading\n    )\n\n  /* Determine current version */\n  const current$ = versions$\n    .pipe(\n      map(versions => {\n        const [, current] = config.base.match(/([^/]+)\\/?$/)!\n        return versions.find(({ version, aliases }) => (\n          version === current || aliases.includes(current)\n        )) || versions[0]\n      })\n    )\n\n  /* Intercept inter-version navigation */\n  combineLatest([versions$, current$])\n    .pipe(\n      map(([versions, current]) => new Map(versions\n        .filter(version => version !== current)\n        .map(version => [\n          `${new URL(`../${version.version}/`, config.base)}`,\n          version\n        ])\n      )),\n      switchMap(urls => fromEvent<MouseEvent>(document.body, \"click\")\n        .pipe(\n          filter(ev => !ev.metaKey && !ev.ctrlKey),\n          switchMap(ev => {\n            if (ev.target instanceof Element) {\n              const el = ev.target.closest(\"a\")\n              if (el && !el.target && urls.has(el.href)) {\n                ev.preventDefault()\n                return of(el.href)\n              }\n            }\n            return EMPTY\n          }),\n          switchMap(url => {\n            const { version } = urls.get(url)!\n            return fetchSitemap(new URL(url))\n              .pipe(\n                map(sitemap => {\n                  const location = getLocation()\n                  const path = location.href.replace(config.base, \"\")\n                  return sitemap.includes(path)\n                    ? new URL(`../${version}/${path}`, config.base)\n                    : new URL(url)\n                })\n              )\n          })\n        )\n      )\n    )\n      .subscribe(url => setLocation(url))\n\n  /* Render version selector and warning */\n  combineLatest([versions$, current$])\n    .subscribe(([versions, current]) => {\n      const topic = getElement(\".md-header__topic\")\n      topic.appendChild(renderVersionSelector(versions, current))\n    })\n\n  /* Integrate outdated version banner with instant loading */\n  document$.pipe(switchMap(() => current$))\n    .subscribe(current => {\n\n      /* Check if version state was already determined */\n      let outdated = __md_get(\"__outdated\", sessionStorage)\n      if (outdated === null) {\n        const latest = config.version?.default || \"latest\"\n        outdated = !current.aliases.includes(latest)\n\n        /* Persist version state in session storage */\n        __md_set(\"__outdated\", outdated, sessionStorage)\n      }\n\n      /* Unhide outdated version banner */\n      if (outdated)\n        for (const warning of getComponentElements(\"outdated\"))\n          warning.hidden = false\n    })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  combineLatest,\n  delay,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  shareReplay,\n  startWith,\n  take,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport {\n  getLocation,\n  setToggle,\n  watchElementFocus,\n  watchToggle\n} from \"~/browser\"\nimport {\n  SearchMessageType,\n  SearchQueryMessage,\n  SearchWorker,\n  defaultTransform,\n  isSearchReadyMessage\n} from \"~/integrations\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query\n */\nexport interface SearchQuery {\n  value: string                        /* Query value */\n  focus: boolean                       /* Query focus */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch search query\n *\n * Note that the focus event which triggers re-reading the current query value\n * is delayed by `1ms` so the input's empty state is allowed to propagate.\n *\n * @param el - Search query element\n * @param worker - Search worker\n *\n * @returns Search query observable\n */\nexport function watchSearchQuery(\n  el: HTMLInputElement, { rx$ }: SearchWorker\n): Observable<SearchQuery> {\n  const fn = __search?.transform || defaultTransform\n\n  /* Immediately show search dialog */\n  const { searchParams } = getLocation()\n  if (searchParams.has(\"q\"))\n    setToggle(\"search\", true)\n\n  /* Intercept query parameter (deep link) */\n  const param$ = rx$\n    .pipe(\n      filter(isSearchReadyMessage),\n      take(1),\n      map(() => searchParams.get(\"q\") || \"\")\n    )\n\n  /* Remove query parameter when search is closed */\n  watchToggle(\"search\")\n    .pipe(\n      filter(active => !active),\n      take(1)\n    )\n      .subscribe(() => {\n        const url = new URL(location.href)\n        url.searchParams.delete(\"q\")\n        history.replaceState({}, \"\", `${url}`)\n      })\n\n  /* Set query from parameter */\n  param$.subscribe(value => { // TODO: not ideal - find a better way\n    if (value) {\n      el.value = value\n      el.focus()\n    }\n  })\n\n  /* Intercept focus and input events */\n  const focus$ = watchElementFocus(el)\n  const value$ = merge(\n    fromEvent(el, \"keyup\"),\n    fromEvent(el, \"focus\").pipe(delay(1)),\n    param$\n  )\n    .pipe(\n      map(() => fn(el.value)),\n      startWith(\"\"),\n      distinctUntilChanged(),\n    )\n\n  /* Combine into single observable */\n  return combineLatest([value$, focus$])\n    .pipe(\n      map(([value, focus]) => ({ value, focus })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount search query\n *\n * @param el - Search query element\n * @param worker - Search worker\n *\n * @returns Search query component observable\n */\nexport function mountSearchQuery(\n  el: HTMLInputElement, { tx$, rx$ }: SearchWorker\n): Observable<Component<SearchQuery, HTMLInputElement>> {\n  const push$ = new Subject<SearchQuery>()\n\n  /* Handle value changes */\n  push$\n    .pipe(\n      distinctUntilKeyChanged(\"value\"),\n      map(({ value }): SearchQueryMessage => ({\n        type: SearchMessageType.QUERY,\n        data: value\n      }))\n    )\n      .subscribe(tx$.next.bind(tx$))\n\n  /* Handle focus changes */\n  push$\n    .pipe(\n      distinctUntilKeyChanged(\"focus\")\n    )\n      .subscribe(({ focus }) => {\n        if (focus) {\n          setToggle(\"search\", focus)\n          el.placeholder = \"\"\n        } else {\n          el.placeholder = translation(\"search.placeholder\")\n        }\n      })\n\n  /* Handle reset */\n  fromEvent(el.form!, \"reset\")\n    .pipe(\n      takeUntil(push$.pipe(takeLast(1)))\n    )\n      .subscribe(() => el.focus())\n\n  /* Create and return component */\n  return watchSearchQuery(el, { tx$, rx$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  filter,\n  finalize,\n  map,\n  merge,\n  of,\n  skipUntil,\n  switchMap,\n  take,\n  tap,\n  withLatestFrom,\n  zipWith\n} from \"rxjs\"\n\nimport { translation } from \"~/_\"\nimport {\n  getElement,\n  watchElementBoundary\n} from \"~/browser\"\nimport {\n  SearchResult,\n  SearchWorker,\n  isSearchReadyMessage,\n  isSearchResultMessage\n} from \"~/integrations\"\nimport { renderSearchResultItem } from \"~/templates\"\nimport { round } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search result list\n *\n * This function performs a lazy rendering of the search results, depending on\n * the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param worker - Search worker\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchResult(\n  el: HTMLElement, { rx$ }: SearchWorker, { query$ }: MountOptions\n): Observable<Component<SearchResult>> {\n  const push$ = new Subject<SearchResult>()\n  const boundary$ = watchElementBoundary(el.parentElement!)\n    .pipe(\n      filter(Boolean)\n    )\n\n  /* Retrieve nested components */\n  const meta = getElement(\":scope > :first-child\", el)\n  const list = getElement(\":scope > :last-child\", el)\n\n  /* Wait until search is ready */\n  const ready$ = rx$\n    .pipe(\n      filter(isSearchReadyMessage),\n      take(1)\n    )\n\n  /* Update search result metadata */\n  push$\n    .pipe(\n      withLatestFrom(query$),\n      skipUntil(ready$)\n    )\n      .subscribe(([{ items }, { value }]) => {\n        if (value) {\n          switch (items.length) {\n\n            /* No results */\n            case 0:\n              meta.textContent = translation(\"search.result.none\")\n              break\n\n            /* One result */\n            case 1:\n              meta.textContent = translation(\"search.result.one\")\n              break\n\n            /* Multiple result */\n            default:\n              meta.textContent = translation(\n                \"search.result.other\",\n                round(items.length)\n              )\n          }\n        } else {\n          meta.textContent = translation(\"search.result.placeholder\")\n        }\n      })\n\n  /* Update search result list */\n  push$\n    .pipe(\n      tap(() => list.innerHTML = \"\"),\n      switchMap(({ items }) => merge(\n        of(...items.slice(0, 10)),\n        of(...items.slice(10))\n          .pipe(\n            bufferCount(4),\n            zipWith(boundary$),\n            switchMap(([chunk]) => chunk)\n          )\n      ))\n    )\n      .subscribe(result => list.appendChild(\n        renderSearchResultItem(result)\n      ))\n\n  /* Filter search result message */\n  const result$ = rx$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  finalize,\n  fromEvent,\n  map,\n  tap\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\n\nimport { Component } from \"../../_\"\nimport { SearchQuery } from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search sharing\n */\nexport interface SearchShare {\n  url: URL                             /* Deep link for sharing */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  query$: Observable<SearchQuery>      /* Search query observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search sharing\n *\n * @param _el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing observable\n */\nexport function watchSearchShare(\n  _el: HTMLElement, { query$ }: WatchOptions\n): Observable<SearchShare> {\n  return query$\n    .pipe(\n      map(({ value }) => {\n        const url = getLocation()\n        url.hash = \"\"\n        url.searchParams.delete(\"h\")\n        url.searchParams.set(\"q\", value)\n        return { url }\n      })\n    )\n}\n\n/**\n * Mount search sharing\n *\n * @param el - Search sharing element\n * @param options - Options\n *\n * @returns Search sharing component observable\n */\nexport function mountSearchShare(\n  el: HTMLAnchorElement, options: MountOptions\n): Observable<Component<SearchShare>> {\n  const push$ = new Subject<SearchShare>()\n  push$.subscribe(({ url }) => {\n    el.setAttribute(\"data-clipboard-text\", el.href)\n    el.href = `${url}`\n  })\n\n  /* Prevent following of link */\n  fromEvent(el, \"click\")\n    .subscribe(ev => ev.preventDefault())\n\n  /* Create and return component */\n  return watchSearchShare(el, options)\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  asyncScheduler,\n  combineLatestWith,\n  distinctUntilChanged,\n  filter,\n  finalize,\n  fromEvent,\n  map,\n  merge,\n  observeOn,\n  tap\n} from \"rxjs\"\n\nimport { Keyboard } from \"~/browser\"\nimport {\n  SearchResult,\n  SearchWorker,\n  isSearchResultMessage\n} from \"~/integrations\"\n\nimport { Component, getComponentElement } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search suggestions\n */\nexport interface SearchSuggest {}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search suggestions\n *\n * This function will perform a lazy rendering of the search results, depending\n * on the vertical offset of the search result container.\n *\n * @param el - Search result list element\n * @param worker - Search worker\n * @param options - Options\n *\n * @returns Search result list component observable\n */\nexport function mountSearchSuggest(\n  el: HTMLElement, { rx$ }: SearchWorker, { keyboard$ }: MountOptions\n): Observable<Component<SearchSuggest>> {\n  const push$ = new Subject<SearchResult>()\n\n  /* Retrieve query component and track all changes */\n  const query  = getComponentElement(\"search-query\")\n  const query$ = merge(\n    fromEvent(query, \"keydown\"),\n    fromEvent(query, \"focus\")\n  )\n    .pipe(\n      observeOn(asyncScheduler),\n      map(() => query.value),\n      distinctUntilChanged(),\n    )\n\n  /* Update search suggestions */\n  push$\n    .pipe(\n      combineLatestWith(query$),\n      map(([{ suggestions }, value]) => {\n        const words = value.split(/([\\s-]+)/)\n        if (suggestions?.length && words[words.length - 1]) {\n          const last = suggestions[suggestions.length - 1]\n          if (last.startsWith(words[words.length - 1]))\n            words[words.length - 1] = last\n        } else {\n          words.length = 0\n        }\n        return words\n      })\n    )\n      .subscribe(words => el.innerHTML = words\n        .join(\"\")\n        .replace(/\\s/g, \"&nbsp;\")\n      )\n\n  /* Set up search keyboard handlers */\n  keyboard$\n    .pipe(\n      filter(({ mode }) => mode === \"search\")\n    )\n      .subscribe(key => {\n        switch (key.type) {\n\n          /* Right arrow: accept current suggestion */\n          case \"ArrowRight\":\n            if (\n              el.innerText.length &&\n              query.selectionStart === query.value.length\n            )\n              query.value = el.innerText\n            break\n        }\n      })\n\n  /* Filter search result message */\n  const result$ = rx$\n    .pipe(\n      filter(isSearchResultMessage),\n      map(({ data }) => data)\n    )\n\n  /* Create and return component */\n  return result$\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(() => ({ ref: el }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  NEVER,\n  Observable,\n  ObservableInput,\n  filter,\n  merge,\n  mergeWith,\n  sample,\n  take\n} from \"rxjs\"\n\nimport { configuration } from \"~/_\"\nimport {\n  Keyboard,\n  getActiveElement,\n  getElements,\n  setToggle\n} from \"~/browser\"\nimport {\n  SearchIndex,\n  SearchResult,\n  isSearchQueryMessage,\n  isSearchReadyMessage,\n  setupSearchWorker\n} from \"~/integrations\"\n\nimport {\n  Component,\n  getComponentElement,\n  getComponentElements\n} from \"../../_\"\nimport {\n  SearchQuery,\n  mountSearchQuery\n} from \"../query\"\nimport { mountSearchResult } from \"../result\"\nimport {\n  SearchShare,\n  mountSearchShare\n} from \"../share\"\nimport {\n  SearchSuggest,\n  mountSearchSuggest\n} from \"../suggest\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search\n */\nexport type Search =\n  | SearchQuery\n  | SearchResult\n  | SearchShare\n  | SearchSuggest\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  keyboard$: Observable<Keyboard>      /* Keyboard observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search\n *\n * This function sets up the search functionality, including the underlying\n * web worker and all keyboard bindings.\n *\n * @param el - Search element\n * @param options - Options\n *\n * @returns Search component observable\n */\nexport function mountSearch(\n  el: HTMLElement, { index$, keyboard$ }: MountOptions\n): Observable<Component<Search>> {\n  const config = configuration()\n  try {\n    const url = __search?.worker || config.search\n    const worker = setupSearchWorker(url, index$)\n\n    /* Retrieve query and result components */\n    const query  = getComponentElement(\"search-query\", el)\n    const result = getComponentElement(\"search-result\", el)\n\n    /* Re-emit query when search is ready */\n    const { tx$, rx$ } = worker\n    tx$\n      .pipe(\n        filter(isSearchQueryMessage),\n        sample(rx$.pipe(filter(isSearchReadyMessage))),\n        take(1)\n      )\n        .subscribe(tx$.next.bind(tx$))\n\n    /* Set up search keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"search\")\n      )\n        .subscribe(key => {\n          const active = getActiveElement()\n          switch (key.type) {\n\n            /* Enter: go to first (best) result */\n            case \"Enter\":\n              if (active === query) {\n                const anchors = new Map<HTMLAnchorElement, number>()\n                for (const anchor of getElements<HTMLAnchorElement>(\n                  \":first-child [href]\", result\n                )) {\n                  const article = anchor.firstElementChild!\n                  anchors.set(anchor, parseFloat(\n                    article.getAttribute(\"data-md-score\")!\n                  ))\n                }\n\n                /* Go to result with highest score, if any */\n                if (anchors.size) {\n                  const [[best]] = [...anchors].sort(([, a], [, b]) => b - a)\n                  best.click()\n                }\n\n                /* Otherwise omit form submission */\n                key.claim()\n              }\n              break\n\n            /* Escape or Tab: close search */\n            case \"Escape\":\n            case \"Tab\":\n              setToggle(\"search\", false)\n              query.blur()\n              break\n\n            /* Vertical arrows: select previous or next search result */\n            case \"ArrowUp\":\n            case \"ArrowDown\":\n              if (typeof active === \"undefined\") {\n                query.focus()\n              } else {\n                const els = [query, ...getElements(\n                  \":not(details) > [href], summary, details[open] [href]\",\n                  result\n                )]\n                const i = Math.max(0, (\n                  Math.max(0, els.indexOf(active)) + els.length + (\n                    key.type === \"ArrowUp\" ? -1 : +1\n                  )\n                ) % els.length)\n                els[i].focus()\n              }\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n\n            /* All other keys: hand to search query */\n            default:\n              if (query !== getActiveElement())\n                query.focus()\n          }\n        })\n\n    /* Set up global keyboard handlers */\n    keyboard$\n      .pipe(\n        filter(({ mode }) => mode === \"global\"),\n      )\n        .subscribe(key => {\n          switch (key.type) {\n\n            /* Open search and select query */\n            case \"f\":\n            case \"s\":\n            case \"/\":\n              query.focus()\n              query.select()\n\n              /* Prevent scrolling of page */\n              key.claim()\n              break\n          }\n        })\n\n    /* Create and return component */\n    const query$  = mountSearchQuery(query, worker)\n    const result$ = mountSearchResult(result, worker, { query$ })\n    return merge(query$, result$)\n      .pipe(\n        mergeWith(\n\n          /* Search sharing */\n          ...getComponentElements(\"search-share\", el)\n            .map(child => mountSearchShare(child, { query$ })),\n\n          /* Search suggestions */\n          ...getComponentElements(\"search-suggest\", el)\n            .map(child => mountSearchSuggest(child, worker, { keyboard$ }))\n        )\n      )\n\n  /* Gracefully handle broken search */\n  } catch (err) {\n    el.hidden = true\n    return NEVER\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  ObservableInput,\n  combineLatest,\n  filter,\n  map,\n  startWith\n} from \"rxjs\"\n\nimport { getLocation } from \"~/browser\"\nimport {\n  SearchIndex,\n  setupSearchHighlighter\n} from \"~/integrations\"\nimport { h } from \"~/utilities\"\n\nimport { Component } from \"../../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlighting\n */\nexport interface SearchHighlight {\n  nodes: Map<ChildNode, string>        /* Map of replacements */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  index$: ObservableInput<SearchIndex> /* Search index observable */\n  location$: Observable<URL>           /* Location observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Mount search highlighting\n *\n * @param el - Content element\n * @param options - Options\n *\n * @returns Search highlighting component observable\n */\nexport function mountSearchHiglight(\n  el: HTMLElement, { index$, location$ }: MountOptions\n): Observable<Component<SearchHighlight>> {\n  return combineLatest([\n    index$,\n    location$\n      .pipe(\n        startWith(getLocation()),\n        filter(url => !!url.searchParams.get(\"h\"))\n      )\n  ])\n    .pipe(\n      map(([index, url]) => setupSearchHighlighter(index.config, true)(\n        url.searchParams.get(\"h\")!\n      )),\n      map(fn => {\n        const nodes = new Map<ChildNode, string>()\n\n        /* Traverse text nodes and collect matches */\n        const it = document.createNodeIterator(el, NodeFilter.SHOW_TEXT)\n        for (let node = it.nextNode(); node; node = it.nextNode()) {\n          if (node.parentElement?.offsetHeight) {\n            const original = node.textContent!\n            const replaced = fn(original)\n            if (replaced.length > original.length)\n              nodes.set(node as ChildNode, replaced)\n          }\n        }\n\n        /* Replace original nodes with matches */\n        for (const [node, text] of nodes) {\n          const { childNodes } = h(\"span\", null, text)\n          node.replaceWith(...Array.from(childNodes))\n        }\n\n        /* Return component */\n        return { ref: el, nodes }\n      })\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  animationFrameScheduler,\n  auditTime,\n  combineLatest,\n  defer,\n  distinctUntilChanged,\n  finalize,\n  map,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  getElement,\n  getElementOffset\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Sidebar\n */\nexport interface Sidebar {\n  height: number                       /* Sidebar height */\n  locked: boolean                      /* Sidebar is locked */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch sidebar\n *\n * This function returns an observable that computes the visual parameters of\n * the sidebar which depends on the vertical viewport offset, as well as the\n * height of the main area. When the page is scrolled beyond the header, the\n * sidebar is locked and fills the remaining space.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar observable\n */\nexport function watchSidebar(\n  el: HTMLElement, { viewport$, main$ }: WatchOptions\n): Observable<Sidebar> {\n  const parent = el.parentElement!\n  const adjust =\n    parent.offsetTop -\n    parent.parentElement!.offsetTop\n\n  /* Compute the sidebar's available height and if it should be locked */\n  return combineLatest([main$, viewport$])\n    .pipe(\n      map(([{ offset, height }, { offset: { y } }]) => {\n        height = height\n          + Math.min(adjust, Math.max(0, y - offset))\n          - adjust\n        return {\n          height,\n          locked: y >= offset + adjust\n        }\n      }),\n      distinctUntilChanged((a, b) => (\n        a.height === b.height &&\n        a.locked === b.locked\n      ))\n    )\n}\n\n/**\n * Mount sidebar\n *\n * This function doesn't set the height of the actual sidebar, but of its first\n * child \u2013 the `.md-sidebar__scrollwrap` element in order to mitigiate jittery\n * sidebars when the footer is scrolled into view. At some point we switched\n * from `absolute` / `fixed` positioning to `sticky` positioning, significantly\n * reducing jitter in some browsers (respectively Firefox and Safari) when\n * scrolling from the top. However, top-aligned sticky positioning means that\n * the sidebar snaps to the bottom when the end of the container is reached.\n * This is what leads to the mentioned jitter, as the sidebar's height may be\n * updated too slowly.\n *\n * This behaviour can be mitigiated by setting the height of the sidebar to `0`\n * while preserving the padding, and the height on its first element.\n *\n * @param el - Sidebar element\n * @param options - Options\n *\n * @returns Sidebar component observable\n */\nexport function mountSidebar(\n  el: HTMLElement, { header$, ...options }: MountOptions\n): Observable<Component<Sidebar>> {\n  const inner = getElement(\".md-sidebar__scrollwrap\", el)\n  const { y } = getElementOffset(inner)\n  return defer(() => {\n    const push$ = new Subject<Sidebar>()\n    push$\n      .pipe(\n        auditTime(0, animationFrameScheduler),\n        withLatestFrom(header$)\n      )\n        .subscribe({\n\n          /* Handle emission */\n          next([{ height }, { height: offset }]) {\n            inner.style.height = `${height - 2 * y}px`\n            el.style.top       = `${offset}px`\n          },\n\n          /* Handle complete */\n          complete() {\n            inner.style.height = \"\"\n            el.style.top       = \"\"\n          }\n        })\n\n    /* Create and return component */\n    return watchSidebar(el, options)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { Repo, User } from \"github-types\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map,\n  zip\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * GitHub release (partial)\n */\ninterface Release {\n  tag_name: string                     /* Tag name */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitHub repository facts\n *\n * @param user - GitHub user or organization\n * @param repo - GitHub repository\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitHub(\n  user: string, repo?: string\n): Observable<SourceFacts> {\n  if (typeof repo !== \"undefined\") {\n    const url = `https://api.github.com/repos/${user}/${repo}`\n    return zip(\n\n      /* Fetch version */\n      requestJSON<Release>(`${url}/releases/latest`)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(release => ({\n            version: release.tag_name\n          })),\n          defaultIfEmpty({})\n        ),\n\n      /* Fetch stars and forks */\n      requestJSON<Repo>(url)\n        .pipe(\n          catchError(() => EMPTY), // @todo refactor instant loading\n          map(info => ({\n            stars: info.stargazers_count,\n            forks: info.forks_count\n          })),\n          defaultIfEmpty({})\n        )\n    )\n      .pipe(\n        map(([release, info]) => ({ ...release, ...info }))\n      )\n\n  /* User or organization */\n  } else {\n    const url = `https://api.github.com/users/${user}`\n    return requestJSON<User>(url)\n      .pipe(\n        map(info => ({\n          repositories: info.public_repos\n        })),\n        defaultIfEmpty({})\n      )\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { ProjectSchema } from \"gitlab\"\nimport {\n  EMPTY,\n  Observable,\n  catchError,\n  defaultIfEmpty,\n  map\n} from \"rxjs\"\n\nimport { requestJSON } from \"~/browser\"\n\nimport { SourceFacts } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch GitLab repository facts\n *\n * @param base - GitLab base\n * @param project - GitLab project\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFactsFromGitLab(\n  base: string, project: string\n): Observable<SourceFacts> {\n  const url = `https://${base}/api/v4/projects/${encodeURIComponent(project)}`\n  return requestJSON<ProjectSchema>(url)\n    .pipe(\n      catchError(() => EMPTY), // @todo refactor instant loading\n      map(({ star_count, forks_count }) => ({\n        stars: star_count,\n        forks: forks_count\n      })),\n      defaultIfEmpty({})\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { EMPTY, Observable } from \"rxjs\"\n\nimport { fetchSourceFactsFromGitHub } from \"../github\"\nimport { fetchSourceFactsFromGitLab } from \"../gitlab\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository facts for repositories\n */\nexport interface RepositoryFacts {\n  stars?: number                       /* Number of stars */\n  forks?: number                       /* Number of forks */\n  version?: string                     /* Latest version */\n}\n\n/**\n * Repository facts for organizations\n */\nexport interface OrganizationFacts {\n  repositories?: number                /* Number of repositories */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Repository facts\n */\nexport type SourceFacts =\n  | RepositoryFacts\n  | OrganizationFacts\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch repository facts\n *\n * @param url - Repository URL\n *\n * @returns Repository facts observable\n */\nexport function fetchSourceFacts(\n  url: string\n): Observable<SourceFacts> {\n  const [type] = url.match(/(git(?:hub|lab))/i) || []\n  switch (type.toLowerCase()) {\n\n    /* GitHub repository */\n    case \"github\":\n      const [, user, repo] = url.match(/^.+github\\.com\\/([^/]+)\\/?([^/]+)?/i)!\n      return fetchSourceFactsFromGitHub(user, repo)\n\n    /* GitLab repository */\n    case \"gitlab\":\n      const [, base, slug] = url.match(/^.+?([^/]*gitlab[^/]+)\\/(.+?)\\/?$/i)!\n      return fetchSourceFactsFromGitLab(base, slug)\n\n    /* Everything else */\n    default:\n      return EMPTY\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  EMPTY,\n  Observable,\n  Subject,\n  catchError,\n  defer,\n  filter,\n  finalize,\n  map,\n  of,\n  shareReplay,\n  tap\n} from \"rxjs\"\n\nimport { getElement } from \"~/browser\"\nimport { renderSourceFacts } from \"~/templates\"\n\nimport { Component } from \"../../_\"\nimport {\n  SourceFacts,\n  fetchSourceFacts\n} from \"../facts\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information\n */\nexport interface Source {\n  facts: SourceFacts                   /* Repository facts */\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Repository information observable\n */\nlet fetch$: Observable<Source>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch repository information\n *\n * This function tries to read the repository facts from session storage, and\n * if unsuccessful, fetches them from the underlying provider.\n *\n * @param el - Repository information element\n *\n * @returns Repository information observable\n */\nexport function watchSource(\n  el: HTMLAnchorElement\n): Observable<Source> {\n  return fetch$ ||= defer(() => {\n    const cached = __md_get<SourceFacts>(\"__source\", sessionStorage)\n    if (cached)\n      return of(cached)\n    else\n      return fetchSourceFacts(el.href)\n        .pipe(\n          tap(facts => __md_set(\"__source\", facts, sessionStorage))\n        )\n  })\n    .pipe(\n      catchError(() => EMPTY),\n      filter(facts => Object.keys(facts).length > 0),\n      map(facts => ({ facts })),\n      shareReplay(1)\n    )\n}\n\n/**\n * Mount repository information\n *\n * @param el - Repository information element\n *\n * @returns Repository information component observable\n */\nexport function mountSource(\n  el: HTMLAnchorElement\n): Observable<Component<Source>> {\n  const inner = getElement(\":scope > :last-child\", el)\n  return defer(() => {\n    const push$ = new Subject<Source>()\n    push$.subscribe(({ facts }) => {\n      inner.appendChild(renderSourceFacts(facts))\n      inner.setAttribute(\"data-md-state\", \"done\")\n    })\n\n    /* Create and return component */\n    return watchSource(el)\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  defer,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  of,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  watchElementSize,\n  watchViewportAt\n} from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Navigation tabs\n */\nexport interface Tabs {\n  hidden: boolean                      /* Navigation tabs are hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch navigation tabs\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs observable\n */\nexport function watchTabs(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<Tabs> {\n  return watchElementSize(document.body)\n    .pipe(\n      switchMap(() => watchViewportAt(el, { header$, viewport$ })),\n      map(({ offset: { y } }) => {\n        return {\n          hidden: y >= 10\n        }\n      }),\n      distinctUntilKeyChanged(\"hidden\")\n    )\n}\n\n/**\n * Mount navigation tabs\n *\n * This function hides the navigation tabs when scrolling past the threshold\n * and makes them reappear in a nice CSS animation when scrolling back up.\n *\n * @param el - Navigation tabs element\n * @param options - Options\n *\n * @returns Navigation tabs component observable\n */\nexport function mountTabs(\n  el: HTMLElement, options: MountOptions\n): Observable<Component<Tabs>> {\n  return defer(() => {\n    const push$ = new Subject<Tabs>()\n    push$.subscribe({\n\n      /* Handle emission */\n      next({ hidden }) {\n        if (hidden)\n          el.setAttribute(\"data-md-state\", \"hidden\")\n        else\n          el.removeAttribute(\"data-md-state\")\n      },\n\n      /* Handle complete */\n      complete() {\n        el.removeAttribute(\"data-md-state\")\n      }\n    })\n\n    /* Create and return component */\n    return (\n      feature(\"navigation.tabs.sticky\")\n        ? of({ hidden: false })\n        : watchTabs(el, options)\n    )\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatestWith,\n  debounceTime,\n  defer,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  finalize,\n  map,\n  of,\n  repeat,\n  scan,\n  share,\n  skip,\n  startWith,\n  switchMap,\n  takeLast,\n  takeUntil,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { feature } from \"~/_\"\nimport {\n  Viewport,\n  getElement,\n  getElements,\n  getLocation,\n  getOptionalElement,\n  watchElementSize\n} from \"~/browser\"\n\nimport {\n  Component,\n  getComponentElement\n} from \"../_\"\nimport { Header } from \"../header\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Table of contents\n */\nexport interface TableOfContents {\n  prev: HTMLAnchorElement[][]          /* Anchors (previous) */\n  next: HTMLAnchorElement[][]          /* Anchors (next) */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch table of contents\n *\n * This is effectively a scroll spy implementation which will account for the\n * fixed header and automatically re-calculate anchor offsets when the viewport\n * is resized. The returned observable will only emit if the table of contents\n * needs to be repainted.\n *\n * This implementation tracks an anchor element's entire path starting from its\n * level up to the top-most anchor element, e.g. `[h3, h2, h1]`. Although the\n * Material theme currently doesn't make use of this information, it enables\n * the styling of the entire hierarchy through customization.\n *\n * Note that the current anchor is the last item of the `prev` anchor list.\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents observable\n */\nexport function watchTableOfContents(\n  el: HTMLElement, { viewport$, header$ }: WatchOptions\n): Observable<TableOfContents> {\n  const table = new Map<HTMLAnchorElement, HTMLElement>()\n\n  /* Compute anchor-to-target mapping */\n  const anchors = getElements<HTMLAnchorElement>(\"[href^=\\\\#]\", el)\n  for (const anchor of anchors) {\n    const id = decodeURIComponent(anchor.hash.substring(1))\n    const target = getOptionalElement(`[id=\"${id}\"]`)\n    if (typeof target !== \"undefined\")\n      table.set(anchor, target)\n  }\n\n  /* Compute necessary adjustment for header */\n  const adjust$ = header$\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n      map(({ height }) => {\n        const main = getComponentElement(\"main\")\n        const grid = getElement(\":scope > :first-child\", main)\n        return height + 0.8 * (\n          grid.offsetTop -\n          main.offsetTop\n        )\n      }),\n      share()\n    )\n\n  /* Compute partition of previous and next anchors */\n  const partition$ = watchElementSize(document.body)\n    .pipe(\n      distinctUntilKeyChanged(\"height\"),\n\n      /* Build index to map anchor paths to vertical offsets */\n      switchMap(body => defer(() => {\n        let path: HTMLAnchorElement[] = []\n        return of([...table].reduce((index, [anchor, target]) => {\n          while (path.length) {\n            const last = table.get(path[path.length - 1])!\n            if (last.tagName >= target.tagName) {\n              path.pop()\n            } else {\n              break\n            }\n          }\n\n          /* If the current anchor is hidden, continue with its parent */\n          let offset = target.offsetTop\n          while (!offset && target.parentElement) {\n            target = target.parentElement\n            offset = target.offsetTop\n          }\n\n          /* Map reversed anchor path to vertical offset */\n          return index.set(\n            [...path = [...path, anchor]].reverse(),\n            offset\n          )\n        }, new Map<HTMLAnchorElement[], number>()))\n      })\n        .pipe(\n\n          /* Sort index by vertical offset (see https://bit.ly/30z6QSO) */\n          map(index => new Map([...index].sort(([, a], [, b]) => a - b))),\n          combineLatestWith(adjust$),\n\n          /* Re-compute partition when viewport offset changes */\n          switchMap(([index, adjust]) => viewport$\n            .pipe(\n              scan(([prev, next], { offset: { y }, size }) => {\n                const last = y + size.height >= Math.floor(body.height)\n\n                /* Look forward */\n                while (next.length) {\n                  const [, offset] = next[0]\n                  if (offset - adjust < y || last) {\n                    prev = [...prev, next.shift()!]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Look backward */\n                while (prev.length) {\n                  const [, offset] = prev[prev.length - 1]\n                  if (offset - adjust >= y && !last) {\n                    next = [prev.pop()!, ...next]\n                  } else {\n                    break\n                  }\n                }\n\n                /* Return partition */\n                return [prev, next]\n              }, [[], [...index]]),\n              distinctUntilChanged((a, b) => (\n                a[0] === b[0] &&\n                a[1] === b[1]\n              ))\n            )\n          )\n        )\n      )\n    )\n\n  /* Compute and return anchor list migrations */\n  return partition$\n    .pipe(\n      map(([prev, next]) => ({\n        prev: prev.map(([path]) => path),\n        next: next.map(([path]) => path)\n      })),\n\n      /* Extract anchor list migrations */\n      startWith({ prev: [], next: [] }),\n      bufferCount(2, 1),\n      map(([a, b]) => {\n\n        /* Moving down */\n        if (a.prev.length < b.prev.length) {\n          return {\n            prev: b.prev.slice(Math.max(0, a.prev.length - 1), b.prev.length),\n            next: []\n          }\n\n        /* Moving up */\n        } else {\n          return {\n            prev: b.prev.slice(-1),\n            next: b.next.slice(0, b.next.length - a.next.length)\n          }\n        }\n      })\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount table of contents\n *\n * @param el - Table of contents element\n * @param options - Options\n *\n * @returns Table of contents component observable\n */\nexport function mountTableOfContents(\n  el: HTMLElement, { viewport$, header$, target$ }: MountOptions\n): Observable<Component<TableOfContents>> {\n  return defer(() => {\n    const push$ = new Subject<TableOfContents>()\n    push$.subscribe(({ prev, next }) => {\n\n      /* Look forward */\n      for (const [anchor] of next) {\n        anchor.removeAttribute(\"data-md-state\")\n        anchor.classList.remove(\n          \"md-nav__link--active\"\n        )\n      }\n\n      /* Look backward */\n      for (const [index, [anchor]] of prev.entries()) {\n        anchor.setAttribute(\"data-md-state\", \"blur\")\n        anchor.classList.toggle(\n          \"md-nav__link--active\",\n          index === prev.length - 1\n        )\n      }\n    })\n\n    /* Set up anchor tracking, if enabled */\n    if (feature(\"navigation.tracking\"))\n      viewport$\n        .pipe(\n          takeUntil(push$.pipe(takeLast(1))),\n          distinctUntilKeyChanged(\"offset\"),\n          debounceTime(250),\n          skip(1),\n          takeUntil(target$.pipe(skip(1))),\n          repeat({ delay: 250 }),\n          withLatestFrom(push$)\n        )\n          .subscribe(([, { prev }]) => {\n            const url = getLocation()\n\n            /* Set hash fragment to active anchor */\n            const anchor = prev[prev.length - 1]\n            if (anchor && anchor.length) {\n              const [active] = anchor\n              const { hash } = new URL(active.href)\n              if (url.hash !== hash) {\n                url.hash = hash\n                history.replaceState({}, \"\", `${url}`)\n              }\n\n            /* Reset anchor when at the top */\n            } else {\n              url.hash = \"\"\n              history.replaceState({}, \"\", `${url}`)\n            }\n          })\n\n    /* Create and return component */\n    return watchTableOfContents(el, { viewport$, header$ })\n      .pipe(\n        tap(state => push$.next(state)),\n        finalize(() => push$.complete()),\n        map(state => ({ ref: el, ...state }))\n      )\n  })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  Subject,\n  bufferCount,\n  combineLatest,\n  distinctUntilChanged,\n  distinctUntilKeyChanged,\n  endWith,\n  finalize,\n  map,\n  repeat,\n  skip,\n  takeLast,\n  takeUntil,\n  tap\n} from \"rxjs\"\n\nimport { Viewport } from \"~/browser\"\n\nimport { Component } from \"../_\"\nimport { Header } from \"../header\"\nimport { Main } from \"../main\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Back-to-top button\n */\nexport interface BackToTop {\n  hidden: boolean                      /* Back-to-top button is hidden */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch options\n */\ninterface WatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/**\n * Mount options\n */\ninterface MountOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  header$: Observable<Header>          /* Header observable */\n  main$: Observable<Main>              /* Main area observable */\n  target$: Observable<HTMLElement>     /* Location target observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Watch back-to-top\n *\n * @param _el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top observable\n */\nexport function watchBackToTop(\n  _el: HTMLElement, { viewport$, main$, target$ }: WatchOptions\n): Observable<BackToTop> {\n\n  /* Compute direction */\n  const direction$ = viewport$\n    .pipe(\n      map(({ offset: { y } }) => y),\n      bufferCount(2, 1),\n      map(([a, b]) => a > b && b > 0),\n      distinctUntilChanged()\n    )\n\n  /* Compute whether main area is active */\n  const active$ = main$\n    .pipe(\n      map(({ active }) => active)\n    )\n\n  /* Compute threshold for hiding */\n  return combineLatest([active$, direction$])\n    .pipe(\n      map(([active, direction]) => !(active && direction)),\n      distinctUntilChanged(),\n      takeUntil(target$.pipe(skip(1))),\n      endWith(true),\n      repeat({ delay: 250 }),\n      map(hidden => ({ hidden }))\n    )\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Mount back-to-top\n *\n * @param el - Back-to-top element\n * @param options - Options\n *\n * @returns Back-to-top component observable\n */\nexport function mountBackToTop(\n  el: HTMLElement, { viewport$, header$, main$, target$ }: MountOptions\n): Observable<Component<BackToTop>> {\n  const push$ = new Subject<BackToTop>()\n  push$.subscribe({\n\n    /* Handle emission */\n    next({ hidden }) {\n      if (hidden) {\n        el.setAttribute(\"data-md-state\", \"hidden\")\n        el.setAttribute(\"tabindex\", \"-1\")\n        el.blur()\n      } else {\n        el.removeAttribute(\"data-md-state\")\n        el.removeAttribute(\"tabindex\")\n      }\n    },\n\n    /* Handle complete */\n    complete() {\n      el.style.top = \"\"\n      el.setAttribute(\"data-md-state\", \"hidden\")\n      el.removeAttribute(\"tabindex\")\n    }\n  })\n\n  /* Watch header height */\n  header$\n    .pipe(\n      takeUntil(push$.pipe(endWith(0), takeLast(1))),\n      distinctUntilKeyChanged(\"height\")\n    )\n      .subscribe(({ height }) => {\n        el.style.top = `${height + 16}px`\n      })\n\n  /* Create and return component */\n  return watchBackToTop(el, { viewport$, main$, target$ })\n    .pipe(\n      tap(state => push$.next(state)),\n      finalize(() => push$.complete()),\n      map(state => ({ ref: el, ...state }))\n    )\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  takeWhile,\n  tap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch indeterminate checkboxes\n *\n * This function replaces the indeterminate \"pseudo state\" with the actual\n * indeterminate state, which is used to keep navigation always expanded.\n *\n * @param options - Options\n */\nexport function patchIndeterminate(\n  { document$, tablet$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements<HTMLInputElement>(\n        \"[data-md-state=indeterminate]\"\n      )),\n      tap(el => {\n        el.indeterminate = true\n        el.checked = false\n      }),\n      mergeMap(el => fromEvent(el, \"change\")\n        .pipe(\n          takeWhile(() => el.hasAttribute(\"data-md-state\")),\n          map(() => el)\n        )\n      ),\n      withLatestFrom(tablet$)\n    )\n      .subscribe(([el, tablet]) => {\n        el.removeAttribute(\"data-md-state\")\n        if (tablet)\n          el.checked = false\n      })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  filter,\n  fromEvent,\n  map,\n  mergeMap,\n  switchMap,\n  tap\n} from \"rxjs\"\n\nimport { getElements } from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  document$: Observable<Document>      /* Document observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Check whether the given device is an Apple device\n *\n * @returns Test result\n */\nfunction isAppleDevice(): boolean {\n  return /(iPad|iPhone|iPod)/.test(navigator.userAgent)\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch all elements with `data-md-scrollfix` attributes\n *\n * This is a year-old patch which ensures that overflow scrolling works at the\n * top and bottom of containers on iOS by ensuring a `1px` scroll offset upon\n * the start of a touch event.\n *\n * @see https://bit.ly/2SCtAOO - Original source\n *\n * @param options - Options\n */\nexport function patchScrollfix(\n  { document$ }: PatchOptions\n): void {\n  document$\n    .pipe(\n      switchMap(() => getElements(\"[data-md-scrollfix]\")),\n      tap(el => el.removeAttribute(\"data-md-scrollfix\")),\n      filter(isAppleDevice),\n      mergeMap(el => fromEvent(el, \"touchstart\")\n        .pipe(\n          map(() => el)\n        )\n      )\n    )\n      .subscribe(el => {\n        const top = el.scrollTop\n\n        /* We're at the top of the container */\n        if (top === 0) {\n          el.scrollTop = 1\n\n        /* We're at the bottom of the container */\n        } else if (top + el.offsetHeight === el.scrollHeight) {\n          el.scrollTop = top - 1\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  Observable,\n  combineLatest,\n  delay,\n  map,\n  of,\n  switchMap,\n  withLatestFrom\n} from \"rxjs\"\n\nimport {\n  Viewport,\n  watchToggle\n} from \"~/browser\"\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch options\n */\ninterface PatchOptions {\n  viewport$: Observable<Viewport>      /* Viewport observable */\n  tablet$: Observable<boolean>         /* Media tablet observable */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Patch the document body to lock when search is open\n *\n * For mobile and tablet viewports, the search is rendered full screen, which\n * leads to scroll leaking when at the top or bottom of the search result. This\n * function locks the body when the search is in full screen mode, and restores\n * the scroll position when leaving.\n *\n * @param options - Options\n */\nexport function patchScrolllock(\n  { viewport$, tablet$ }: PatchOptions\n): void {\n  combineLatest([watchToggle(\"search\"), tablet$])\n    .pipe(\n      map(([active, tablet]) => active && !tablet),\n      switchMap(active => of(active)\n        .pipe(\n          delay(active ? 400 : 100)\n        )\n      ),\n      withLatestFrom(viewport$)\n    )\n      .subscribe(([active, { offset: { y }}]) => {\n        if (active) {\n          document.body.setAttribute(\"data-md-state\", \"lock\")\n          document.body.style.top = `-${y}px`\n        } else {\n          const value = -1 * parseInt(document.body.style.top, 10)\n          document.body.removeAttribute(\"data-md-state\")\n          document.body.style.top = \"\"\n          if (value)\n            window.scrollTo(0, value)\n        }\n      })\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node !== \"object\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n"],
-  "mappings": 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-  "names": []
-}
diff --git a/assets/javascripts/lunr/min/lunr.ar.min.js b/assets/javascripts/lunr/min/lunr.ar.min.js
index 248ddc5..9b06c26 100644
--- a/assets/javascripts/lunr/min/lunr.ar.min.js
+++ b/assets/javascripts/lunr/min/lunr.ar.min.js
@@ -1 +1 @@
-!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ar=function(){this.pipeline.reset(),this.pipeline.add(e.ar.trimmer,e.ar.stopWordFilter,e.ar.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.ar.stemmer))},e.ar.wordCharacters="ء-ٛٱـ",e.ar.trimmer=e.trimmerSupport.generateTrimmer(e.ar.wordCharacters),e.Pipeline.registerFunction(e.ar.trimmer,"trimmer-ar"),e.ar.stemmer=function(){var e=this;return e.result=!1,e.preRemoved=!1,e.sufRemoved=!1,e.pre={pre1:"ف ك ب و س ل ن ا ي ت",pre2:"ال لل",pre3:"بال وال فال تال كال ولل",pre4:"فبال كبال وبال وكال"},e.suf={suf1:"ه ك ت ن ا ي",suf2:"نك نه ها وك يا اه ون ين تن تم نا وا ان كم كن ني نن ما هم هن تك ته ات يه",suf3:"تين كهم نيه نهم ونه وها يهم ونا ونك وني وهم تكم تنا تها تني تهم كما كها ناه نكم هنا تان يها",suf4:"كموه ناها ونني ونهم تكما تموه تكاه كماه ناكم ناهم نيها 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diff --git a/assets/javascripts/lunr/min/lunr.el.min.js b/assets/javascripts/lunr/min/lunr.el.min.js
new file mode 100644
index 0000000..ace017b
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.el.min.js
@@ -0,0 +1 @@
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null!==o&&(s=o[1]+l[o[2]]),null!==(o=/^(.+?)(ΑΔΕΣ|ΑΔΩΝ)$/.exec(s))&&(s=o[1],/(ΟΚ|ΜΑΜ|ΜΑΝ|ΜΠΑΜΠ|ΠΑΤΕΡ|ΓΙΑΓΙ|ΝΤΑΝΤ|ΚΥΡ|ΘΕΙ|ΠΕΘΕΡ|ΜΟΥΣΑΜ|ΚΑΠΛΑΜ|ΠΑΡ|ΨΑΡ|ΤΖΟΥΡ|ΤΑΜΠΟΥΡ|ΓΑΛΑΤ|ΦΑΦΛΑΤ)$/.test(o[1])||(s+="ΑΔ")),null!==(o=/^(.+?)(ΕΔΕΣ|ΕΔΩΝ)$/.exec(s))&&(s=o[1],/(ΟΠ|ΙΠ|ΕΜΠ|ΥΠ|ΓΗΠ|ΔΑΠ|ΚΡΑΣΠ|ΜΙΛ)$/.test(o[1])&&(s+="ΕΔ")),null!==(o=/^(.+?)(ΟΥΔΕΣ|ΟΥΔΩΝ)$/.exec(s))&&(s=o[1],/(ΑΡΚ|ΚΑΛΙΑΚ|ΠΕΤΑΛ|ΛΙΧ|ΠΛΕΞ|ΣΚ|Σ|ΦΛ|ΦΡ|ΒΕΛ|ΛΟΥΛ|ΧΝ|ΣΠ|ΤΡΑΓ|ΦΕ)$/.test(o[1])&&(s+="ΟΥΔ")),null!==(o=/^(.+?)(ΕΩΣ|ΕΩΝ|ΕΑΣ|ΕΑ)$/.exec(s))&&(s=o[1],/^(Θ|Δ|ΕΛ|ΓΑΛ|Ν|Π|ΙΔ|ΠΑΡ|ΣΤΕΡ|ΟΡΦ|ΑΝΔΡ|ΑΝΤΡ)$/.test(o[1])&&(s+="Ε")),null!==(o=/^(.+?)(ΕΙΟ|ΕΙΟΣ|ΕΙΟΙ|ΕΙΑ|ΕΙΑΣ|ΕΙΕΣ|ΕΙΟΥ|ΕΙΟΥΣ|ΕΙΩΝ)$/.exec(s))&&o[1].length>4&&(s=o[1]),null!==(o=/^(.+?)(ΙΟΥΣ|ΙΑΣ|ΙΕΣ|ΙΟΣ|ΙΟΥ|ΙΟΙ|ΙΩΝ|ΙΟΝ|ΙΑ|ΙΟ)$/.exec(s))&&(s=o[1],(t(s)||s.length<2||/^(ΑΓ|ΑΓΓΕΛ|ΑΓΡ|ΑΕΡ|ΑΘΛ|ΑΚΟΥΣ|ΑΞ|ΑΣ|Β|ΒΙΒΛ|ΒΥΤ|Γ|ΓΙΑΓ|ΓΩΝ|Δ|ΔΑΝ|ΔΗΛ|ΔΗΜ|ΔΟΚΙΜ|ΕΛ|ΖΑΧΑΡ|ΗΛ|ΗΠ|ΙΔ|ΙΣΚ|ΙΣΤ|ΙΟΝ|ΙΩΝ|ΚΙΜΩΛ|ΚΟΛΟΝ|ΚΟΡ|ΚΤΗΡ|ΚΥΡ|ΛΑΓ|ΛΟΓ|ΜΑΓ|ΜΠΑΝ|ΜΠΡ|ΝΑΥΤ|ΝΟΤ|ΟΠΑΛ|ΟΞ|ΟΡ|ΟΣ|ΠΑΝΑΓ|ΠΑΤΡ|ΠΗΛ|ΠΗΝ|ΠΛΑΙΣ|ΠΟΝΤ|ΡΑΔ|ΡΟΔ|ΣΚ|ΣΚΟΡΠ|ΣΟΥΝ|ΣΠΑΝ|ΣΤΑΔ|ΣΥΡ|ΤΗΛ|ΤΙΜ|ΤΟΚ|ΤΟΠ|ΤΡΟΧ|ΦΙΛ|ΦΩΤ|Χ|ΧΙΛ|ΧΡΩΜ|ΧΩΡ)$/.test(o[1]))&&(s+="Ι"),/^(ΠΑΛ)$/.test(o[1])&&(s+="ΑΙ")),null!==(o=/^(.+?)(ΙΚΟΣ|ΙΚΟΝ|ΙΚΕΙΣ|ΙΚΟΙ|ΙΚΕΣ|ΙΚΟΥΣ|ΙΚΗ|ΙΚΗΣ|ΙΚΟ|ΙΚΑ|ΙΚΟΥ|ΙΚΩΝ|ΙΚΩΣ)$/.exec(s))&&(s=o[1],(t(s)||/^(ΑΔ|ΑΛ|ΑΜΑΝ|ΑΜΕΡ|ΑΜΜΟΧΑΛ|ΑΝΗΘ|ΑΝΤΙΔ|ΑΠΛ|ΑΤΤ|ΑΦΡ|ΒΑΣ|ΒΡΩΜ|ΓΕΝ|ΓΕΡ|Δ|ΔΙΚΑΝ|ΔΥΤ|ΕΙΔ|ΕΝΔ|ΕΞΩΔ|ΗΘ|ΘΕΤ|ΚΑΛΛΙΝ|ΚΑΛΠ|ΚΑΤΑΔ|ΚΟΥΖΙΝ|ΚΡ|ΚΩΔ|ΛΟΓ|Μ|ΜΕΡ|ΜΟΝΑΔ|ΜΟΥΛ|ΜΟΥΣ|ΜΠΑΓΙΑΤ|ΜΠΑΝ|ΜΠΟΛ|ΜΠΟΣ|ΜΥΣΤ|Ν|ΝΙΤ|ΞΙΚ|ΟΠΤ|ΠΑΝ|ΠΕΤΣ|ΠΙΚΑΝΤ|ΠΙΤΣ|ΠΛΑΣΤ|ΠΛΙΑΤΣ|ΠΟΝΤ|ΠΟΣΤΕΛΝ|ΠΡΩΤΟΔ|ΣΕΡΤ|ΣΗΜΑΝΤ|ΣΤΑΤ|ΣΥΝΑΔ|ΣΥΝΟΜΗΛ|ΤΕΛ|ΤΕΧΝ|ΤΡΟΠ|ΤΣΑΜ|ΥΠΟΔ|Φ|ΦΙΛΟΝ|ΦΥΛΟΔ|ΦΥΣ|ΧΑΣ)$/.test(o[1])||/(ΦΟΙΝ)$/.test(o[1]))&&(s+="ΙΚ")),"ΑΓΑΜΕ"===s&&(s="ΑΓΑΜ"),null!==(o=/^(.+?)(ΑΓΑΜΕ|ΗΣΑΜΕ|ΟΥΣΑΜΕ|ΗΚΑΜΕ|ΗΘΗΚΑΜΕ)$/.exec(s))&&(s=o[1]),null!==(o=/^(.+?)(ΑΜΕ)$/.exec(s))&&(s=o[1],/^(ΑΝΑΠ|ΑΠΟΘ|ΑΠΟΚ|ΑΠΟΣΤ|ΒΟΥΒ|ΞΕΘ|ΟΥΛ|ΠΕΘ|ΠΙΚΡ|ΠΟΤ|ΣΙΧ|Χ)$/.test(o[1])&&(s+="ΑΜ")),null!==(o=/^(.+?)(ΑΓΑΝΕ|ΗΣΑΝΕ|ΟΥΣΑΝΕ|ΙΟΝΤΑΝΕ|ΙΟΤΑΝΕ|ΙΟΥΝΤΑΝΕ|ΟΝΤΑΝΕ|ΟΤΑΝΕ|ΟΥΝΤΑΝΕ|ΗΚΑΝΕ|ΗΘΗΚΑΝΕ)$/.exec(s))&&(s=o[1],/^(ΤΡ|ΤΣ)$/.test(o[1])&&(s+="ΑΓΑΝ")),null!==(o=/^(.+?)(ΑΝΕ)$/.exec(s))&&(s=o[1],(r(s)||/^(ΒΕΤΕΡ|ΒΟΥΛΚ|ΒΡΑΧΜ|Γ|ΔΡΑΔΟΥΜ|Θ|ΚΑΛΠΟΥΖ|ΚΑΣΤΕΛ|ΚΟΡΜΟΡ|ΛΑΟΠΛ|ΜΩΑΜΕΘ|Μ|ΜΟΥΣΟΥΛΜΑΝ|ΟΥΛ|Π|ΠΕΛΕΚ|ΠΛ|ΠΟΛΙΣ|ΠΟΡΤΟΛ|ΣΑΡΑΚΑΤΣ|ΣΟΥΛΤ|ΤΣΑΡΛΑΤ|ΟΡΦ|ΤΣΙΓΓ|ΤΣΟΠ|ΦΩΤΟΣΤΕΦ|Χ|ΨΥΧΟΠΛ|ΑΓ|ΟΡΦ|ΓΑΛ|ΓΕΡ|ΔΕΚ|ΔΙΠΛ|ΑΜΕΡΙΚΑΝ|ΟΥΡ|ΠΙΘ|ΠΟΥΡΙΤ|Σ|ΖΩΝΤ|ΙΚ|ΚΑΣΤ|ΚΟΠ|ΛΙΧ|ΛΟΥΘΗΡ|ΜΑΙΝΤ|ΜΕΛ|ΣΙΓ|ΣΠ|ΣΤΕΓ|ΤΡΑΓ|ΤΣΑΓ|Φ|ΕΡ|ΑΔΑΠ|ΑΘΙΓΓ|ΑΜΗΧ|ΑΝΙΚ|ΑΝΟΡΓ|ΑΠΗΓ|ΑΠΙΘ|ΑΤΣΙΓΓ|ΒΑΣ|ΒΑΣΚ|ΒΑΘΥΓΑΛ|ΒΙΟΜΗΧ|ΒΡΑΧΥΚ|ΔΙΑΤ|ΔΙΑΦ|ΕΝΟΡΓ|ΘΥΣ|ΚΑΠΝΟΒΙΟΜΗΧ|ΚΑΤΑΓΑΛ|ΚΛΙΒ|ΚΟΙΛΑΡΦ|ΛΙΒ|ΜΕΓΛΟΒΙΟΜΗΧ|ΜΙΚΡΟΒΙΟΜΗΧ|ΝΤΑΒ|ΞΗΡΟΚΛΙΒ|ΟΛΙΓΟΔΑΜ|ΟΛΟΓΑΛ|ΠΕΝΤΑΡΦ|ΠΕΡΗΦ|ΠΕΡΙΤΡ|ΠΛΑΤ|ΠΟΛΥΔΑΠ|ΠΟΛΥΜΗΧ|ΣΤΕΦ|ΤΑΒ|ΤΕΤ|ΥΠΕΡΗΦ|ΥΠΟΚΟΠ|ΧΑΜΗΛΟΔΑΠ|ΨΗΛΟΤΑΒ)$/.test(o[1]))&&(s+="ΑΝ")),null!==(o=/^(.+?)(ΗΣΕΤΕ)$/.exec(s))&&(s=o[1]),null!==(o=/^(.+?)(ΕΤΕ)$/.exec(s))&&(s=o[1],(r(s)||/(ΟΔ|ΑΙΡ|ΦΟΡ|ΤΑΘ|ΔΙΑΘ|ΣΧ|ΕΝΔ|ΕΥΡ|ΤΙΘ|ΥΠΕΡΘ|ΡΑΘ|ΕΝΘ|ΡΟΘ|ΣΘ|ΠΥΡ|ΑΙΝ|ΣΥΝΔ|ΣΥΝ|ΣΥΝΘ|ΧΩΡ|ΠΟΝ|ΒΡ|ΚΑΘ|ΕΥΘ|ΕΚΘ|ΝΕΤ|ΡΟΝ|ΑΡΚ|ΒΑΡ|ΒΟΛ|ΩΦΕΛ)$/.test(o[1])||/^(ΑΒΑΡ|ΒΕΝ|ΕΝΑΡ|ΑΒΡ|ΑΔ|ΑΘ|ΑΝ|ΑΠΛ|ΒΑΡΟΝ|ΝΤΡ|ΣΚ|ΚΟΠ|ΜΠΟΡ|ΝΙΦ|ΠΑΓ|ΠΑΡΑΚΑΛ|ΣΕΡΠ|ΣΚΕΛ|ΣΥΡΦ|ΤΟΚ|Υ|Δ|ΕΜ|ΘΑΡΡ|Θ)$/.test(o[1]))&&(s+="ΕΤ")),null!==(o=/^(.+?)(ΟΝΤΑΣ|ΩΝΤΑΣ)$/.exec(s))&&(s=o[1],/^ΑΡΧ$/.test(o[1])&&(s+="ΟΝΤ"),/ΚΡΕ$/.test(o[1])&&(s+="ΩΝΤ")),null!==(o=/^(.+?)(ΟΜΑΣΤΕ|ΙΟΜΑΣΤΕ)$/.exec(s))&&(s=o[1],/^ΟΝ$/.test(o[1])&&(s+="ΟΜΑΣΤ")),null!==(o=/^(.+?)(ΙΕΣΤΕ)$/.exec(s))&&(s=o[1],/^(Π|ΑΠ|ΣΥΜΠ|ΑΣΥΜΠ|ΑΚΑΤΑΠ|ΑΜΕΤΑΜΦ)$/.test(o[1])&&(s+="ΙΕΣΤ")),null!==(o=/^(.+?)(ΕΣΤΕ)$/.exec(s))&&(s=o[1],/^(ΑΛ|ΑΡ|ΕΚΤΕΛ|Ζ|Μ|Ξ|ΠΑΡΑΚΑΛ|ΠΡΟ|ΝΙΣ)$/.test(o[1])&&(s+="ΕΣΤ")),null!==(o=/^(.+?)(ΗΘΗΚΑ|ΗΘΗΚΕΣ|ΗΘΗΚΕ)$/.exec(s))&&(s=o[1]),null!==(o=/^(.+?)(ΗΚΑ|ΗΚΕΣ|ΗΚΕ)$/.exec(s))&&(s=o[1],(/(ΣΚΩΛ|ΣΚΟΥΛ|ΝΑΡΘ|ΣΦ|ΟΘ|ΠΙΘ)$/.test(o[1])||/^(ΔΙΑΘ|Θ|ΠΑΡΑΚΑΤΑΘ|ΠΡΟΣΘ|ΣΥΝΘ)$/.test(o[1]))&&(s+="ΗΚ")),null!==(o=/^(.+?)(ΟΥΣΑ|ΟΥΣΕΣ|ΟΥΣΕ)$/.exec(s))&&(s=o[1],(t(s)||/^(ΦΑΡΜΑΚ|ΧΑΔ|ΑΓΚ|ΑΝΑΡΡ|ΒΡΟΜ|ΕΚΛΙΠ|ΛΑΜΠΙΔ|ΛΕΧ|Μ|ΠΑΤ|Ρ|Λ|ΜΕΔ|ΜΕΣΑΖ|ΥΠΟΤΕΙΝ|ΑΜ|ΑΙΘ|ΑΝΗΚ|ΔΕΣΠΟΖ|ΕΝΔΙΑΦΕΡ)$/.test(o[1])||/(ΠΟΔΑΡ|ΒΛΕΠ|ΠΑΝΤΑΧ|ΦΡΥΔ|ΜΑΝΤΙΛ|ΜΑΛΛ|ΚΥΜΑΤ|ΛΑΧ|ΛΗΓ|ΦΑΓ|ΟΜ|ΠΡΩΤ)$/.test(o[1]))&&(s+="ΟΥΣ")),null!==(o=/^(.+?)(ΑΓΑ|ΑΓΕΣ|ΑΓΕ)$/.exec(s))&&(s=o[1],(/^(ΑΒΑΣΤ|ΠΟΛΥΦ|ΑΔΗΦ|ΠΑΜΦ|Ρ|ΑΣΠ|ΑΦ|ΑΜΑΛ|ΑΜΑΛΛΙ|ΑΝΥΣΤ|ΑΠΕΡ|ΑΣΠΑΡ|ΑΧΑΡ|ΔΕΡΒΕΝ|ΔΡΟΣΟΠ|ΞΕΦ|ΝΕΟΠ|ΝΟΜΟΤ|ΟΛΟΠ|ΟΜΟΤ|ΠΡΟΣΤ|ΠΡΟΣΩΠΟΠ|ΣΥΜΠ|ΣΥΝΤ|Τ|ΥΠΟΤ|ΧΑΡ|ΑΕΙΠ|ΑΙΜΟΣΤ|ΑΝΥΠ|ΑΠΟΤ|ΑΡΤΙΠ|ΔΙΑΤ|ΕΝ|ΕΠΙΤ|ΚΡΟΚΑΛΟΠ|ΣΙΔΗΡΟΠ|Λ|ΝΑΥ|ΟΥΛΑΜ|ΟΥΡ|Π|ΤΡ|Μ)$/.test(o[1])||/(ΟΦ|ΠΕΛ|ΧΟΡΤ|ΛΛ|ΣΦ|ΡΠ|ΦΡ|ΠΡ|ΛΟΧ|ΣΜΗΝ)$/.test(o[1])&&!/^(ΨΟΦ|ΝΑΥΛΟΧ)$/.test(o[1])||/(ΚΟΛΛ)$/.test(o[1]))&&(s+="ΑΓ")),null!==(o=/^(.+?)(ΗΣΕ|ΗΣΟΥ|ΗΣΑ)$/.exec(s))&&(s=o[1],/^(Ν|ΧΕΡΣΟΝ|ΔΩΔΕΚΑΝ|ΕΡΗΜΟΝ|ΜΕΓΑΛΟΝ|ΕΠΤΑΝ|Ι)$/.test(o[1])&&(s+="ΗΣ")),null!==(o=/^(.+?)(ΗΣΤΕ)$/.exec(s))&&(s=o[1],/^(ΑΣΒ|ΣΒ|ΑΧΡ|ΧΡ|ΑΠΛ|ΑΕΙΜΝ|ΔΥΣΧΡ|ΕΥΧΡ|ΚΟΙΝΟΧΡ|ΠΑΛΙΜΨ)$/.test(o[1])&&(s+="ΗΣΤ")),null!==(o=/^(.+?)(ΟΥΝΕ|ΗΣΟΥΝΕ|ΗΘΟΥΝΕ)$/.exec(s))&&(s=o[1],/^(Ν|Ρ|ΣΠΙ|ΣΤΡΑΒΟΜΟΥΤΣ|ΚΑΚΟΜΟΥΤΣ|ΕΞΩΝ)$/.test(o[1])&&(s+="ΟΥΝ")),null!==(o=/^(.+?)(ΟΥΜΕ|ΗΣΟΥΜΕ|ΗΘΟΥΜΕ)$/.exec(s))&&(s=o[1],/^(ΠΑΡΑΣΟΥΣ|Φ|Χ|ΩΡΙΟΠΛ|ΑΖ|ΑΛΛΟΣΟΥΣ|ΑΣΟΥΣ)$/.test(o[1])&&(s+="ΟΥΜ")),null!=(o=/^(.+?)(ΜΑΤΟΙ|ΜΑΤΟΥΣ|ΜΑΤΟ|ΜΑΤΑ|ΜΑΤΩΣ|ΜΑΤΩΝ|ΜΑΤΟΣ|ΜΑΤΕΣ|ΜΑΤΗ|ΜΑΤΗΣ|ΜΑΤΟΥ)$/.exec(s))&&(s=o[1]+"Μ",/^(ΓΡΑΜ)$/.test(o[1])?s+="Α":/^(ΓΕ|ΣΤΑ)$/.test(o[1])&&(s+="ΑΤ")),null!==(o=/^(.+?)(ΟΥΑ)$/.exec(s))&&(s=o[1]+"ΟΥ"),n.length===s.length&&null!==(o=/^(.+?)(Α|ΑΓΑΤΕ|ΑΓΑΝ|ΑΕΙ|ΑΜΑΙ|ΑΝ|ΑΣ|ΑΣΑΙ|ΑΤΑΙ|ΑΩ|Ε|ΕΙ|ΕΙΣ|ΕΙΤΕ|ΕΣΑΙ|ΕΣ|ΕΤΑΙ|Ι|ΙΕΜΑΙ|ΙΕΜΑΣΤΕ|ΙΕΤΑΙ|ΙΕΣΑΙ|ΙΕΣΑΣΤΕ|ΙΟΜΑΣΤΑΝ|ΙΟΜΟΥΝ|ΙΟΜΟΥΝΑ|ΙΟΝΤΑΝ|ΙΟΝΤΟΥΣΑΝ|ΙΟΣΑΣΤΑΝ|ΙΟΣΑΣΤΕ|ΙΟΣΟΥΝ|ΙΟΣΟΥΝΑ|ΙΟΤΑΝ|ΙΟΥΜΑ|ΙΟΥΜΑΣΤΕ|ΙΟΥΝΤΑΙ|ΙΟΥΝΤΑΝ|Η|ΗΔΕΣ|ΗΔΩΝ|ΗΘΕΙ|ΗΘΕΙΣ|ΗΘΕΙΤΕ|ΗΘΗΚΑΤΕ|ΗΘΗΚΑΝ|ΗΘΟΥΝ|ΗΘΩ|ΗΚΑΤΕ|ΗΚΑΝ|ΗΣ|ΗΣΑΝ|ΗΣΑΤΕ|ΗΣΕΙ|ΗΣΕΣ|ΗΣΟΥΝ|ΗΣΩ|Ο|ΟΙ|ΟΜΑΙ|ΟΜΑΣΤΑΝ|ΟΜΟΥΝ|ΟΜΟΥΝΑ|ΟΝΤΑΙ|ΟΝΤΑΝ|ΟΝΤΟΥΣΑΝ|ΟΣ|ΟΣΑΣΤΑΝ|ΟΣΑΣΤΕ|ΟΣΟΥΝ|ΟΣΟΥΝΑ|ΟΤΑΝ|ΟΥ|ΟΥΜΑΙ|ΟΥΜΑΣΤΕ|ΟΥΝ|ΟΥΝΤΑΙ|ΟΥΝΤΑΝ|ΟΥΣ|ΟΥΣΑΝ|ΟΥΣΑΤΕ|Υ||ΥΑ|ΥΣ|Ω|ΩΝ|ΟΙΣ)$/.exec(s))&&(s=o[1]),null!=(o=/^(.+?)(ΕΣΤΕΡ|ΕΣΤΑΤ|ΟΤΕΡ|ΟΤΑΤ|ΥΤΕΡ|ΥΤΑΤ|ΩΤΕΡ|ΩΤΑΤ)$/.exec(s))&&(/^(ΕΞ|ΕΣ|ΑΝ|ΚΑΤ|Κ|ΠΡ)$/.test(o[1])||(s=o[1]),/^(ΚΑ|Μ|ΕΛΕ|ΛΕ|ΔΕ)$/.test(o[1])&&(s+="ΥΤ")),s}var 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RegExp("^[ΑΒΓΔΕΖΗΘΙΚΛΜΝΞΟΠΡΣΤΥΦΧΨΩ]+$");return function(e){return"function"==typeof e.update?e.update(function(e){return n(e.toUpperCase()).toLowerCase()}):n(e.toUpperCase()).toLowerCase()}}(),e.Pipeline.registerFunction(e.el.stemmer,"stemmer-el"),e.el.stopWordFilter=e.generateStopWordFilter("αλλα αν αντι απο αυτα αυτεσ αυτη αυτο αυτοι αυτοσ αυτουσ αυτων για δε δεν εαν ειμαι ειμαστε ειναι εισαι ειστε εκεινα εκεινεσ εκεινη εκεινο εκεινοι εκεινοσ εκεινουσ εκεινων ενω επι η θα ισωσ κ και κατα κι μα με μετα μη μην να ο οι ομωσ οπωσ οσο οτι παρα ποια ποιεσ ποιο ποιοι ποιοσ ποιουσ ποιων που προσ πωσ σε στη στην στο στον τα την τησ το τον τοτε του των ωσ".split(" ")),e.Pipeline.registerFunction(e.el.stopWordFilter,"stopWordFilter-el"),e.el.normilizer=function(){var e={"Ά":"Α","ά":"α","Έ":"Ε","έ":"ε","Ή":"Η","ή":"η","Ί":"Ι","ί":"ι","Ό":"Ο","ο":"ο","Ύ":"Υ","ύ":"υ","Ώ":"Ω","ώ":"ω","Ϊ":"Ι","ϊ":"ι","Ϋ":"Υ","ϋ":"υ","ΐ":"ι","ΰ":"υ"};return function(t){if("function"==typeof t.update)return t.update(function(t){for(var r="",n=0;n<t.length;n++)r+=e[t.charAt(n)]||t.charAt(n);return r});for(var r="",n=0;n<t.length;n++)r+=e[t.charAt(n)]||t.charAt(n);return r}}(),e.Pipeline.registerFunction(e.el.normilizer,"normilizer-el")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.he.min.js b/assets/javascripts/lunr/min/lunr.he.min.js
new file mode 100644
index 0000000..b863d3e
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.he.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.he=function(){this.pipeline.reset(),this.pipeline.add(e.he.trimmer,e.he.stopWordFilter,e.he.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.he.stemmer))},e.he.wordCharacters="֑-״א-תa-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.he.trimmer=e.trimmerSupport.generateTrimmer(e.he.wordCharacters),e.Pipeline.registerFunction(e.he.trimmer,"trimmer-he"),e.he.stemmer=function(){var e=this;return e.result=!1,e.preRemoved=!1,e.sufRemoved=!1,e.pre={pre1:"ה ו י ת",pre2:"ב כ ל מ ש כש",pre3:"הב הכ הל המ הש בש לכ",pre4:"וב וכ ול ומ וש",pre5:"מה שה כל",pre6:"מב מכ מל ממ מש",pre7:"בה בו בי בת כה כו כי כת לה לו לי לת",pre8:"ובה ובו ובי ובת וכה וכו וכי וכת ולה ולו ולי ולת"},e.suf={suf1:"ך כ ם ן נ",suf2:"ים ות וך וכ ום ון ונ הם הן יכ יך ינ ים",suf3:"תי תך תכ תם תן תנ",suf4:"ותי ותך ותכ ותם ותן ותנ",suf5:"נו כם כן הם הן",suf6:"ונו וכם וכן והם והן",suf7:"תכם תכן תנו תהם תהן",suf8:"הוא היא הם הן אני אתה את אנו אתם אתן",suf9:"ני נו כי כו כם כן תי תך תכ תם תן",suf10:"י ך כ ם ן נ ת"},e.patterns=JSON.parse('{"hebrewPatterns": [{"pt1": [{"c": "ה", "l": 0}]}, {"pt2": [{"c": "ו", "l": 0}]}, {"pt3": [{"c": "י", "l": 0}]}, {"pt4": [{"c": "ת", "l": 0}]}, {"pt5": [{"c": "מ", "l": 0}]}, {"pt6": [{"c": "ל", "l": 0}]}, {"pt7": [{"c": "ב", "l": 0}]}, {"pt8": [{"c": "כ", "l": 0}]}, {"pt9": [{"c": "ש", "l": 0}]}, {"pt10": [{"c": "כש", "l": 0}]}, {"pt11": [{"c": "בה", "l": 0}]}, {"pt12": [{"c": "וב", "l": 0}]}, {"pt13": [{"c": "וכ", "l": 0}]}, {"pt14": [{"c": "ול", "l": 0}]}, {"pt15": [{"c": "ומ", "l": 0}]}, {"pt16": [{"c": "וש", "l": 0}]}, {"pt17": [{"c": "הב", "l": 0}]}, {"pt18": [{"c": "הכ", "l": 0}]}, {"pt19": [{"c": "הל", "l": 0}]}, {"pt20": [{"c": "המ", "l": 0}]}, {"pt21": [{"c": "הש", "l": 0}]}, {"pt22": [{"c": "מה", "l": 0}]}, {"pt23": [{"c": "שה", "l": 0}]}, {"pt24": [{"c": "כל", "l": 0}]}]}'),e.execArray=["cleanWord","removeDiacritics","removeStopWords","normalizeHebrewCharacters"],e.stem=function(){var r=0;for(e.result=!1,e.preRemoved=!1,e.sufRemoved=!1;r<e.execArray.length&&1!=e.result;)e.result=e[e.execArray[r]](),r++},e.setCurrent=function(r){e.word=r},e.getCurrent=function(){return e.word},e.cleanWord=function(){return!!new RegExp("[^֑-״א-ת]").test("")},e.removeDiacritics=function(){var r=new RegExp("[ְ-ֿ]","g");return e.word=e.word.replace(r,""),!1},e.removeStopWords=function(){if("אבל או אולי אותו אותי אותך אותם אותן אותנו אז אחר אחרות אחרי אחריכן אחרים אחרת אי איזה איך אין איפה אל אלה אלו אם אנחנו אני אף אפשר את אתה אתכם אתכן אתם אתן באיזה באיזו בגלל בין בלבד בעבור בעזרת בכל בכן בלי במידה במקום שבו ברוב בשביל בשעה ש בתוך גם דרך הוא היא היה היי היכן היתה היתי הם הן הנה הסיבה שבגללה הרי ואילו ואת זאת זה זות יהיה יוכל יוכלו יותר מדי יכול יכולה יכולות יכולים יכל יכלה יכלו יש כאן כאשר כולם כולן כזה כי כיצד כך כל כלל כמו כן כפי כש לא לאו לאיזותך לאן לבין לה להיות להם להן לו לזה לזות לי לך לכם לכן למה למעלה למעלה מ למטה למטה מ למעט למקום שבו למרות לנו לעבר לעיכן לפיכך לפני מאד מאחורי מאיזו סיבה מאין מאיפה מבלי מבעד מדוע מה מהיכן מול מחוץ מי מידע מכאן מכל מכן מלבד מן מנין מסוגל מעט מעטים מעל מצד מקום בו מתחת מתי נגד נגר נו עד עז על עלי עליו עליה עליהם עליך עלינו עם עצמה עצמהם עצמהן עצמו עצמי עצמם עצמן עצמנו פה רק שוב של שלה שלהם שלהן שלו שלי שלך שלכה שלכם שלכן שלנו שם תהיה תחת".split(" ").indexOf(e.word)>=0)return!0},e.normalizeHebrewCharacters=function(){return e.word=e.word.replace("ך","כ"),e.word=e.word.replace("ם","מ"),e.word=e.word.replace("ן","נ"),e.word=e.word.replace("ף","פ"),e.word=e.word.replace("ץ","צ"),!1},function(r){return"function"==typeof r.update?r.update(function(r){return e.setCurrent(r),e.stem(),e.getCurrent()}):(e.setCurrent(r),e.stem(),e.getCurrent())}}(),e.Pipeline.registerFunction(e.he.stemmer,"stemmer-he"),e.he.stopWordFilter=e.generateStopWordFilter("אבל או אולי אותו אותי אותך אותם אותן אותנו אז אחר אחרות אחרי אחריכן אחרים אחרת אי איזה איך אין איפה אל אלה אלו אם אנחנו אני אף אפשר את אתה אתכם אתכן אתם אתן באיזה באיזו בגלל בין בלבד בעבור בעזרת בכל בכן בלי במידה במקום שבו ברוב בשביל בשעה ש בתוך גם דרך הוא היא היה היי היכן היתה היתי הם הן הנה הסיבה שבגללה הרי ואילו ואת זאת זה זות יהיה יוכל יוכלו יותר מדי יכול יכולה יכולות יכולים יכל יכלה יכלו יש כאן כאשר כולם כולן כזה כי כיצד כך כל כלל כמו כן כפי כש לא לאו לאיזותך לאן לבין לה להיות להם להן לו לזה לזות לי לך לכם לכן למה למעלה למעלה מ למטה למטה מ למעט למקום שבו למרות לנו לעבר לעיכן לפיכך לפני מאד מאחורי מאיזו סיבה מאין מאיפה מבלי מבעד מדוע מה מהיכן מול מחוץ מי מידע מכאן מכל מכן מלבד מן מנין מסוגל מעט מעטים מעל מצד מקום בו מתחת מתי נגד נגר נו עד עז על עלי עליו עליה עליהם עליך עלינו עם עצמה עצמהם עצמהן עצמו עצמי עצמם עצמן עצמנו פה רק שוב של שלה שלהם שלהן שלו שלי שלך שלכה שלכם שלכן שלנו שם תהיה תחת".split(" ")),e.Pipeline.registerFunction(e.he.stopWordFilter,"stopWordFilter-he")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.hy.min.js b/assets/javascripts/lunr/min/lunr.hy.min.js
new file mode 100644
index 0000000..b37f792
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.hy.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hy=function(){this.pipeline.reset(),this.pipeline.add(e.hy.trimmer,e.hy.stopWordFilter)},e.hy.wordCharacters="[A-Za-z԰-֏ff-ﭏ]",e.hy.trimmer=e.trimmerSupport.generateTrimmer(e.hy.wordCharacters),e.Pipeline.registerFunction(e.hy.trimmer,"trimmer-hy"),e.hy.stopWordFilter=e.generateStopWordFilter("դու և եք էիր էիք հետո նաև նրանք որը վրա է որ պիտի են այս մեջ ն իր ու ի այդ որոնք այն կամ էր մի ես համար այլ իսկ էին ենք հետ ին թ էինք մենք նրա նա դուք եմ էի ըստ որպես ում".split(" ")),e.Pipeline.registerFunction(e.hy.stopWordFilter,"stopWordFilter-hy"),e.hy.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.hy.stemmer,"stemmer-hy")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.kn.min.js b/assets/javascripts/lunr/min/lunr.kn.min.js
new file mode 100644
index 0000000..1cef9be
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.kn.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.kn=function(){this.pipeline.reset(),this.pipeline.add(e.kn.trimmer,e.kn.stopWordFilter,e.kn.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.kn.stemmer))},e.kn.wordCharacters="ಀ-಄ಅ-ಔಕ-ಹಾ-ೌ಼-ಽೕ-ೖೝ-ೞೠ-ೡೢ-ೣ೤೥೦-೯ೱ-ೳ",e.kn.trimmer=e.trimmerSupport.generateTrimmer(e.kn.wordCharacters),e.Pipeline.registerFunction(e.kn.trimmer,"trimmer-kn"),e.kn.stopWordFilter=e.generateStopWordFilter("ಮತ್ತು ಈ ಒಂದು ರಲ್ಲಿ ಹಾಗೂ ಎಂದು ಅಥವಾ ಇದು ರ ಅವರು ಎಂಬ ಮೇಲೆ ಅವರ ತನ್ನ ಆದರೆ ತಮ್ಮ ನಂತರ ಮೂಲಕ ಹೆಚ್ಚು ನ ಆ ಕೆಲವು ಅನೇಕ ಎರಡು ಹಾಗು ಪ್ರಮುಖ ಇದನ್ನು ಇದರ ಸುಮಾರು ಅದರ ಅದು ಮೊದಲ ಬಗ್ಗೆ ನಲ್ಲಿ ರಂದು ಇತರ ಅತ್ಯಂತ ಹೆಚ್ಚಿನ ಸಹ ಸಾಮಾನ್ಯವಾಗಿ ನೇ ಹಲವಾರು ಹೊಸ ದಿ ಕಡಿಮೆ ಯಾವುದೇ ಹೊಂದಿದೆ ದೊಡ್ಡ ಅನ್ನು ಇವರು ಪ್ರಕಾರ ಇದೆ ಮಾತ್ರ ಕೂಡ ಇಲ್ಲಿ ಎಲ್ಲಾ ವಿವಿಧ ಅದನ್ನು ಹಲವು ರಿಂದ ಕೇವಲ ದ ದಕ್ಷಿಣ ಗೆ ಅವನ ಅತಿ ನೆಯ ಬಹಳ ಕೆಲಸ ಎಲ್ಲ ಪ್ರತಿ ಇತ್ಯಾದಿ ಇವು ಬೇರೆ ಹೀಗೆ ನಡುವೆ ಇದಕ್ಕೆ ಎಸ್ ಇವರ ಮೊದಲು ಶ್ರೀ ಮಾಡುವ ಇದರಲ್ಲಿ ರೀತಿಯ ಮಾಡಿದ ಕಾಲ ಅಲ್ಲಿ ಮಾಡಲು ಅದೇ ಈಗ ಅವು ಗಳು ಎ ಎಂಬುದು ಅವನು ಅಂದರೆ ಅವರಿಗೆ ಇರುವ ವಿಶೇಷ ಮುಂದೆ ಅವುಗಳ ಮುಂತಾದ ಮೂಲ ಬಿ ಮೀ ಒಂದೇ ಇನ್ನೂ ಹೆಚ್ಚಾಗಿ ಮಾಡಿ ಅವರನ್ನು ಇದೇ ಯ ರೀತಿಯಲ್ಲಿ ಜೊತೆ ಅದರಲ್ಲಿ ಮಾಡಿದರು ನಡೆದ ಆಗ ಮತ್ತೆ ಪೂರ್ವ ಆತ ಬಂದ ಯಾವ ಒಟ್ಟು ಇತರೆ ಹಿಂದೆ ಪ್ರಮಾಣದ ಗಳನ್ನು ಕುರಿತು ಯು ಆದ್ದರಿಂದ ಅಲ್ಲದೆ ನಗರದ ಮೇಲಿನ ಏಕೆಂದರೆ ರಷ್ಟು ಎಂಬುದನ್ನು ಬಾರಿ ಎಂದರೆ ಹಿಂದಿನ ಆದರೂ ಆದ ಸಂಬಂಧಿಸಿದ ಮತ್ತೊಂದು ಸಿ ಆತನ ".split(" ")),e.kn.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.kn.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var n=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(n).split("|")},e.Pipeline.registerFunction(e.kn.stemmer,"stemmer-kn"),e.Pipeline.registerFunction(e.kn.stopWordFilter,"stopWordFilter-kn")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.ko.min.js b/assets/javascripts/lunr/min/lunr.ko.min.js
new file mode 100644
index 0000000..eaf9dab
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ko.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ko=function(){this.pipeline.reset(),this.pipeline.add(e.ko.trimmer,e.ko.stopWordFilter)},e.ko.wordCharacters="[A-Za-z가-힣]",e.ko.trimmer=e.trimmerSupport.generateTrimmer(e.ko.wordCharacters),e.Pipeline.registerFunction(e.ko.trimmer,"trimmer-ko"),e.ko.stopWordFilter=e.generateStopWordFilter("아 휴 아이구 아이쿠 아이고 어 나 우리 저희 따라 의해 을 를 에 의 가 으로 로 에게 뿐이다 의거하여 근거하여 입각하여 기준으로 예하면 예를 들면 예를 들자면 저 소인 소생 저희 지말고 하지마 하지마라 다른 물론 또한 그리고 비길수 없다 해서는 안된다 뿐만 아니라 만이 아니다 만은 아니다 막론하고 관계없이 그치지 않다 그러나 그런데 하지만 든간에 논하지 않다 따지지 않다 설사 비록 더라도 아니면 만 못하다 하는 편이 낫다 불문하고 향하여 향해서 향하다 쪽으로 틈타 이용하여 타다 오르다 제외하고 이 외에 이 밖에 하여야 비로소 한다면 몰라도 외에도 이곳 여기 부터 기점으로 따라서 할 생각이다 하려고하다 이리하여 그리하여 그렇게 함으로써 하지만 일때 할때 앞에서 중에서 보는데서 으로써 로써 까지 해야한다 일것이다 반드시 할줄알다 할수있다 할수있어 임에 틀림없다 한다면 등 등등 제 겨우 단지 다만 할뿐 딩동 댕그 대해서 대하여 대하면 훨씬 얼마나 얼마만큼 얼마큼 남짓 여 얼마간 약간 다소 좀 조금 다수 몇 얼마 지만 하물며 또한 그러나 그렇지만 하지만 이외에도 대해 말하자면 뿐이다 다음에 반대로 반대로 말하자면 이와 반대로 바꾸어서 말하면 바꾸어서 한다면 만약 그렇지않으면 까악 툭 딱 삐걱거리다 보드득 비걱거리다 꽈당 응당 해야한다 에 가서 각 각각 여러분 각종 각자 제각기 하도록하다 와 과 그러므로 그래서 고로 한 까닭에 하기 때문에 거니와 이지만 대하여 관하여 관한 과연 실로 아니나다를가 생각한대로 진짜로 한적이있다 하곤하였다 하 하하 허허 아하 거바 와 오 왜 어째서 무엇때문에 어찌 하겠는가 무슨 어디 어느곳 더군다나 하물며 더욱이는 어느때 언제 야 이봐 어이 여보시오 흐흐 흥 휴 헉헉 헐떡헐떡 영차 여차 어기여차 끙끙 아야 앗 아야 콸콸 졸졸 좍좍 뚝뚝 주룩주룩 솨 우르르 그래도 또 그리고 바꾸어말하면 바꾸어말하자면 혹은 혹시 답다 및 그에 따르는 때가 되어 즉 지든지 설령 가령 하더라도 할지라도 일지라도 지든지 몇 거의 하마터면 인젠 이젠 된바에야 된이상 만큼\t어찌됏든 그위에 게다가 점에서 보아 비추어 보아 고려하면 하게될것이다 일것이다 비교적 좀 보다더 비하면 시키다 하게하다 할만하다 의해서 연이서 이어서 잇따라 뒤따라 뒤이어 결국 의지하여 기대여 통하여 자마자 더욱더 불구하고 얼마든지 마음대로 주저하지 않고 곧 즉시 바로 당장 하자마자 밖에 안된다 하면된다 그래 그렇지 요컨대 다시 말하자면 바꿔 말하면 즉 구체적으로 말하자면 시작하여 시초에 이상 허 헉 허걱 바와같이 해도좋다 해도된다 게다가 더구나 하물며 와르르 팍 퍽 펄렁 동안 이래 하고있었다 이었다 에서 로부터 까지 예하면 했어요 해요 함께 같이 더불어 마저 마저도 양자 모두 습니다 가까스로 하려고하다 즈음하여 다른 다른 방면으로 해봐요 습니까 했어요 말할것도 없고 무릎쓰고 개의치않고 하는것만 못하다 하는것이 낫다 매 매번 들 모 어느것 어느 로써 갖고말하자면 어디 어느쪽 어느것 어느해 어느 년도 라 해도 언젠가 어떤것 어느것 저기 저쪽 저것 그때 그럼 그러면 요만한걸 그래 그때 저것만큼 그저 이르기까지 할 줄 안다 할 힘이 있다 너 너희 당신 어찌 설마 차라리 할지언정 할지라도 할망정 할지언정 구토하다 게우다 토하다 메쓰겁다 옆사람 퉤 쳇 의거하여 근거하여 의해 따라 힘입어 그 다음 버금 두번째로 기타 첫번째로 나머지는 그중에서 견지에서 형식으로 쓰여 입장에서 위해서 단지 의해되다 하도록시키다 뿐만아니라 반대로 전후 전자 앞의것 잠시 잠깐 하면서 그렇지만 다음에 그러한즉 그런즉 남들 아무거나 어찌하든지 같다 비슷하다 예컨대 이럴정도로 어떻게 만약 만일 위에서 서술한바와같이 인 듯하다 하지 않는다면 만약에 무엇 무슨 어느 어떤 아래윗 조차 한데 그럼에도 불구하고 여전히 심지어 까지도 조차도 하지 않도록 않기 위하여 때 시각 무렵 시간 동안 어때 어떠한 하여금 네 예 우선 누구 누가 알겠는가 아무도 줄은모른다 줄은 몰랏다 하는 김에 겸사겸사 하는바 그런 까닭에 한 이유는 그러니 그러니까 때문에 그 너희 그들 너희들 타인 것 것들 너 위하여 공동으로 동시에 하기 위하여 어찌하여 무엇때문에 붕붕 윙윙 나 우리 엉엉 휘익 윙윙 오호 아하 어쨋든 만 못하다\t하기보다는 차라리 하는 편이 낫다 흐흐 놀라다 상대적으로 말하자면 마치 아니라면 쉿 그렇지 않으면 그렇지 않다면 안 그러면 아니었다면 하든지 아니면 이라면 좋아 알았어 하는것도 그만이다 어쩔수 없다 하나 일 일반적으로 일단 한켠으로는 오자마자 이렇게되면 이와같다면 전부 한마디 한항목 근거로 하기에 아울러 하지 않도록 않기 위해서 이르기까지 이 되다 로 인하여 까닭으로 이유만으로 이로 인하여 그래서 이 때문에 그러므로 그런 까닭에 알 수 있다 결론을 낼 수 있다 으로 인하여 있다 어떤것 관계가 있다 관련이 있다 연관되다 어떤것들 에 대해 이리하여 그리하여 여부 하기보다는 하느니 하면 할수록 운운 이러이러하다 하구나 하도다 다시말하면 다음으로 에 있다 에 달려 있다 우리 우리들 오히려 하기는한데 어떻게 어떻해 어찌됏어 어때 어째서 본대로 자 이 이쪽 여기 이것 이번 이렇게말하자면 이런 이러한 이와 같은 요만큼 요만한 것 얼마 안 되는 것 이만큼 이 정도의 이렇게 많은 것 이와 같다 이때 이렇구나 것과 같이 끼익 삐걱 따위 와 같은 사람들 부류의 사람들 왜냐하면 중의하나 오직 오로지 에 한하다 하기만 하면 도착하다 까지 미치다 도달하다 정도에 이르다 할 지경이다 결과에 이르다 관해서는 여러분 하고 있다 한 후 혼자 자기 자기집 자신 우에 종합한것과같이 총적으로 보면 총적으로 말하면 총적으로 대로 하다 으로서 참 그만이다 할 따름이다 쿵 탕탕 쾅쾅 둥둥 봐 봐라 아이야 아니 와아 응 아이 참나 년 월 일 령 영 일 이 삼 사 오 육 륙 칠 팔 구 이천육 이천칠 이천팔 이천구 하나 둘 셋 넷 다섯 여섯 일곱 여덟 아홉 령 영".split(" ")),e.Pipeline.registerFunction(e.ko.stopWordFilter,"stopWordFilter-ko"),e.ko.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.ko.stemmer,"stemmer-ko")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.sa.min.js b/assets/javascripts/lunr/min/lunr.sa.min.js
new file mode 100644
index 0000000..50ee564
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.sa.min.js
@@ -0,0 +1 @@
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sa=function(){this.pipeline.reset(),this.pipeline.add(e.sa.trimmer,e.sa.stopWordFilter,e.sa.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sa.stemmer))},e.sa.wordCharacters="ऀ-ःऄ-एऐ-टठ-यर-िी-ॏॐ-य़ॠ-९॰-ॿ꣠-꣱ꣲ-ꣷ꣸-ꣻ꣼-ꣽꣾ-ꣿᆰ0-ᆰ9",e.sa.trimmer=e.trimmerSupport.generateTrimmer(e.sa.wordCharacters),e.Pipeline.registerFunction(e.sa.trimmer,"trimmer-sa"),e.sa.stopWordFilter=e.generateStopWordFilter('तथा अयम्‌ एकम्‌ इत्यस्मिन्‌ तथा तत्‌ वा अयम्‌ इत्यस्य ते आहूत उपरि तेषाम्‌  किन्तु तेषाम्‌ तदा इत्यनेन अधिकः इत्यस्य तत्‌ केचन बहवः द्वि तथा महत्वपूर्णः अयम्‌ अस्य  विषये अयं अस्ति तत्‌ प्रथमः विषये इत्युपरि इत्युपरि इतर अधिकतमः अधिकः अपि सामान्यतया ठ इतरेतर नूतनम्‌ द  न्यूनम्‌ कश्चित्‌ वा विशालः द  सः अस्ति तदनुसारम् तत्र अस्ति केवलम्‌ अपि अत्र सर्वे विविधाः तत्‌ बहवः यतः इदानीम्‌ द  दक्षिण इत्यस्मै तस्य उपरि नथ अतीव कार्यम्‌ सर्वे एकैकम्‌ इत्यादि। एते सन्ति  उत इत्थम्‌ मध्ये एतदर्थं . स कस्य प्रथमः श्री. करोति अस्मिन् प्रकारः निर्मिता कालः तत्र कर्तुं  समान अधुना ते सन्ति स एकः अस्ति सः अर्थात् तेषां कृते . स्थितम्  विशेषः अग्रिम तेषाम्‌ समान स्रोतः ख म समान इदानीमपि अधिकतया करोतु ते समान इत्यस्य वीथी सह यस्मिन्  कृतवान्‌ धृतः तदा पुनः पूर्वं सः आगतः किम्‌ कुल इतर पुरा  मात्रा स विषये उ अतएव अपि नगरस्य  उपरि यतः प्रतिशतं  कतरः कालः साधनानि भूत तथापि जात सम्बन्धि अन्यत्‌ ग अतः अस्माकं स्वकीयाः अस्माकं इदानीं अन्तः इत्यादयः भवन्तः इत्यादयः एते एताः तस्य अस्य इदम् एते तेषां तेषां तेषां तान् तेषां तेषां तेषां समानः सः एकः च तादृशाः बहवः अन्ये च वदन्ति यत् कियत् कस्मै  कस्मै  यस्मै  यस्मै  यस्मै  यस्मै न अतिनीचः किन्तु प्रथमं सम्पूर्णतया  ततः चिरकालानन्तरं पुस्तकं सम्पूर्णतया अन्तः  किन्तु अत्र वा इह इव श्रद्धाय अवशिष्यते  परन्तु अन्ये वर्गाः सन्ति ते सन्ति शक्नुवन्ति सर्वे मिलित्वा सर्वे एकत्र"'.split(" ")),e.sa.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var r=e.wordcut;r.init(),e.sa.tokenizer=function(t){if(!arguments.length||null==t||void 0==t)return[];if(Array.isArray(t))return t.map(function(r){return isLunr2?new e.Token(r.toLowerCase()):r.toLowerCase()});var i=t.toString().toLowerCase().replace(/^\s+/,"");return r.cut(i).split("|")},e.Pipeline.registerFunction(e.sa.stemmer,"stemmer-sa"),e.Pipeline.registerFunction(e.sa.stopWordFilter,"stopWordFilter-sa")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.ta.min.js b/assets/javascripts/lunr/min/lunr.ta.min.js
new file mode 100644
index 0000000..a644bed
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.ta.min.js
@@ -0,0 +1 @@
+!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ta=function(){this.pipeline.reset(),this.pipeline.add(e.ta.trimmer,e.ta.stopWordFilter,e.ta.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.ta.stemmer))},e.ta.wordCharacters="஀-உஊ-ஏஐ-ஙச-ட஠-னப-யர-ஹ஺-ிீ-௉ொ-௏ௐ-௙௚-௟௠-௩௪-௯௰-௹௺-௿a-zA-Zａ-ｚＡ-Ｚ0-9０-９",e.ta.trimmer=e.trimmerSupport.generateTrimmer(e.ta.wordCharacters),e.Pipeline.registerFunction(e.ta.trimmer,"trimmer-ta"),e.ta.stopWordFilter=e.generateStopWordFilter("அங்கு அங்கே அது அதை அந்த அவர் அவர்கள் அவள் அவன் அவை ஆக ஆகவே ஆகையால் ஆதலால் ஆதலினால் ஆனாலும் ஆனால் இங்கு இங்கே இது இதை இந்த இப்படி இவர் இவர்கள் இவள் இவன் இவை இவ்வளவு உனக்கு உனது உன் உன்னால் எங்கு எங்கே எது எதை எந்த எப்படி எவர் எவர்கள் எவள் எவன் எவை எவ்வளவு எனக்கு எனது எனவே என் என்ன என்னால் ஏது ஏன் தனது தன்னால் தானே தான் நாங்கள் நாம் நான் நீ நீங்கள்".split(" ")),e.ta.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.ta.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.ta.stemmer,"stemmer-ta"),e.Pipeline.registerFunction(e.ta.stopWordFilter,"stopWordFilter-ta")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.te.min.js b/assets/javascripts/lunr/min/lunr.te.min.js
new file mode 100644
index 0000000..9fa7a93
--- /dev/null
+++ b/assets/javascripts/lunr/min/lunr.te.min.js
@@ -0,0 +1 @@
+!function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.te=function(){this.pipeline.reset(),this.pipeline.add(e.te.trimmer,e.te.stopWordFilter,e.te.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.te.stemmer))},e.te.wordCharacters="ఀ-ఄఅ-ఔక-హా-ౌౕ-ౖౘ-ౚౠ-ౡౢ-ౣ౦-౯౸-౿఼ఽ్ౝ౷౤౥",e.te.trimmer=e.trimmerSupport.generateTrimmer(e.te.wordCharacters),e.Pipeline.registerFunction(e.te.trimmer,"trimmer-te"),e.te.stopWordFilter=e.generateStopWordFilter("అందరూ అందుబాటులో అడగండి అడగడం అడ్డంగా అనుగుణంగా అనుమతించు అనుమతిస్తుంది అయితే ఇప్పటికే ఉన్నారు ఎక్కడైనా ఎప్పుడు ఎవరైనా ఎవరో ఏ ఏదైనా ఏమైనప్పటికి ఒక ఒకరు కనిపిస్తాయి కాదు కూడా గా గురించి చుట్టూ చేయగలిగింది తగిన తర్వాత దాదాపు దూరంగా నిజంగా పై ప్రకారం ప్రక్కన మధ్య మరియు మరొక మళ్ళీ మాత్రమే మెచ్చుకో వద్ద వెంట వేరుగా వ్యతిరేకంగా సంబంధం".split(" ")),e.te.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.te.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.te.stemmer,"stemmer-te"),e.Pipeline.registerFunction(e.te.stopWordFilter,"stopWordFilter-te")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/min/lunr.zh.min.js b/assets/javascripts/lunr/min/lunr.zh.min.js
index 7727bbe..fda66e9 100644
--- a/assets/javascripts/lunr/min/lunr.zh.min.js
+++ b/assets/javascripts/lunr/min/lunr.zh.min.js
@@ -1 +1 @@
-!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r(require("nodejieba")):r()(e.lunr)}(this,function(e){return function(r,t){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var i="2"==r.version[0];r.zh=function(){this.pipeline.reset(),this.pipeline.add(r.zh.trimmer,r.zh.stopWordFilter,r.zh.stemmer),i?this.tokenizer=r.zh.tokenizer:(r.tokenizer&&(r.tokenizer=r.zh.tokenizer),this.tokenizerFn&&(this.tokenizerFn=r.zh.tokenizer))},r.zh.tokenizer=function(n){if(!arguments.length||null==n||void 0==n)return[];if(Array.isArray(n))return n.map(function(e){return i?new r.Token(e.toLowerCase()):e.toLowerCase()});t&&e.load(t);var o=n.toString().trim().toLowerCase(),s=[];e.cut(o,!0).forEach(function(e){s=s.concat(e.split(" "))}),s=s.filter(function(e){return!!e});var u=0;return s.map(function(e,t){if(i){var n=o.indexOf(e,u),s={};return s.position=[n,e.length],s.index=t,u=n,new r.Token(e,s)}return e})},r.zh.wordCharacters="\\w一-龥",r.zh.trimmer=r.trimmerSupport.generateTrimmer(r.zh.wordCharacters),r.Pipeline.registerFunction(r.zh.trimmer,"trimmer-zh"),r.zh.stemmer=function(){return function(e){return e}}(),r.Pipeline.registerFunction(r.zh.stemmer,"stemmer-zh"),r.zh.stopWordFilter=r.generateStopWordFilter("的 一 不 在 人 有 是 为 以 于 上 他 而 后 之 来 及 了 因 下 可 到 由 这 与 也 此 但 并 个 其 已 无 小 我 们 起 最 再 今 去 好 只 又 或 很 亦 某 把 那 你 乃 它 吧 被 比 别 趁 当 从 到 得 打 凡 儿 尔 该 各 给 跟 和 何 还 即 几 既 看 据 距 靠 啦 了 另 么 每 们 嘛 拿 哪 那 您 凭 且 却 让 仍 啥 如 若 使 谁 虽 随 同 所 她 哇 嗡 往 哪 些 向 沿 哟 用 于 咱 则 怎 曾 至 致 着 诸 自".split(" ")),r.Pipeline.registerFunction(r.zh.stopWordFilter,"stopWordFilter-zh")}});
\ No newline at end of file
+!function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r(require("@node-rs/jieba")):r()(e.lunr)}(this,function(e){return function(r,t){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var i="2"==r.version[0];r.zh=function(){this.pipeline.reset(),this.pipeline.add(r.zh.trimmer,r.zh.stopWordFilter,r.zh.stemmer),i?this.tokenizer=r.zh.tokenizer:(r.tokenizer&&(r.tokenizer=r.zh.tokenizer),this.tokenizerFn&&(this.tokenizerFn=r.zh.tokenizer))},r.zh.tokenizer=function(n){if(!arguments.length||null==n||void 0==n)return[];if(Array.isArray(n))return n.map(function(e){return i?new r.Token(e.toLowerCase()):e.toLowerCase()});t&&e.load(t);var o=n.toString().trim().toLowerCase(),s=[];e.cut(o,!0).forEach(function(e){s=s.concat(e.split(" "))}),s=s.filter(function(e){return!!e});var u=0;return s.map(function(e,t){if(i){var n=o.indexOf(e,u),s={};return s.position=[n,e.length],s.index=t,u=n,new r.Token(e,s)}return e})},r.zh.wordCharacters="\\w一-龥",r.zh.trimmer=r.trimmerSupport.generateTrimmer(r.zh.wordCharacters),r.Pipeline.registerFunction(r.zh.trimmer,"trimmer-zh"),r.zh.stemmer=function(){return function(e){return e}}(),r.Pipeline.registerFunction(r.zh.stemmer,"stemmer-zh"),r.zh.stopWordFilter=r.generateStopWordFilter("的 一 不 在 人 有 是 为 為 以 于 於 上 他 而 后 後 之 来 來 及 了 因 下 可 到 由 这 這 与 與 也 此 但 并 並 个 個 其 已 无 無 小 我 们 們 起 最 再 今 去 好 只 又 或 很 亦 某 把 那 你 乃 它 吧 被 比 别 趁 当 當 从 從 得 打 凡 儿 兒 尔 爾 该 該 各 给 給 跟 和 何 还 還 即 几 幾 既 看 据 據 距 靠 啦 另 么 麽 每 嘛 拿 哪 您 凭 憑 且 却 卻 让 讓 仍 啥 如 若 使 谁 誰 虽 雖 随 隨 同 所 她 哇 嗡 往 些 向 沿 哟 喲 用 咱 则 則 怎 曾 至 致 着 著 诸 諸 自".split(" ")),r.Pipeline.registerFunction(r.zh.stopWordFilter,"stopWordFilter-zh")}});
\ No newline at end of file
diff --git a/assets/javascripts/lunr/wordcut.js b/assets/javascripts/lunr/wordcut.js
index 146f4b4..0d898c9 100644
--- a/assets/javascripts/lunr/wordcut.js
+++ b/assets/javascripts/lunr/wordcut.js
@@ -68,7 +68,7 @@ var WordcutDict = {
 
   init: function (dictPathFile, withDefault, words) {
     withDefault = withDefault || false
-    defaultDict = path.normalize(__dirname + "/..") + "/data/tdict-*.txt";
+    var defaultDict = path.normalize(__dirname + "/..") + "/data/tdict-*.txt";
     this.dict=[]
     var dictPathIsDefined = dictPathFile !== undefined
     var dictPath = (withDefault || !dictPathIsDefined) ? [defaultDict]: [];
@@ -106,7 +106,7 @@ var WordcutDict = {
     finalize = finalize===undefined || finalize;
     
     for (var i = 0; i < 1; i++) {
-      words = "ก.ก.\nก.ก.น.\nก.ข.ค.\nก.ค.\nก.จ.\nก.ช.น.\nก.ฌ.\nก.ต.\nก.ต.ง.\nก.ต.ช.\nก.ตร.\nก.ท.\nก.น.ช.\nก.บช.\nก.บถ.\nก.ป.ส.\nก.พ.\nก.ม.\nก.ย.\nก.ร.\nก.ล.ต.\nก.ว.\nก.ศ.ว.\nก.ส.ท.\nก.ส.ธ.\nก.ส.อ.\nก.อ.\nกก.ตชด.\nกก.ตร.น.\nกก.ภ.จว.\nกก.รสช.\nกกบ.ขส.ทบ.\nกกล.รพน.\nกง.กห.\nกง.ทบ.\nกง.ทร.\nกซข.ป.\nกซม.ป.\nกทม.กรุงเทพมหานคร\nกบ.ทบ.\nกป.สป.\nกพ.ทบ.\nกพ.ทร.\nกพ.ทหาร\nกร.ทบ.\nกรป.กลาง\nกรอ.พอ.\nกศ.ด.\nกศ.บ.\nกศ.บป.\nกศ.ม.\nกษ.ด.\nกษ.บ.\nกษ.ม.\nกส.ด.\nกส.ทบ.\nกส.บ.\nกส.ม.\nกอ.ปค.\nกอ.รพน.\nกอ.รมน.\nกอ.รสต.\nข.ต.ว.\nขว.ทบ.\nขว.ทร.\nขว.ทหาร\nขส.ทบ.\nขส.ทร.\nขส.ทอ.\nค.ด.\nค.บ.\nค.พ.ศ.\nค.ม.\nค.ร.น.\nค.ร.ฟ.\nค.ร.ม.\nค.ศ.\nค.อ.ด.\nค.อ.บ.\nค.อ.ม.\nคศ.ด.\nคศ.บ.\nคศ.ม.\nง.ด.\nจ.จ.\nจ.จ.จ.\nจ.ช.\nจ.ต.\nจ.ท.\nจ.ป.ร.\nจ.ม.\nจ.ศ.\nจ.ส.ต.\nจ.ส.ท.\nจ.ส.อ.\nจ.อ.\nจ.อ.ร.\nจ.๑๘\nจก.ธน.\nจก.สน.\nช.ค.\nช.ค.บ.\nช.พ.ค.\nช.ส.\nช.ส.ค.\nฌ.ป.ค.\nฌ.ศ.ร.\nฌ.ส.อ.\nฐท.สห.\nด.ช.\nด.ญ.\nด.ต.\nด.ศ.ค.\nด.ศ.ร.\nดย.ทร.\nต.ก.\nต.ค.\nต.จ.\nต.จ.ว.\nต.ช.\nต.ต.\nต.บ.\nต.ม.\nต.ร.\nต.ศ.ร.\nต.ห.\nต.อ.\nต.อ.จ.\nตร.กม.\nตร.ซม.\nตร.ต.\nตร.ทล.\nตร.น.\nตร.ปม.\nตร.ภ.\nตร.ม.\nตร.รฟ.\nตร.ว.\nตร.ส.\nตร.สข.\nท.จ.\nท.จ.ว.\nท.ช.\nท.ญ.\nท.ด.\nท.ท.ท.\nท.ทบ.\nท.บ.\nท.พ.\nท.ม.\nท.ศ.\nทก.ด.\nทก.บ.\nทก.ม.\nทส.ปช.\nทส.รมว.กห.\nทุ.ส.นิ.ม.\nธ.ก.ส.\nธ.ค.\nธ.ญ\nธ.บ.\nน.ช.\nน.ญ.\nน.ด.\nน.ต.\nน.ท.\nน.น.\nน.บ.\nน.บ.ท.\nน.ป.ท.\nน.พ.\nน.ม.\nน.ร.\nน.ว.\nน.ศ.\nน.ส.\nน.ส.พ.\nน.ส.๓\nน.สพ.\nน.อ.\nนปพ.ภ.\nนศ.ด.\nนศ.บ.\nนศ.ม.\nบ.ก.\nบ.ข.ส.\nบ.ช.\nบ.ด.ท.\nบ.ตร.\nบ.ภ.\nบ.ม.\nบก.จร.\nบก.ตชด.\nบก.ตม.\nบก.ทล.\nบก.น.\nบก.ป.\nบก.ปค.\nบก.ปม.\nบก.ภ.เขต\nบก.รน.\nบก.รฟ.\nบก.ร้อย.ตชด.\nบก.ส.\nบกข.ป.\nบจพ.ป.\nบช.ก.\nบช.ด.\nบช.ตชด.\nบช.น.\nบช.บ.\nบช.ปส.\nบช.ภ.\nบช.ม.\nบชท.ป.\nบชน.ป.\nบชส.ป.\nบธ.ด.\nบธ.บ.\nบธ.ม.\nบนท.ป.\nบนอ.ป.\nบปช.ป.\nป.กท.\nป.กศ.\nป.กศ.สูง\nป.จ.\nป.จ.ว.\nป.ช.\nป.ธ.\nป.ป.\nป.ป.ก.\nป.ป.ช.\nป.ป.ป.\nป.ป.ร.\nป.ป.ส.\nป.พ.\nป.พ.พ.\nป.พย.\nป.ม.\nป.ม.ก.\nป.ม.ช.\nป.ม.ธ.\nป.ม.ศ.\nป.ม.อ.\nป.ร.ร.๔\nป.ร.ร.๕\nป.ร.ร.๖\nป.ล.\nป.ว.พ.\nป.วิ.อ.\nป.ส.ส.\nป.อ.\nป.อ.ร.ส.\nป.๑\nปม.วส.\nปอ.พ.\nผกก.ภ.\nผช.ผอ.\nผต.มท.\nผบ.ตร.\nผบ.ทบ.\nผบ.ทร.\nผบ.ทสส.\nผบ.ทอ.\nผบก.น.\nผบก.ป.\nผบก.ปค.\nผบก.ปม.\nผบก.ภ.\nผบช.ก.\nผบช.ตชด.\nผบช.น.\nผบช.ภ.\nผว.กทม.\nผอ.ปจ.\nพ.ก.ง.\nพ.กศ.\nพ.ข.ต.\nพ.ค.\nพ.ค.ช.\nพ.ค.ว.\nพ.ค.ศ.\nพ.จ.ต.\nพ.จ.ท.\nพ.จ.อ.\nพ.ช.\nพ.ช.ค.\nพ.ด.\nพ.ต.\nพ.ต.ต.\nพ.ต.ท.\nพ.ต.อ.\nพ.ต.อ.พิเศษ\nพ.ท.\nพ.บ.\nพ.ป.\nพ.ภ.ม.\nพ.ม.\nพ.ม.ช.\nพ.ย.\nพ.ร.ก.\nพ.ร.ฎ.\nพ.ร.ต.\nพ.ร.ธ.\nพ.ร.บ.\nพ.ศ.\nพ.ศ.บ.\nพ.ส.ร.\nพ.ส.ล.\nพ.อ.\nพ.อ.ต.\nพ.อ.ท.\nพ.อ.พิเศษ\nพ.อ.อ.\nพณ.ด.\nพณ.บ.\nพณ.ม.\nพธ.ด.\nพธ.บ.\nพธ.ม.\nพบ.ด.\nพบ.บ.\nพบ.ม.\nพย.ด.\nพย.บ.\nพย.ม.\nพล.จ.\nพล.ต.\nพล.ต.จ.\nพล.ต.ต.\nพล.ต.ท.\nพล.ต.อ.\nพล.ท.\nพล.ปตอ.\nพล.ม.\nพล.ม.๒\nพล.ร.จ.\nพล.ร.ต.\nพล.ร.ท.\nพล.ร.อ.\nพล.อ.\nพล.อ.จ.\nพล.อ.ต.\nพล.อ.ท.\nพล.อ.อ.\nพลา.ทร.\nพศ.ด.\nพศ.บ.\nพศ.ม.\nพอ.สว.\nภ.ง.ด.\nภ.ง.ด.๙\nภ.ด.\nภ.บ.\nภ.บ.ท.๕\nภ.ป.ร.\nภ.พ.\nภ.ม.\nภ.สถ.บ.\nม.ค.\nม.จ.\nม.ป.ท.\nม.ป.ป.\nม.ป.พ.\nม.ร.ว.\nม.ศ.\nม.อ.\nม.อ.ปัตตานี\nมิ.ย.\nมี.ค.\nยศ.ทบ.\nยศ.ทร.\nยศ.ทอ.\nร.ง.\nร.ด.\nร.ต.\nร.ต.ต.\nร.ต.ท.\nร.ต.อ.\nร.ท.\nร.น.\nร.บ.\nร.พ.\nร.ฟ.ล.\nร.ย.ล.\nร.ย.ส.ท.\nร.ล.\nร.ศ.\nร.ส.พ.\nร.อ.\nรป.ม.\nรร.จปร.\nรร.จอ.\nรร.ชท.\nรร.ตท.\nรร.นร.\nรร.นรต.\nรร.นอ.\nล.ญ.\nล.ว.\nลส.ชบ.\nว.ค.\nว.ฉ.\nว.ช.\nว.ด.ป.\nว.ป.ถ.\nวท.บ.\nศ.บ.\nศ.ป.ก.\nศ.ศ.ป.\nศฝร.ภ.\nศศ.บ.\nศษ.บ.\nศส.บ.\nส.ก.\nส.ก.ศ.ท.\nส.ค.\nส.ค.1\nส.ค.ร.\nส.ค.ส.\nส.ต.\nส.ต.ต.\nส.ต.ท.\nส.ต.อ.\nส.ท.\nส.ทร.\nส.ป.ช.\nส.ป.ส.ท.\nส.ป.อ.\nส.ร.\nส.ล.น.\nส.ว.\nส.ว.ท.\nส.ว.ส.ท.\nส.ส.\nส.ส.ท.\nส.ส.ร.\nส.ห.\nส.อ.\nสถ.บ.\nสนง.สสอ.\nสพ.ญ.\nสพ.บ.\nสว.จร.\nสว.ธร.\nสว.ส.\nสว.สป.\nสว.สส.\nสว.อก.\nสส.บ.\nสุ.จิ.ปุ.ลิ.\nห.ร.ม.\nอ.ก.ค.\nอ.ก.จ.\nอ.จ.\nอ.ช.พ.\nอ.ตร.\nอ.บ.\nอ.ส.ท.\nอ.ส.ม.ท.\nอ.ส.ย.\nอ.อ.ป.\nอส.รด.\nอุ.อา.ก.ส.\nฮ.จ.\nฮ.ท.\nฮ.ฝ.\nฮ.ล.\nฮ.ศ.\nเม.ย.\n\nกรีนิช\nกลันตัน\nกัลกัตตา\nกัวลาลัมเปอร์\nกัศมีร์\nกาฐมาณฑุ\nโกลกาตา\nควิเบก\nคอนเนตทิคัต\nคาบูล\nคุชราต\nคุนหมิง\nเคนตักกี\nเคนทักกี\nเคมบริดจ์\nแคชเมียร์\nแคนซัส\nแคนเบอร์รา\nแคโรไลนา\nแคลิฟอร์เนีย\nโคเปนเฮเกน\nโคลัมโบ\nโคโลราโด\nไครสต์เชิร์ช\nไคโร\nจาการ์ตา\nจำปาศักดิ์\nเจนไน\nเจนีวา\nเจ้อเจียง\nฉงชิ่ง\nเฉิงตู\nชานตง\nชิคาโก\nเชนไน\nเชอร์โนบิล\nซัปโปโร\nซานมารีโน\nซาบาห์\nซาราเยโว\nซาราวัก\nซิดนีย์\nซีอาน\nซีแอตเทิล\nซูริก\nซูริค\nเซเชลส์\nเซนได\nเซี่ยงไฮ้\nโซเฟีย\nโซล\nโซโลมอน\nไซ่ง่อน\nไซบีเรีย\nดัลลัส\nดาโคตา\nดานัง\nดีทรอยต์\nดูไบ\nเดนเวอร์\nเดลาแวร์\nเดียนเบียนฟู\nโดเวอร์\nโดฮา\nไดฟุกุ\nไดฟูกุ\nตรังกานู\nตริโปลี\nตูวาลู\nเตหะราน\nโตเกียว\nโตรอนโต\nทมิฬนาฑู\nทริโปลี\nทิเบต\nเทกซัส\nเท็กซัส\nเทนเนสซี\nเทลอาวีฟ\nแทสเมเนีย\nโทรอนโต\nไทเป\nธากา\nนางาซากิ\nนาริตะ\nนิวเจอร์ซีย์\nนิวเดลี\nนิวยอร์ก\nนิวยอร์ค\nนิวแฮมป์เชียร์\nเนบราสกา\nเนแบรสกา\nเนวาดา\nบรัสเซลส์\nบราซิเลีย\nบอมเบย์\nบอสตัน\nบังกาลอร์\nบังคาลอร์\nบูคาเรสต์\nบูดาเปสต์\nเบงกาซี\nเบนกาซี\nเบรุต\nเบลเกรด\nเบอร์ลิน\nแบกแดด\nปอยเปต\nปะลิส\nปะหัง\nปักกิ่ง\nปัญจาบ\nปัฏนา\nปารีส\nปีนัง\nเประ\nเปียงยาง\nพนมเปญ\nพระตะบอง\nพะโค\nพะสิม\nพาราณสี\nพิหารี\nเพนซิลวาเนีย\nเพนซิลเวเนีย\nฟรานซ์\nฟลอริดา\nฟิลาเดลเฟีย\nฟุกุชิมะ\nฟุกุชิมา\nฟุกุโอกะ\nฟูกูโอกะ\nแฟรงก์เฟิร์ต\nมอสโก\nมะนิลา\nมะละแหม่ง\nมัณฑะเลย์\nมัทราส\nมาดริด\nมิชิแกน\nมินนิโซตา\nมิยางิ\nมิลาน\nมิวนิก\nมิสซูรี\nมุมไบ\nเมน\nเมลเบิร์น\nเมาะตะมะ\nเมาะลำเลิง\nแมนจูเรีย\nแมนเชสเตอร์\nแมนฮัตตัน\nแมริแลนด์\nแมรีแลนด์\nแมสซาชูเซตส์\nยะไข่\nย่างกุ้ง\nยูทาห์\nยูนนาน\nเยรูซาเล็ม\nโยโกฮามา\nริยาด\nรีโอเดจาเนโร\nโรดไอแลนด์\nลอนดอน\nลอสแองเจลิส\nลาปาซ\nลาสเวกัส\nลิสบอน\nลุยเซียนา\nโลซาน\nโลซานน์\nวอชิงตัน\nวอร์ซอ\nวิสคอนซิน\nเวนิส\nเวลส์\nเวอร์จิเนีย\nเวอร์มอนต์\nเวียงจันทน์\nเวียนนา\nแวนคูเวอร์\nไวโอมิง\nสกอตแลนด์\nสก็อตแลนด์\nสตอกโฮล์ม\nสลังงอร์\nเสฉวน\nเสียมราฐ\nเสียมเรียบ\nหงสา\nหงสาวดี\nหนานไห่\nหลวงพระบาง\nหูเป่ย\nหูเป่ย์\nหูหนาน\nเหอเป่ย\nเหอเป่ย์\nเหอหนาน\nอชันตา\nอลาสกา\nอวันตี\nออริกอน\nออสโล\nอะแลสกา\nอัตตะปือ\nอัมมาน\nอัมสเตอร์ดัม\nอัสสัม\nอาบูดาบี\nอาร์คันซอ\nอินเดียนา\nอิบารากิ\nอิลลินอยส์\nอิสตันบูล\nอิสลามาบัด\nอุรุมชี\nอูลานบาตอร์\nเอดินบะระ\nเอเธนส์\nแอตแลนตา\nแอริโซนา\nแอลเจียร์\nโอคลาโฮมา\nโอค็อตสค์\nโอกินาวา\nโอซากา\nโอริสสา\nโอเรกอน\nโอไฮโอ\nไอดาโฮ\nไอโอวา\nฮอนโนลูลู\nฮานอย\nฮาเนดะ\nฮาราเร\nฮาวาย\nฮิโรชิมา\nฮุสตัน\nเฮลซิงกิ\n\nมกรา\nกุมภา\nมีนา\nเมษา\nพฤษภา\nมิถุนา\nกรกฎา\nสิงหา\nกันยา\nตุลา\nพฤศจิกา\nธันวา\nเอ\nบี\nซี\nดี\nอี\nเอฟ\nจี\nเอช\nไอ\nเจ\nเค\nแอล\nเอ็ม\nเอ็น\nโอ\nพี\nคิว\nอาร์\nเอส\nที\nยู\nวี\nดับเบิล\nดับบลิว\nเอ็กซ์\nเอ๊กซ์\nวาย\nแซด\nแอลฟา\nแอลฟ่า\nเบตา\nเบต้า\nแกมมา\nแกมม่า\nเดลตา\nเดลต้า\nโอเมกา\nโอเมก้า\nเมกะ\nกิกะ\nนาโน\nไมโคร\n\nกรรมาชน\nกรอบรูป\nกระดี๊กระด๊า\nกระบับ\nกราวนด์\nกรีน\nกรุ๊ป\nกฤษณ์\nกลาส\nก๊วน\nกษัตริยา\nกษัตริยาธิราช\nก่อนหน้า\nกะบับ\nกับดัก\nกัมมันตะ\nก๊าก\nก๋ากั่น\nกาญจน์\nกาญจนาภิเษก\nกามิกาเซ่\nการันตี\nกาหลิบ\nกิฟท์\nกิมจิ\nกีวี\nกึ๊ก\nกึ๋ย\nกุนซือ\nกุมภาพันธ์\nกู๋\nเกจิ\nเกมส์\nเกย์\nเกรด\nเกรย์\nเกสต์เฮาส์\nเก๊ะ\nเก๋ากี้\nเกิร์ล\nแกงค์\nแกรนด์\nแกสโซฮอล์\nแก๊สโซฮอล์\nโกเต็กซ์\nโกลด์\nโกะ\nโก๊ะ\nไกด์\nขั้นตอน\nเขวี้ยง\nคณาญาติ\nครัวซอง\nครัวซองต์\nคร่ำครวญ\nครีเอทีฟ\nครูเสด\nคลับ\nคลาสสิก\nคลิตอริส\nคลิป\nความหมาย\nควิก\nควีน\nคองเกรส\nคอนซูเมอร์\nคอนเซปต์\nคอนเซ็ปต์\nคอนโด\nคอนโดมิเนียม\nคอนเทนเนอร์\nคอนแทค\nคอนแท็ค\nคอนโทรล\nคอนเฟิร์ม\nคอปเตอร์\nคอมพ์\nคอมเพล็กซ์\nคอมมอนส์\nคอมเมนท์\nคอมเมนต์\nคอร์ป\nคอร์ปอเรชั่น\nคอร์รัปชัน\nคอร์รัปชั่น\nคอรัปชัน\nคอรัปชั่น\nคอร์ส\nคอลเล็กชั่น\nคอลัมน์\nคอลัมนิสต์\nคัตเอาต์\nคันคาก\nคันถธุระ\nคันธาระ\nคันยิ\nคัสตาร์ด\nคาราโอเกะ\nคีตกวี\nคีตปฏิภาณ\nคีตราชัน\nคาปูชิโน\nคามิคาเซ่\nคาเฟ่\nคาร์\nคาร์โก้\nคาราเมล\nคาแรกเตอร์\nคาแร็กเตอร์\nคาแรคเตอร์\nคาแร็คเตอร์\nคาวบอย\nคาสิโน\nคิกขุ\nคิวบิก\nคูลเลอร์\nเคบับ\nเครป\nเคลม\nเคลียร์\nเคลื่อนย้าย\nเคส\nเคอร์ฟิว\nแคชเชียร์\nแคทวอล์ค\nแคนดิเดต\nแคนตาลูป\nแคนยอน\nแคนู\nแคป\nแคมป์\nแคมปัส\nแคมเปญ\nแคร์\nแครกเกอร์\nแคร็กเกอร์\nแครอท\nแคสต์\nแคสติง\nแคสติ้ง\nโค้ก\nโค้ช\nโคโยตี\nโคโยตี้\nโครนา\nโคอะล่า\nโคอาลา\nโคอาล่า\nไคลแมกซ์\nไคลแม็กซ์\nงั้น\nง่าว\nงี้\nเง็ง\nโง่เขลา\nไง\nจตุคาม\nจ๊อกกี้\nจอหงวน\nจังโก้\nจัมโบ้\nจ๊าบ\nจารกรรม\nจารชน\nจิ๊ก\nจิ๊กโก๋\nจิ๊กซอว์\nจิตพิสัย\nจิตเภท\nจีดีพี\nจึ๊ก\nจุ๊ย\nจูน\nจูเนียร์\nเจ๊\nเจได\nเจ็ต\nเจล\nเจ๊าะแจ๊ะ\nเจี๊ยว\nแจ็กเก็ต\nแจ๊กเก็ต\nแจ็กพอต\nแจ็กพ็อต\nแจ๊กพอต\nแจ๊กพ็อต\nแจม\nแจ๊ส\nโจ๋\nฉลุย\nเฉิ่ม\nชนะเลิศ\nช็อค\nช็อต\nช็อป\nช็อปปิ้ง\nช็อปเปอร์\nชะโนด\nชัตเตอร์\nชัวร์\nชาร์จ\nชาร์ต\nชาร์ป\nชินบัญชร\nชิฟฟอน\nชีส\nชีอะห์\nเช็ก\nเช็งเม้ง\nเชฟ\nเชลียร์\nเชอร์รี่\nแชเชือน\nแช่แข็ง\nแชมป์\nแชมปิยอง\nแชมเปญ\nแชมเปี้ยน\nแชมพู\nโชว์รูม\nโชห่วย\nใช้งาน\nไชน่า\nซ้อ\nซอมบี้\nซะ\nซังเต\nซันตาคลอส\nซัพพลาย\nซัพพลายเออร์\nซัมเมอร์\nซากุระ\nซาดิสต์\nซาดิสม์\nซาตาน\nซานตาคลอส\nซาฟารี\nซาบะ\nซามูไร\nซาร์\nซาร์ดีน\nซาเล้ง\nซิง\nซิ่ง\nซิงเกิล\nซิตี\nซิตี้\nซินโดรม\nซิม\nซิ้ม\nซิมโฟนี\nซิมโฟนี่\nซิลเวอร์\nซี้\nซี้ซั้ว\nซีดาน\nซีน\nซีนีเพล็กซ์\nซีเนียร์\nซีร็อกซ์\nซีรีส์\nซีเรียส\nซีอีโอ\nซื่อบื้อ\nซุนหนี่\nซุปเปอร์\nซูชิ\nซูเปอร์\nซูม\nซูโม่\nซูเอี๋ย\nซูฮก\nเซ็กซ์\nเซ็กซี่\nเซ็กส์\nเซนเซอร์\nเซ็นเซอร์\nเซนเตอร์\nเซ็นเตอร์\nเซ็นทรัล\nเซนส์\nเซ่นไหว้\nเซฟตี้\nเซรามิก\nเซลส์\nเซลส์แมน\nเซอร์\nเซอร์ไพรส์\nเซอร์วิส\nเซาท์\nเซี้ยว\nแซ็ก\nแซกโซโฟน\nแซ็กโซโฟน\nแซนด์วิช\nแซมบ้า\nแซลมอน\nแซว\nโซเชียล\nโซน\nโซนี่\nโซลาร์\nโซโล\nโซโล่\nญาณทัสสนะ\nดยุก\nดยุค\nดร็อป\nดรัมเมเยอร์\nดรามา\nดราม่า\nดอกเตอร์\nด็อกเตอร์\nดัมพ์\nดั๊มพ์\nดาวน์\nดิกชันนารี\nดิสเครดิต\nดีกรี\nดีเจ\nดีไซน์\nดีไซน์เนอร์\nดีไซเนอร์\nดีเบต\nดีพาร์ตเมนต์\nดีพาร์ตเมนท์\nดีพาร์ทเมนต์\nดีพาร์ทเมนท์\nดีมานด์\nดีล\nดีลเลอร์\nดีเลย์\nเดชานุภาพ\nเดบิต\nเดโม\nเดย์\nเด้อ\nเดอะ\nเด๊ะ\nเดี้ยง\nเดี๊ยะ\nแดนซ์\nแดนเซอร์\nแดรี่\nโดนัท\nโดมิโน\nโดรายากิ\nไดเอ็ต\nตถตา\nตนเอง\nตรวจทาน\nตรวจสอบ\nตอกย้ำ\nต๊อง\nต่อยอด\nต่อรอง\nตะหงิด\nตังค์\nตันเถียน\nตัวตน\nตัวเอง\nตาปรือ\nต้าอ่วย\nติงต๊อง\nติ๋ม\nติ่มซำ\nติว\nติวเตอร์\nตี๋\nตื้บ\nตุ๊ก\nตุ๊กตุ๊ก\nตุ๊ด\nตุ๋ย\nตู้เซฟ\nเต๊ะ\nเตี๊ยม\nแตงกวา\nแตงโม\nแต๋ว\nโต๋เต๋\nโต๊ะจีน\nไตรมาส\nถ่ายทำ\nถูกต้อง\nทงคัตสึ\nทริป\nทรู\nทอม\nท็อป\nทอร์นาโด\nทอล์ค\nทักซิโด\nทันตกรรม\nทันตแพทยศาสตร์\nทับซ้อน\nทัวร์\nทัวร์นาเมนต์\nทัวร์นาเมนท์\nทัวริสต์\nทาเลนต์\nทาวน์\nทาวน์เฮาส์\nทำงาน\nทิป\nทิพยสมบัติ\nทิวลิป\nทีรามิสุ\nทีวี\nทูน่า\nเท็กซ์\nเทค\nเทคโน\nเทคโนแครต\nเทควันโด\nเทป\nเทรด\nเทรนด์\nเทรนเนอร์\nเทรลเลอร์\nเทรลเล่อร์\nเทเลกราฟ\nเทวบัญชา\nเทวบุตร\nเทวา\nเทวาธิราช\nเทโวโรหนะ\nเทอร์โบ\nเที่ยงคืน\nเที่ยงวัน\nเทียมทาน\nแทกติค\nแทคติค\nแทงกั๊ก\nแทงโก้\nโทมาฮอก\nโทมาฮอว์ก\nโทมาฮอว์ค\nโทร\nโทรโข่ง\nไทม์\nไทยแลนด์\nไทเฮา\nธรรมา\nธรรมาภิบาล\nธัมโม\nธีม\nธุรกรรม\nธุหร่ำ\nเธค\nนพมาศ\nนรีแพทย์\nน็อก\nน็อค\nน้องใหม่\nนอมินี\nนอร์ท\nน่ะ\nนางแบบ\nนาฏยศาลา\nนายแบบ\nนายพราน\nนินจา\nนิรันดร์\nนิว\nนิวส์\nนู้ด\nเนอะ\nเนิร์สเซอรี\nเนิร์สเซอรี่\nเนี้ยบ\nโนติส\nไนท์\nไนน์\nบรรพชน\nบร็อกโคลี\nบร็อคโคลี\nบรา\nบริกร\nบริวเวอรี่ส์\nบลอนด์\nบลูเบอร์รี\nบลูเบอร์รี่\nบ๊วย\nบอกซ์\nบ็อกซ์\nบ๊อกซ์\nบอดี้\nบอนด์\nบ๊อบ\nบอมบ์\nบ๋อย\nบอยคอต\nบอยคอตต์\nบอร์ด\nบังเกอร์\nบัตเตอร์\nบัลลาสต์\nบัส\nบาบูน\nบาร์บีคิว\nบาร์บี้\nบาลานซ์\nบิ๊ก\nบิล\nบึม\nบึ้ม\nบุญคุณ\nบุ๋น\nบุปผา\nบู๊\nบูชิโด\nบูติก\nบูติค\nบูม\nเบเกอรี่\nเบญจมบพิตร\nเบตาดีน\nเบนโตะ\nเบนโล\nเบบี้\nเบลอ\nเบอร์เกอร์\nเบอร์รี\nเบิร์ด\nเบิร์น\nแบ็กโฮ\nแบคโฮ\nแบด\nแบต\nแบนเนอร์\nแบรนด์\nแบล็ก\nแบล็ค\nไบโอ\nโบกี้\nโบตั๋น\nโบ้ย\nโบรกเกอร์\nโบรชัวร์\nโบว์\nโบว์ลิ่ง\nไบเบิล\nปฏิสัมพันธ์\nป๊อก\nปอดแหก\nป๊อป\nป๋อหลอ\nปักขคณนา\nปัจเจกชน\nปัจฉิมนิเทศ\nป๊า\nป๋า\nป่าไม้\nปาร์ตี้\nปาสกาล\nปาสคาล\nปาสเตอร์\nปิกอัพ\nปิ๊ง\nปิโตรเคมี\nปิยมิตร\nปึ้ก\nปูอัด\nเปโซ\nเป็นไง\nเปปเปอร์มินต์\nเปเปอร์\nเปราะบาง\nเป๊ะ\nเป่ายิงฉุบ\nเป่ายิ้งฉุบ\nเปียโน\nแป้ก\nแป๋ว\nแป๊ะเจี๊ยะ\nโปร\nโปรเจกต์\nโปรเจ็กต์\nโปรเจกเตอร์\nโปรเจ็กเตอร์\nโปรเจคท์\nโปรเจ็คท์\nโปรดักชั่น\nโปรดิวเซอร์\nโปรโมชั่น\nโปรโมต\nโปรโมเตอร์\nโปรโมท\nโปลิศ\nโปสเตอร์\nผลไม้\nผลักดัน\nผ้าห่ม\nผิดพลาด\nผู้นำ\nแผดเผา\nเฝอ\nพงษ์\nพริตตี้\nพรีเซนต์\nพรีเซ็นเตอร์\nพรีเมียม\nพรีเมียร์\nพฤหัส\nพล็อต\nพลาซ่า\nพลานุภาพ\nพ่อค้า\nพอเพียง\nพะเรอ\nพันธกิจ\nพันธุวิศวกรรม\nพาร์\nพาร์ตเนอร์\nพาร์ทเนอร์\nพาวเวอร์\nพาสเจอร์ไรส์\nพาสตา\nพาสต้า\nพาสปอร์ต\nพาเหรด\nพิซซ่า\nพีเรียด\nพุดดิ้ง\nพุทธภูมิ\nพุทธศตวรรษ\nพุทโธ\nพูล\nเพทนาการ\nเพนกวิน\nเพนตากอน\nเพรส\nเพรียวบาง\nเพลซ\nเพลท\nเพลย์บอย\nเพียบแปร้\nเพียว\nเพาเวอร์\nแพกเกจ\nแพ็ค\nแพตเทิร์น\nแพทเทิร์น\nแพทยสภา\nแพนงเชิญ\nแพนดา\nแพนด้า\nแพลน\nโพลล์\nโพลารอยด์\nโพสต์\nไพลิน\nฟยอร์ด\nฟรังก์\nฟรุต\nฟลอร์\nฟลุก\nฟลุค\nฟลุต\nฟลุท\nฟอยล์\nฟอร์ม\nฟันด์\nฟาวล์\nฟาสต์ฟู้ด\nฟินิกซ์\nฟิวเจอร์\nฟีด\nฟีเวอร์\nฟุตบาท\nเฟรช\nเฟรชชี่\nเฟรม\nเฟมินิสต์\nเฟส\nเฟอร์นิเจอร์\nเฟอร์รี่\nเฟิร์ม\nเฟี้ยวฟ้าว\nแฟกซ์\nแฟ็กซ์\nแฟนซี\nแฟนตาซี\nแฟ้บ\nแฟร์\nแฟรนไชส์\nแฟรี\nแฟรี่\nแฟลช\nแฟล็ต\nโฟน\nโฟม\nโฟล์ค\nไฟต์\nไฟแนนซ์\nไฟลต์\nไฟลท์\nภควัทคีตา\nภควัมบดี\nภควัมปติ\nภคันทลาพาธ\nภววิสัย\nภารตะ\nภูมิทัศน์\nม้ง\nมวลชน\nมยุราภิรมย์\nมลภาวะ\nมหภาค\nมหาอุปราชา\nมอคคา\nมอคค่า\nมอนสเตอร์\nม็อบ\nมอบตัว\nมอยส์เจอไรเซอร์\nมอลล์\nมะกัน\nมั้ง\nมัฟฟิน\nมั้ย\nม้านั่ง\nมาเฟีย\nมาม่า\nมายองเนส\nมายาคติ\nมาร์ก\nมาร์เก็ต\nมาร์เก็ตติ้ง\nมาร์ค\nมาร์จิน\nมาร์ช\nมาร์ต\nมาร์ท\nมาราธอน\nม้าหินอ่อน\nมินต์\nมินท์\nมินิ\nมิลค์\nมิวสิค\nมิสซัง\nมิสไซล์\nมิสเตอร์\nมือถือ\nมุมมอง\nเมคอัพ\nเมจิก\nเมจิค\nเมทัล\nเมเปิล\nเมาท์\nเมี่ยงคำ\nแมกกาซีน\nแม็กกาซีน\nแมคเคอเรล\nแม่ค้า\nแมชชีน\nแมชีน\nแมนชั่น\nแมมบ้า\nแมมโบ้\nโมจิ\nโมเดล\nโมเดิร์น\nโมเต็ล\nโมโนเรล\nโมหจริต\nไมค์\nไมเกรน\nยนตรกรรม\nยอมรับ\nยะเยือก\nยังไง\nยากูซ่า\nยาวี\nยิม\nยิว\nยุวทูต\nยูโทเปีย\nยูโร\nยูวี\nเยน\nเยลลี่\nเย้ว\nเยอบีรา\nเยอบีร่า\nเยอร์บีรา\nเยอร์บีร่า\nแยมโรล\nโยเกิร์ต\nโยโย่\nรวมมิตร\nร็อค\nร็อคเก็ต\nรองรับ\nรอมฎอน\nรอยัลตี้\nระโงก\nรันเวย์\nรัม\nรากหญ้า\nราชบัณฑิตยสถาน\nราชานุญาต\nราชานุสาวรีย์\nรามเทพ\nรามาธิบดี\nรามายณะ\nราเม็ง\nราเมน\nรายชื่อ\nราสเบอร์รี\nริกเตอร์\nริคเตอร์\nรีไซเคิล\nรีดไถ\nรีทัช\nรีเทิร์น\nรีไทร์\nรีแบรนด์\nรีพอร์ท\nรีโมต\nรีโมท\nรีวิว\nรีสอร์ต\nรีสอร์ท\nรีเสิร์ช\nรุมบ้า\nรุสโซ\nรูบิก\nรูบิค\nเรซิน\nเรซิ่น\nเรดิโอ\nเรต\nเรตติ้ง\nแรงใจ\nแรงดูด\nแรงผลัก\nแรลลี\nแรลลี่\nโรดแมป\nโรเนียว\nโรแมนติก\nโรแมนติค\nโรล\nโรลออน\nไรเฟิล\nล็อกเกอร์\nลอจิสติกส์\nล็อต\nล็อบบี้\nลอร์ด\nล้มเหลว\nละติน\nละอ่อน\nลาซานญ่า\nลาติน\nลาเต้\nลานีญา\nลามะ\nลิมิต\nลิมูซีน\nลิสต์\nลีก\nลีด\nลีดเดอร์\nลีเมอร์\nลีลาวดี\nลุค\nลูกชาย\nลูกสาว\nเลกเชอร์\nเลคเชอร์\nเลดี้\nเลสเบี้ยน\nเลิฟ\nแลนด์\nแล็บ\nโลโก้\nโลชั่น\nไลท์\nไลน์\nไลฟ์\nวนาราม\nวราราม\nวโรกาส\nว้อดก้า\nวอเตอร์\nวอฟเฟิล\nว้อย\nวอร์ม\nวอร์มอัพ\nวอร์รูม\nวอล์ก\nวอล์ค\nวอลซ์\nวอลนัต\nวอลนัท\nวอลล์\nว่ะ\nวันเวย์\nวัสสา\nวาซาบิ\nวาทกรรม\nวาทะ\nวานิลลา\nวานิลา\nวาฟเฟิล\nวาริชศาสตร์\nว้าว\nวัคค์\nวัจนะ\nวาไรตี้\nวิก\nวิดีโอ\nวิทย์\nวิน\nวิป\nวิปปิ้ง\nวิภัชภาค\nวิว\nวิลล์\nวิลเลจ\nวีเจ\nวีซ่า\nวีดิทัศน์\nวีน\nวีไอพี\nวืด\nเวณิกา\nเวเฟอร์\nเวสต์\nเวอร์\nเวิร์ก\nเวิร์กช็อป\nเวิร์ค\nเวิร์ลด์\nเวิลด์\nแวมไพร์\nไวกิ้ง\nไวเบรเตอร์\nไวอะกร้า\nไวอากร้า\nศากยบุตร\nศิรินทร์\nศิลปวัฒนธรรม\nศิลปากร\nศิวิไลซ์\nศึกษาศาสตร์\nสกรัม\nสกาย\nสกู๊ป\nสเกตช์\nสเก็ตช์\nสคริปต์\nสแควร์\nสงบสุข\nสจ๊วต\nสตรอเบอร์รี\nสตรอเบอรี\nสตรอว์เบอร์รี\nสตริง\nสต็อก\nสต๊อก\nสต็อค\nสต๊อค\nสตอรี\nสตาร์\nสตาร์ท\nสติกเกอร์\nสติ๊กเกอร์\nสตีล\nสตูดิโอ\nสเตชัน\nสเตชั่น\nสเตเดียม\nสเตนเลส\nสเต็ป\nสเตย์\nสเตริโอ\nสเตอริโอ\nสแตนดาร์ด\nสแตนเลส\nสโตน\nสโตร์\nสไตรค์\nสไตล์\nสถาปัตย์\nสไนเปอร์\nสปอต\nสป็อต\nสปอนเซอร์\nสปอร์ต\nสปา\nสปาย\nสปิริต\nสเปก\nสเปค\nสไปเดอร์\nสมณพราหมณ์\nสมาพันธ์\nสมิติเวช\nสโรชา\nสลัม\nสแล็ก\nสโลแกน\nสโลว์\nสไลด์\nสวีท\nสหรัฐ\nสหัชญาณ\nสหัสวรรษ\nสะกอม\nสะเด่า\nสะบึม\nสะบึมส์\nสะออน\nสังโฆ\nสะโหลสะเหล\nสันทนาการ\nสัมนา\nสามช่า\nสามแยก\nสารขัณฑ์\nสี่แยก\nสึนามิ\nสุนทรีย์\nสุริยยาตร\nสุริยยาตร์\nสุหนี่\nเสกสรรค์\nเสพติด\nเสือโคร่ง\nหงวน\nหน่อมแน้ม\nหมวย\nหมั่นโถว\nหม่านโถว\nหมายปอง\nหมิง\nหยวน\nหลวงตา\nหลวงปู่\nหลวงพี่\nหล่อฮังก้วย\nหลินจือ\nห่วย\nเห็นด้วย\nเหมย\nเห่ย\nเหี่ยวย่น\nแหม็บ\nแหวว\nโหงว\nโหงวเฮ้ง\nโหลน\nโหลยโท่ย\nไหง\nไหร่\nอพาร์ตเมนต์\nอพาร์ตเมนท์\nอพาร์ทเมนต์\nอพาร์ทเมนท์\nอมาตยาธิปไตย\nอยุติธรรม\nอริยสงฆ์\nอ่วม\nอวอร์ด\nออกแบบ\nออดิชั่น\nออดิทอเรียม\nออเดอร์\nออโต้\nออทิสติก\nอ่อนด้อย\nออฟ\nออยล์\nออร์แกน\nออร์แกนิก\nออร์แกนิค\nออร์เดอร์\nออรัล\nออสซี่\nอะ\nอัตลักษณ์\nอัตวิสัย\nอันเดอร์\nอันตรกิริยา\nอัลตรา\nอัลไซเมอร์\nอัลบัม\nอัลบั้ม\nอัลมอนด์\nอาข่า\nอาโนเนะ\nอาฟเตอร์\nอาร์ติสต์\nอาร์พีจี\nอาว์\nอาสวะ\nอิกัวนา\nอินดอร์\nอินดัสตรีส์\nอินเตอร์\nอิ่มแปร้\nอิมพีเรียล\nอิเล็กทริก\nอิเล็กทริค\nอิเลียด\nอิสรชน\nอิเหนา\nอิออน\nอีแต๋น\nอีโรติก\nอีเวนท์\nอีสต์\nอีสเตอร์\nอึ๊บ\nอึ้ม\nอึ๋ม\nอึมครึม\nอุด้ง\nอุตสาหการ\nอุเทน\nอุปการคุณ\nอุปทาน\nอุปนายก\nอุปนายิกา\nอุปสงค์\nอุปัทวเหตุ\nอุรังคธาตุ\nอูคูเลเล่\nอู้ฟู่\nเอ๋\nเอ็กซ์โป\nเอ็กซ์เพรส\nเอ็กโซเซต์\nเอ็กโซเซ่ต์\nเอเซีย\nเอ็นจีโอ\nเอ็นเตอร์เทน\nเอนทรานซ์\nเอ็นทรานซ์\nเอฟเฟ็กต์\nเอเยนต์\nเอลนีโญ\nเอสเปรสโซ\nเอสเพรสโซ\nเอ๋อ\nเอาต์\nเอาท์\nเอาท์ดอร์\nเอ๊าะ\nแอ็กชั่น\nแอ็คชั่น\nแอคทีฟ\nแอดมิชชั่น\nแอดมิสชัน\nแอนด์\nแอ๊บแบ๊ว\nแอปเปิล\nแอปเปิ้ล\nแอปพริคอท\nแอพพริคอท\nแอพริคอต\nแอร์\nแอโรบิก\nแอโรบิค\nแอลมอนด์\nแอสเตอร์\nโอเค\nโอเปอเรเตอร์\nโอเปร่า\nโอเพ่น\nโอ้ย\nโอยัวะ\nโอรสาธิราช\nโอเลี้ยง\nโอวัลติน\nโอเวอร์\nไอซ์\nไอซียู\nไอดอล\nไอเดีย\nไอติม\nฮวงจุ้ย\nฮ่องเต้\nฮองเฮา\nฮอต\nฮ็อต\nฮอตดอก\nฮ็อตด็อก\nฮันนีมูน\nฮัม\nฮัลโลวีน\nฮัลโหล\nฮากกา\nฮาร์ด\nฮาราคีรี\nฮาลาล\nฮาโลวีน\nฮิ\nฮิต\nฮิบรู\nฮิปโป\nฮิปฮอป\nฮีโร่\nฮูลาฮูป\nฮูล่าฮูป\nเฮฟวี\nเฮฟวี่\nเฮอร์ริเคน\nเฮีย\nแฮนด์\nแฮปปี้\nแฮมเบอร์เกอร์\nโฮป\nโฮม\nโฮลดิงส์\nโฮลวีต\nโฮสเตส\nไฮกุ\nไฮแจ็ค\nไฮโซ\nไฮเทค\nไฮบริด\nไฮเปอร์\nไฮไลต์\nไฮไลท์\nไฮเวย์\nไฮสคูล\nไฮเอนด์\n\nกรีซ\nกัมพูชา\nกัวเตมาลา\nกาตาร์\nกานา\nกาบอง\nกายอานา\nกินี\nเกรนาดีนส์\nเกรเนดา\nเกาหลี\nแกมเบีย\nโกตดิวัวร์\nคองโก\nคอโมโรส\nคอสตาริกา\nคาซัคสถาน\nคิตส์\nคิริบาตี\nคิริบาส\nคิวบา\nคีร์กีซสถาน\nคูเวต\nเคนยา\nเคปเวิร์ด\nเคย์แมน\nแคนาดา\nแคเมอรูน\nโครเอเชีย\nโคลอมเบีย\nจอร์เจีย\nจอร์แดน\nจาเมกา\nจิบูตี\nจีน\nชาด\nชิลี\nเช็ก\nซามัว\nซาอุ\nซิมบับเว\nซีเรีย\nซูดาน\nซูรินาเม\nเซนต์\nเซเนกัล\nเซอร์เบีย\nเซาตูเม\nเซียร์รา\nแซมเบีย\nโซมาเลีย\nโซเวียต\nไซปรัส\nญี่ปุ่น\nดารุสซาลาม\nเดนมาร์ก\nโดมินิกัน\nโดมินิกา\nตรินิแดด\nตองกา\nติมอร์\nตุรกี\nตูนิเซีย\nเติร์กเมนิสถาน\nโตโก\nโตเบโก\nไต้หวัน\nทาจิกิสถาน\nแทนซาเนีย\nนอร์เวย์\nนามิเบีย\nนาอูรู\nนิการากัว\nนิวซีแลนด์\nเนเธอร์แลนด์\nเนปาล\nเนวิส\nไนจีเรีย\nไนเจอร์\nบราซิล\nบริติช\nบริเตน\nบรูไน\nบอตสวานา\nบอสเนีย\nบังกลาเทศ\nบังคลาเทศ\nบัลแกเรีย\nบาร์บูดา\nบาร์เบโดส\nบาห์เรน\nบาฮามาส\nบิสเซา\nบุรุนดี\nบูร์กินาฟาโซ\nเบนิน\nเบลเยียม\nเบลารุส\nเบลีซ\nเบอร์มิวดา\nโบลิเวีย\nปรินซิปี\nปากีสถาน\nปานามา\nปาปัวนิวกินี\nปารากวัย\nปาเลสไตน์\nปาเลา\nเปรู\nเปอร์เซีย\nเปอร์โตริโก\nโปรตุเกส\nโปแลนด์\nฝรั่งเศส\nพม่า\nฟิจิ\nฟินแลนด์\nฟิลิปปินส์\nเฟรนช์\nภูฏาน\nภูฐาน\nมองโกเลีย\nมอนเตเนโกร\nมอนแทนา\nมอริเชียส\nมอริเตเนีย\nมอลโดวา\nมอลตา\nมัลดีฟส์\nมาเก๊า\nมาซิโดเนีย\nมาดากัสการ์\nมาร์แชลล์\nมาลาวี\nมาลี\nมาเลเซีย\nเม็กซิโก\nเมียนมาร์\nโมซัมบิก\nโมนาโก\nโมนาโค\nโมร็อกโก\nไมโครนีเซีย\nยูกันดา\nยูโกสลาเวีย\nยูเครน\nเยเมน\nเยอรมนี\nรวันดา\nรัสเซีย\nโรมาเนีย\nลักเซมเบิร์ก\nลัตเวีย\nลาว\nลิกเตนสไตน์\nลิทัวเนีย\nลิเบีย\nลีโอน\nลูเซีย\nเลโซโท\nเลบานอน\nเลสเต\nไลบีเรีย\nวาติกัน\nวานูอาตู\nวินเซนต์\nเวเนซุเอลา\nเวียดนาม\nศรีลังกา\nสเปน\nสโลวะเกีย\nสโลวัก\nสโลวีเนีย\nสวาซิแลนด์\nสวิตเซอร์แลนด์\nสวีเดน\nสหรัฐ\nสหราชอาณาจักร\nสิกขิม\nสิงคโปร์\nอเมริกา\nออสเตรเลีย\nออสเตรีย\nอันดอร์รา\nอัฟกานิสถาน\nอาเซอร์ไบจาน\nอาร์เจนตินา\nอาร์เมเนีย\nอาระเบีย\nอิเควทอเรียล\nอิตาลี\nอินเดีย\nอินโดนีเซีย\nอิรัก\nอิสราเอล\nอิหร่าน\nอียิปต์\nอุซเบกิสถาน\nอุรุกวัย\nเอกวาดอร์\nเอธิโอเปีย\nเอมิเรตส์\nเอริเทรีย\nเอลซัลวาดอร์\nเอสโตเนีย\nแองโกลา\nแอนติกา\nแอลจีเรีย\nแอลเบเนีย\nโอมาน\nไอซ์แลนด์\nไอร์แลนด์\nฮ่องกง\nฮอนดูรัส\nฮังการี\nเฮติ\nเฮอร์เซโกวีนา\n\nกระบี่\nกรุงเทพ\nกาญจนบุรี\nกาฬสินธุ์\nกำแพงเพชร\nขอนแก่น\nจันทบุรี\nฉะเชิงเทรา\nชลบุรี\nชัยนาท\nชัยภูมิ\nชุมพร\nเชียงราย\nเชียงใหม่\nตรัง\nตราด\nตาก\nนครนายก\nนครปฐม\nนครพนม\nนครราชสีมา\nนครศรีธรรมราช\nนครสวรรค์\nนนทบุรี\nนราธิวาส\nน่าน\nบึงกาฬ\nบุรีรัมย์\nปทุมธานี\nประจวบคีรีขันธ์\nปราจีนบุรี\nปัตตานี\nพะเยา\nพังงา\nพัทลุง\nพิจิตร\nพิษณุโลก\nเพชรบุรี\nเพชรบูรณ์\nแพร่\nภูเก็ต\nมหาสารคาม\nมุกดาหาร\nแม่ฮ่องสอน\nยโสธร\nยะลา\nร้อยเอ็ด\nระนอง\nระยอง\nราชบุรี\nลพบุรี\nลำปาง\nลำพูน\nเลย\nศรีสะเกษ\nสกลนคร\nสงขลา\nสตูล\nสมุทรปราการ\nสมุทรสงคราม\nสมุทรสาคร\nสระแก้ว\nสระบุรี\nสิงห์บุรี\nสุโขทัย\nสุพรรณบุรี\nสุราษฎร์\nสุราษฎร์ธานี\nสุรินทร์\nหนองคาย\nหนองบัวลำภู\nอยุธยา\nอ่างทอง\nอำนาจเจริญ\nอุดรธานี\nอุตรดิตถ์\nอุทัยธานี\nอุบลราชธานี\nกันทรลักษ์\nจตุจักร\nไชยา\nซีคอน\nดอนเมือง\nถลาง\nไทรโยค\nธนบุรี\nธัญบุรี\nบางกอก\nบางปะกง\nบางระจัน\nปะทิว\nปาย\nพญาไท\nพัฒน์พงษ์\nพัทยา\nพารากอน\nภูมิซรอล\nรัตนาธิเบศร์\nรังสิต\nลันตา\nลาดพร้าว\nวโรรส\nวิภาวดี\nสตึก\nสมุย\nสัตหีบ\nสิมิลัน\nสุขุมวิท\nสุไหง\nเสลภูมิ\nอังรีดูนังต์\nอ่างขาง\nอินทนนท์\nเอ็มโพเรียม\n\nคิวชู\nแคริบเบียน\nแคสเปียน\nดานูบ\nตะนาวศรี\nนอร์วีเจียน\nนิโคบาร์\nเนรัญชรา\nไนล์\nบอร์เนียว\nบอลติก\nเบงกอล\nปิง\nแปซิฟิก\nมะละกา\nมินดาเนา\nมิสซิสซิปปี\nเมดิเตอร์เรเนียน\nเมโสโปเตเมีย\nยมุนา\nยุโรป\nยูเรเชีย\nยูเรเซีย\nแยงซี\nแยงซีเกียง\nสแกนดิเนเวีย\nสะโตง\nสาละวิน\nสุมาตรา\nสุเอซ\nอะเมซอน\nอันดามัน\nอัลไต\nอาร์กติก\nอาหรับ\nอินโดจีน\nอิรวดี\nอิระวดี\nอีเจียน\nอุษาคเณย์\nอูราล\nเอเชีย\nเอเดรียติก\nเอเวอเรสต์\nแอตแลนติก\nแอนตาร์กติก\nแอนตาร์กติกา\nแอฟริกา\nโอลิมปัส\nไอโอเนียน\nฮวงโห\nฮอกไกโด\nฮอนชู\n\nกบิลพัสดุ์\nกุสินารา\nโกลิยะ\nโกสัมพี\nโคตรบอง\nโคตรบูรณ์\nตองอู\nทรอย\nทวารวดี\nทวาราวดี\nเทวทหะ\nไทรบุรี\nนาลันทา\nไบแซนไทน์\nปรัสเซีย\nปัลลวะ\nปาฏลีบุตร\nพุทธคยา\nมถุรา\nมายัน\nมิถิลา\nราชคฤห์\nล้านช้าง\nล้านนา\nลุมพินี\nวัชชี\nเวสาลี\nสารนาถ\nสาวัตถี\nหริภุญชัย\nอโยธยา\nออตโตมัน\nอังวะ\nอินทปัตถ์\nอุชเชนี\n\nกราฟิก\nกราฟิกส์\nกราฟิค\nกริด\nกิกะไบต์\nกูเกิล\nกูเกิ้ล\nเกตเวย์\nโกลบอล\nคลัสเตอร์\nคลาส\nคลิก\nคลิปอาร์ต\nคอนโซล\nคอนเทนต์\nคอมพิวติ้ง\nคอมไพล์\nคอมไพเลอร์\nคอมมูนิเคชั่น\nคอร์\nคีย์\nคีย์บอร์ด\nเครือข่าย\nเคอร์เซอร์\nเคอร์เนล\nแคช\nแคมฟรอก\nแคมฟร็อก\nแคร็ก\nโค้ด\nจาวา\nจีพีเอส\nชิป\nชิพ\nเชลล์\nแช็ต\nแชนเนล\nแชนแนล\nซ็อกเก็ต\nซอฟต์แวร์\nซอฟท์แวร์\nซอร์ส\nซัพพอร์ต\nซัพพอร์ท\nซีดี\nซีดีรอม\nซีเนอร์\nเซิร์ฟเวอร์\nโซลูชัน\nโซลูชั่น\nไซต์\nไซเบอร์\nทรานแซกชัน\nทรานแซกชั่น\nทรานแซ็กชัน\nทรานแซ็กชั่น\nทรานแซคชัน\nทรานแซคชั่น\nทรานแซ็คชัน\nทรานแซ็คชั่น\nทวิตเตอร์\nทวีต\nทัชแพด\nเทมเพลต\nเทอร์มินัล\nแท็ก\nแท็บ\nแทบเล็ต\nโทรจัน\nเน็ต\nเน็ตบุ๊ก\nเน็ตบุค\nเน็ตบุ๊ค\nเน็ตเวิร์ก\nเน็ตเวิร์ค\nโน้ตบุ๊ก\nโน้ตบุค\nโน้ตบุ๊ค\nดอส\nดาวน์เกรด\nดาวน์โหลด\nดิจิตอล\nดิจิทัล\nดีบั๊ก\nดีวีดี\nดีไวซ์\nเดเบียน\nเดลไฟ\nเดสก์ท็อป\nโดเมน\nไดรว์\nไดรเวอร์\nไดเรกทอรี\nไดโอด\nเทเลคอม\nบล็อกเกอร์\nบรอดแบนด์\nบราวเซอร์\nบลูทูท\nบลูทูธ\nบลูเรย์\nบั๊ก\nบัฟเฟอร์\nบิต\nบิท\nบูต\nเบราว์เซอร์\nแบนด์วิดท์\nไบต์\nไบนารี\nโปรแกรมเมอร์\nโปรเซส\nโปรเซสเซอร์\nโปรโตคอล\nพร็อกซี\nพอร์ต\nพอร์ท\nพาเนล\nพาร์ทิชัน\nพารามิเตอร์\nพาสเวิร์ด\nพิกเซล\nเพจ\nเพจเจอร์\nแพกเก็ต\nแพตช์\nแพลตฟอร์ม\nโพรเซส\nโพรเซสเซอร์\nโพรโทคอล\nไพธอน\nฟล็อปส์\nฟอนต์\nฟอร์แมต\nฟอร์เวิร์ด\nฟอรัม\nฟีเจอร์\nเฟซบุ๊ก\nเฟิร์มแวร์\nแฟล็ก\nโฟลเดอร์\nไฟร์ฟอกซ์\nไฟร์วอลล์\nไฟล์\nมอดูล\nมอนิเตอร์\nมัลติ\nมัลติทัช\nมัลติเพล็กซ์\nมัลแวร์\nมาสเตอร์\nมีเดีย\nเมนู\nเมมโมรี\nเมล\nเมาส์\nแมค\nโมดูล\nโมเด็ม\nโมบาย\nโมบายล์\nโมไบล์\nไมโครซอฟท์\nยูนิกซ์\nยูนิโคด\nยูนิโค้ด\nริงโทน\nรีเฟรช\nรีเลย์\nเราเตอร์\nเรียลไทม์\nลิงก์\nลินุกซ์\nลีนุกซ์\nลูป\nเลเยอร์\nแล็ปท็อป\nไลเซนส์\nไลบรารี\nวิกิ\nวิกิพีเดีย\nวินโดวส์\nวินโดว์ส\nเว็บ\nเวอร์ชวล\nเวอร์ชัน\nเวอร์ชั่น\nเวิร์กสเตชัน\nเวิร์กสเตชั่น\nเวิร์คสเตชัน\nเวิร์คสเตชั่น\nเวิร์ด\nเวิร์ม\nไวแมกซ์\nสกรีน\nสแกน\nสแกนเนอร์\nสแต็ก\nสนิฟเฟอร์\nสปายแวร์\nสเปซ\nสแปม\nสมาร์ท\nสล็อต\nเสิร์ช\nโหลด\nออนไลน์\nออปติก\nออปติคอล\nออปติคัล\nออฟไลน์\nออราเคิล\nอัพเกรด\nอัพเดต\nอัพโหลด\nอัปเกรด\nอัปเดต\nอัปโหลด\nอัลกอริทึม\nอาร์กิวเมนต์\nอินเตอร์เน็ต\nอินทิเกรเตอร์\nอินเทอร์เน็ต\nอินเทอร์เฟซ\nอินเทล\nอินพุต\nอินพุท\nอีเมล\nอีเมล์\nอูบุนตู\nอูบันตู\nเอนจิน\nเอ็นจิน\nเอาต์พุต\nเอาต์พุท\nเอาท์พุต\nเอาท์พุท\nแอนะล็อก\nแอนิเมชัน\nแอนิเมชั่น\nแอปพลิเคชัน\nแอปพลิเคชั่น\nแอพพลิเคชัน\nแอพพลิเคชั่น\nแอสเซมบลี\nแอสเซมเบลอร์\nโอเพน\nไอคอน\nไอซี\nไอพอด\nไอพ็อด\nไอแพด\nไอโฟน\nฮับ\nฮาร์ดดิสก์\nฮาร์ดแวร์\nแฮกเกอร์\nแฮ็กเกอร์\nแฮนด์เฮลด์\nโฮสต์\n\nกรีก\nกัณณาฑ\nกัศมีรี\nคันจิ\nคาตาคานะ\nคุชราตี\nคุรุมุขี\nซีริลลิก\nซูลู\nเซลติก\nเซิร์บ\nตากาล็อก\nเตลุคู\nเติร์ก\nทราวิฑ\nเบงกาลี\nปัญจาบี\nพินอิน\nมลยาฬัม\nมองโกล\nมาราฐี\nมาเลย์\nเม็กซิกัน\nแมนจู\nแมนดาริน\nไมถิลี\nเยอรมัน\nรัสเซียน\nสวาฮิลี\nสวิส\nสินธี\nอูรดู\nอัสสมี\nอารบิก\nอิตาเลียน\nอุยกูร์\nแอฟริกัน\nโอริยา\nไอริช\nฮันกึล\nฮินดี\nฮิรางานะ\nฮีบรู\n\nกรีนพีซ\nกรือเซะ\nกวนอิม\nกวนอู\nกัดดาฟี\nกัลยาณวัตร\nกัสสปะ\nกาลิเลโอ\nกินเนส\nกุมภกรรณ\nกูเตนเบิร์ก\nเกตส์\nเกษมณี\nโกณฑัญญะ\nขงเบ้ง\nคริสโตเฟอร์\nคองคอร์ด\nคอลเกต\nคานธี\nคาเบรียล\nคาร์ฟูร์\nคาร์สัน\nคาราบาว\nคาสิโอ\nคิริน\nคุนลุ้น\nคูโบต้า\nเครมลิน\nแคทรีนา\nโคตมะ\nโคตมี\nโคลัมบัส\nไคฟง\nไครสเลอร์\nง้อไบ๊\nจตุพร\nจ็อบส์\nจอห์น\nจิ้น\nจิม\nจิ๋ม\nจิว\nจุฬาภรณ์\nจุฬาลงกรณ์\nเจมส์\nแจ็กสัน\nโจเซฟ\nโจว\nชมัยมรุเชฐ\nชมัยมรุเชษฐ์\nชเวดากอง\nชาร์ลส์\nชินราช\nชินวัตร\nชุนชิว\nเช็ง\nเชตวัน\nเชฟรอน\nเชฟโรเลต\nเชลซี\nไชยานุชิต\nซ่ง\nซังฮี้\nซัดดัม\nซันซิล\nซัมซุง\nซัวเจ๋ง\nซินหัว\nซีซาร์\nซีแพค\nซูซาน\nซูซูกิ\nซูบารุ\nเซ็นทารา\nเซเวน\nเซเว่น\nโซฟิเทล\nโซยุซ\nโซยูซ\nณัฐวุฒิ\nดาร์ลี่\nดาวโจนส์\nดิสนีย์\nดีแทค\nดูปองท์\nเดโมแครต\nเดลล์\nเดลินิวส์\nเดวิด\nแดวู\nโดนัลด์\nโดราเอมอน\nโดเรมอน\nต๋อง\nตั๊กม้อ\nตากสิน\nตาเมือน\nตาลีบัน\nตูน\nเตมีย์\nโต๋\nโตชิบา\nโตโยต้า\nถังซัมจั๋ง\nถังซำจั๋ง\nทรพา\nทราเวล\nทรูมูฟ\nทีปังกร\nเทปโก\nเทพรัตน\nเทวทัต\nเทสโก้\nโทมัส\nไททานิก\nไททานิค\nไทยรัฐ\nธีออส\nนครินทรา\nนโปเลียน\nนพดล\nนราดูร\nนเรนทร\nนอสตราดามุส\nนาซา\nนาซ่า\nนาซี\nนาโต\nนาโต้\nนาลแก\nนิคอน\nนิโคลัส\nนิด้า\nนินเทนโด\nนิปปอน\nนิวตัน\nนิสสัน\nเนคเทค\nเนชั่น\nเนชันแนล\nเนชั่นแนล\nเนวิน\nเนสเล่\nเนสาด\nแนท\nแนสแดค\nโนเกีย\nโนเบล\nโนเวลล์\nโนโวเทล\nไนเม็กซ์\nบรอดเวย์\nบรัดเลย์\nบรู๊ซ\nบัลเมอร์\nบารัก\nบารัค\nบู๊ตึ๊ง\nเบญกาย\nเบนซ์\nเบ็นซ์\nเบนจามิน\nโบตัน\nไบโอเทค\nประชาธิปัตย์\nปวีณา\nปอเต็กตึ๊ง\nปอเต๊กตึ๊ง\nป่อเต็กตึ๊ง\nปัตตะโชติ\nปารุสก์\nปีเตอร์\nปูติน\nเป๊ปซี่\nเป้ย\nเปอร์โยต์\nเปาบุ้นจิ้น\nโปเกมอน\nโป๊ยก่าย\nพรหมทัต\nพลาโต\nพอลล่า\nพานาโซนิค\nพานาโซนิก\nพิทยานุกูล\nพิมพิสาร\nเพนแทกซ์\nเพลโต\nไพโอเนียร์\nฟรอยด์\nฟรังซิส\nฟรานซิส\nฟลอเรนซ์\nฟอร์ด\nฟิลิปส์\nฟูจิ\nแฟซ่า\nโฟร์โมสต์\nภูมิพล\nภูริทัต\nมงฟอร์ต\nมณโฑ\nมติชน\nมหิตลาธิเบศร\nมโหสถ\nมัจฉานุ\nมาร์กาเร็ต\nมาร์ติน\nมาสด้า\nมิตซูบิชิ\nมิราเคิล\nมุสโสลินี\nเม้ง\nเมจิ\nเมอร์ซีเดส\nเมอร์เซเดส\nแมกซ์เวลล์\nแมกไซไซ\nแมคอินทอช\nแมชีนเนอรี่\nโมคคัลลานะ\nโมโตโรลา\nโมโตโรล่า\nโมเนีย\nไมเคิล\nไมยราพณ์\nยโสธรา\nยะโฮวา\nยะโฮวาห์\nยามาฮ่า\nยาเวห์\nยาฮู\nยูนิเซฟ\nยูเนสโก\nยูไล\nเยโฮวาห์\nรอยเตอร์\nรอยัล\nรัชดา\nรัสปูติน\nราฟาเอล\nรามาวตาร\nราเมศวร\nราหุล\nริชาร์ด\nรีพับลิกัน\nรูนีย์\nเรนโบว์\nแรมโบ้\nโรตารี\nโรนัลโด\nโรนัลโด้\nโรบินสัน\nโรเบิร์ต\nล็อกซเล่ย์\nลิงคอล์น\nลิจฉวี\nลิไท\nลิไทย\nลินคอล์น\nลิเวอร์พูล\nเลโนโว\nเลียดก๊ก\nโลตัส\nวชิราลงกรณ์\nวลาดิเมียร์\nวอลล์สตรีท\nวาเลนไทน์\nวิกตอเรีย\nวิทยานุสรณ์\nวิทยายน\nวิมเบิลดัน\nวิลเลียม\nวีระ\nวุฒิชัย\nเวียดกง\nไวตามิลค์\nศกุนตลา\nศรีวิชัย\nศิริพงษ์\nศิริราช\nศุภชลาศัย\nสดกก๊อกธม\nสดายุ\nสตาลิน\nสตีฟ\nสแตนฟอร์ด\nสวรินทิรา\nสังกัจจายน์\nสาทิตย์\nสารีบุตร\nสิริกิติ์\nสิรินธร\nสิหิงค์\nสีวลี\nสีหนุ\nสีหมุนี\nสีหโมนี\nสุครีพ\nสุทโธทนะ\nสุเทพ\nสุนทราภรณ์\nสุนีย์\nสุรนารี\nสุรยุทธ์\nสุริยาสน์\nเส้าหลิน\nโสกราตีส\nโสภิต\nหนุมาน\nหลินฮุ่ย\nหลุยส์\nเห้งเจีย\nไหหม่า\nองคต\nองคุลิมาล\nอชาตศัตรู\nอดุลยเดช\nอพอลโล\nอริสโตเติล\nอริสมันต์\nอลิซาเบธ\nอ๋อม\nออร์คิด\nออสการ์\nอะพอลโล\nอับราฮัม\nอั้ม\nอัลกออิดะห์\nอัลคาเทล\nอัลจาซีราห์\nอัลเฟรด\nอัลเลาะห์\nอัสซุส\nอัสสชิ\nอัสสัมชัญ\nอาเซม\nอาเซ็ม\nอาเซียน\nอาฟต้า\nอาร์เซนอล\nอินทรชิต\nอินทราทิตย์\nอีซูซุ\nอีเลฟเวน\nอีเลฟเว่น\nอุณรุท\nอุบลรัตน์\nอุบาลี\nอุ๋ย\nเอกทัศน์\nเอเซอร์\nเอ็ดเวิร์ด\nเอดิสัน\nเอแบค\nเอลิซาเบธ\nเอสพลานาด\nเอสพลานาร์ด\nแอคคอร์\nแอคคอร์ด\nแองเจลิน่า\nแอตแลนติส\nแอน\nแอ๋ม\nแอมบาสซาเดอร์\nแอมบาสเดอร์\nแอมเวย์\nแอ๋ว\nโอดีสซีย์\nโอเดียน\nโอบามา\nโอรสาราม\nโอลิมเปีย\nโออิชิ\nไอน์สไตน์\nฮอนด้า\nฮอปกินส์\nฮอลลีวูด\nฮอลลีวู้ด\nฮานามิ\nฮามาส\nฮิตเลอร์\nฮิตาชิ\nฮุนเซน\nฮุนเซ็น\nฮุนได\nฮุสเซ็น\nเฮนรี\nเฮนรี่\nเฮเลน\nโฮจิมินห์\nโฮปเวลล์\nโฮเมอร์\n\nกลีเซอรีน\nกำทอน\nแกนีมีด\nครอส\nคริสตัล\nคลอโรพลาสต์\nคลอไรด์\nควอนตัม\nคอนดักเตอร์\nคอปเปอร์\nคอลลาเจน\nคอเลสเตอรอล\nคอสมิก\nคูลอมบ์\nเคอราติน\nแคโรทีน\nแคสสินี\nโครมาโทกราฟี\nไคโตซาน\nจีโนม\nจุลชีววิทยา\nชิคุนกุนยา\nซัลฟิวริก\nซัลเฟต\nซัลไฟด์\nซิงค์\nซิริอุส\nซิลิกา\nซิลิเกต\nซิลิโคน\nซีเทน\nซีเวิร์ต\nเซ็กเตอร์\nเซ็กเมนต์\nเซมิ\nโซนาร์\nไซบอร์ก\nดอปเปลอร์\nดอปเพลอร์\nไดนามิก\nไดนามิกส์\nไดนามิค\nไดนามิคส์\nไดออกไซด์\nทรานส์\nทามิฟลู\nเทฟลอน\nเทสโทสเตอโรน\nเทอร์โม\nแทนนิน\nไททัน\nไทฟอยด์\nไทรอยด์\nธาลัสซีเมีย\nเนกาตีฟ\nโนวา\nบอแรกซ์\nโบทอกซ์\nโบท็อกซ์\nไบโอติน\nปฏิยานุพันธ์\nโปรเจสเตอโรน\nพอลิเมอร์\nพันธุศาสตร์\nพัลซาร์\nพาร์กินสัน\nพาราเซตามอล\nพาราโบลา\nเพอร์ออกไซด์\nโพรเจสเทอโรน\nโพลาไรซ์\nโพลิเมอร์\nโพลีเอทิลีน\nไพรเมต\nฟลาโวนอยด์\nฟลูออเรสเซนซ์\nฟลูออไรด์\nฟอสซิล\nฟิชชัน\nฟิวชัน\nฟีโรโมน\nไฟเบอร์\nมอนอกไซด์\nมิราจ\nเมตริกซ์\nเมทริกซ์\nเมลานิน\nเมลามีน\nโมเมนตัม\nไมโตคอนเดรีย\nไมโทคอนเดรีย\nยีสต์\nยูริก\nยูเรีย\nรูมาตอยด์\nวีก้า\nเวกเตอร์\nเวก้า\nเวสิเคิล\nโวลต์\nสเกล\nสเกลาร์\nสเต็ม\nสเตียรอยด์\nสปีชีส์\nสเปิร์ม\nสัมพัทธภาพ\nสุริยจักรวาล\nออกเทน\nออโรรา\nออโรร่า\nอะคริลิก\nอะครีลิก\nอะซีติก\nอะซีโตน\nอะมิโน\nอะลูมินา\nอันโดรเมดา\nอัลคาไลน์\nอัลตราซาวด์\nอัลตราซาวนด์\nอัลลอยด์\nอินทิกรัล\nอินทิเกรต\nอีโบลา\nอีโบล่า\nเอ็กซ์โพเนนเชียล\nเอทานอล\nเอทิลีน\nเอนโทรปี\nเอสเตอร์\nเอสโตรเจน\nเอสโทรเจน\nแอนดรอยด์\nแอนแทร็กซ์\nแอมพลิจูด\nแอมโมเนียม\nแอลกอฮอลิซึม\nแอสพาร์แตม\nโอเซลทามิเวียร์\nฮับเบิล\nฮิวมัส\nไฮดรอกไซด์\nไฮดรอลิก\nไฮโดรลิก\nไฮเพอร์โบลา\n\nกงเต็ก\nกฎุมพี\nกฏ\nกฏหมาย\nกบฎ\nกราไฟต์\nก๊อปปี้\nกะทะ\nกังวาล\nกุฎฐัง\nกุฏุมพี\nฃวด\nคฑา\nคลินิค\nคลีนิก\nคลีนิค\nคาทอลิค\nคึ่นฉ่าย\nแคตตาล็อก\nโควต้า\nฅน\nจุมพฎ\nช็อคโกแลต\nแซ่ด\nดัทช์\nทนง\nทรมาณ\nทราก\nทะแยง\nทิฏฐิ\nบล็อค\nบ๊องแบ๊ว\nบัลเล่ต์\nเบรค\nแบงค์\nปรากฎ\nปัคคหะ\nปาฏิโมกข์\nปิติ\nปิรามิด\nโปรเตสแตนท์\nพนิช\nพยักเพยิด\nพริ้ว\nพลูโตเนียม\nพากษ์\nเฟิร์น\nยากี้\nเยภุยยสิกา\nรุสเซีย\nฤาษี\nล็อค\nล็อคเกอร์\nวันทยาหัตถ์\nวานิช\nวิญญาน\nวิศิษฐ์\nศรีษะ\nสเปกโทรสโคป\nสฤษฎ์\nสลิ่ม\nสัตตสดก\nสาราณียากร\nสุกี้\nสุกี้ยากี้\nสูญญากาศ\nหยอมแหยม\nหยอย\nหล่ะ\nอะดรีนาลีน\nอะหลั่ย\nอัตคัต\nอัฟริกา\nอานิสงค์\nอาฟริกา\nอิริยาบท\nอิเลคโทรนิคส์\nอีรุงตุงนัง\nอุตรายัน\nอุลตรา\nอุลตร้า\nโอกาศ\n\nกกหู\nกงการ\nกงจักร\nกฎเกณฑ์\nกฎบัตร\nกฎหมาย\nกฎหมู่\nกดขี่\nกดดัน\nก้นกบ\nก้นบึ้ง\nก้นปล่อง\nกนิษฐภคินี\nกนิษฐภาดา\nกรงเล็บ\nกรมการ\nกรมท่า\nกรมธรรม์\nกรมนา\nกรมวัง\nกรรมกร\nกรรมการ\nกรรมฐาน\nกรรมบถ\nกรรมพันธุ์\nกรรมวิธี\nกรรมสิทธิ์\nกระจกเงา\nกระจกตา\nกระจกนูน\nกระจกเว้า\nกระจอกชวา\nกระจอกเทศ\nกระจ้อยร่อย\nกระจับบก\nกระจับปิ้ง\nกระจับปี่\nกระโชกโฮกฮาก\nกระดานดำ\nกระดานหก\nกระดาษแก้ว\nกระดาษไข\nกระดาษทราย\nกระดาษสา\nกระดูกงู\nกระทาชาย\nกระเท่เร่\nกระบวนการ\nกระบองเพชร\nกระผีกริ้น\nกระยาทิพย์\nกระยาสารท\nกระยาหาร\nกระสอบทราย\nกระสุนปืน\nกระแสจิต\nกระแสน้ำ\nกระแสลม\nกรับคู่\nกรับพวง\nกรับเสภา\nกราดเกรี้ยว\nกราวรูด\nกริ่งเกรง\nกรีฑาสถาน\nกรีดกราย\nกรี๊ดกร๊าด\nกลไก\nกลบท\nกลเม็ด\nกลยุทธ์\nกลวิธี\nกลศาสตร์\nกลอักษร\nกลบเกลื่อน\nกลมกล่อม\nกลมกลืน\nกลมเกลียว\nกล้วยแขก\nกล้วยไม้\nกล่องเสียง\nกล่อมเกลา\nกล่อมเกลี้ยง\nกลัดกลุ้ม\nกลัดมัน\nกลั่นกรอง\nกลั่นแกล้ง\nกลับกลอก\nกลางคน\nกลางคัน\nกลางค่ำ\nกลางคืน\nกลางแจ้ง\nกลางแปลง\nกลางวัน\nกลาดเกลื่อน\nกล่าวขวัญ\nกล่าวโทษ\nกล่าวหา\nกล้ำกราย\nกล้ำกลืน\nกลิ้งกลอก\nกลิ้งเกลือก\nกลิ่นอาย\nกลียุค\nกวดขัน\nกวัดแกว่ง\nกวัดไกว\nกวีนิพนธ์\nก่อกวน\nก่อการ\nก่อตั้ง\nก่อสร้าง\nก่อหวอด\nก้อร่อก้อติก\nกองกลาง\nกองเกิน\nกองโจร\nกองทัพ\nกองทุน\nกองพล\nกองพัน\nกองฟอน\nกองร้อย\nกองหนุน\nกอบโกย\nกะเกณฑ์\nกะบังลม\nกักกัน\nกักขัง\nกักตัว\nกักตุน\nกัณฑ์เทศน์\nกัดฟัน\nกันชน\nกันท่า\nกันสาด\nกันเอง\nกับแกล้ม\nกับข้าว\nกับระเบิด\nกากเพชร\nกากหมู\nกาชาด\nกาญจนาภิเษก\nก้านคอ\nกาฝาก\nก้ามกราม\nกามกิจ\nกามคุณ\nกามเทพ\nกามโรค\nก้ามปู\nกายกรรม\nกายบริหาร\nกายภาพ\nกายวิภาค\nกายสิทธิ์\nก่ายกอง\nการคลัง\nการเงิน\nการบ้าน\nการเปรียญ\nการเมือง\nการเรือน\nการละเล่น\nกาลกิริยา\nกาลเทศะ\nก้าวก่าย\nก้าวร้าว\nก้าวหน้า\nกาสาวพัสตร์\nกาฬพฤกษ์\nกาฬโรค\nกำปั้น\nกำมือ\nกำแพงขาว\nกำลังใจ\nกำลังม้า\nกี่งอำเภอ\nกิจกรรม\nกิจการ\nกิจวัตร\nกิจจะลักษณะ\nกิตติคุณ\nกิตติศัพท์\nกินขาด\nกินใจ\nกินดอง\nกินโต๊ะ\nกินแบ่ง\nกินเปล่า\nกินเลี้ยง\nกินเส้น\nกินแหนง\nกิโลกรัม\nกิโลเมตร\nกิโลลิตร\nกิโลเฮิรตซ์\nกีดกัน\nกีดกั้น\nกีดขวาง\nกึกก้อง\nกึกกัก\nกึกกือ\nกึ่งกลาง\nกุกกัก\nกุ๊กกิ๊ก\nกุ้งฝอย\nกุ้งมังกร\nกุ้งแห้ง\nกุ้งเต้น\nกุ้งยิง\nกุญแจผี\nกุญแจมือ\nกุญแจเลื่อน\nกุญแจเสียง\nกุลธิดา\nกุลบุตร\nกุลสตรี\nกู้ยืม\nเก้งก้าง\nเก็บกวาด\nเก็บเกี่ยว\nเก็บงำ\nเก็บตก\nเกรงกลัว\nเกรงใจ\nเกรงขาม\nเกรียงไกร\nเกรียมกรม\nเกรี้ยวกราด\nเกล็ดเลือด\nเกลี้ยกล่อม\nเกลี้ยงเกลา\nเกลือกกลั้ว\nเกลือกกลิ้ง\nเกลื่อนกล่น\nเกลื่อนกลาด\nเกศธาตุ\nเกษตรกร\nเกษตรกรรม\nเกษตรศาสตร์\nเกษมสันต์\nเกษียรสมุทร\nเก้อเขิน\nเกาะแกะ\nเกี่ยงงอน\nเกียจคร้าน\nเกียรติคุณ\nเกียรตินิยม\nเกียรติประวัติ\nเกียรติภูมิ\nเกียรติยศ\nเกียรติศักดิ์\nเกียรติมุข\nเกี่ยวข้อง\nเกี่ยวดอง\nเกี่ยวพัน\nเกี่ยวโยง\nเกี้ยวพาน\nเกี้ยวพาราสี\nแก่แดด\nแก้ขัด\nแก้ไข\nแก้ตัว\nแก้เผ็ด\nแก้ลำ\nแกงคั่ว\nแกงจืด\nแกงบวด\nแกงป่า\nแกงเผ็ด\nแกงส้ม\nแก่งแย่ง\nแก่นแก้ว\nแก่นสาร\nแก้วตา\nแก้วหู\nแกว่งกวัด\nแกว่งไกว\nแกะรอย\nโก้เก๋\nโกรธเกรี้ยว\nโกรธขึ้ง\nไก่เขี่ย\nไก่ชน\nไก่บ้าน\nไก่ป่า\nไก่ฟ้า\nไกล่เกลี่ย\nขจัดขจาย\nขนเพชร\nขนสัตว์\nขนหนู\nขนส่ง\nขนมจีน\nขบขัน\nขบวนการ\nข่มขี่\nข่มขู่\nข่มขืน\nข่มเหง\nขมหิน\nขมิ้นชัน\nขมุบขมิบ\nขยะแขยง\nขยักขย่อน\nขยักขย้อน\nขยับขยาย\nขยับเขยื้อน\nขวดโหล\nขวยเขิน\nขวัญใจ\nขวัญตา\nขวัญอ่อน\nขวากหนาม\nขวางโลก\nของ้าว\nขอสับ\nขอขมา\nขอทาน\nขอโทษ\nขอร้อง\nขออภัย\nข้อเขียน\nข้อความ\nข้อเท็จจริง\nของกลาง\nของขวัญ\nของแข็ง\nของชำ\nของลับ\nของเล่น\nของว่าง\nของเหลว\nของไหล\nของไหว้\nข้องใจ\nข้องแวะ\nขอบข่าย\nขอบเขต\nขอบคุณ\nขอบใจ\nขอบพระคุณ\nข้อมูล\nข้อแม้\nข้อหา\nข้อสังเกต\nขัดข้อง\nขัดขืน\nขัดเขิน\nขัดจังหวะ\nขัดดอก\nขัดแตะ\nขัดยอก\nขัดแย้ง\nขัดสมาธิ\nขันหมาก\nขันอาสา\nขับขี่\nขับเคี่ยว\nขั้วโลก\nขาจร\nขาประจำ\nข้าราชการ\nข้าศึก\nข้าหลวง\nขาดแคลน\nขาดใจ\nขาดตอน\nขาดตัว\nขาดทุน\nขาดเหลือ\nขายหน้า\nข่าวกรอง\nข่าวคราว\nข่าวล่า\nข่าวลือ\nข่าวสาร\nข้าวเกรียบ\nข้าวแกง\nข้าวของ\nข้าวจี่\nข้าวเจ้า\nข้าวซอย\nข้าวต้ม\nข้าวตอก\nข้าวตัง\nข้าวแตน\nข้าวทิพย์\nข้าวบิณฑ์\nข้าวเปลือก\nข้าวโพด\nข้าวฟ่าง\nข้าวเม่า\nข้าวสวย\nข้าวสาร\nข้าวเหนียว\nข้าวหมาก\nข้าวหลาม\nขี้เกียจ\nขี้ข้า\nขี้ครอก\nขี้คร้าน\nขี้คุก\nขี้ไคล\nขี้เซา\nขีดขั้น\nขีดคร่อม\nขีดคั่น\nขีดฆ่า\nขี้ตา\nขี้ตืด\nขี้เถ้า\nขี้ทูด\nขี้ปะติ๋ว\nขี้ผึ้ง\nขี้มูก\nขี้ยา\nขี้แย\nขี้ริ้ว\nขี้เรื้อน\nขี้เล็บ\nขี้หู\nขี้หน้า\nขี้เหนียว\nขี้เหล็ก\nขี้เหร่\nขึงขัง\nขึงพืด\nขึ้งโกรธ\nขึ้นใจ\nขึ้นชื่อ\nขึ้นมือ\nขืนใจ\nขื่นขม\nขุดคุ้ย\nขุนทอง\nขุนนาง\nขุนพล\nขุนศึก\nขุนหลวง\nขูดรีด\nเข็มกลัด\nเข็มขัด\nเข้มข้น\nเข้มแข็ง\nเข้มงวด\nเข็มทิศ\nเข็มหมุด\nเข้าขา\nเข้าเค้า\nเข้าใจ\nเข้าชื่อ\nเข้าตัว\nเข้าถึง\nเข้าทรง\nเข้าท่า\nเข้าที\nเข้าเนื้อ\nเข้าเล่ม\nเขียวเสวย\nเขียวหวาน\nแขกเต้า\nแข็งกร้าว\nแข็งกล้า\nแข็งแกร่ง\nแข็งข้อ\nแข็งขัน\nแข่งขัน\nแข็งใจ\nแข็งตัว\nแข็งเมือง\nแข็งแรง\nแขวนลอย\nโขกสับ\nโขยกเขยก\nไขข้อ\nไขควง\nไขมัน\nไข่มุก\nไขว่ห้าง\nไขสันหลัง\nไขสือ\nไข่เค็ม\nไข่เยี่ยวม้า\nไข่หงส์\nไข่เหี้ย\nคงกระพัน\nคงตัว\nคงทน\nคงที่\nคชลักษณ์\nคชสาร\nคชสีห์\nคชราช\nคณิตศาสตร์\nคดเคี้ยว\nคติธรรม\nคติพจน์\nคนกลาง\nคนไข้\nคนใช้\nคนทรง\nคบไฟ\nคบเพลิง\nคบค้า\nคบคิด\nคบหา\nคมคาย\nครบครัน\nครบถ้วน\nครอบครอง\nครอบคลุม\nครอบครัว\nครอบงำ\nครอบจักรวาล\nคริสตกาล\nคริสตจักร\nคริสต์มาส\nคริสต์ศตวรรษ\nคริสต์ศักราช\nคริสตัง\nคริสเตียน\nครุกรรม\nครุภัณฑ์\nครุศาสตร์\nครุฑพ่าห์\nครุ่นคิด\nคลอเคลีย\nคล่องแคล่ว\nคล่องตัว\nคล่องมือ\nคลั่งไคล้\nคลาคล่ำ\nคลาไคล\nคลาดเคลื่อน\nคลาดแคล้ว\nคลี่คลาย\nคลึงเคล้น\nคลึงเคล้า\nคลื่นไส้\nคลื่นเหียน\nคลุกคลี\nคลุกคลาน\nคลุมเครือ\nคลุมโปง\nคลุ้มคลั่ง\nควงสว่าน\nควบคุม\nควบคู่\nควบแน่น\nควันหลง\nความคิด\nความหลัง\nความเห็น\nคอหอย\nคอห่าน\nคอแห้ง\nค่อนขอด\nค่อนแคะ\nค้อนควัก\nคั่งค้าง\nคั่งแค้น\nคัดค้าน\nคัดง้าง\nคัดท้าย\nคัดเลือก\nคันจาม\nคันฉ่อง\nคันฉาย\nคันชัก\nคันชั่ง\nคันไถ\nคันนา\nคันเร่ง\nคับขัน\nคับคั่ง\nคับแค้น\nคับแคบ\nคางทูม\nคางหมู\nค้างคืน\nค้างปี\nคาดคั้น\nคาดเชือก\nคาดโทษ\nคาดหมาย\nคานหาม\nคาบเกี่ยว\nคาบศิลา\nคาบสมุทร\nคำขาด\nคำนำ\nคิดค้น\nคืนดี\nคืนตัว\nคุกเข่า\nคุณค่า\nคุณชาย\nคุณธรรม\nคุณนาย\nคุณภาพ\nคุณลักษณะ\nคุณวุฒิ\nคุณศัพท์\nคุณสมบัติ\nคุณหญิง\nคุณากร\nคุณูปการ\nคุโณปการ\nคุมเชิง\nคุ้มกัน\nคุยเขื่อง\nคุยโต\nคุ้ยเขี่ย\nคุ้มครอง\nคู่กรณี\nคู่กัด\nคู่ขา\nคู่แข่ง\nคู่ครอง\nคู่ควร\nคู่คิด\nคู่คี่\nคู่ใจ\nคู่ชีพ\nคู่ชีวิต\nคู่บารมี\nคู่บุญ\nคู่ปรปักษ์\nคู่ปรับ\nคู่ผสม\nคู่มือ\nคู่รัก\nคู่ลำดับ\nคู่สาย\nคู่หมั้น\nคู่หู\nคู่อริ\nคู่อาฆาต\nเคมีภัณฑ์\nเคยตัว\nเคร่งขรึม\nเคร่งครัด\nเคร่งเครียด\nเครดิตฟองซิเอร์\nเครื่องกล\nเครื่องกัณฑ์\nเครื่องแกง\nเครื่องเขิน\nเครื่องครัว\nเครื่องเคียง\nเครื่องเงิน\nเครื่องจักร\nเครื่องเซ่น\nเครื่องดนตรี\nเครื่องต้น\nเครื่องทุ่นแรง\nเครื่องเทศ\nเครื่องใน\nเครื่องบิน\nเครื่องบูชา\nเครื่องแบบ\nเครื่องประดับ\nเครื่องปรุง\nเครื่องปรุงรส\nเครื่องมือ\nเครื่องยนต์\nเครื่องร่อน\nเครื่องราง\nเครื่องเรือน\nเครื่องล่าง\nเครื่องเล่น\nเครื่องสาย\nเครื่องสำอาง\nเครื่องสุกำศพ\nเครื่องหมาย\nเครือรัฐ\nเคลียคลอ\nเคลื่อนที่\nเคลื่อนไหว\nเคลือบแคลง\nเคลือบแฝง\nเคลือบฟัน\nเคว้งคว้าง\nเคหสถาน\nเค้าโครง\nเคียดแค้น\nเคี่ยวเข็ญ\nเคี้ยวเอื้อง\nเคืองขุ่น\nโคนม\nโคบาล\nโคมูตร\nโคมลอย\nโครงการ\nโครงเรื่อง\nโครงงาน\nโครงสร้าง\nโครมคราม\nโคลงเคลง\nฆ้องกระแต\nฆ้องชัย\nฆ้องวง\nฆ้องหุ่ย\nฆ้องเหม่ง\nฆ้องโหม่ง\nฆาตกร\nฆาตกรรม\nฆานประสาท\nงงงวย\nงงงัน\nงดเว้น\nงบดุล\nงบประมาณ\nงมโข่ง\nงมงาย\nง่วงงุน\nง่วงเหงา\nงอหาย\nง้องอน\nงอนง้อ\nงอมแงม\nงาช้าง\nง่าเงย\nงานการ\nง่ายดาย\nงึมงำ\nเงินเดือน\nเงินตรา\nเงินยวง\nเงียบกริบ\nเงียบเชียบ\nเงียบเหงา\nเงื่องหงอย\nเงื่อนไข\nเงื่อนงำ\nเงื่อนเวลา\nเงื้อมมือ\nแง่งอน\nจงใจ\nจงรัก\nจดจ่อ\nจดจำ\nจดหมาย\nจดหมายเหตุ\nจรจัด\nจรรยาบรรณ\nจริงจัง\nจริงใจ\nจอมขวัญ\nจอมใจ\nจอมทัพ\nจอมปลวก\nจอมพล\nจ๊ะเอ๋\nจักสาน\nจักรพรรดิ\nจักรภพ\nจักรยาน\nจักรยานยนต์\nจักรราศี\nจักรวรรดิ\nจักรวรรดินิยม\nจักรวาล\nจังหนับ\nจัดการ\nจัดจ้าน\nจัดเจน\nจัดแจง\nจัดตั้ง\nจัดสรร\nจับกุม\nจับจด\nจับเจ่า\nจ่าหน้า\nจาตุทสี\nจาตุมหาราช\nจาตุมหาราชิก\nจาตุมหาราชิกา\nจาตุรงคสันนิบาต\nจาตุรราชการ\nจานเชิง\nจานบิน\nจานผี\nจานเสียง\nจาบจ้วง\nจำเป็น\nจำพรรษา\nจำวัด\nจ้ำจี้จ้ำไช\nจำเลาะตา\nจิงโจ้น้ำ\nจิตใจ\nจิตตภาวนา\nจิตตัง\nจิตตานุปัสสนา\nจิตนิยม\nจิตบำบัด\nจิตแพทย์\nจิตวิสัย\nจิตรกร\nจิตรกรรม\nจิตรลดา\nจิตวิทยา\nจิตเวช\nจิตเวชศาสตร์\nจินตกวี\nจินตนา\nจินตนาการ\nจินตภาพ\nจุฑามณี\nจุฑามาศ\nจุฑารัตน์\nจุนเจือ\nจุ้นจ้าน\nจุลชีพ\nจุลชีวัน\nจุลชีวิน\nจุลทรรศน์\nจุลภาค\nจุลวรรค\nจุลศักราช\nจุลสาร\nจุลินทรีย์\nจุฬามณี\nจุฬาลักษณ์\nเจตคติ\nเจตจำนง\nเจตนารมณ์\nเจตภูต\nเจริญพร\nเจ้ากรม\nเจ้ากรรม\nเจ้าของ\nเจ้าขา\nเจ้าข้า\nเจ้าคณะ\nเจ้าค่ะ\nเจ้าจอม\nเจ้าชู้\nเจ้าตัว\nเจ้าถิ่น\nเจ้าท่า\nเจ้าที่\nเจ้าทุกข์\nเจ้านาย\nเจ้าเนื้อ\nเจ้าบ้าน\nเจ้าบ่าว\nเจ้าประคุณ\nเจ้าประคู้น\nเจ้าพนักงาน\nเจ้าพระคุณ\nเจ้าพระยา\nเจ้าพ่อ\nเจ้าพายุ\nเจ้าฟ้า\nเจ้าภาพ\nเจ้ามือ\nเจ้าแม่\nเจ้าเรือน\nเจ้าสังกัด\nเจ้าสัว\nเจ้าสาว\nเจ้าหน้าที่\nเจ้าหนี้\nเจ้าอาวาส\nเจาะจง\nเจือจาง\nเจือจาน\nเจือปน\nเจื้อยแจ้ว\nแจกจ่าย\nแจ่มแจ้ง\nแจ่มใส\nโจงกระเบน\nโจมตี\nโจรกรรม\nโจรสลัด\nใจความ\nใจคอ\nฉกฉวย\nฉกชิง\nฉลองได\nฉ้อฉล\nฉัตรมงคล\nฉันทลักษณ์\nฉายาลักษณ์\nฉิบหาย\nฉุกเฉิน\nฉุกละหุก\nฉุนเฉียว\nฉุปศาสตร์\nเฉไฉ\nเฉยเมย\nเฉาโฉด\nเฉิดฉัน\nเฉิดฉาย\nเฉิดฉิน\nเฉียบขาด\nเฉียบพลัน\nเฉียบแหลม\nเฉื่อยชา\nแฉะแบะ\nโฉดเฉา\nโฉมงาม\nโฉมฉาย\nโฉมเฉลา\nโฉมตรู\nโฉมยง\nโฉมศรี\nโฉมหน้า\nชดช้อย\nชดเชย\nชดใช้\nชนบท\nชนินทร์\nชนกกรรม\nชนมพรรษา\nชนมายุ\nชมเชย\nชมพูทวีป\nชมพูนท\nชมพูนุท\nชราธรรม\nชราภาพ\nชลจร\nชลธาร\nชลธี\nชลนัยน์\nชลนา\nชลเนตร\nชลประทาน\nชลมารค\nชลาธาร\nชลาลัย\nชลาศัย\nชลาสินธุ์\nชโลทร\nช่วงชิง\nช่วงใช้\nชวนชม\nชวนหัว\nช่วยเหลือ\nช่อฟ้า\nช่อม่วง\nชอกช้ำ\nช่องเขา\nช่องแคบ\nช่องไฟ\nช่องว่าง\nช้องนาง\nชอบกล\nชอบใจ\nชอบธรรม\nชอบพอ\nชักโครก\nชักเงา\nชักจูง\nชักชวน\nชักนำ\nชักเนื้อ\nชักพระ\nชักเย่อ\nชักใย\nชั่งใจ\nชังฆวิหาร\nชัดเจน\nชั้นเชิง\nชั่วคน\nชั่วคราว\nชั่วช้า\nชั่วโมง\nชั่วแล่น\nชาเย็น\nช้านาน\nช่างเครื่อง\nช่างฝีมือ\nช่างฟิต\nช่างไฟ\nช้างน้ำ\nช้างเผือก\nช้างพลาย\nช้างพัง\nช้างสาร\nช้างสีดอ\nชาติธรรม\nชาตินิยม\nชาติพันธุ์\nชาติพันธุ์วิทยา\nชาติภูมิ\nชานชาลา\nชายชาตรี\nชายคา\nชายฝั่ง\nชายทะเล\nชาวเล\nชาววัง\nช้ำใจ\nช้ำชอก\nชิงชัง\nชิงพลบ\nชินชา\nชินบุตร\nชิ้นเอก\nชิมลาง\nชีเปลือย\nชี้ขาด\nชี้แจง\nชี้นำ\nชี้แนะ\nชี้ฟ้า\nชีพจร\nชีพิตักษัย\nชื่นชม\nชื่นบาน\nชื่นมื่น\nชื่อย่อ\nชื่อรอง\nชื่อเล่น\nชื่อเสียง\nชุกชุม\nชุติมา\nชุบตัว\nชุบเลี้ยง\nชุมชน\nชุมทาง\nชุมสาย\nชุ่มใจ\nชุ่มชื่น\nชุ่มชื้น\nชุมนุมชน\nชูชีพ\nชูโรง\nชู้สาว\nเชยชม\nเชลยศักดิ์\nเชลยศึก\nเช่าซื้อ\nเช้าตรู่\nเช้ามืด\nเชิงกราน\nเชิงกล\nเชิงชั้น\nเชิงชาย\nเชิงซ้อน\nเชิงเดียว\nเชิงเดี่ยว\nเชิงตะกอน\nเชิงเทิน\nเชิงมุม\nเชิดชู\nเชิงอรรถ\nเชี่ยนหมาก\nเชี่ยวชาญ\nเชื่องช้า\nเชื่อใจ\nเชื่อถือ\nเชื่อฟัง\nเชื่อมือ\nเชื้อชาติ\nเชื้อเพลิง\nเชื้อไฟ\nเชื้อโรค\nเชื้อสาย\nเชื้อเชิญ\nเชื่องช้า\nเชือนแช\nเชื่อวัน\nแช่เย็น\nแช่อิ่ม\nแช่มช้อย\nแช่มชื่น\nโชกโชน\nโชติช่วง\nโชติรส\nใช้สอย\nซบเซา\nซมซาน\nซวนเซ\nซอกซอน\nซอกแซก\nซ่องสุม\nซ่องเสพ\nซ่องแซ่ง\nซ่อนรูป\nซ่อนเร้น\nซ่อนหา\nซ่อนกลิ่น\nซ่อนทราย\nซ่อมแซม\nซักค้าน\nซักซ้อม\nซักไซ้\nซักฟอก\nซักแห้ง\nซังกะตาย\nซังตาย\nซัดเซ\nซัดทอด\nซับซ้อน\nซับใน\nซับพระพักตร์\nซากศพ\nซ่านเซ็น\nซ้ำซ้อน\nซ้ำซาก\nซ้ำเติม\nซ้ำร้าย\nซี่โครง\nซีดเซียว\nซึมกะทือ\nซึมซาบ\nซึมเซา\nซึมทราบ\nซึมเศร้า\nซื่อตรง\nซื่อสัตย์\nซื้อขาย\nซุกซน\nซุกซ่อน\nซุบซิบ\nซู่ซ่า\nเซซัง\nเซ่อซ่า\nแซ่ซ้อง\nโซดาไฟ\nญาณทัสนะ\nญาณวิทยา\nญาณศาสตร์\nญาติกา\nฐานราก\nดกดื่น\nดงดิบ\nดลใจ\nดลบันดาล\nดวงแก้ว\nดวงใจ\nดวงเดือน\nดวงตรา\nดวงตา\nดวงสมร\nดอกจัน\nดอกจิก\nดอกบัว\nดอกเบี้ย\nดอกฟ้า\nดอกไม้\nดอกยาง\nดอกเล็บ\nดอกทอง\nดอกสร้อย\nดองยา\nดักคอ\nดักฟัง\nดังนั้น\nดังนี้\nดังหนึ่ง\nดั้งเดิม\nดัดจริต\nดัดแปลง\nดันทุรัง\nดับขันธ์\nดับจิต\nดับชีพ\nด่าทอ\nด่างทับทิม\nด่างพร้อย\nดาดฟ้า\nดาราศาสตร์\nดาลเดือด\nดาวกระจาย\nดาวเคราะห์\nดาวตก\nดาวเทียม\nดาวรุ่ง\nดาวเรือง\nดาวฤกษ์\nดาวหาง\nดาวเหนือ\nดาษดื่น\nดินขาว\nดินดาน\nดินดำ\nดินประสิว\nดินปืน\nดินระเบิด\nดินสอ\nดินสอพอง\nดิ้นรน\nดิบดี\nดีเกลือ\nดีใจ\nดีซ่าน\nดีดัก\nดีเดือด\nดีฝ่อ\nดีดดิ้น\nดึกดำบรรพ์\nดึกดื่น\nดึงดัน\nดึงดูด\nดื่มด่ำ\nดื้อด้าน\nดื้อดึง\nดื้อแพ่ง\nดื้อยา\nดื้อรั้น\nดุดัน\nดุเดือด\nดุร้าย\nดุลการค้า\nดุลพินิจ\nดุลภาค\nดุลยพินิจ\nดุลยภาพ\nดุษฎีนิพนธ์\nดุษฎีบัณฑิต\nดุษณีภาพ\nดูแคลน\nดูถูก\nดูดาย\nดูเบา\nดูแล\nดูหมิ่น\nดูเหมือน\nดูดดื่ม\nเด็ดขาด\nเด็ดดวง\nเด็ดเดี่ยว\nเดนตาย\nเดาสวด\nเดาสุ่ม\nเดินทาง\nเดินสะพัด\nเดินสาย\nเดินเหิน\nเดิมพัน\nเดียงสา\nเดียดฉันท์\nเดียวกัน\nเดียวดาย\nเดี๋ยวเดียว\nเดี๋ยวนี้\nเดือดดาล\nเดือดร้อน\nเดือนมืด\nเดือนหงาย\nแดดาล\nแดดิ้น\nแดกดัน\nโด่เด่\nโด่งดัง\nโดดเดี่ยว\nโดยสาร\nได้การ\nได้แก่\nได้ใจ\nได้ที\nได้ยิน\nได้เสีย\nตกเขียว\nตกค้าง\nตกใจ\nตกต่ำ\nตกแต่ง\nตกทอด\nตกฟาก\nตกมัน\nตกยาก\nตกลง\nตกหล่น\nต้นขั้ว\nต้นคิด\nต้นฉบับ\nต้นตอ\nต้นตำรับ\nต้นทุน\nต้นแบบ\nต้นเพลิง\nต้นมือ\nต้นไม้\nต้นร่าง\nต้นเรื่อง\nต้นสังกัด\nต้นหน\nต้นเหตุ\nตบตา\nตบแต่ง\nตบแผละ\nตบมือ\nต้มข่า\nต้มโคล้ง\nต้มยำ\nต้มส้ม\nตรมตรอม\nตรรกวิทยา\nตรรกศาสตร์\nตรวจการ\nตรวจการณ์\nตรวจตรา\nตระบัดสัตย์\nตรัสรู้\nตราตั้ง\nตราบาป\nตรายาง\nตราสาร\nตริตรอง\nตรีกฏุก\nตรีกาย\nตรีโกณ\nตรีโกณมิติ\nตรีคูณ\nตรีทูต\nตรีปิฎก\nตรีภพ\nตรีมูรติ\nตรึกตรอง\nตรึงตรา\nตรุษจีน\nตฤณชาติ\nตฤณมัย\nตลกบาตร\nตลบตะแลง\nตลบหลัง\nตลาดนัด\nตลาดน้ำ\nตลาดมืด\nตลาดสด\nต่อตี\nต่อเติม\nต่อว่า\nต่อสู้\nต่อกร\nต่อต้าน\nต่อแย้ง\nต้องการ\nต้องโทษ\nต้องหา\nต้อนรับ\nตอบโต้\nตอบแทน\nต่อยหอย\nตะพาบน้ำ\nตักตวง\nตักบาตร\nตั้งเข็ม\nตั้งไข่\nตั้งเค้า\nตั้งแง่\nตั้งใจ\nตั้งต้น\nตั้งแต่\nตั้งท้อง\nตัดขาด\nตัดใจ\nตัดเชือก\nตัดตอน\nตัดทอน\nตัดบท\nตัดพ้อ\nตัดรอน\nตัดสิน\nตับเต่า\nตับแลบ\nตับอ่อน\nตัวกลาง\nตัวการ\nตัวเก็ง\nตัวดี\nตัวตั้ง\nตัวเต็ง\nตัวถัง\nตัวแทน\nตัวประกอบ\nตัวประกัน\nตัวแปร\nตัวผู้\nตัวพิมพ์\nตัวเมีย\nตัวยืน\nตัวเลข\nตัวอย่าง\nตั๋วเงิน\nตั๋วแลกเงิน\nตากล้อง\nตาไก่\nตาข่าย\nตาชั่ง\nตาตุ่ม\nตาทวด\nตาปลา\nตาราง\nต่างหาก\nต้านทาน\nตามใจ\nตายใจ\nตายซาก\nตายด้าน\nตายตัว\nตายทั้งกลม\nตายห่า\nตายโหง\nตาลปัตร\nต่ำช้า\nต่ำต้อย\nตำส้ม\nติเตียน\nติณชาติ\nติดขัด\nติดใจ\nติดต่อ\nติดตั้ง\nติดตาม\nติดตื้น\nติดพัน\nติดลม\nติดอ่าง\nตีเกลียว\nตีขลุม\nตีความ\nตีคู่\nตีจาก\nตีตื้น\nตีแผ่\nตีรวน\nตีลังกา\nตีวง\nตีเสมอ\nตีนกา\nตีนคู้\nตีนจก\nตีนตะขาบ\nตีนผี\nตีนเหยียด\nตึกแถว\nตึกระฟ้า\nตึงเครียด\nตึงตัง\nตื้นตัน\nตื่นตัว\nตื่นตูม\nตื่นเต้น\nตุ๊ต๊ะ\nตุ้บตั้บ\nตุ้มหู\nตุลาการ\nตุลาคม\nตู้นิรภัย\nตูมตาม\nตู้เสบียง\nเตโชธาตุ\nเตร็ดเตร่\nเต้นรำ\nเตาแก๊ส\nเตาผิง\nเตาฟู่\nเตาไฟ\nเตารีด\nเตาสูบ\nเต่าทอง\nเต้ารับ\nเต้าส่วน\nเต้าเสียบ\nเต้าหู้ยี้\nแต่ละ\nแตกคอ\nแตกคอก\nแตกฉาน\nแตกดับ\nแตกตื่น\nแตกพาน\nแตกแยก\nแตกร้าว\nแตกหัก\nแต่งงาน\nแต่งตั้ง\nแต้มคู\nแต้มต่อ\nแตรงอน\nแตรเดี่ยว\nแตรฝรั่ง\nแตรฟันฟาร์\nแตรวง\nโต้ตอบ\nโต้เถียง\nโต้แย้ง\nโต๊ะหมู่\nโต๊ะอิหม่าม\nใต้ถุน\nไต้ก๋ง\nไต่คู้\nไต่เต้า\nไต่ถาม\nไต้ฝุ่น\nไตรจักร\nไตรจีวร\nไตรตรึงษ์\nไตรทวาร\nไตรปิฎก\nไตรเพท\nไตรภพ\nไตรภูมิ\nไตรภาคี\nไตรยางศ์\nไตรรงค์\nไตรรัตน์\nไตรลักษณ์\nไตรโลก\nไตรสรณคมน์\nไตรสิกขา\nไต่สวน\nถกเถียง\nถดถอย\nถนัดถนี่\nถนิมสร้อย\nถมถืด\nถมเถ\nถมไป\nถลากไถล\nถ้วนถี่\nถ้วยฟู\nถ่องแท้\nถอดถอน\nถ้อยคำ\nถ้อยแถลง\nถากถาง\nถ่านไฟฉาย\nถ่านหิน\nถามไถ่\nถ่ายทอด\nถ่ายทุกข์\nถ่ายเท\nถาวรวัตถุ\nถ้ำมอง\nถี่ถ้วน\nถึงใจ\nถูกใจ\nถูกชะตา\nเถรวาท\nเถ้าแก่\nเถ้าแก่เนี้ย\nแถมพก\nแถลงการณ์\nไถ่ถอน\nไถ่ถาม\nทดแทน\nทดรอง\nทดลอง\nทดสอบ\nทนทาน\nทนายความ\nทบทวน\nทแยงมุม\nทรงกลด\nทรงเครื่อง\nทรงเจ้า\nทรัพย์สิน\nทรามชม\nทรามเชย\nทรามวัย\nทรามสงวน\nทรามสวาท\nทรุดโทรม\nทฤษฎีบท\nท้วงติง\nท่วมท้น\nทวาทศ\nทวาทศมาส\nทวาบรยุค\nทวารบาล\nทวิบถ\nทวิบท\nทวิบาท\nทวิภาค\nทวิภาคี\nทวีคูณ\nทศกัณฐ์\nทศชาติ\nทศทิศ\nทศนิยม\nทศพร\nทศพล\nทศพิธราชธรรม\nทศมาส\nทศวรรษ\nท่อไอเสีย\nท้อถอย\nท้อแท้\nทองขาว\nทองคำ\nทองคำขาว\nทองคำเปลว\nทองเค\nทองแดง\nทองบรอนซ์\nทองม้วน\nทองย้อย\nทองสัมฤทธิ์\nทองหยอด\nทองหยิบ\nทองเหลือง\nทองเอก\nท่องเที่ยว\nท้องตรา\nท้องถิ่น\nท้องที่\nท้องน้อย\nท้องร่อง\nท้องเรื่อง\nทอดมัน\nทอดทิ้ง\nทอดน่อง\nทอดยอด\nทอดหุ่ย\nทอยกอง\nทะเบียนบ้าน\nทะเลทราย\nทะเลสาบ\nทะเลหลวง\nทักขิณาวัฏ\nทักท้วง\nทักทาย\nทักษิณาวรรต\nทักษิณาทาน\nทักษิณานุประทาน\nทั้งกลม\nทั้งคน\nทั้งดุ้น\nทั้งที\nทั้งนั้น\nทั้งนี้\nทั้งปวง\nทั้งผอง\nทั้งเพ\nทั้งมวล\nทั้งสิ้น\nทั้งหมด\nทั้งหลาย\nทัณฑ์บน\nทัดทาน\nทัดเทียม\nทันควัน\nทันใจ\nทันใด\nทันตา\nทันสมัย\nทันที\nทับถม\nทับทรวง\nทับศัพท์\nทั่วถึง\nทั่วไป\nท่าทาง\nท่าที\nท้าทาย\nทางการ\nทางข้าม\nทางด่วน\nทางเท้า\nทางโท\nทางใน\nทางผ่าน\nทางม้าลาย\nทางหลวง\nทางออก\nทางเอก\nทานกัณฑ์\nทานตะวัน\nท่านชาย\nทานบารมี\nท่านผู้หญิง\nท่านหญิง\nทาบทาม\nท้ายทอย\nทารุณกรรม\nทำคลอด\nทำใจ\nทำซ้ำ\nทำท่า\nทำที\nทำแท้ง\nทำโทษ\nทำบาป\nทำบุญ\nทำพิษ\nทำฟัน\nทำร้าย\nทำวัตร\nทำสาว\nทำเสน่ห์\nทำหมัน\nทำให้\nทิ้งขว้าง\nทิ้งทวน\nทิ้งท้าย\nทินกร\nทิพจักขุ\nทิพโสต\nทิพยจักษุ\nทิพยญาณ\nทิพยเนตร\nทิพยรส\nทิพากร\nทิ่มตำ\nทิ่มแทง\nทิวากร\nทิวากาล\nทิศทาง\nทีเด็ด\nทีท่า\nทีนี้\nทีหลัง\nทีฆนิกาย\nทีฆสระ\nที่ดิน\nที่นอน\nที่นั่ง\nที่ปรึกษา\nที่พึ่ง\nที่มั่น\nที่ราบ\nที่ว่าการ\nที่สุด\nที่หมาย\nที่ไหน\nทุกที\nทุกเมื่อ\nทุกข์สุข\nทุนทรัพย์\nทุนนิยม\nทุนรอน\nทุนสำรอง\nทุ่มเถียง\nทุ่มเท\nทูนหัว\nทูลกระหม่อม\nเทกระจาด\nเทครัว\nเทพเจ้า\nเทพดา\nเทพธิดา\nเทพนม\nเทพนิยม\nเทพนิยาย\nเทพบุตร\nเทพสังหรณ์\nเทศกาล\nเทศนาโวหาร\nเทศบัญญัติ\nเทศบาล\nเทศมนตรี\nเทห์ฟากฟ้า\nเท่ากับ\nเท่าใด\nเท่าตัว\nเท่าทัน\nเท่าทุน\nเท่าเทียม\nเท่านั้น\nเท่าไร\nเท้าช้าง\nเทิดทูน\nเที่ยงตรง\nเที่ยงแท้\nเที่ยงธรรม\nเทียนชนวน\nเทียนพรรษา\nเทียบเคียง\nเทียบเท่า\nเทือกเขา\nเทือกเถา\nแท็งก์น้ำ\nแท่นพิมพ์\nแท่นมณฑล\nแท่นหมึก\nแทรกซอน\nแทรกซ้อน\nแทรกซึม\nแทรกแซง\nแทะโลม\nไทยดำ\nไทยทาน\nไทยธรรม\nไทยน้อย\nไทยใหญ่\nธงชัย\nธงชาติ\nธงทิว\nธรณีวิทยา\nธรณีสงฆ์\nธรรมกาย\nธรรมการ\nธรรมเกษตร\nธรรมขันธ์\nธรรมคุณ\nธรรมจรรยา\nธรรมจริยา\nธรรมจักร\nธรรมจักษุ\nธรรมจาคะ\nธรรมจารี\nธรรมชาติ\nธรรมดา\nธรรมเนียม\nธรรมราชา\nธรรมศาสตร์\nธรรมสภา\nธรรมสังเวช\nธัญพืช\nธารพระกร\nธีรภาพ\nธีรราช\nนกเขา\nนกต่อ\nนกยูง\nนกรู้\nนกหวีด\nนครบาล\nนครรัฐ\nนงคราญ\nนงนุช\nนงพะงา\nนงเยาว์\nนงราม\nนงลักษณ์\nนบนอบ\nนพเก้า\nนพคุณ\nนพเคราะห์\nนพปฎล\nนพพล\nนพรัตน์\nนพศก\nนพศูล\nนมข้น\nนมผง\nนมไม้\nนมนาน\nนมหนู\nนมแมว\nนรีเวช\nนรีเวชวิทยา\nนวดฟั้น\nนวยนาด\nนวลระหง\nนวลลออ\nนวลละออง\nนวลจันทร์\nนอกครู\nนอกคอก\nนอกจาก\nนอกใจ\nนอกชาน\nนอกรีต\nนอกเหนือ\nนองเนือง\nนองเลือด\nนอนก้น\nนอนใจ\nนอบนบ\nนอนเล่น\nนอบน้อม\nน้อมนำ\nน้อยใจ\nน้อยหน้า\nนักการ\nนักการเมือง\nนักกีฬา\nนักข่าว\nนักท่องเที่ยว\nนักเทศน์\nนักโทษ\nนักธรรม\nนักบวช\nนักบิน\nนักบุญ\nนักปราชญ์\nนักพรต\nนักรบ\nนักเรียน\nนักเลง\nนักวิชาการ\nนักศึกษา\nนักสิทธิ์\nนักสืบ\nนักหนา\nนั่งเทียน\nนั่งร้าน\nนัดแนะ\nนัดหมาย\nนั่นแหละ\nนั่นเอง\nนับถือ\nนับประสา\nนัยน์ตา\nนาดำ\nนาปรัง\nนาปี\nนาสวน\nนาหว่าน\nนาคบาศ\nนาคปรก\nนาคราช\nนางกวัก\nนางกำนัล\nนางงาม\nนางใน\nนางบำเรอ\nนางแบบ\nนางพญา\nนางฟ้า\nนางไม้\nนางโลม\nนางสาว\nนางห้าม\nนางเอก\nนาฏกรรม\nนาฏดนตรี\nนาฏศิลป์\nนานนม\nน่านน้ำ\nน่านฟ้า\nนามกร\nนามธรรม\nนามไธย\nนามบัตร\nนามปากกา\nนามแฝง\nนามสกุล\nนามสงเคราะห์\nนามสมญา\nนายทะเบียน\nนายท่า\nนายท้าย\nนายทุน\nนายประกัน\nนายหน้า\nนายอำเภอ\nนารายณ์หัตถ์\nนารีผล\nนาวิกโยธิน\nนำจับ\nนำพา\nนำทาง\nนำร่อง\nนำสืบ\nนำแสดง\nน้ำกรด\nน้ำกาม\nน้ำเกลือ\nน้ำข้าว\nน้ำแข็ง\nน้ำแข็งไส\nน้ำแข็งแห้ง\nน้ำครำ\nน้ำคร่ำ\nน้ำค้าง\nน้ำค้างแข็ง\nน้ำคาวปลา\nน้ำคำ\nน้ำเค็ม\nน้ำเคย\nน้ำเงิน\nน้ำเงี้ยว\nน้ำจัณฑ์\nน้ำจิ้ม\nน้ำใจ\nน้ำเชื้อ\nน้ำเชื่อม\nน้ำซาวข้าว\nน้ำดอกไม้\nน้ำดี\nน้ำตก\nน้ำตา\nน้ำตาล\nน้ำท่า\nน้ำนม\nน้ำนวล\nน้ำบาดาล\nน้ำประสานทอง\nน้ำประปา\nน้ำปลา\nน้ำป่า\nน้ำผึ้ง\nน้ำพริก\nน้ำพริกเผา\nน้ำพี้\nน้ำพุ\nน้ำมนต์\nน้ำมนตร์\nน้ำมัน\nน้ำมือ\nน้ำมูก\nน้ำเมา\nน้ำย่อย\nน้ำยา\nน้ำรัก\nน้ำแร่\nน้ำลาย\nน้ำเลี้ยง\nน้ำสต๊อก\nน้ำส้ม\nน้ำส้มสายชู\nน้ำสังข์\nน้ำสาบาน\nน้ำเสียง\nน้ำหนวก\nน้ำหนอง\nน้ำหนัก\nน้ำหน้า\nน้ำหนึ่ง\nน้ำหมึก\nน้ำหอม\nน้ำเหลือง\nน้ำอบ\nน้ำอ้อย\nน้ำอัดลม\nนิ่งเฉย\nนิจศีล\nนิดเดียว\nนิดหน่อย\nนิติกร\nนิติกรรม\nนิติธรรม\nนิตินัย\nนิติบัญญัติ\nนิติบุคคล\nนิติภาวะ\nนิติวิทยาศาสตร์\nนิติเวช\nนิติเวชศาสตร์\nนิติศาสตร์\nนิเทศศาสตร์\nนิ่มนวล\nนิรุกติศาสตร์\nนิเวศวิทยา\nนิศากร\nนิศากาล\nนิศาชล\nนิศารัตน์\nนี่แน่ะ\nนี่แหละ\nนี่เอง\nนึกคิด\nนุงถุง\nนุ่งห่ม\nนุ่มนวล\nนุ่มนิ่ม\nเนตรนารี\nเนติบัณฑิต\nเนยเทียม\nเนยใส\nเนิ่นนาน\nเนิบนาบ\nเนื้อความ\nเนื้อคู่\nเนื้อเค็ม\nเนื้องอก\nเนื้อตัว\nเนื้อตาย\nเนื้อที่\nเนื้อแท้\nเนื้อเปื่อย\nเนื้อผ้า\nเนื้อเพลง\nเนื้อไม้\nเนื้อเยื่อ\nเนื้อร้อง\nเนื้อร้าย\nเนื้อเรื่อง\nเนื้อหา\nเนืองนอง\nเนืองนิตย์\nเนืองแน่น\nแน่ใจ\nแน่ชัด\nแน่แท้\nแน่นอน\nแน่นิ่ง\nแน่แน่ว\nแน่นแฟ้น\nแน่นหนา\nแนบเนียน\nแนบแน่น\nแนวคิด\nแนวทาง\nแนวโน้ม\nแนวป่า\nแนวรบ\nแนวร่วม\nแนวหน้า\nแนวหลัง\nแน่วแน่\nแนะนำ\nแนะแนว\nโน้มน้าว\nในหลวง\nบกพร่อง\nบงกช\nบงการ\nบดบัง\nบทกลอน\nบทกวี\nบทความ\nบทคัดย่อ\nบทเฉพาะกาล\nบทนำ\nบทบัญญัติ\nบทบาท\nบทประพันธ์\nบทเพลง\nบทร้อง\nบทเรียน\nบทลงโทษ\nบทสนทนา\nบทอัศจรรย์\nบทจร\nบทบงสุ์\nบทมาลย์\nบทรัช\nบทเรศ\nบทวลัญช์\nบนบาน\nบรมครู\nบรมธาตุ\nบรมบพิตร\nบรมวงศานุวงศ์\nบรมอัฐิ\nบรรณพิภพ\nบรรณศาลา\nบรรณาการ\nบรรณาธิการ\nบรรณานุกรม\nบรรณารักษ์\nบรรณารักษศาสตร์\nบรรดามี\nบรรดาศักดิ์\nบรรทัดฐาน\nบรรพบุรุษ\nบรรลัยกัลป์\nบรรลัยจักร\nบริคณห์สนธิ\nบวงสรวง\nบ่วงบาศ\nบ้วนพระโอษฐ์\nบ่อเกิด\nบอกกล่าว\nบอกบท\nบอกบุญ\nบอกใบ้\nบอกปัด\nบ้องกัญชา\nบ้องตื้น\nบ้องไฟ\nบ้องหู\nบอดสี\nบ่อนทำลาย\nบอบช้ำ\nบอบบาง\nบอบแบบ\nบังโกลน\nบังโคลน\nบังใบ\nบั้งไฟ\nบังคับการ\nบังคับบัญชา\nบัญชาการ\nบัณฑุกัมพล\nบัดดล\nบัดเดี๋ยว\nบัดนั้น\nบัดนี้\nบัดสีบัดเถลิง\nบัตรเครดิต\nบัตรพลี\nบัตรสนเท่ห์\nบัตรสินเชื่อ\nบั่นทอน\nบั้นท้าย\nบั้นปลาย\nบั้นพระองค์\nบั้นเอว\nบันไดลิง\nบันไดเลื่อน\nบันเทิงคดี\nบัวลอย\nบัวบก\nบ้าจี้\nบ้าดีเดือด\nบ้าน้ำลาย\nบ้าบิ่น\nบ้าระห่ำ\nบ้าเลือด\nบ้าหอบฟาง\nบากบั่น\nบากหน้า\nบางตา\nบางเบา\nบางที\nบาดเจ็บ\nบาดแผล\nบาดหมาง\nบาตรใหญ่\nบาทบงกช\nบาทบงสุ์\nบาทบริจาริกา\nบาทวิถี\nบานเกล็ด\nบานตะเกียง\nบานตะไท\nบานเบอะ\nบานปลาย\nบานแผละ\nบานพับ\nบ้านจัดสรร\nบ้านช่อง\nบ้านนอก\nบ้านพัก\nบ้านเมือง\nบ้านรับรอง\nบ้านเรือน\nบาปกรรม\nบายศรี\nบ่ายเบี่ยง\nบ่ายหน้า\nบ่าวไพร่\nบิดเบี้ยว\nบิดเบือน\nบิดพลิ้ว\nบี้แบน\nบีบคั้น\nบีบรัด\nบึ้งตึง\nบึ้งบูด\nบุกบั่น\nบุกเบิก\nบุกรุก\nบุคลิกภาพ\nบุคลิกลักษณะ\nบุญธรรม\nบุญนิธิ\nบุญฤทธิ์\nบุบสลาย\nบุ้ยใบ้\nบุรุษเพศ\nบุหงารำไป\nบู้บี้\nบูชายัญ\nบูดบึ้ง\nบูดเบี้ยว\nเบาความ\nเบาใจ\nเบาบาง\nเบาปัญญา\nเบามือ\nเบาแรง\nเบาสมอง\nเบาหวาน\nเบาโหวง\nเบ้าตา\nเบาะแส\nเบิกความ\nเบิกบาน\nเบี้ยล่าง\nเบี้ยเลี้ยง\nเบี้ยหวัด\nเบี่ยงบ่าย\nเบียดบัง\nเบียดเบียน\nเบียดเสียด\nเบื้องต้น\nเบื้องบน\nเบื้องหน้า\nเบื้องหลัง\nแบกะดิน\nแบเบาะ\nแบ่งเบา\nแบ่งปัน\nแบ่งแยก\nแบบฉบับ\nแบบแปลน\nแบบแผน\nแบบฝึกหัด\nแบบพิมพ์\nแบบสอบถาม\nแบบอย่าง\nแบะแฉะ\nแบะท่า\nโบแดง\nโบราณคดี\nโบราณวัตถุ\nโบราณสถาน\nใบขับขี่\nใบจอง\nใบตอง\nใบแทรก\nใบบอก\nใบบุญ\nใบเบิกทาง\nใบปลิว\nใบพัด\nใบโพ\nใบไม้\nใบระกา\nใบรับรอง\nใบลา\nใบเลี้ยง\nใบสั่ง\nใบสำคัญ\nใบสุทธิ\nใบเสร็จ\nใบหน้า\nใบอนุญาต\nใบระกา\nปกครอง\nปกคลุม\nปกป้อง\nปกปิด\nปฏิบัติการ\nปฏิบัติบูชา\nปฐพีวิทยา\nปฐมฌาน\nปฐมทัศน์\nปฐมเทศนา\nปฐมนิเทศ\nปฐมพยาบาล\nปฐมยาม\nปฐมฤกษ์\nปฐมวัย\nปฐมสมโพธิ\nปนเป\nป่นปี้\nปมเขื่อง\nปมเด่น\nปมด้อย\nปรนเปรอ\nปรบไก่\nปรบมือ\nปรสิตวิทยา\nประโปรย\nประพรม\nประกันชีวิต\nประกันภัย\nประจักษ์พยาน\nประจัญบาน\nประจันหน้า\nประจำการ\nประจำเดือน\nประจำเมือง\nประจำยาม\nประชดประชัน\nประชากร\nประชากรศาสตร์\nประชาคม\nประชาชน\nประชาราษฎร์\nประชาชาติ\nประชาชี\nประชาทัณฑ์\nประชาบาล\nประชาพิจารณ์\nประชาภิบาล\nประชามติ\nประชาสงเคราะห์\nประชาสัมพันธ์\nประดับประดา\nประดามี\nประดาน้ำ\nประเดี๋ยวเดียว\nประเดี๋ยวนี้\nประทับใจ\nประทุษร้าย\nประเทศราช\nประพาสต้น\nประเพณีนิยม\nประลัยกัลป์\nประวัติการณ์\nประวัติศาสตร์\nประสบการณ์\nประสบการณ์นิยม\nประสาทการ\nประสูติการ\nประสูติกาล\nประเส\nปรับทุกข์\nปรับโทษ\nปรับปรุง\nปรากฏการณ์\nปราดเปรียว\nปราดเปรื่อง\nปราบปราม\nปริญญาบัตร\nปรัยัติธรรม\nปรุโปร่ง\nปลงใจ\nปลงตก\nปลดทุกข์\nปลดปลง\nปลดปล่อย\nปลดเปลื้อง\nปลดระวาง\nปลดแอก\nปล้นสะดม\nปลอกกระสุน\nปลอกคอ\nปลอดโปร่ง\nปลอดภัย\nปลอมปน\nปลอมแปลง\nปลอบโยน\nปล่อยใจ\nปล่อยตัว\nปล่อยปละ\nปลั๊กไฟ\nปลากริม\nปลาเค็ม\nปลาจ่อม\nปลาเจ่า\nปลาแดก\nปลาตู้\nปลาทอง\nปลาร้า\nปลาส้ม\nปลาดาว\nปลาบิน\nปลาฝา\nปลาวาฬ\nปลาหมึก\nปลาบปลื้ม\nปลายข้าว\nปลายแถว\nปลายทาง\nปลิ้นปลอก\nปลิ้นปล้อน\nปลีกตัว\nปลีกย่อย\nปลุกใจ\nปลุกปล้ำ\nปลุกปั่น\nปลุกระดม\nปลุกเสก\nปลูกฝัง\nปลูกสร้าง\nปวดถ่วง\nปวดมวน\nปวดร้าว\nป่วนปั่น\nป่วยการ\nปอกลอก\nป้องกัน\nปักใจ\nปักดำ\nปักหลัก\nปัจเจกบุคคล\nปัจเจกพุทธะ\nปัจเจกโพธิ\nปัจฉิมชน\nปัจฉิมทิศ\nปัจฉิมภาค\nปัจฉิมยาม\nปัจฉิมลิขิต\nปัจฉิมวัย\nปัจฉิมวาจา\nปัญญาชน\nปัญญาวิมุติ\nปัญญาอ่อน\nปัดเป่า\nปันส่วน\nปั่นป่วน\nปั่นแปะ\nปั่นหัว\nปั้นจิ้ม\nปั้นเจ๋อ\nปั้นปึ่ง\nปั้นสิบ\nปั๊มน้ำมัน\nป่าช้า\nป่าชายเลน\nป่าดง\nป่าดงดิบ\nป่าดิบ\nป่าเถื่อน\nป่าเบญจพรรณ\nป่าละเมาะ\nปากกา\nปากขอ\nปากแข็ง\nปากคอ\nปากคำ\nปากคีบ\nปากจัด\nปากน้ำ\nปากเปล่า\nปากเสียง\nปานกลาง\nป่านนี้\nป้านลม\nป้ายสี\nป่าวร้อง\nปิดฉาก\nปิดบัง\nปิตุฆาต\nปิตุภูมิ\nปีมะโว้\nปีแสง\nปี่กลาง\nปี่ไฉน\nปี่ชวา\nปี่นอก\nปี่ใน\nปี่พาทย์\nปี่อ้อ\nปีกกา\nปีนเกลียว\nปีนป่าย\nปึกแผ่น\nปึงปัง\nปืนกล\nปืนครก\nปืนพก\nปืนยา\nปืนยาว\nปืนลม\nปืนเล็ก\nปืนเล็กยาว\nปืนสั้น\nปืนใหญ่\nปุบปับ\nปุ๊บปั๊บ\nปุ่มเปือก\nปุยฝ้าย\nปุ๋ยคอก\nปุ๋ยเคมี\nปุ๋ยวิทยาศาสตร์\nปุ๋ยหมัก\nปุ๋ยอินทรีย์\nปูจ๋า\nปูเสฉวน\nปู่เจ้า\nปู่ทวด\nปูนขาว\nปูนซีเมนต์\nปูนดิบ\nปูนแดง\nปูนปลาสเตอร์\nปูนปั้น\nเป็ดเทศ\nเป็ดน้ำ\nเป็นกลาง\nเป็นใจ\nเป็นต้น\nเป็นต่อ\nเป็นรอง\nเป็นไร\nเป็นลม\nเป็นห่วง\nเป็นอยู่\nเปรมปรีดิ์\nเปรอะเปื้อน\nเปรียบเทียบ\nเปรียบเปรย\nเปรี้ยวปาก\nเปรี้ยวหวาน\nเปรื่องปราด\nเปลญวน\nเปล่งปลั่ง\nเปล่าดาย\nเปล่าเปลี่ยว\nเปลี่ยนใจ\nเปลี่ยนตัว\nเปลี่ยนแปลง\nเปลี่ยนมือ\nเปลี่ยนหน้า\nเป๋อเหลอ\nเปะปะ\nเป่ากบ\nเป้านิ่ง\nเป้าหมาย\nเปิดฉาก\nเปิดเปิง\nเปิดโปง\nเปิดผนึก\nเปิดเผย\nเปียกปูน\nแป้งสาลี\nแป้งนวล\nแป้งเปียก\nแป้งมัน\nแป้งฝุ่น\nแป้งร่ำ\nแป้งสิงคโปร์\nแป้งหมี่\nแปดปน\nแปดเปื้อน\nแปรปรวน\nแปรผัน\nแปรพักตร์\nแปรรูป\nแปรอักษร\nแปลกปลอม\nแปะโป้ง\nโป้ปด\nโปร่งแสง\nโปร่งใส\nโปรดปราน\nโปรยทาน\nโปรยปราย\nโปโลน้ำ\nผกผัน\nผกากรอง\nผงขาว\nผงชูรส\nผงซักฟอก\nผงฟู\nผดุงครรภ์\nผมไฟ\nผลพลอยได้\nผลลัพธ์\nผลัดเปลี่ยน\nผลิตผล\nผลิตภัณฑ์\nผลุบโผล่\nผสมเทียม\nผสมผสาน\nผสมผเส\nผสมพันธุ์\nผสมโรง\nผสมเสร็จ\nผ่องแผ้ว\nผ่องใส\nผ่อนคลาย\nผ่อนชำระ\nผ่อนปรน\nผ่อนผัน\nผ่อนส่ง\nผอมโซ\nผอมแห้ง\nผักชี\nผักตบชวา\nผักบุ้ง\nผังเมือง\nผัดผ่อน\nผันแปร\nผันผวน\nผ่าตัด\nผ่าเผย\nผ่าหมาก\nผ่าเหล่า\nผ้าขนหนู\nผ้าขาวม้า\nผ้าขี้ริ้ว\nผ้าเช็ดตัว\nผ้าเช็ดปาก\nผ้าเช็ดมือ\nผ้าเช็ดหน้า\nผ้าดิบ\nผ้าต่วน\nผ้าไตร\nผ้าถุง\nผ้าแถบ\nผ้านวม\nผ้านุ่ง\nผ้าใบ\nผ้าป่า\nผ้าป่าน\nผ้าผ่อน\nผ้าพันคอ\nผ้าพันแผล\nผ้าแพร\nผ้าโพกหัว\nผ้ามัดหมี่\nผ้ายาง\nผ้าลูกไม้\nผ้าเหลือง\nผ้าอนามัย\nผ้าอ้อม\nผาดโผน\nผาติกรรม\nผิดหวัง\nผิวเผิน\nผิวพรรณ\nผิวหนัง\nผีกระสือ\nผีกระหัง\nผีกองกอย\nผีโขมด\nผีดิบ\nผีตองเหลือง\nผีถ้วยแก้ว\nผีแถน\nผีทะเล\nผีบุญ\nผีปอบ\nผีพุ่งไต้\nผีฟ้า\nผีเรือน\nผีสาง\nผีเสื้อ\nผีห่า\nผึ่งผาย\nผุดผ่อง\nผุดผาด\nผู้คน\nผู้คุม\nผู้จัดการ\nผู้ชาย\nผู้เชี่ยวชาญ\nผู้ดี\nผู้โดยสาร\nผู้ต้องขัง\nผู้ต้องหา\nผู้แทน\nผู้น้อย\nผู้บริโภค\nผู้บังคับบัญชา\nผู้ปกครอง\nผู้ประกอบการ\nผู้ป่วย\nผู้พิพากษา\nผู้เยาว์\nผู้ร้าย\nผู้วิเศษ\nผู้สื่อข่าว\nผู้เสียหาย\nผู้หญิง\nผู้ใหญ่\nผู้ใหญ่บ้าน\nผูกขวัญ\nผูกขาด\nผูกพัน\nผูกมัด\nเผชิญหน้า\nเผด็จการ\nเผด็จศึก\nเผยแผ่\nเผยแพร่\nเผละผละ\nเผ่าพันธุ์\nเผื่อแผ่\nแผงลอย\nแผนการ\nแผนงาน\nแผนที่\nแผนผัง\nแผนภาพ\nแผนภูมิ\nแผ่นดิน\nแผ่นเสียง\nแผ้วพาน\nโผงผาง\nฝนทอง\nฝอยทอง\nฝักแค\nฝักบัว\nฝักฝ่าย\nฝักใฝ่\nฝังใจ\nฝังหัว\nฝาชี\nฝาแฝด\nฝาละมี\nฝ่าพระบาท\nฝ่าฝืน\nฝ่าฟัน\nฝ้าฟาง\nฝากตัว\nฝากฝัง\nฝีดาษ\nฝีมะม่วง\nฝีจักร\nฝีเท้า\nฝีปาก\nฝีพาย\nฝีมือ\nฝีเย็บ\nฝึกงาน\nฝึกปรือ\nฝึกฝน\nฝึกสอน\nฝึกหัด\nฝืดเคือง\nใฝ่ฝัน\nพงพี\nพงศ์พันธุ์\nพญาโศก\nพญาไฟ\nพบปะ\nพบพาน\nพรสวรรค์\nพรมคด\nพรมแดน\nพรมมิ\nพรรคพวก\nพรรณราย\nพรวดพราด\nพรหมชาติ\nพรหมลิขิต\nพรหมโลก\nพรหมวิหาร\nพร้อมใจ\nพร้อมพรั่ง\nพร้อมเพรียง\nพร้อมมูล\nพร้อมสรรพ\nพร้อมหน้า\nพระครู\nพระคุณ\nพระเคราะห์\nพระเครื่อง\nพระเจ้า\nพระเจ้าอยู่หัว\nพระชายา\nพระทัย\nพระนาง\nพระนางเจ้า\nพระเป็นเจ้า\nพระผู้เป็นเจ้า\nพระพิมพ์\nพระพุทธเจ้า\nพระพุทธองค์\nพระภูมิ\nพระยา\nพระรอง\nพระสนม\nพระสนมเอก\nพระองค์\nพระองค์เจ้า\nพระเอก\nพรั่งพร้อม\nพรั่งพรู\nพรั่นพรึง\nพร่างพราว\nพรายน้ำ\nพรายแพรว\nพราวแพรว\nพร่ำพลอด\nพร่ำเพรื่อ\nพร่ำเพ้อ\nพริกไทย\nพริ้งพราย\nพริ้งเพรา\nพริ้งเพริศ\nพริบตา\nพริ้มพราย\nพริ้มเพรา\nพรุ่งนี้\nพฤติกรรม\nพฤติการณ์\nพฤตินัย\nพลการ\nพลขับ\nพลความ\nพลเมือง\nพลรบ\nพลร่ม\nพลเรือน\nพลโลก\nพลศึกษา\nพลบค่ำ\nพลอดรัก\nพลังงาน\nพลังเงียบ\nพลังจิต\nพลั้งปาก\nพลั้งเผลอ\nพลั้งพลาด\nพลัดถิ่น\nพลัดพราก\nพลาดท่า\nพลาดพลั้ง\nพลิกแพลง\nพลีกรรม\nพลุ่งพล่าน\nพวกพ้อง\nพวงมาลัย\nพวงมาลา\nพวงหรีด\nพวงคราม\nพวงชมพู\nพวงแสด\nพ่วงพี\nพวยน้ำ\nพวยพุ่ง\nพสกนิกร\nพหุคูณ\nพหุภาคี\nพหูพจน์\nพหูสูต\nพอควร\nพอใจ\nพอใช้\nพอใช้ได้\nพอดี\nพอตัว\nพอทำเนา\nพอประมาณ\nพอเพียง\nพอแรง\nพอสมควร\nพอเหมาะ\nพ่อขุน\nพ่อครัว\nพ่อตา\nพ่อบ้าน\nพ่อพันธุ์\nพ่อม่าย\nพ่อเมือง\nพ่อเลี้ยง\nพ่อสื่อ\nพอกพูน\nพ้องพาน\nพักผ่อน\nพักพิง\nพักฟื้น\nพักร้อน\nพักแรม\nพัดยศ\nพัดลม\nพันพัว\nพับฐาน\nพับเพียบ\nพัวพัน\nพาซื่อ\nพาดพิง\nพิณพาทย์\nพิธีกร\nพิธีกรรม\nพิธีการ\nพิธีรีตอง\nพิธีสาร\nพินัยกรรม\nพิมพ์เขียว\nพิมพ์ใจ\nพิมพ์ดีด\nพิษสง\nพี่น้อง\nพี่เบิ้ม\nพี่เลี้ยง\nพึงใจ\nพึงพอใจ\nพึ่งพา\nพึ่งพิง\nพืชพันธุ์\nพืชมงคล\nพื้นฐาน\nพื้นที่\nพื้นบ้าน\nพื้นเพ\nพื้นเมือง\nพื้นเสีย\nพุพอง\nพุทธกาล\nพุทธคุณ\nพุทธจักร\nพุทธเจดีย์\nพุทธฎีกา\nพุทธปฏิมา\nพุทธปฏิมากร\nพุทธมามกะ\nพุทธศักราช\nพุทธศาสนิกชน\nพุทธองค์\nพุทธชาด\nพุทธรักษา\nพุ่มพวง\nพุ่มไม้\nพู่กัน\nพูดจา\nเพ่งเล็ง\nเพดานบิน\nเพดานปาก\nเพริศพราย\nเพริศพริ้ง\nเพริศแพร้ว\nเพรียกพร้อง\nเพรียวลม\nเพลงเชิด\nเพลงยาว\nเพลิงกัลป์\nเพลินใจ\nเพลินตา\nเพลี่ยงพล้ำ\nเพ้อฝัน\nเพาะกาย\nเพาะชำ\nเพาะปลูก\nเพิกถอน\nเพิกเฉย\nเพิ่มเติม\nเพิ่มพูน\nเพียงตา\nเพียงพอ\nเพียบแประ\nเพียบพร้อม\nเพื่อนเกลอ\nเพื่อนตาย\nเพื่อนบ้าน\nเพื่อนฝูง\nเพื่อนยาก\nแพ้ท้อง\nแพร่หลาย\nแพร่งพราย\nแพรวพราว\nโพธิญาณ\nโพธิบัลลังก์\nโพธิสมภาร\nโพธิสัตว์\nโพ้นทะเล\nโพยภัย\nไพ่ตาย\nไพ่ป๊อก\nไพรวัน\nไพรสณฑ์\nไพรสัณฑ์\nไพร่พล\nไพร่ฟ้า\nไพร่สม\nไพร่ส่วย\nไพร่หลวง\nฟกช้ำ\nฟองเต้าหู้\nฟองน้ำ\nฟองมัน\nฟ้องกลับ\nฟ้องร้อง\nฟอนเฟะ\nฟักทอง\nฟัดเฟียด\nฟันดาบ\nฟันฝ่า\nฟันแท้\nฟันน้ำนม\nฟันปลา\nฟันฟาง\nฟันเฟือง\nฟันม้า\nฟันเลื่อย\nฟันหนู\nฟั่นเฝือ\nฟั่นเฟือน\nฟื้นตัว\nฟื้นฝอย\nฟื้นฟู\nฟุ้งซ่าน\nฟุ้งเฟ้อ\nฟุ้งเฟื่อง\nฟุตบอล\nฟูฟ่อง\nฟูเฟื่อง\nฟูมฟัก\nฟูมฟาย\nเฟะฟะ\nเฟื่องฟ้า\nเฟื่องฟุ้ง\nเฟื่องฟู\nไฟฉาย\nไฟแช็ก\nไฟธาตุ\nไฟฟ้า\nภัตกิจ\nภาคทัณฑ์\nภาคพื้น\nภาคเรียน\nภาคภูมิ\nภาพถ่าย\nภาพนิ่ง\nภาพประกอบ\nภาพพจน์\nภาพยนตร์\nภาพลวงตา\nภาพลักษณ์\nภายนอก\nภายใน\nภายหน้า\nภายหลัง\nภารกิจ\nภารธุระ\nภารโรง\nภารตวิทยา\nภาษาศาสตร์\nภาสกร\nภิญโญภาพ\nภินชาติ\nภูธร\nภูธเรศ\nภูบาล\nภูเบศ\nภูเบศวร์\nภูเขา\nภูเขาไฟ\nภูผา\nภูตคาม\nภูตบดี\nภูตรูป\nภูเตศวร\nภูมินทร์\nภูมิบาล\nภูมิประเทศ\nภูมิภาค\nภูมิรัฐศาสตร์\nภูมิลำเนา\nภูมิศาสตร์\nภูมิอากาศ\nภูมิธรรม\nภูมิปัญญา\nภูมิรู้\nภูมิใจ\nภูมิฐาน\nภูมิคุ้มกัน\nภูมิแพ้\nภูษาโยง\nเภทภัย\nเภสัชกร\nเภสัชกรรม\nเภสัชวิทยา\nเภสัชศาสตร์\nโภคทรัพย์\nโภคภัณฑ์\nโภชนากร\nโภชนาการ\nมกุฎราชกุมาร\nมงคลแฝด\nมงคลสูตร\nมงคลหัตถี\nมณเฑียรบาล\nมดดำ\nมดแดง\nมดเท็จ\nมดยอบ\nมดลูก\nมธุปายาส\nมธุรส\nมนเทียรบาล\nมนุษย์กบ\nมโนกรรม\nมโนคติ\nมโนทุจริต\nมโนธรรม\nมโนภาพ\nมโนมัย\nมโนรถ\nมโนรมย์\nมโนสุจริต\nมรรคนายก\nมรรคผล\nมฤคชาติ\nมฤคทายวัน\nมฤคราช\nมลทิน\nมลพิษ\nมลสาร\nมวกเหล็ก\nม้วนหน้า\nมวยไทย\nมวยปล้ำ\nมวยล้ม\nมวยวัด\nมวยสากล\nมวยหมู่\nมวลสาร\nมอคราม\nมอซอ\nมอหมึก\nมองเมียง\nมอบตัว\nมอบหมาย\nมอมเมา\nมะขามเทศ\nมะขามป้อม\nมะขามเปียก\nมะเขือเทศ\nมะเขือพวง\nมะพร้าวแก้ว\nมักคุ้น\nมักจี่\nมักง่าย\nมักน้อย\nมักมาก\nมักใหญ่\nมั่งคั่ง\nมั่งมี\nมัจจุราช\nมัชฌิมนิกาย\nมัชฌิมประเทศ\nมัชฌิมยาม\nมัชฌิมวัย\nมัดจำ\nมัดหมี่\nมัธยมกาล\nมัธยมศึกษา\nมันแกว\nมันเทศ\nมันฝรั่ง\nมันเปลว\nมันสมอง\nมั่นคง\nมั่นใจ\nมั่นหมาย\nมั่นเหมาะ\nมัวเมา\nมัวหมอง\nมั่วสุม\nม้าเทศ\nม้าน้ำ\nม้ามืด\nม้าเร็ว\nม้าล่อ\nม้าลาย\nมากมาย\nมาตรการ\nมาตรฐาน\nมาตราส่วน\nมาตุคาม\nมาตุฆาต\nมาตุภูมิ\nม่านตา\nม่านบังตา\nมายากร\nมายากล\nมายาการ\nมายาวี\nมารผจญ\nมารวิชัย\nมารสังคม\nมารหัวขน\nมาลาการ\nมิ่งขวัญ\nมิ่งมิตร\nมิจฉาจาร\nมิจฉาชีพ\nมิดชิด\nมิดเมี้ยน\nมิดหมี\nมิตรจิต\nมิตรภาพ\nมิตรสหาย\nมิน่า\nมีหน้า\nมีดโกน\nมีดดาบ\nมีดโต้\nมีดพก\nมีดพับ\nมีดสั้น\nมึนงง\nมึนชา\nมึนตึง\nมึนเมา\nมืดครึ้ม\nมืดมน\nมืดมัว\nมือจับ\nมือดี\nมือเติบ\nมือปืน\nมือเปล่า\nมือมืด\nมือสอง\nมือเสือ\nมือหนึ่ง\nมือใหม่\nมุกตลก\nมุขปาฐะ\nมุขมนตรี\nมุ่งมั่น\nมุ่งมาด\nมุ่งหน้า\nมุ่งหมาย\nมุ่งหวัง\nมุ้งลวด\nมุ้งสายบัว\nมุมก้ม\nมุมกลับ\nมุมเงย\nมุมฉาก\nมุมตรง\nมุมป้าน\nมุมมืด\nมุมแย้ง\nมุมสะท้อน\nมุมหักเห\nมุมแหลม\nมุสาวาท\nมูกเลือด\nมูกมัน\nมูกหลวง\nมูนดิน\nมูลฐาน\nมูลนาย\nมูลนิธิ\nมูลเหตุ\nมูลค่า\nมูลฝอย\nเม็ดเงิน\nเม็ดเลือด\nเม็ดโลหิต\nเม่นทะเล\nเมรุมาศ\nเมรุราช\nเมล์อากาศ\nเมาดิบ\nเมามัน\nเมามัว\nเมามาย\nเมินเฉย\nเมียน้อย\nเมียหลวง\nเมียงมอง\nเมี่ยงลาว\nเมี่ยงส้ม\nเมื่อกี้\nเมื่อตะกี้\nเมื่อใด\nเมื่อไร\nเมื่อไหร่\nเมื่อนั้น\nเมืองขึ้น\nเมืองท่า\nเมืองนอก\nเมืองหลวง\nเมื่อยขบ\nเมื่อยล้า\nแม่กอง\nแม่กุญแจ\nแม่คุณ\nแม่งาน\nแม่เจ้า\nแม่ชี\nแม่ทัพ\nแม่นม\nแม่น้ำ\nแม่บท\nแม่บ้าน\nแม่เบี้ย\nแม่พระ\nแม่พิมพ์\nแม่เพลง\nแม่มด\nแม่ม่าย\nแม่ไม้\nแม่ยก\nแม่ยาย\nแม่ร้าง\nแม่เรือน\nแม่แรง\nแม่เล้า\nแม่เลี้ยง\nแม่สี\nแม่สื่อ\nแม่เหล็ก\nแมงมุม\nแม่นยำ\nแมลงช้าง\nแมลงวัน\nแมลงปอ\nแมลงภู่\nแมลงเม่า\nแมวเซา\nแมวน้ำ\nแมวป่า\nแมวมอง\nไม้กลัด\nไม้กวาด\nไม้กางเขน\nไม้เกาหลัง\nไม้ขีดไฟ\nไม้จิ้มฟัน\nไม้เด็ด\nไม้ตาย\nไม้ตีพริก\nไม้ที\nไม้เท้า\nไม้บรรทัด\nไม้เมตร\nไม้ระแนง\nไม้เรียว\nไม้หมอน\nไม้อัด\nไม้จัตวา\nไม้ตรี\nไม้ไต่คู้\nไม้โท\nไม้ผัด\nไม้มลาย\nไม้ม้วน\nไม้ยมก\nไม้หน้า\nไม้หันอากาศ\nไม้เอก\nยกกลีบ\nยกครู\nยกเครื่อง\nยกเค้า\nยกทรง\nยกฟ้อง\nยกเมฆ\nยกยอ\nยกย่อง\nยกเลิก\nยกเว้น\nย่นย่อ\nยมทูต\nยมบาล\nยมราช\nยมโลก\nยวดยิ่ง\nยวดยาน\nยวนยี\nยวบยาบ\nย่อท้อ\nย่อส่วน\nย่อหน้า\nย่อหย่อน\nยอกย้อน\nยองใย\nย่องเบา\nย่องแย่ง\nยอดเยี่ยม\nยอดอก\nย้อนยอก\nย้อนรอย\nย้อนศร\nย้อนแสง\nย้อนหลัง\nยอบแยบ\nยอมความ\nย่อมเยา\nย่อยยับ\nยักยอก\nยักย้าย\nยักเยื้อง\nยัญกรรม\nยัญพิธี\nยัดเยียด\nยับเยิน\nยับยั้ง\nยั่วยวน\nยั่วยุ\nยั่วเย้า\nยากวาด\nยากันยุง\nยาเขียว\nยาใจ\nยาฉุน\nยาชา\nยาซัด\nยาดอง\nยาแดง\nยาถ่าย\nยาธาตุ\nยานัตถุ์\nยาเบื่อ\nยาโป๊\nยาแฝด\nยาพิษ\nยาระบาย\nยาสลบ\nยาสั่ง\nยาสีฟัน\nยาสูบ\nยาเส้น\nยาเสพติด\nยาหม่อง\nยาเหลือง\nย่าทวด\nย่านาง\nยากแค้น\nยากจน\nยากเย็น\nยากไร้\nยางนอก\nยางใน\nยางมะตอย\nยางมะตูม\nยางลบ\nยางสน\nยางอาย\nย่างกราย\nย่างเยื้อง\nย่างสด\nย่างสามขุม\nย่างเหยียบ\nยานเกราะ\nยานพาหนะ\nยานอวกาศ\nยานคาง\nยายทวด\nยาวเฟื้อย\nยาวยืด\nยาวเหยียด\nยำทวาย\nยำใหญ่\nยำเกรง\nยำเยง\nย่ำต๊อก\nย่ำยี\nย่ำแย่\nยิงเป้า\nยิ่งนัก\nยิ่งยวด\nยิ่งใหญ่\nยินดี\nยินยอม\nยินร้าย\nยิ้มกริ่ม\nยิ้มแฉ่ง\nยิ้มแต้\nยิ้มแป้น\nยิ้มเผล่\nยิ้มเยาะ\nยิ้มแย้ม\nยียวน\nยึดครอง\nยึดถือ\nยึดมั่น\nยึดเหนี่ยว\nยืดยาด\nยืดยาว\nยืดเยื้อ\nยืดหยุ่น\nยืดอก\nยืนกราน\nยืนต้น\nยืนพื้น\nยืนยง\nยืนยัน\nยืนหยัด\nยื้อยุด\nยุยง\nยุแยง\nยุแหย่\nยุคลบาท\nยุคเข็ญ\nยุคทอง\nยุคมืด\nยุ่งขิง\nยุ่งยาก\nยุ่งเหยิง\nยุติธรรม\nยุทธการ\nยุทธนาวี\nยุทธปัจจัย\nยุทธภัณฑ์\nยุทธภูมิ\nยุทธวิธี\nยุทธศาสตร์\nยุทธหัตถี\nยุทธนาการ\nยุทธนาธิการ\nยุบยับ\nยุบยิบ\nยุพราช\nยู่ยี่\nเย็นเจี๊ยบ\nเย็นใจ\nเย็นฉ่ำ\nเย็นเฉียบ\nเย็นชา\nเย็นชืด\nเย็นตา\nเย็นเยียบ\nเย็นเยือก\nเย็นวาบ\nเย็นวูบ\nเย็บกี่\nเย็บจักร\nเย็บด้าย\nเย้ยหยัน\nเย้าหยอก\nเยาะเย้ย\nเยี่ยมกราย\nเยี่ยมเยียน\nเยี่ยมเยือน\nเยี่ยมยอด\nเยื่อเคย\nเยื่อใย\nเยือกเย็น\nเยื้องกราย\nเยื้องยัก\nเยื้องย่าง\nแยกย้าย\nแยกแยะ\nแย่งชิง\nแยบคาย\nแยบยล\nแย้มพราย\nแย้มยิ้ม\nแย้มสรวล\nโยเย\nโย้เย้\nโยกโคลง\nโยกย้าย\nโยกโย้\nโยนกลอง\nใยหิน\nรกชัฏ\nรกร้าง\nรกเรี้ยว\nรกเรื้อ\nรกราก\nรงควัตถุ\nรชนีกร\nรถกระบะ\nรถเก๋ง\nรถเข็น\nรถแข่ง\nรถจักร\nรถจี๊ป\nรถตู้\nรถทัวร์\nรถบรรทุก\nรถพ่วง\nรถพยาบาล\nรถไฟ\nรถไฟฟ้า\nรถม้า\nรถเมล์\nรถยนต์\nรถราง\nรถลาก\nรถสปอร์ต\nรถสิบล้อ\nรบกวน\nรบรา\nรบเร้า\nรมดำ\nร่มเกล้า\nร่มชูชีพ\nร่มเย็น\nร่มรื่น\nร่วงโรย\nรวงผึ้ง\nรวงรัง\nรวดเร็ว\nรวนเร\nรวบยอด\nรวบรวม\nรวบรัด\nรวมพล\nรวมหัว\nร่วมใจ\nร่วมเพศ\nร่วมมือ\nร่วมรัก\nร่วมสมัย\nรวยริน\nรวยรื่น\nรสชาติ\nรสนิยม\nรองท้อง\nรองเท้า\nรองพื้น\nร่องน้ำ\nร่องรอย\nร้องขอ\nร้องทุกข์\nร้องเรียน\nร้องห่ม\nร้องไห้\nรองช้ำ\nรองทรง\nรอดชีวิต\nรอดตัว\nรอดตาย\nรอนแรม\nร่อนเร่\nร้อนใจ\nร้อนตัว\nร้อนรน\nร้อนรุ่ม\nร้อนวิชา\nร้อนอาสน์\nรอบจัด\nรอบเดือน\nรอบรู้\nรอยร้าว\nร่อยหรอ\nร้อยละ\nร้อยกรอง\nร้อยแก้ว\nร้อยหวาย\nระนาดทุ้ม\nระนาดเอก\nระเบิดขวด\nระเบิดมือ\nระเบียบการ\nรักใคร่\nรักษาการ\nรักษาการณ์\nรังไข่\nรังแตน\nรังนก\nรังผึ้ง\nรังเพลิง\nรังมด\nรังสรรค์\nรังสฤษฏ์\nรั้งรอ\nรังสีแพทย์\nรังสีวิทยา\nรัชกาล\nรัชทายาท\nรัชนีกร\nรัฐธรรมนูญ\nรัฐบาล\nรัฐบุรุษ\nรัฐประศาสน์\nรัฐประหาร\nรัฐพิธี\nรัฐมนตรี\nรัฐวิสาหกิจ\nรัฐศาสตร์\nรัฐสภา\nรัดกุม\nรัดเกล้า\nรัดตัว\nรัดประคด\nรัดรึง\nรัดรูป\nรัตติกาล\nรับขวัญ\nรับจ้าง\nรับช่วง\nรับใช้\nรับซื้อ\nรับทราบ\nรับประกัน\nรับประทาน\nรับปาก\nรับผิด\nรับผิดชอบ\nรับฟ้อง\nรับฟัง\nรับมือ\nรับรอง\nรับรู้\nรับสมัคร\nรับสั่ง\nรับหน้า\nรับเหมา\nรั่วไหล\nรามือ\nร่าเริง\nรากแก้ว\nรากขวัญ\nรากฐาน\nรากฟัน\nรากศัพท์\nรากเหง้า\nร่างกาย\nร่างแห\nร้างรา\nราชกรณียกิจ\nราชการ\nราชกิจ\nราชครู\nราชฐาน\nราชทัณฑ์\nราชทินนาม\nราชทูต\nราชธานี\nราชนาวี\nราชบัณฑิต\nราชบัลลังก์\nราชบาตร\nราชบุตร\nราชปะแตน\nราชภัฏ\nราชมัล\nราชยาน\nราชรถ\nราชลัญจกร\nราชเลขาธิการ\nราชเลขานุการ\nราชวงศ์\nราชวัติ\nราชสกุล\nราชสมบัติ\nราชสาส์น\nราชหัตถเลขา\nราชองครักษ์\nราชโองการ\nราชาคณะ\nราชาศัพท์\nราชินีนาถ\nร้านชำ\nร้านรวง\nราบคาบ\nราบรื่น\nราบเรียบ\nรายการ\nรายงาน\nรายจ่าย\nรายได้\nรายทาง\nรายรับ\nรายล้อม\nรายละเอียด\nรายวิชา\nร่ายยาว\nร่ายรำ\nร้ายกาจ\nร้ายแรง\nราวนม\nราวป่า\nร้าวฉาน\nร้าวราน\nรำพัด\nรำแพน\nรำวง\nร่ำไป\nร่ำร้อง\nร่ำเรียน\nร่ำไร\nร่ำลา\nร่ำไห้\nริเริ่ม\nริอ่าน\nริมฝีปาก\nริ้วรอย\nรีบร้อน\nรีบรุด\nรีบเร่ง\nรื่นรมย์\nรื่นเริง\nรื้อถอน\nรื้อฟื้น\nรุกฆาต\nรุกราน\nรุกล้ำ\nรุกไล่\nรุ่งขึ้น\nรุ่งแจ้ง\nรุ่งเช้า\nรุ่งเรือง\nรุ่งโรจน์\nรุ่งสว่าง\nรุ่งสาง\nรุ่งอรุณ\nรุจิเรข\nรุดหน้า\nรุนแรง\nรุมเร้า\nรุมล้อม\nรุ่มรวย\nรุ่มร้อน\nรุ่ยร่าย\nรู้แกว\nรู้ความ\nรู้คุณ\nรู้งาน\nรู้จัก\nรู้แจ้ง\nรู้ใจ\nรู้เชิง\nรู้ตัว\nรู้ทัน\nรู้เท่า\nรู้เรื่อง\nรู้สำนึก\nรู้สึก\nรู้เห็น\nรูปการณ์\nรูปโฉม\nรูปฌาน\nรูปถ่าย\nรูปทรง\nรูปธรรม\nรูปแบบ\nรูปพรรณ\nรูปพรหม\nรูปภพ\nรูปภาพ\nรูปร่าง\nรูปสมบัติ\nเร่ร่อน\nเร่งด่วน\nเร่งมือ\nเร่งรัด\nเร่งรีบ\nเร่งเร้า\nเร้นลับ\nเร่อร่า\nเร่าร้อน\nเราะราย\nเราะร้าย\nเริงใจ\nเริงรมย์\nเริดร้าง\nเริ่มต้น\nเริ่มแรก\nเรี่ยราด\nเรี่ยไร\nเรียกคืน\nเรียกตัว\nเรียกร้อง\nเรียกหา\nเรียบร้อย\nเรียงความ\nเรียงตัว\nเรียงเบอร์\nเรียงพิมพ์\nเรียงเม็ด\nเรียงราย\nเรียนรู้\nเรียบร้อย\nเรียบเรียง\nเรียบวุธ\nเรี่ยมเร้\nเรี่ยวแรง\nเรือกลไฟ\nเรือกอและ\nเรือกำปั่น\nเรือจ้าง\nเรือดำน้ำ\nเรือโดยสาร\nเรือตรวจการณ์\nเรือตังเก\nเรือธง\nเรือนำร่อง\nเรือบด\nเรือบิน\nเรือใบ\nเรือประมง\nเรือพ่วง\nเรือพิฆาต\nเรือยนต์\nเรือยาว\nเรือโยง\nเรือรบ\nเรือลากจูง\nเรือสำปั้น\nเรือสำเภา\nเรือหลวง\nเรือหางยาว\nเรืออีโปง\nเรือเอี้ยมจุ๊น\nเรื้อรัง\nเรือกสวน\nเรืองนาม\nเรืองรอง\nเรืองแสง\nเรื่องราว\nเรื่องสั้น\nเรือนแก้ว\nเรือนจำ\nเรือนเบี้ย\nเรือนแพ\nเรือนหอ\nเรื่อยเจื้อย\nเรื่อยเฉื่อย\nเรื่อยเปื่อย\nแรเงา\nแรกนา\nแรกนาขวัญ\nแรงงาน\nแรงดึงดูด\nแรงเทียน\nแรงม้า\nแรงเหวี่ยง\nแรมรอน\nแรมรา\nแรมโรย\nโรคจิต\nโรงครัว\nโรงงาน\nโรงเจ\nโรงเตี๊ยม\nโรงทาน\nโรงนา\nโรงพยาบาล\nโรงพัก\nโรงพิมพ์\nโรงเรียน\nโรงเรือน\nโรงแรม\nโรงเลี้ยง\nโรงเลื่อย\nโรงสี\nโรงสีข้าว\nโรงอาหาร\nโรมรัน\nโรยรา\nฤชากร\nฤดูกาล\nลงขัน\nลงแขก\nลงคอ\nลงตัว\nลงท้าย\nลงทุน\nลงโทษ\nลงพุง\nลงมือ\nลงรัก\nลงรอย\nลงแรง\nลงโรง\nลงเอย\nลดตัว\nลดละ\nลดเลี้ยว\nลดหย่อน\nลดหลั่น\nลนลาน\nล้นพ้น\nล้นหลาม\nล้นเหลือ\nลบล้าง\nลบเลือน\nลบหลู่\nลมกรด\nลมค้า\nลมงวง\nลมแดด\nลมทะเล\nลมบก\nลมบน\nลมบ้าหมู\nลมปราณ\nลมปาก\nลมพิษ\nลมว่าว\nลมเสีย\nลมหนาว\nลมหายใจ\nล่มจม\nล่มสลาย\nล้มละลาย\nล้มลุก\nล้มเลิก\nล่วงเกิน\nล่วงรู้\nล่วงละเมิด\nล่วงลับ\nล่วงล้ำ\nล่วงเลย\nล่วงหน้า\nลวดลาย\nลวดสปริง\nลวดหนาม\nล้วนแล้ว\nลหุโทษ\nล่อลวง\nล่อหลอก\nล่อแหลม\nล้อต๊อก\nล้อเลื่อน\nล้อเล่น\nล้อเลียน\nล้อหลอก\nลองเชิง\nลองดี\nลองภูมิ\nล่องหน\nลอดช่อง\nล่อนจ้อน\nลอบกัด\nล้อมวง\nลอยแก้ว\nลอยชาย\nลอยตัว\nลอยนวล\nลอยแพ\nลอยลำ\nละทิ้ง\nละเลย\nละเว้น\nละครนอก\nละครใน\nละครเพลง\nละครร้อง\nละครรำ\nละครลิง\nละครสัตว์\nละเอียดอ่อน\nลักไก่\nลักพา\nลักเพศ\nลักยิ้ม\nลักลอบ\nลักลั่น\nลักหลับ\nลัดเลาะ\nลับตา\nลับแล\nลับหลัง\nลาออก\nล่าช้า\nล่าทัพ\nล้าสมัย\nล้าหลัง\nลากข้าง\nล้างบาง\nล้างผลาญ\nลาดเขา\nลาดตระเวน\nลาดเท\nลาดยาง\nลานบิน\nลาภปาก\nลาภลอย\nลามปาม\nลามเลีย\nลายคราม\nลายเซ็น\nลายแทง\nลายน้ำ\nลายพร้อย\nลายมือ\nลายลักษณ์\nลายเส้น\nลำกล้อง\nลำแข้ง\nลำธาร\nลำแสง\nลำไส้\nลำตัด\nลำนำ\nล่ำสัน\nล้ำยุค\nล้ำสมัย\nล้ำลึก\nล้ำเลิศ\nล้ำเส้น\nล้ำหน้า\nลิงจุ่น\nลิงลม\nลิงโลด\nลิดรอน\nลิ้นไก่\nลิ้นชัก\nลิ้นปี่\nลิ้นควาย\nลิ้นงูเห่า\nลิ้นหมา\nลิบลับ\nลิบลิ่ว\nลิ่มเลือด\nลี้ภัย\nลี้ลับ\nลึกซึ้ง\nลึกลับ\nลึกล้ำ\nลืมตน\nลืมต้น\nลืมตัว\nลืมตา\nลืมเลือน\nลือชา\nลือชื่อ\nลือลั่น\nลุล่วง\nลุกลน\nลุกลาม\nลุกลี้ลุกลน\nลุกฮือ\nลุ่มน้ำ\nลุ่มลึก\nลุ่มหลง\nลุ่ทาง\nลูกกรง\nลูกกรอก\nลูกกรุง\nลูกกลอน\nลูกกลิ้ง\nลูกกวาด\nลูกกะจ๊อก\nลูกกุญแจ\nลูกเกด\nลูกแก้ว\nลูกขนไก่\nลูกข่าง\nลูกขุน\nลูกเขย\nลูกครึ่ง\nลูกคลื่น\nลูกความ\nลูกคอ\nลูกค้า\nลูกคิด\nลูกคู่\nลูกจ้าง\nลูกช้าง\nลูกชิด\nลูกชิ้น\nลูกชุบ\nลูกซอง\nลูกโซ่\nลูกดอก\nลูกดิ่ง\nลูกตะกั่ว\nลูกตุ้ม\nลูกเต้า\nลูกเต๋า\nลูกถ้วย\nลูกทุ่ง\nลูกเธอ\nลูกน้อง\nลูกน้ำ\nลูกนิมิต\nลูกบอล\nลูกบ้าน\nลูกบาศก์\nลูกบิด\nลูกเบี้ยว\nลูกประคบ\nลูกประคำ\nลูกปัด\nลูกปืน\nลูกโป่ง\nลูกผสม\nลูกผู้ชาย\nลูกผู้หญิง\nลูกพรรค\nลูกพี่\nลูกฟูก\nลูกไฟ\nลูกมือ\nลูกโม่\nลูกไม้\nลูกยาเธอ\nลูกรอก\nลูกรัง\nลูกเรือ\nลูกล้อ\nลูกลอย\nลูกเล่น\nลูกเลี้ยง\nลูกโลก\nลูกวัด\nลูกศร\nลูกศิษย์\nลูกสมุน\nลูกสะใภ้\nลูกสูบ\nลูกเสือ\nลูกหนัง\nลูกหนี้\nลูกหนู\nลูกหมาก\nลูกหลง\nลูกหลาน\nลูกหาบ\nลูกหิน\nลูกเห็บ\nลูกเหม็น\nลูกแหง่\nลูกอม\nลูกหม้อ\nลูบคม\nลูบคลำ\nลูบไล้\nเล็กน้อย\nเลขคณิต\nเลขผา\nเลขหมาย\nเล็ดลอด\nเล่นงาน\nเล่นแง่\nเล่นชู้\nเล่นตัว\nเล่นลิ้น\nเล่นหัว\nเลนส์นูน\nเลนส์เว้า\nเล็บครุฑ\nเลยเถิด\nเลศนัย\nเล่ห์กล\nเล่ห์เหลี่ยม\nเลอโฉม\nเลอมาน\nเลอเลิศ\nเลอสรวง\nเล่อล่า\nเลอะเลือน\nเล่าเรียน\nเล่าลือ\nเลาะลัด\nเลิกรา\nเลิกร้าง\nเลิกล้ม\nเลิศเลอ\nเลี้ยงชีพ\nเลี้ยงดู\nเลี้ยงต้อย\nเลียบเคียง\nเลี้ยวลด\nเลือกตั้ง\nเลือกเฟ้น\nเลือกสรร\nเลื่องลือ\nเลือดกำเดา\nเลือดเนื้อ\nเลือดฝาด\nเลือดเย็น\nเลือดร้อน\nเลือดหมู\nเลือดอุ่น\nเลือนราง\nเลื่อนเปื้อน\nเลื่อนลอย\nเลื่อมพราย\nเลื่อมใส\nเลื่อยฉลุ\nเลื่อยลันดา\nเลื่อยวงเดือน\nเลื้อยคลาน\nแลเหลียว\nแลกเปลี่ยน\nแล้วกัน\nและเล็ม\nโล่งใจ\nโล่งโถง\nโล่งอก\nโลดเต้น\nโลดโผน\nโลดลิ่ว\nโลดแล่น\nไล่ที่\nไล่เบี้ย\nไล่เลี่ย\nไล่เลียง\nไล่หลัง\nไล่ออก\nวกวน\nวงกบ\nวงกลม\nวงการ\nวงแขน\nวงเงิน\nวงจร\nวงนอก\nวงใน\nวงรี\nวงเล็บ\nวงเวียน\nวงแหวน\nวงศ์วาน\nวจีกรรม\nวจีเภท\nวจีภาค\nวนเวียน\nวอดวาย\nว็อบแว็บ\nวังวน\nวังหน้า\nวังหลวง\nวังหลัง\nวัดราษฎร์\nวัดวา\nวัดหลวง\nวัดผล\nวัดพื้น\nวัตถุนิยม\nวัตถุประสงค์\nวัตรปฏิบัติ\nวันโกน\nวันพระ\nวันเพ็ญ\nวัยรุ่น\nวัยวุฒิ\nว่ากล่าว\nว่าจ้าง\nว่าด้วย\nว่าที่\nวางก้าม\nวางใจ\nวางตัว\nวางตา\nวางโต\nวางท่า\nวางมวย\nวางมาด\nวางมือ\nวางวาย\nว่างเปล่า\nว่างเว้น\nวาดเขียน\nว่านเครือ\nวาบหวาม\nวายชนม์\nวายปราณ\nวายวาง\nวายวอด\nวายร้าย\nวายุภักษ์\nวาววับ\nวาววาม\nวาวแวว\nวาวแสง\nวิกฤตการณ์\nวิกฤติการณ์\nวิกฤตกาล\nวิกฤติกาล\nวิกลจริต\nวิงเวียน\nวิ่งเต้น\nวิ่งผลัด\nวิ่งรอก\nวิ่งราว\nวิจิตรศิลป์\nวิชาการ\nวิชาชีพ\nวิชาธร\nวิญญูชน\nวิดพื้น\nวิตกจริต\nวิถีทาง\nวิทยากร\nวิทยากล\nวิทยาการ\nวิทยาเขต\nวิทยาทาน\nวิทยาธร\nวิทยานิพนธ์\nวิทยาศาสตร์\nวิเทศสัมพันธ์\nวิธีการ\nวินัยธร\nวินัยปิฎก\nวินาศกรรม\nวินาศภัย\nวินาศสันตะโร\nวิภัชพยากรณ์\nวิภัชวาที\nวิไลวรรณ\nวิสัญญีแพทย์\nวิสัญญีภาพ\nวิสัญญีวิทยา\nวุฒิบัตร\nวุฒิสภา\nวุฒิสมาชิก\nวุ่นวาย\nวุ้นเส้น\nวูบวาบ\nเวจกุฎี\nเวจมรรค\nเวชกรรม\nเวชภัณฑ์\nเวชศาสตร์\nเวทมนตร์\nเวนคืน\nเวรกรรม\nเวฬุการ\nเวฬุวัน\nเว้าวอน\nเวิ้งว้าง\nเวียงวัง\nเวียนเทียน\nแว้งกัด\nแวดล้อม\nแวดวง\nแว่นขยาย\nแว่นแคว้น\nแว่นตา\nแวบวับ\nแววตา\nแวววาม\nแวววาว\nแวะเวียน\nโวยวาย\nไวไฟ\nไว้ใจ\nไว้ชื่อ\nไว้ตัว\nไว้ทุกข์\nไว้ลาย\nไว้หน้า\nไว้อาลัย\nศนิวาร\nศอกกลับ\nศอกกำ\nศอกกำมา\nศักดิ์ศรี\nศักดิ์สิทธิ์\nศารทวิษุวัติ\nศาลแขวง\nศาลจังหวัด\nศาลชั้นต้น\nศาลฎีกา\nศาลเตี้ย\nศาลทหาร\nศาลปกครอง\nศาลพระภูมิ\nศาลเพียงตา\nศาลแพ่ง\nศาลรัฐธรรมนูญ\nศาลแรงงาน\nศาลล้มละลาย\nศาลโลก\nศาลสูง\nศาลสูงสุด\nศาลอาญา\nศาลอุทธรณ์\nศาลากลาง\nศาลาดิน\nศาลาราย\nศาลาวัด\nศิลาฤกษ์\nศิลาแลง\nศิษย์เก่า\nศิษย์เอก\nศีลจุ่ม\nศีลธรรม\nศีลวัต\nศีลอด\nศูนย์กลาง\nศูนย์การค้า\nศูนย์ถ่วง\nศูนย์สูตร\nศูนย์หน้า\nเศร้าใจ\nเศร้าโศก\nเศร้าสร้อย\nเศร้าสลด\nเศร้าหมอง\nเศวตฉัตร\nเศษเกิน\nเศษซ้อน\nเศษวรรค\nเศษส่วน\nเศษเหล็ก\nโศกนาฏกรรม\nโศกศัลย์\nโศกเศร้า\nโศกสลด\nสกลโลก\nส่งเดช\nส่งท้าย\nส่งเสริม\nส่งเสีย\nส่งเสียง\nสงบเงียบ\nสงบเสงี่ยม\nสง่างาม\nสง่าราศี\nสดชื่น\nสดใส\nสตรีเพศ\nสติปัญญา\nสถลมารค\nสถานกงสุล\nสถานที่\nสถานทูต\nสถานการณ์\nสถานภาพ\nสถิติศาสตร์\nสนตะพาย\nสนใจ\nส้นตีน\nสนธิสัญญา\nสนนราคา\nสนับแข้ง\nสนับเพลา\nสนับมือ\nสนามบิน\nสนามเพลาะ\nสนิทสนม\nสนิมขุม\nสนิมสร้อย\nสนุกสนาน\nสบประมาท\nสบายใจ\nสภาพธรรม\nสมควร\nสมจริง\nสมใจ\nสมนัย\nสมน้ำหน้า\nสมประกอบ\nสมส่วน\nสมหวัง\nสมคบ\nสมทบ\nสมยอม\nสมรัก\nสมรู้\nสมสู่\nส้มฉุน\nส้มตำ\nส้มลิ้ม\nส้มกุ้ง\nส้มเช้า\nสมญานาม\nสมมติฐาน\nสมมุติฐาน\nสมมติเทพ\nสมรภูมิ\nสมัครใจ\nสมัยนิยม\nสมุทรศาสตร์\nสมุทรเสนา\nสยดสยอง\nสยองขวัญ\nสยามรัฐ\nสรรหา\nสรวมชีพ\nสรวลเส\nสร้อยเศร้า\nสร้างสรรค์\nสร้างเสริม\nสลดใจ\nสลบไสล\nสละสลวย\nสลาเหิน\nสลากภัต\nสวนครัว\nสวนป่า\nสวนสนุก\nสวนหย่อม\nส่วนกลาง\nส่วนเกิน\nส่วนตัว\nส่วนบุญ\nส่วนแบ่ง\nส่วนประกอบ\nส่วนพระองค์\nส่วนผสม\nส่วนรวม\nส่วนร่วม\nส่วนลด\nส่วนสัด\nสวมกอด\nสวมเขา\nสวมรอย\nสวยมภู\nสว่างไสว\nสวามิภักดิ์\nสวิงสวาย\nสสารนิยม\nส่อเสียด\nสอดคล้อง\nสอดแทรก\nสอดแนม\nสอบถาม\nสอบทาน\nสอบไล่\nสอบสวน\nส้อมเสียง\nสะสวย\nสะแกวัลย์\nสะแกแสง\nสะใจ\nสะเด็ดยาด\nสะเทือนใจ\nสะบัดช่อ\nสั่งสม\nสั่งสอน\nสั่งเสีย\nสังเกตการณ์\nสังคมนิยม\nสังคมวิทยา\nสังคมศาสตร์\nสังคมศึกษา\nสังคมสงเคราะห์\nสัญญาบัตร\nสัดส่วน\nสัตการ\nสัตบุรุษ\nสัตบริภัณฑ์\nสัตภัณฑ์\nสัตมหาสถาน\nสัตโลหะ\nสันเขา\nสันดอน\nสันหลัง\nสั่นเทา\nสั่นเทิ้ม\nสันติบาล\nสันติภาพ\nสันติวิธี\nสันติสุข\nสับเปลี่ยน\nสับสน\nสับหลีก\nสับหว่าง\nสัมมาคารวะ\nสัมมาชีพ\nส่าเหล้า\nสากกะเบือ\nสาทิสลักษณ์\nสาธุการ\nสาธุชน\nสาบเสือ\nสาปสรร\nสาปแช่ง\nสาปส่ง\nสามง่าม\nสามล้อ\nสามเหลี่ยม\nสามเวท\nสามัญชน\nสามัญสำนึก\nสายดิ่ง\nสายดิน\nสายตรวจ\nสายน้ำ\nสายบัว\nสายพาน\nสายฟ้า\nสายยาง\nสายยู\nสายใย\nสายรก\nสายรุ้ง\nสายล่อฟ้า\nสายลับ\nสายเลือด\nสายโลหิต\nสายวัด\nสายส่ง\nสายสวาท\nสายสะดือ\nสายสะพาย\nสายสัมพันธ์\nสายสิญจน์\nสายสืบ\nสายไหม\nสายอากาศ\nสายตา\nสายหยุด\nสารตรา\nสารประกอบ\nสารละลาย\nสารส้ม\nสารหนู\nสารทฤดู\nสาวใช้\nสาวน้อย\nสาวใหญ่\nสำนักงาน\nสำนักพิมพ์\nสำนักสงฆ์\nสำมะโนครัว\nสำเร็จรูป\nสิกขาบท\nสิงสถิต\nสิงสู่\nสิ่งก่อสร้าง\nสิ่งของ\nสิ่งปฏิกูล\nสิ่งพิมพ์\nสิ่งแวดล้อม\nสิ่งศักดิ์สิทธิ์\nสิทธิกร\nสิทธิ์ขาด\nสิทธิชัย\nสิทธิโชค\nสิทธิบัตร\nสินค้า\nสินจ้าง\nสินเชื่อ\nสินไถ่\nสินทรัพย์\nสินน้ำใจ\nสินบน\nสินแร่\nสินสมรส\nสินสอด\nสินไหม\nสิ้นเชิง\nสิ้นสุด\nสีผึ้ง\nสีลม\nสีชอล์ก\nสีถ่าน\nสีเทียน\nสีน้ำ\nสีน้ำมัน\nสีโปสเตอร์\nสีฝุ่น\nสี่เหลี่ยม\nสีหน้า\nสึกหรอ\nสืบทอด\nสืบค้น\nสืบสวน\nสืบสาว\nสืบเสาะ\nสื่อผสม\nสื่อมวลชน\nสื่อสาร\nสุกงอม\nสุกดิบ\nสุกปลั่ง\nสุกใส\nสุขนาฏกรรม\nสุขภัณฑ์\nสุขภาพ\nสุขลักษณะ\nสุขวิทยา\nสุขศาลา\nสุขศึกษา\nสุดท้าย\nสุตกวี\nสุนทรพจน์\nสุภาพชน\nสู่ขอ\nสู่รู้\nสู่สม\nสูงส่ง\nสูญเปล่า\nสูญสิ้น\nสูญเสีย\nสูญหาย\nเสสรวล\nเสแสร้ง\nเสกสรร\nเสถียรภาพ\nเส้นชัย\nเส้นตรง\nเส้นตาย\nเส้นทาง\nเส้นใย\nเส้นรุ้ง\nเส้นเลือด\nเส้นแวง\nเส้นสาย\nเส้นเสียง\nเส้นหมี่\nเส้นเอ็น\nเสบียงกรัง\nเสมอภาค\nเสมอหน้า\nเสมอเหมือน\nเสมียนตรา\nเสร็จสรรพ\nเสร็จสิ้น\nเสริมส่ง\nเสริมสร้าง\nเสริมสวย\nเสรีไทย\nเสรีธรรม\nเสรีนิยม\nเสรีภาพ\nเสาเข็ม\nเสาธง\nเสียใจ\nเสียเชิง\nเสียดาย\nเสียที\nเสียเที่ยว\nเสียเปรียบ\nเสียเปล่า\nเสียรู้\nเสียแรง\nเสียสละ\nเสียหลัก\nเสียหาย\nเสี่ยงทาย\nเสียดแทง\nเสียดแทรก\nเสียดสี\nเสี้ยนศึก\nเสี้ยนหนาม\nเสี้ยมสอน\nเสียวซ่าน\nเสียวไส้\nเสือดาว\nเสือดำ\nเสือปลา\nเสือป่า\nเสือไฟ\nเสื่อกก\nเสื่อกระจูด\nเสื่อน้ำมัน\nเสื่อลำแพน\nเสื้อกล้าม\nเสื้อกั๊ก\nเสื้อเกราะ\nเสื้อครุย\nเสื้อแสง\nเสื้อเมือง\nเสือกคลาน\nเสือกสน\nเสือกไส\nเสื่อมคลาย\nเสื่อมถอย\nเสื่อมทราม\nเสื่อมโทรม\nเสื่อมสลาย\nเสื่อมสูญ\nเสื่อมเสีย\nเสือหมอบ\nแสกหน้า\nแสดงออก\nแสเถา\nแสนกล\nแสนรู้\nแสร้งว่า\nใส่ความ\nใส่ไคล้\nใส่ใจ\nใส่ไฟ\nไส้กรอก\nไส้ไก่\nไส้ติ่ง\nไส้ศึก\nไส้อั่ว\nไส้เดือน\nไส้ตัน\nไสยเวท\nไสยศาสตร์\nหกล้ม\nหงส์หยก\nหงอนไก่\nหงอยก๋อย\nหงอยเหงา\nหงายท้อง\nหงายหลัง\nหงำเหงอะ\nหงำเหงือก\nหดหาย\nหดหู่\nหนทาง\nหนวกหู\nหน่วงเหนี่ยว\nหน่วยก้าน\nหน่อไม้\nหนองใน\nหนองแซง\nหนักข้อ\nหนักใจ\nหนักแน่น\nหนักหน่วง\nหนักหนา\nหนังกลับ\nหนังตะลุง\nหนังเรียด\nหนังสด\nหนังใหญ่\nหนังสือพิมพ์\nหนาแน่น\nหน้ากระดาน\nหน้ากาก\nหน้ากาฬ\nหน้าแข้ง\nหน้าจั่ว\nหน้าฉาน\nหน้าตัก\nหน้าตา\nหน้าต่าง\nหน้าท้อง\nหน้าทับ\nหน้าที่\nหน้าที่นั่ง\nหน้าบัน\nหน้าปัด\nหน้าผา\nหน้าผาก\nหน้าม้า\nหน้ามุข\nหน้าไม้\nหน้าเลือด\nหน้าอก\nหนามเตย\nหน่ายหนี\nหน่ายแหนง\nหนาวเหน็บ\nหนำใจ\nหนี้สิน\nหนี้ส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น\nกณิกนันต์\nกณิการ์\nกด\nกตเวทิตา\nกตเวที\nกตัญชลี\nกตัญญุตา\nกตัญญู\nกตาธิการ\nกตาภินิหาร\nกติกา\nกถา\nกถิกาจารย์\nกทลี\nกน\nก่น\nก้น\nกนก\nกนิษฐ์\nกนิษฐา\nกบ\nกบฏ\nกบดาน\nกบทู\nกบาล\nกบินทร์\nกบิล\nกบี่\nกบูร\nกเบนทร์\nกม\nก้ม\nกมณฑลาภิเษก\nกมณฑโลทก\nกมล\nกมลา\nกมลาศ\nกมลาสน์\nกมเลศ\nกมัณฑลุ\nกมุท\nกร\nกรกฎ\nกรกฎาคม\nกรกฏ\nกรง\nกรชกาย\nกรณฑ์\nกรณิการ์\nกรณี\nกรณีย์\nกรณียกิจ\nกรณียะ\nกรด\nกรน\nกรบ\nกรบูร\nกรพินธุ์\nกรม\nกรรกฎ\nกรรกศ\nกรรเกด\nกรรไกร\nกรรเจียก\nกรรชิง\nกรรเชียง\nกรรโชก\nกรรฐ์\nกรรฐา\nกรรณ\nกรรณา\nกรรณิกา\nกรรณิการ์\nกรรดิ\nกรรดิก\nกรรดึก\nกรรตุ\nกรรไตร\nกรรทบ\nกรรแทก\nกรรบิด\nกรรบูร\nกรรภิรมย์\nกรรม\nกรรม์\nกรรม์ภิรมย์\nกรรมชวาต\nกรรมัชวาต\nกรรมาชีพ\nกรรมาธิการ\nกรรมาร\nกรรษก\nกรรสะ\nกรรแสง\nกรวด\nกรวบ\nกรวม\nกร้วม\nกรวย\nกรวิก\nกรสาปน์\nกรสุทธิ์\nกรอ\nกร้อ\nกรอก\nกร็อกกร๋อย\nกรอกแกรก\nกรอง\nกรองกรอย\nกรอด\nกร่อน\nกรอบ\nกรอม\nกร่อย\nกระ\nกระกร\nกระกรุ่น\nกระกลับกลอก\nกระกี้\nกระเกรอก\nกระเกริก\nกระเกริ่น\nกระคน\nกระคาย\nกระงกกระเงิ่น\nกระง่องกระแง่ง\nกระง่อนกระแง่น\nกระเง้ากระงอด\nกระโงก\nกระจก\nกระจง\nกระจร\nกระจอก\nกระจองหง่อง\nกระจ๋องหง่อง\nกระจองอแง\nกระจ้อน\nกระจอนหู\nกระจ้อย\nกระจ๋อหวอ\nกระจะ\nกระจัก\nกระจัง\nกระจัด\nกระจับ\nกระจ่า\nกระจ่าง\nกระจาด\nกระจาน\nกระจาบ\nกระจาม\nกระจาย\nกระจาว\nกระจิก\nกระจิ๋ง\nกระจิด\nกระจิบ\nกระจิ๋ม\nกระจิริด\nกระจิ๋ว\nกระจี้\nกระจี๋\nกระจุก\nกระจุ๋งกระจิ๋ง\nกระจุบ\nกระจุ๊บ\nกระจุ๋มกระจิ๋ม\nกระจุย\nกระจู้\nกระจู๋กระจี๋\nกระจูด\nกระเจอะกระเจิง\nกระเจา\nกระเจ่า\nกระเจ้า\nกระเจาะ\nกระเจิง\nกระเจิดกระเจิง\nกระเจี้ยง\nกระเจี๊ยบ\nกระเจียว\nกระเจี๊ยว\nกระแจะ\nกระโจน\nกระโจม\nกระฉอก\nกระฉ่อน\nกระฉับกระเฉง\nกระฉิ่ง\nกระฉีก\nกระฉูด\nกระเฉก\nกระเฉด\nกระแฉก\nกระโฉกกระเฉก\nกระโฉม\nกระชดกระช้อย\nกระชอน\nกระชอมดอก\nกระช้อย\nกระชัง\nกระชั้น\nกระชับ\nกระชาก\nกระชาย\nกระชิง\nกระชิด\nกระชุ\nกระชุก\nกระชุ่มกระชวย\nกระเชอ\nกระเชา\nกระเช้า\nกระเชียง\nกระแชง\nกระแชะ\nกระโชก\nกระซ่องกระแซ่ง\nกระซับ\nกระซาบ\nกระซิก\nกระซิบ\nกระซี้\nกระซุง\nกระซุบกระซิบ\nกระซุ้ม\nกระซู่\nกระเซ็น\nกระเซอ\nกระเซอะกระเซอ\nกระเซอะกระเซิง\nกระเซ้า\nกระเซิง\nกระแซ\nกระแซะ\nกระโซกระเซ\nกระฎี\nกระฎุมพี\nกระดก\nกระด้ง\nกระดนโด่\nกระดวง\nกระดวน\nกระด้วมกระเดี้ยม\nกระดอ\nกระดอง\nกระดองหาย\nกระดอน\nกระดอม\nกระดักกระเดี้ย\nกระดังงัว\nกระดังงา\nกระดาก\nกระด้าง\nกระดางลาง\nกระดาด\nกระดาดขาว\nกระดาน\nกระดานพน\nกระดาษ\nกระดำกระด่าง\nกระดิก\nกระดิ่ง\nกระดิ้ง\nกระดิบ\nกระดี่\nกระดี้กระเดียม\nกระดึง\nกระดืบ\nกระดุ\nกระดุกกระดิก\nกระดุ้งกระดิ้ง\nกระดุบ\nกระดุบกระดิบ\nกระดุม\nกระดูก\nกระเดก\nกระเด้ง\nกระเด็น\nกระเด้า\nกระเดาะ\nกระเดิด\nกระเดี้ย\nกระเดียด\nกระเดือก\nกระเดื่อง\nกระแด็ก\nกระแด้ง\nกระแด้แร่\nกระแด่ว\nกระแดะ\nกระโดก\nกระโดง\nกระโดด\nกระโดน\nกระได\nกระตรับ\nกระตราก\nกระตรุด\nกระตรุม\nกระต้วมกระเตี้ยม\nกระต้อ\nกระต่องกระแต่ง\nกระต๊อบ\nกระต้อยตีวิด\nกระตัก\nกระตั้ว\nกระต่าย\nกระติก\nกระติ๊ด\nกระติบ\nกระตือรือร้น\nกระตุก\nกระตุ้งกระติ้ง\nกระตุ่น\nกระตุ้น\nกระตูบ\nกระเตง\nกระเต็น\nกระเตอะ\nกระเตาะ\nกระเตาะกระแตะ\nกระเตื้อง\nกระแต\nกระแตแต้แว้ด\nกระโตกกระตาก\nกระโตน\nกระถด\nกระถอบ\nกระถั่ว\nกระถาง\nกระถิก\nกระถิน\nกระเถิบ\nกระโถน\nกระทก\nกระทง\nกระทบ\nกระทรวง\nกระทอก\nกระท้อน\nกระท่อนกระแท่น\nกระท่อม\nกระท้อมกระแท้ม\nกระทะ\nกระทั่ง\nกระทั้น\nกระทา\nกระทาย\nกระทาสี\nกระทาหอง\nกระทำ\nกระทิกกระทวย\nกระทิง\nกระทึง\nกระทืบ\nกระทุ\nกระทุง\nกระทุ้ง\nกระทุ่ม\nกระทู้\nกระเท่\nกระเทียบ\nกระเทียม\nกระเทือน\nกระเทื้อม\nกระแทก\nกระแท่น\nกระแทะ\nกระไทชาย\nกระน่อง\nกระนั้น\nกระนี้\nกระแนะกระแหน\nกระโน้น\nกระไน\nกระบก\nกระบม\nกระบวน\nกระบวย\nกระบวร\nกระบอก\nกระบอง\nกระบะ\nกระบัด\nกระบั้วกระเบี้ย\nกระบ่า\nกระบ้า\nกระบาก\nกระบาย\nกระบาล\nกระบิ\nกระบิ้ง\nกระบิด\nกระบิล\nกระบี่\nกระบือ\nกระบุง\nกระบุ่มกระบ่าม\nกระบู้กระบี้\nกระบูน\nกระบูร\nกระเบง\nกระเบญ\nกระเบ็ดกระบวน\nกระเบน\nกระเบา\nกระเบิก\nกระเบียด\nกระเบียน\nกระเบื้อง\nกระแบก\nกระแบะ\nกระโบม\nกระปมกระปำ\nกระปมกระเปา\nกระปรอก\nกระปรอกว่าว\nกระปรี้กระเปร่า\nกระปอก\nกระป้อกระแป้\nกระป่อง\nกระป๋อง\nกระปอดกระแปด\nกระป๋อหลอ\nกระปั้วกระเปี้ย\nกระป่ำ\nกระปุก\nกระปุ๊กลุก\nกระปุ่ม\nกระปุ่มกระป่ำ\nกระปุ่มกระปิ่ม\nกระเป๋า\nกระเปาะ\nกระโปก\nกระโปรง\nกระผม\nกระผลีกระผลาม\nกระผาน\nกระผีก\nกระพรวน\nกระพริ้ม\nกระพอก\nกระพอง\nกระพ้อม\nกระพัก\nกระพัง\nกระพังเหิร\nกระพังโหม\nกระพัด\nกระพัตร\nกระพัน\nกระพั่น\nกระพา\nกระพาก\nกระพี้\nกระพือ\nกระพุ้ง\nกระพุ่ม\nกระเพาะ\nกระเพิง\nกระเพื่อม\nกระแพ้ง\nกระฟัดกระเฟียด\nกระฟูมกระฟาย\nกระมล\nกระมอบ\nกระมอมกระแมม\nกระมัง\nกระมัน\nกระมิดกระเมี้ยน\nกระมุท\nกระเมาะ\nกระย่อง\nกระย่องกระแย่ง\nกระย่อน\nกระย่อม\nกระยา\nกระยาง\nกระยาจก\nกระยาหงัน\nกระยิก\nกระยิ้มกระย่อง\nกระยึกกระยือ\nกระยืดกระยาด\nกระเย้อกระแหย่ง\nกระรอก\nกระเรียน\nกระโรกน้ำข้าว\nกระโรกใหญ่\nกระไร\nกระลด\nกระลบ\nกระลอก\nกระลอม\nกระละหล่ำ\nกระลัด\nกระลับ\nกระลัมพร\nกระลา\nกระลำ\nกระลำพัก\nกระลำพุก\nกระลิง\nกระลี\nกระลุมพาง\nกระลุมพุก\nกระลุมพู\nกระลูน\nกระลู่น์\nกระเล็น\nกระเลียด\nกระเลือก\nกระโลง\nกระวน\nกระวัด\nกระวาด\nกระวาน\nกระวาย\nกระวิน\nกระวี\nกระวีกระวาด\nกระวูดกระวาด\nกระเวน\nกระเวยกระวาย\nกระแวน\nกระโวยกระวาย\nกระษัย\nกระษาปณ์\nกระสง\nกระสบ\nกระสม\nกระสรวล\nกระสร้อย\nกระสวน\nกระสวย\nกระสอบ\nกระสะ\nกระสัง\nกระสัน\nกระสับกระส่าย\nกระสา\nกระสานติ์\nกระสาบ\nกระสาย\nกระสือ\nกระสุงกระสิง\nกระส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ทิง\nกากะเยีย\nกากี\nกาง\nก้าง\nกางเกง\nกางเขน\nก๊าซ\nกาซะลอง\nกาญจนา\nกาฐ\nกาด\nก๊าด\nกาน\nก่าน\nก้าน\nก๊าน\nกานดา\nกานต์\nกานน\nก้านพร้าว\nกานพลู\nกาน้า\nกาบ\nก้าบ\nกาบู\nกาพย์\nกาเฟอีน\nกาแฟ\nกาม\nก้าม\nกามารมณ์\nกามินี\nกาเมสุมิจฉาจาร\nกาย\nก่าย\nกาเยน\nการ\nการณ์\nการ์ด\nการ์ตูน\nการบูร\nการย์\nการวิก\nการเวก\nการะเกด\nการะบุหนิง\nการัณย์\nการันต์\nการางหัวขวาน\nการิตการก\nการิตวาจก\nการุญ\nการุณย์\nกาเรการ่อน\nกาล\nกาลกรรณี\nกาลกิณี\nกาลจักร\nกาลัญญุตา\nกาลัญญู\nกาลัด\nกาลานุกาล\nกาลิก\nกาลี\nกาแล\nกาแล็กซี\nกาแล็กโทส\nกาว\nก้าว\nกาววาว\nกาวาง\nกาแวน\nกาศิก\nกาษฐะ\nกาษา\nกาสร\nกาสะ\nกาสา\nกาสาร\nกาสาวะ\nกาสิโน\nกาหล\nกาหลง\nกาหลา\nกาเหว่า\nกาไหล่\nกาฬ\nกาฬาวก\nกาฮัง\nกำ\nก่ำ\nกำกวม\nกำกัด\nกำกับ\nก้ำกึ่ง\nกำกูน\nก้ำเกิน\nกำเกียง\nกำคูน\nกำจร\nกำจัด\nกำจาย\nกำชับ\nกำชำ\nกำซาบ\nกำซำ\nกำด้น\nกำดัด\nกำดาล\nกำเดา\nกำธร\nกำนล\nกำนัน\nกำนัล\nกำเนิด\nกำบัง\nก่ำบึ้ง\nกำเบ้อ\nกำปอ\nกำปั่น\nกำผลา\nกำพง\nกำพด\nกำพต\nกำพร้า\nกำพราก\nกำพวด\nกำพอง\nกำพืด\nกำพุด\nกำพู\nกำเพลิง\nกำแพง\nกำภู\nกำมลาศน์\nกำมเลศ\nกำมะถัน\nกำมะลอ\nกำมะหยี่\nกำมะหริด\nกำมังละการ\nกำมังวิลิต\nกำมัชพล\nกำยาน\nกำยำ\nกำรอ\nกำราบ\nกำราล\nกำเริบ\nกำไร\nกำลัง\nกำลุง\nกำเลา\nกำไล\nกำสรด\nกำสรวล\nกำหนด\nกำหนัด\nกำเหน็จ\nกำแหง\nกิก\nกิ๊ก\nกิ่ง\nกิ้งก่า\nกิ้งกือ\nกิ้งโครง\nกิจ\nกิจจะ\nกิจจา\nกิดาการ\nกิดาหยัน\nกิตติ\nกิตติมศักดิ์\nกิน\nกินนร\nกินปลี\nกินเปี้ยว\nกินริน\nกินรี\nกิ๊บ\nกิมตึ๋ง\nกิมิชาติ\nกิมิวิทยา\nกิโมโน\nกิโยตีน\nกิระ\nกิริณี\nกิรินท\nกิริเนศวร\nกิริยา\nกิเลน\nกิเลส\nกิโล\nกิโลมกะ\nกิ่ว\nกิ๋ว\nกี\nกี่\nกี้\nกี๊\nกี๋\nกีฏวิทยา\nกีด\nกีตาร์\nกีบ\nกีรติ\nกีฬา\nกึก\nกึง\nกึ่ง\nกึ๋น\nกุ\nกุก\nกุ๊ก\nกุกกุฏ\nกุกกุร\nกุกรรม\nกุ้ง\nกุงอน\nกุงาน\nกุโงก\nกุจี\nกุญแจ\nกุญชร\nกุฎ\nกุฎา\nกุฎี\nกุฎุมพี\nกุฏฐัง\nกุฏิ\nกุณฑ์\nกุณฑล\nกุณฑี\nกุณโฑ\nกุณาล\nกุณี\nกุด\nกุดัง\nกุดั่น\nกุดา\nกุทัณฑ์\nกุน\nกุ๊น\nกุนเชียง\nกุนที\nกุโนกามอ\nกุบ\nกุบกับ\nกุม\nกุ่ม\nกุมฝอย\nกุมภ์\nกุมภนิยา\nกุมภัณฑ์\nกุมภา\nกุมภิล\nกุมภีล์\nกุมเหง\nกุมาร\nกุมารา\nกุมารี\nกุมุท\nกุย\nกุ๊ย\nกุ๋ย\nกุยช่าย\nกุยเฮง\nกุรระ\nกุรุพินท์\nกุเรา\nกุล\nกุลา\nกุลาหล\nกุลี\nกุลีกุจอ\nกุเลา\nกุแล\nกุเวร\nกุศราช\nกุศล\nกุศโลบาย\nกุสุม\nกุสุมภ์\nกุสุมา\nกุสุมาลย์\nกุสุมิตลดาเวลลิตา\nกุหนี\nกุหนุง\nกุหร่า\nกุหล่า\nกุหลาบ\nกุแหละ\nกู\nกู่\nกู้\nกู๊ก\nกูฏ\nกูฏา\nกูณฑ์\nกูด\nกูบ\nกูปรี\nกูรมะ\nกูรมาวตาร\nเก\nเก้\nเก๊\nเก๋\nเกก\nเก๊ก\nเกกมะเหรก\nเก๊กฮวย\nเก้กัง\nเก็ง\nเก่ง\nเก้ง\nเก๋ง\nเกงกอย\nเก่งกาจ\nเกงเขง\nเก๋งเคง\nเก็จ\nเกจิอาจารย์\nเกชา\nเกณฑ์\nเกด\nเก็ด\nเกตุ\nเกน\nเก็บ\nเกม\nเกย\nเกยูร\nเกรง\nเกร็ง\nเกร็ด\nเกรน\nเกร่อ\nเกรอะ\nเกราะ\nเกริก\nเกริน\nเกริ่น\nเกรียก\nเกรียง\nเกรียด\nเกรียน\nเกรียบ\nเกรียม\nเกรียว\nเกรี้ยว\nเกเร\nเกล็ด\nเกลศ\nเกลอ\nเกลา\nเกล้า\nเกลาะ\nเกลี่ย\nเกลี้ย\nเกลียง\nเกลี้ยง\nเกลียด\nเกลียว\nเกลือ\nเกลื้อ\nเกลือก\nเกลื่อน\nเกลื้อน\nเกวัฏ\nเกวียน\nเกศ\nเกศว\nเกศวะ\nเกศา\nเกศินี\nเกศี\nเกษตร\nเกษม\nเกษียณ\nเกษียน\nเกษียร\nเกส\nเกสร\nเกสรี\nเกสา\nเกสี\nเก้อ\nเกอิชา\nเกะ\nเกะกะ\nเกา\nเก่า\nเก้า\nเก๋า\nเกาต์\nเกาทัณฑ์\nเกาบิล\nเกาลัด\nเกาลิน\nเกาไศย\nเกาหลี\nเกาเหลา\nเกาเหลียง\nเก้าอี้\nเกาะ\nเกิ้ง\nเกิด\nเกิน\nเกิบ\nเกีย\nเกียกกาย\nเกียง\nเกี่ยง\nเกี๋ยง\nเกียจ\nเกียด\nเกียน\nเกี้ยมไฉ่\nเกี้ยมอี๋\nเกียร์\nเกียรติ\nเกียรติ์\nเกี่ยว\nเกี้ยว\nเกี๊ยว\nเกี๊ยะ\nเกื้อ\nเกือก\nเกื้อกูล\nเกือบ\nแก\nแก่\nแก้\nแกง\nแก่ง\nแก้ง\nแก๊ง\nแกงได\nแกงแนง\nแกโดลิเนียม\nแกน\nแก่น\nแก๊ป\nแกม\nแก้ม\nแกมมา\nแกรก\nแกร่ง\nแกร็น\nแกรนิต\nแกรไฟต์\nแกร่ว\nแกระ\nแกล\nแกล้ง\nแกลน\nแกลบ\nแกล้ม\nแกลลอน\nแกลเลียม\nแกล้ว\nแกละ\nแกแล\nแกว\nแก้ว\nแกว่ง\nแก๊ส\nแกะ\nโก\nโก่\nโก้\nโก๋\nโกก\nโกกนุท\nโกกิลา\nโกโก้\nโกง\nโก่ง\nโกงกาง\nโก้งเก้ง\nโกงโก้\nโก้งโค้ง\nโกเชาว์\nโกญจนาท\nโกญจา\nโกฏิ\nโกฐ\nโกฐาส\nโกณะ\nโกดัง\nโกทัณฑ์\nโกน\nโก่น\nโก๋น\nโกมล\nโกมุท\nโกเมน\nโกเมศ\nโกย\nโกรก\nโกรกกราก\nโกรง\nโกร่ง\nโกร่งกร่าง\nโกรงเกรง\nโกร๋งเกร๋ง\nโกรญจ\nโกรต๋น\nโกรธ\nโกรธา\nโกร๋น\nโกรม\nโกรย\nโกรศ\nโกโรโกเต\nโกโรโกโรก\nโกโรโกโส\nโกลน\nโกลาหล\nโกไล\nโกวิท\nโกศ\nโกศล\nโกษม\nโกสน\nโกสัช\nโกสินทร์\nโกสีย์\nโกสุม\nโกไสย\nโกหก\nใกล้\nไก\nไก่\nไก๊\nไก๋\nไก่กอม\nไกพัล\nไกร\nไกรพ\nไกรลาส\nไกรศร\nไกรศรี\nไกรสร\nไกรสรี\nไกรสิทธิ\nไกล\nไกล่\nไกลาส\nไกว\nไกวัล\nขงจื๊อ\nขจร\nขจรจบ\nขจัด\nขจ่าง\nขจาย\nขจาว\nขจิต\nขจี\nขจุย\nขเจา\nขณะ\nขด\nขน\nข้น\nขนง\nขนด\nขนบ\nขนม\nขนอง\nขนอน\nขนอบ\nขนัด\nขนัน\nขนาก\nขนาง\nขนาด\nขนาน\nขนาบ\nขนาย\nขนำ\nขนิษฐ\nขนิษฐา\nขนุน\nขนุนนก\nขบ\nขบถ\nขบวน\nขบวร\nขม\nข่ม\nขมงโกรย\nขมวด\nขมวน\nขมอง\nขม่อม\nขมัง\nขมับ\nขมา\nขม้ำ\nขมิ้น\nขมิบ\nขมีขมัน\nขมึง\nขมึงทึง\nขมุ\nขมุกขมัว\nขมุบ\nขโมย\nขยด\nขยม\nขย่ม\nขยอก\nขยอง\nขย่อน\nขย้อน\nขยะ\nขยัก\nขยัน\nขยั้น\nขยับ\nขยาด\nขยาย\nขยำ\nขย้ำ\nขยิก\nขยิบ\nขยิ่ม\nขยี้\nขยุกขยิก\nขยุกขยุย\nขยุบ\nขยุบขยิบ\nขยุม\nขยุ้ม\nขยุย\nขรม\nขรรค์\nขรัว\nขริบ\nขรี\nขรึม\nขรุขระ\nขลบ\nขล้อ\nขลัง\nขลับ\nขลาด\nขลาย\nขลิบ\nขลุก\nขลุกขลัก\nขลุกขลิก\nขลุบ\nขลุม\nขลุ่ย\nขลู\nขลู่\nขวง\nข่วง\nขวด\nข่วน\nขวนขวาย\nขวบ\nขวย\nขวักไขว่\nขวัญ\nขวั้น\nขวับ\nขวับเขวียว\nขวา\nขวาก\nขวาง\nขว้าง\nขวาด\nขวาน\nขวายขวน\nขวาว\nขว้าว\nขวิด\nขอ\nข่อ\nข้อ\nของ\nข้อง\nขอด\nขอน\nข้อน\nขอบ\nขอม\nข่อย\nข้อย\nข่อยหยอง\nขะแจะ\nขะเน็ด\nขะมอมขะแมม\nขะมักเขม้น\nขะมุกขะมอม\nขะยิก\nขะยุก\nขะเย้อแขย่ง\nขัค\nขัง\nขังขอก\nขัช\nขัณฑสกร\nขัณฑสีมา\nขัด\nขัดมอน\nขัตติยมานะ\nขัน\nขั้น\nขันติ\nขันตี\nขันโตก\nขันที\nขันธ์\nขันธาวาร\nขับ\nขัว\nขั้ว\nขา\nข่า\nข้า\nขาก\nขาก๊วย\nขาง\nข่าง\nข้าง\nขาณุ\nขาด\nขาทนียะ\nขาน\nขาบ\nข้าพเจ้า\nขาม\nข่าม\nข้าม\nขาย\nข่าย\nขาล\nขาว\nข่าว\nข้าว\nข้าวอังกุลี\nขำ\nขิก\nขิง\nขิงแกลง\nขิงแครง\nขิด\nขิปสัทโท\nขิม\nขี่\nขี้\nขี้เข็บ\nขีณาสพ\nขีด\nขี้ตังนี\nขีปนาวุธ\nขี้ยอก\nขีระ\nขึง\nขึ้ง\nขึ้น\nขึ้นฉ่าย\nขืน\nขื่น\nขื่อ\nขุก\nขุด\nขุน\nขุ่น\nขุนเพ็ด\nขุม\nขุย\nขู่\nขูด\nเข\nเข้\nเขก\nเข็ง\nเข่ง\nเขจร\nเข็ญ\nเข็ด\nเขดา\nเขต\nเขน\nเข็น\nเข่น\nเขนง\nเขน็ด\nเขนย\nเขบ็จขบวน\nเขบ็ต\nเขม\nเข็ม\nเข้ม\nเข้มขาบ\nเขม็ง\nเขม็ดแขม่\nเขม่น\nเขม้น\nเขม้นขะมัก\nเขมร\nเขมา\nเขม่า\nเขมือบ\nเขย\nเขยก\nเขย่ง\nเขย้อแขย่ง\nเขย่า\nเขยิน\nเขยิบ\nเขยื้อน\nเขรอะ\nเขลง\nเขลอะ\nเขละ\nเขลา\nเขลาะ\nเขว\nเขษม\nเขฬะ\nเขะขะ\nเขา\nเข่า\nเข้า\nเขิง\nเขิน\nเขิบ\nเขี่ย\nเขียง\nเขียด\nเขียดตะปาด\nเขียน\nเขี่ยน\nเขียม\nเขียว\nเขี้ยว\nเขียะ\nเขือ\nเขือง\nเขื่อง\nเขื่อน\nเขือม\nแข\nแข้\nแขก\nแข็ง\nแข่ง\nแข้ง\nแขน\nแข่น\nแข้น\nแขนง\nแขม\nแขม็บ\nแขม่ว\nแขยง\nแขย่ง\nแขวก\nแขวง\nแขวน\nแขวะ\nโข\nโขก\nโขง\nโข่ง\nโขด\nโขดง\nโขน\nโขนง\nโขม\nโขมง\nโขมด\nโขยก\nโขยง\nโขย่ง\nโขยด\nโขลก\nโขลง\nโขลน\nโขษม\nไข\nไข่\nไข้\nไขว่\nไขว้\nคคนะ\nคคนัมพร\nคคนางค์\nคคนานต์\nคง\nคงคา\nคงไคย\nคช\nคชาชาติ\nคชาชีพ\nคชาธาร\nคชาภรณ์\nคณนา\nคณบดี\nคณะ\nคณาจารย์\nคณาธิการ\nคณาธิปไตย\nคณานับ\nคณิกา\nคณิต\nคเณศ\nคด\nคดี\nคติ\nคทา\nคน\nค้น\nคนทา\nคนทิสอ\nคนที\nคนโท\nคนธ์\nคันธ์\nคนธรรพ์\nคเนจร\nคบ\nคม\nคมน์\nคมนาการ\nคมนาคม\nคมิกภัต\nครก\nครบ\nครรชิต\nครรภ\nครรภ์\nครรลอง\nครรโลง\nครรไล\nครวญ\nครวี\nครหา\nครอก\nครอง\nครองแครง\nคร่อเงาะ\nคร่อเทียน\nครอบ\nคร่อม\nคระเมิม\nคระแลง\nคระไล\nคระแวง\nคระหน\nคระหวน\nคระหาย\nคระโหย\nครั่ง\nครั้ง\nครัดเคร่ง\nครัน\nครั่น\nครั้น\nครับ\nครัว\nครา\nคร่า\nคราก\nคราง\nคราญ\nคราด\nคร้าน\nคราบ\nคราม\nคร้าม\nครามครัน\nคราว\nคร่าว\nคราส\nครำ\nคร่ำ\nคร่ำเคร่ง\nคริปทอน\nคริสต์\nครีบ\nครีม\nครีษมายัน\nครึ\nครึกครื้น\nครึกโครม\nครึ่ง\nครึ่ด\nครึน\nครึ้ม\nครืด\nครืน\nครื้น\nครืนครั่น\nครื้นครั่น\nครื้นครึก\nครื้นเครง\nครือ\nครุ\nครุคระ\nครุฑ\nครุ่น\nครุมเครือ\nครุย\nครุวนา\nครู\nครู่\nครูด\nคฤโฆษ\nคฤนถ์\nคฤหบดี\nคฤหัสถ์\nคฤหาสน์\nคลวง\nคลอ\nคล้อ\nคลอก\nคลอง\nคล่อง\nคล้อง\nคลอด\nคลอน\nคล้อย\nคลอรีน\nคลอโรฟอร์ม\nคลอโรฟีลล์\nคละ\nคละคลุ้ง\nคลัก\nคลั่ก\nคลัง\nคลั่ง\nคลัตช์\nคลับคล้าย\nคลับคลา\nคลา\nคล้า\nคลางแคลง\nคลาด\nคลาน\nคลาย\nคล้าย\nคล้ายคลึง\nคล่าว\nคลำ\nคล่ำ\nคล้ำ\nคลิ้งโคลง\nคลิด\nคลินิก\nคลี\nคลี่\nคลึง\nคลื่น\nคลุก\nคลุ้ง\nคลุบ\nคลุม\nคลุ่ม\nคลุ้ม\nควง\nควณ\nควน\nควบ\nควย\nควร\nควัก\nควั่ก\nควั่งคว้าง\nควัน\nควั่น\nคว้า\nควาก\nคว้าง\nควาญ\nควาน\nคว้าน\nความ\nควาย\nคว่าว\nคว่ำ\nควินิน\nควิวคว่าง\nคหกรรม\nคหกรรมศาสตร์\nคหบดี\nคหัฐ\nคอ\nค้อ\nคอก\nค็อกคัส\nค็อกเทล\nคอเคซอยด์\nค่องอ้อย\nคอด\nคอแดง\nคอน\nค่อน\nค้อน\nคอนกรีต\nคอนเดนเซอร์\nคอนแวนต์\nคอนเสิร์ต\nคอม\nค่อม\nค้อม\nคอมพิวเตอร์\nคอมมานโด\nคอมมิวนิสต์\nคอย\nค่อย\nค้อย\nคอยล์\nคอร์ด\nคอแลน\nคอสติกโซดา\nคะ\nค่ะ\nคะไขว่\nคะค้อย\nคะคาน\nคะนน\nคะนอง\nคะน้า\nคะนึง\nคะเน\nคะเนงร้าย\nคะเน็ด\nคะแนน\nคะมำ\nคะยั้นคะยอ\nคะเยอ\nคัก\nคั่ก\nคัคนะ\nคัคนัมพร\nคัคนางค์\nคัคนานต์\nคั่ง\nคังไคย\nคัจฉ\nคัณฑมาลา\nคัณฑสูตร\nคัด\nคัดเค้า\nคัดมอน\nคัดเม็ง\nคัทลียา\nคัน\nคั่น\nคั้น\nคันถรจนาจารย์\nคันธกุฎี\nคันธมาทน์\nคันธารราษฎร์\nคับ\nคับค้อน\nคับคา\nคับแค\nคัพภ์\nคัมภีร์\nคัมภีรภาพ\nคัล\nคั่ว\nคา\nค่า\nค้า\nค่าคบ\nคาง\nค่าง\nค้าง\nคางคก\nค้างคาว\nคาด\nคาถา\nคาทอลิก\nคาน\nค้าน\nคาบ\nคาพยุต\nคาม\nคามวาสี\nคามณีย์\nคามภีร์\nคาย\nค่าย\nคาร์บอน\nคาร์บอเนต\nคาร์บอลิก\nคาร์บูเรเตอร์\nคาร์โบรันดัม\nคาร์โบไฮเดรต\nคารม\nคารวะ\nคาราเต้\nคาราวาน\nคาว\nค่าว\nค้าว\nคาวตอง\nคาวี\nคาวุต\nคาส\nคำ\nค่ำ\nค้ำ\nคำนวณ\nคำนวร\nคำนับ\nคำนัล\nคำนึง\nคำนูณ\nคำฝอย\nคำเพลิง\nคำรน\nคำรบ\nคำราม\nคำแสด\nคำแหง\nคำโอง\nคิก\nคิง\nคิด\nคิมหันต์\nคิรี\nคิลาน\nคิลานะ\nคิว\nคิ้ว\nคี่\nคีต\nคีบ\nคีม\nคีรี\nคีรีบูน\nคึก\nคึ่ก\nคึกคัก\nคืน\nคืบ\nคือ\nคุ\nคุก\nคุกกี้\nคุกคาม\nคุกพาทย์\nคุ้ง\nคุณ\nคุด\nคุดทะราด\nคุต\nคุตติ\nคุ่น\nคุ้น\nคุป\nคุปต์\nคุปติ\nคุม\nคุ่ม\nคุ้ม\nคุย\nคุ้ย\nคุยหฐาน\nคุยหประเทศ\nคุรุ\nคุลา\nคุลิก่า\nคุลีการ\nคุหา\nคู\nคู่\nคู้\nคูณ\nคูถ\nคูน\nคูปอง\nคูเรียม\nคูหา\nเค้ก\nเค้เก้\nเค้ง\nเคณฑะ\nเคด\nเค็ด\nเคน\nเค้น\nเคเบิล\nเค็ม\nเคมี\nเคย\nเครง\nเคร่ง\nเครงครา\nเครงครำ\nเครดิต\nเครน\nเครา\nเคร่า\nเคราหณี\nเคราะห์\nเครียด\nเครียว\nเครือ\nเครื่อง\nเคล้ง\nเคล็ด\nเคล้น\nเคล้า\nเคล่าคล่อง\nเคลิบเคลิ้ม\nเคลิ้ม\nเคลีย\nเคลื่อน\nเคลือบ\nเคว้ง\nเคหะ\nเคหา\nเคอะ\nเค้า\nเคาน์เตอร์\nเคารพ\nเคาะ\nเคาะแคะ\nเคียง\nเคียด\nเคียน\nเคียม\nเคี่ยม\nเคียร\nเคียว\nเคี่ยว\nเคี้ยว\nเคือง\nแค\nแค่\nแค้\nแคแล\nแคดเมียม\nแค็ตตาล็อก\nแคแตร\nแคโทด\nแคน\nแค่น\nแค้น\nแคบ\nแคบหมู\nแคปซูล\nแคม\nแคร่\nแครก\nแครง\nแคระ\nแคลคูลัส\nแคลง\nแคลเซียม\nแคลน\nแคล้ว\nแคล่วคล่อง\nแคลอรี\nแคลิฟอร์เนียม\nแคว\nแควก\nแคว้น\nแคแสด\nแคะ\nโค\nโคก\nโคเคน\nโค่ง\nโค้ง\nโคจร\nโคเซแคนต์\nโคไซน์\nโคตร\nโคแทนเจนต์\nโคธา\nโคน\nโค่น\nโคบอลต์\nโคปผกะ\nโคม\nโคม่า\nโครก\nโครกคราก\nโครง\nโคร่ง\nโคร่งคร่าง\nโครม\nโครเมียม\nโครโมโซม\nโคราช\nโครำ\nโคล\nโคลง\nโคลน\nโควตา\nโคออร์ดิเนต\nใคร\nใคร่\nใคร่ครวญ\nไค\nไค้\nไคร้\nไคร้เครือ\nไคล\nไคล้\nฆนะ\nฆราวาส\nฆ้อง\nฆ่า\nฆาต\nฆาน\nฆานินทรีย์\nเฆี่ยน\nโฆรวิส\nโฆษก\nโฆษณา\nโฆษะ\nโฆษ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nเฉ่ง\nเฉด\nเฉท\nเฉนียน\nเฉพาะ\nเฉย\nเฉลย\nเฉลว\nเฉลา\nเฉลิม\nเฉลี่ย\nเฉลียง\nเฉลี่ยง\nเฉลียบ\nเฉลียว\nเฉวียง\nเฉวียน\nเฉอะแฉะ\nเฉา\nเฉาก๊วย\nเฉาฮื้อ\nเฉาะ\nเฉิด\nเฉิบ\nเฉียง\nเฉียงพร้านางแอ\nเฉียด\nเฉียบ\nเฉียว\nเฉี่ยว\nเฉือน\nเฉื่อย\nแฉ\nแฉ่\nแฉก\nแฉง\nแฉ่ง\nแฉลบ\nแฉล้ม\nแฉะ\nโฉ\nโฉ่\nโฉเก\nโฉ่งฉ่าง\nโฉงเฉง\nโฉด\nโฉนด\nโฉบ\nโฉเบ๊\nโฉม\nโฉลก\nไฉน\nไฉไล\nชก\nชคัตตรัย\nชง\nชงโค\nชงฆ์\nชงฆา\nชงโลง\nชฎา\nชฎามังษี\nชฎามังสี\nชฎิล\nชด\nชน\nชนก\nชนนี\nชนม์\nชนวน\nชนะ\nชนัก\nชนา\nชนาง\nชนิด\nชเนตตี\nชบา\nชม\nชมดชม้อย\nชมนาด\nชมพู\nชมพู่\nชมรม\nชม้อย\nชม้าย\nชไม\nชยา\nชโย\nชรทึง\nชรริน\nชรอุ่ม\nชระล้ำ\nชระลุ\nชระอาบ\nชระเอม\nชรัด\nชรา\nชล\nชโลง\nชโลม\nช่วง\nชวด\nชวน\nชวย\nช่วย\nชวร\nชวลิต\nชวา\nชวาล\nชวาลา\nช่อ\nชอก\nช็อก\nช็อกโกเลต\nช็อกโกแลต\nชอง\nช่อง\nช้อง\nชองระอา\nชอน\nช่อน\nช้อน\nชอบ\nชอม\nช้อย\nชอล์ก\nชอ่ำ\nชอุ่ม\nชะ\nชะคราม\nชะงอก\nชะง่อน\nชะงัก\nชะงัด\nชะง้ำ\nชะงุ้ม\nชะเง้อ\nชะเงื้อม\nชะแง้\nชะโงก\nชะฉ่า\nชะช่อง\nชะชะ\nชะช้า\nชะโด\nชะตา\nชะต้า\nชะนี\nชะเนาะ\nชะเนียง\nชะพลู\nชะเพลิง\nชะมด\nชะมบ\nชะมวง\nชะมัง\nชะมัด\nชะแม่\nชะรอย\nชะลอ\nชะลอม\nชะล่า\nชะลาน\nชะลิน\nชะลูด\nชะเลง\nชะเลย\nชะแล็ก\nชะแลง\nชะวาก\nชะวาด\nชะเวิกชะวาก\nชะแวง\nชะอม\nชะอ้อน\nชะเอม\nชะโอน\nชัก\nชักคราม\nชักช้า\nชัง\nชั่ง\nชังคา\nชังฆ\nชัชวาล\nชัฏ\nชัด\nชัดช้า\nชัน\nชั้น\nชันกาด\nชันชี\nชันตุ\nชันนะตุ\nชันนุ\nชันโรง\nชันษา\nชันสูตร\nชัปนะ\nชัพ\nชัมพูนท\nชัย\nชัยพฤกษ์\nชัยภูมิ\nชัลลุกา\nชั่ว\nชั้ว\nชัวชม\nชา\nช้า\nชาคระ\nชาคริต\nชาคริยานุโยค\nช่าง\nช้าง\nช้าช่อน\nชาญ\nชาด\nชาดก\nชาต\nชาตบุษย์\nชาตรี\nชาตะ\nชาตา\nชาติ\nชาน\nชานุ\nช้าปี่\nชาปีไหน\nช้าแป้น\nช้าพลู\nชาม\nชามพูนท\nชามาดร\nชามาดา\nชามาตุ\nชาย\nชายา\nชาล\nชาลา\nชาลินี\nช้าเลือด\nชาว\nชาวี\nชำ\nช่ำ\nช้ำ\nชำงัด\nชำงาย\nช่ำชอง\nชำนะ\nชำนัญ\nชำนัน\nชำนาญ\nชำนิ\nชำเนียร\nชำมะนาด\nชำมะเลียง\nชำร่วย\nชำระ\nช้ำรั่ว\nชำรุด\nชำเรา\nชำเราะ\nชำแรก\nชำแระ\nชำเลือง\nชำแหละ\nชิ\nชิง\nชิ่ง\nชิงชัน\nชิงช้า\nชิงช้าชาลี\nชิงชี่\nชิงฮื้อ\nชิชะ\nชิชิ\nชิณณะ\nชิด\nชิเดนทรีย์\nชิต\nชิตินทรีย์\nชิน\nชิ้น\nชินโต\nชิโนรส\nชิม\nชิมแปนซี\nชิยา\nชิรณะ\nชิระ\nชิวหา\nชิสา\nชี\nชี่\nชี้\nชีปะขาว\nชีผะขาว\nชีผ้าขาว\nชีพ\nชีฟอง\nชีรณ\nชีระ\nชีวเคมี\nชีวประวัติ\nชีวภาพ\nชีววิทยา\nชีวะ\nชีวัน\nชีวา\nชีวาตม์\nชีวาลัย\nชีวิต\nชีวิตักษัย\nชีวิน\nชีวี\nชืด\nชื่น\nชื้น\nชื่อ\nชุก\nชุกชี\nชุ้ง\nชุณห\nชุด\nชุติ\nชุน\nชุบ\nชุม\nชุ่ม\nชุมนุม\nชุมพร\nชุมพา\nชุมแพรก\nชุมรุม\nชุมแสง\nชุมเห็ด\nชุ่ย\nชุลมุน\nชุลี\nชุษณะ\nชู\nชู้\nเช็ค\nเช้ง\nเช้งวับ\nเชงเลง\nเช็ด\nเชน\nเช่น\nเชย\nเชลง\nเชลย\nเชลแล็ก\nเชลียง\nเชวง\nเชษฐะ\nเชษฐา\nเชอ\nเช่า\nเช้า\nเชาว์\nเชาวน์\nเชิง\nเชิญ\nเชิด\nเชิ้ต\nเชียง\nเชี่ยน\nเชียบ\nเชี่ยม\nเชียร\nเชียร์\nเชียว\nเชี่ยว\nเชื่อ\nเชื้อ\nเชือก\nเชื่อง\nเชือด\nเชือน\nเชื่อม\nแช\nแช่\nแช่ง\nแชงมา\nแชบ๊วย\nแช่ม\nแชร์\nแชล่ม\nแชสซี\nแชะ\nโชก\nโชค\nโชงโลง\nโชดก\nโชดึก\nโชต\nโชตก\nโชติ\nโชติก\nโชน\nโชมโรม\nโชย\nโชยงการ\nโชยชาย\nโชยติส\nโชว์\nใช่\nใช้\nไช\nไชนะ\nไชย\nไชโย\nซก\nซ่ก\nซงดำ\nซ่งฮื้อ\nซด\nซน\nซ้น\nซบ\nซม\nซวดเซ\nซวน\nซวย\nซอ\nซอก\nซอง\nซ่อง\nซ้อง\nซองแมว\nซ้องแมว\nซอน\nซ่อน\nซ้อน\nซอม\nซ่อม\nซ้อม\nซอมซ่อ\nซอย\nซอส\nซัก\nซักส้าว\nซัง\nซั้ง\nซัด\nซับ\nซัลฟา\nซั้ว\nซา\nซ่า\nซาก\nซาง\nซ่าง\nซาด\nซาน\nซ่าน\nซาบซ่าน\nซาบซึ้ง\nซ่าโบะ\nซาแมเรียม\nซ้าย\nซาลาเปา\nซาว\nซ่าหริ่ม\nซำ\nซ้ำ\nซิ\nซี\nซิก\nซิกข์\nซิกซี้\nซิกแซ็ก\nซิการ์\nซิงโคนา\nซิ่น\nซินนามิก\nซินแส\nซิบ\nซิป\nซิฟิลิส\nซิลิคอน\nซิว\nซี่\nซีก\nซีเซียม\nซีด\nซี้ด\nซีนอน\nซีป่าย\nซีเมนต์\nซีเรียม\nซีลีเนียม\nซีอิ๊ว\nซึก\nซึง\nซึ่ง\nซึ้ง\nซึม\nซื่อ\nซื้อ\nซุก\nซุง\nซุน\nซุบ\nซุป\nซุ่ม\nซุ้ม\nซุ่มซ่าม\nซุย\nซู่\nซูโครส\nซูด\nซู้ด\nซูดซาด\nซูบ\nเซ\nเซ็ก\nเซแคนต์\nเซ็ง\nเซ่ง\nเซ้ง\nเซ็งแซ่\nเซต\nเซน\nเซ็น\nเซ่น\nเซนติกรัม\nเซนติเกรด\nเซนติเมตร\nเซนติลิตร\nเซปักตะกร้อ\nเซราะ\nเซรุ่ม\nเซลเซียส\nเซลล์\nเซลลูลอยด์\nเซลลูโลส\nเซ่อ\nเซอร์โคเนียม\nเซอะ\nเซา\nเซ้าซี้\nเซาะ\nเซิง\nเซิ้ง\nเซียน\nเซียบ\nเซียมซี\nเซียว\nเซี่ยว\nเซี่ยวกาง\nเซื่อง\nแซ\nแซ่\nแซ็กคาริน\nแซง\nแซงแซว\nแซด\nแซบ\nแซม\nแซยิด\nแซ่ว\nแซะ\nโซ\nโซ่\nโซก\nโซ่ง\nโซงโขดง\nโซเซ\nโซดา\nโซเดียม\nโซม\nโซรม\nโซลา\nไซ\nไซ้\nไซเกิล\nไซโคลน\nไซน์\nไซยาไนด์\nไซร้\nไซเรน\nไซโล\nฌาน\nฌาปน\nฌาปนกิจ\nฌาปนสถาน\nเฌอ\nเฌอเอม\nญวน\nญัตติ\nญาณ\nญาติ\nญานาซะฮ์\nญิบ\nญี่ปุ่น\nเญยธรรม\nไญยธรรม\nฎีกา\nฐกัด\nฐากูร\nฐาน\nฐานะ\nฐานันดร\nฐานานุกรม\nฐานานุรูป\nฐานานุศักดิ์\nฐานียะ\nฐาปน\nฐาปนา\nฐายี\nฐิต\nฐิติ\nฑาหก\nฑาหะ\nเฒ่า\nณรงค์\nเณร\nดก\nดง\nด้ง\nด้น\nดนโด่\nดนตรี\nดนัย\nดนุ\nดนู\nดบัสวิน\nดบัสวี\nดม\nดรงค์\nดรณี\nดรรชนี\nดราฟต์\nดรุณ\nดรุณี\nดล\nดวง\nด้วง\nดวด\nด่วน\nด้วน\nด้วย\nดอก\nดอง\nด่อง\nด้อง\nดองฉาย\nดองดึง\nดอด\nดอน\nด่อน\nดอม\nด้อม\nดอย\nด้อย\nดอลลาร์\nดะ\nดะโต๊ะ\nดะหมัง\nดัก\nดักดาน\nดักแด้\nดัง\nดั่ง\nดั้ง\nดัชนี\nดัด\nดัตช์\nดัน\nดั้น\nดับ\nดัมพ์\nดั้วเดี้ย\nดัสกร\nดา\nด่า\nดาก\nด่าง\nด้าง\nดาด\nดาน\nด่าน\nด้าน\nดาบ\nดาบส\nดาม\nด้าม\nด้ามจิ้ว\nดามพ์\nดาย\nด้าย\nดารกะ\nดารณี\nดารดาษ\nดาระ\nดารา\nดาล\nดาลัด\nดาว\nด่าว\nด้าว\nดาวดึงส์\nดาวบส\nดาษ\nดาษดา\nดำ\nด่ำ\nด้ำ\nดำกล\nดำเกิง\nดำแคง\nดำดง\nดำนาณ\nดำเนิน\nดำบล\nดำรง\nดำรวจ\nดำรัส\nดำริ\nดำรี\nดำรู\nดำฤษณา\nดำเลิง\nดิก\nดิ่ง\nดิฉัน\nดิฐ\nดิตถ์\nดิถี\nดิน\nดิ้น\nดิบ\nดิรัจฉาน\nดิลก\nดิ่ว\nดิ้ว\nดิ้วเดี้ยว\nดิษฐ์\nดิสโพรเซียม\nดี\nดีเซล\nดีด\nดีดีที\nดีบุก\nดีปลี\nดีเปรสชัน\nดีหมี\nดีหลี\nดึก\nดึง\nดึ่ง\nดึ่ม\nดื่น\nดื่ม\nดือ\nดื้อ\nดุ\nดุก\nดุกดิก\nดุกทะเล\nดุ้ง\nดุ้งดิ้ง\nดุจ\nดุด\nดุน\nดุ้น\nดุบ\nดุม\nดุ่ม\nดุ่ย\nดุรงค์\nดุริยะ\nดุริยางค์\nดุริยางคศาสตร์\nดุริยางคศิลป์\nดุล\nดุษฎี\nดุษณี\nดุษณีภาพ\nดุษิต\nดุสิต\nดุเหว่า\nดู\nดูกค่าง\nดูกร\nดูด\nดูรา\nดูแล\nเด\nเด่\nเดก\nเด็ก\nเดกซ์โทรส\nเดคากรัม\nเดคาเมตร\nเดคาลิตร\nเด้ง\nเด็จ\nเดช\nเดชน์\nเดชนะ\nเดชะ\nเดโช\nเดซิกรัม\nเดซิเมตร\nเดซิลิตร\nเด็ด\nเดน\nเด่น\nเดนมาร์ก\nเดรัจฉาน\nเด๋อ\nเด๋อด๋า\nเดา\nเด้า\nเดาะ\nเดิน\nเดิ่น\nเดิม\nเดียง\nเดียด\nเดียรดาษ\nเดียรถีย์\nเดียรัจฉาน\nเดียว\nเดี่ยว\nเดี๋ยว\nเดียะ\nเดื่อ\nเดือก\nเดื่อง\nเดือด\nเดือน\nเดือย\nแด\nแด่\nแดก\nแด็ก\nแดกงา\nแดกแด้\nแดง\nแดด\nแดน\nแด่น\nแด่ว\nแดะ\nแดะแด๋\nโด\nโด่\nโดกเดก\nโด่ง\nโดด\nโดน\nโดม\nโดมร\nโดย\nโดรณ\nใด\nได\nได้\nไดแซ็กคาไรด์\nไดนาโม\nไดนาไมต์\nไดโนเสาร์\nไดเรกตริกซ์\nตก\nต๊กโต\nตง\nต๋ง\nตงฉิน\nตงิด\nตงุ่น\nตด\nตติย\nตถาคต\nตน\nต้น\nตนัย\nตนุ\nตบ\nตบะ\nตปนียะ\nตม\nต้ม\nตมูก\nตยาคี\nตรง\nตรณี\nตรม\nตรรก\nตรรกะ\nตรลบ\nตรลอด\nตรลาด\nตรวจ\nตรวน\nตรอก\nตรอง\nตรอมใจ\nตรอมตรม\nตระ\nตระกล\nตระกวน\nตระกอง\nตระการ\nตระกูล\nตระคัร\nตระเตรียม\nตระนาว\nตระบก\nตระบอก\nตระบอง\nตระบัด\nตระบัน\nตระเบ็ง\nตระแบก\nตระแบง\nตระโบม\nตระพอง\nตระพัง\nตระลาการ\nตระวัน\nตระเว็ด\nตระเวน\nตระสัก\nตระหง่าน\nตระหนก\nตระหนัก\nตระหน่ำ\nตระหนี่\nตรัง\nตรังค์\nตรับ\nตรับฟัง\nตรัย\nตรัยตรึงศ์\nตรัส\nตรัสสา\nตรา\nตรากตรำ\nตราชู\nตราบ\nตราสัง\nตรำ\nตริ\nตริว\nตรี\nตรีปวาย\nตรีพิธพรรณ\nตรียัมปวาย\nตรึก\nตรึง\nตรุ\nตรุณ\nตรุณะ\nตรุษ\nตรู\nตรู่\nตฤณ\nตฤตีย\nตฤษณา\nตลก\nตลบ\nตลอด\nตลับ\nตลาด\nตลิ่ง\nตลึง\nตวง\nต่วน\nต้วมเตี้ยม\nตวัก\nตวัด\nตวาด\nตอ\nตอม่อ\nต่อ\nต้อ\nตอก\nต๊อก\nต๊อกต๋อย\nตอง\nต้อง\nตองกราย\nต้องเต\nตองแตก\nต่องแต่ง\nตองเหลือง\nตอด\nตอน\nต้อน\nตอบ\nตอเบา\nตอม\nต่อม\nต๋อม\nต่อย\nต้อย\nต้อยตริ่ง\nต้อยติ่ง\nต้อยตีวิด\nตอแย\nตอร์ปิโด\nต่อไส้\nตอแหล\nตะ\nตะกรน\nตะกร้อ\nตะกรัน\nตะกรับ\nตะกร้า\nตะกราม\nตะกรุด\nตะกรุม\nตะกรุมตะกราม\nตะกละ\nตะกลาม\nตะกวด\nตะกอ\nตะกอน\nตะกัง\nตะกั่ว\nตะกาง\nตะกาด\nตะกาย\nตะกาว\nตะกุกตะกัก\nตะกุย\nตะกู\nตะกูด\nตะเกียกตะกาย\nตะเกียง\nตะเกียบ\nตะแก\nตะแก่\nตะแกรง\nตะโก\nตะโก้\nตะโกก\nตะโกน\nตะโกรง\nตะโกรม\nตะไกร\nตะขบ\nตะขอ\nตะขาบ\nตะขิดตะขวง\nตะเข้\nตะเข็บ\nตะโขง\nตะคร้อ\nตะครอง\nตะครั่นตะครอ\nตะคร้ำ\nตะคริว\nตะคิว\nตะครุบ\nตะคอก\nตะคัน\nตะค้า\nตะคาก\nตะค้าน\nตะคุ่ม\nตะเครียว\nตะเคียว\nตะเคียน\nตะแคง\nตะไคร่\nตะไคร้\nตะเฆ่\nตะนอย\nตะนาว\nตะบม\nตะบอง\nตะบอย\nตะบัน\nตะบิ้ง\nตะบิด\nตะบิดตะบอย\nตะบี้ตะบัน\nตะบึง\nตะบูน\nตะเบ็ง\nตะเบ็งมาน\nตะเบ๊ะ\nตะแบก\nตะแบง\nตะโบม\nตะไบ\nตะปบ\nตะปลิง\nตะปิ้ง\nตะปุ่มตะป่ำ\nตะปู\nตะพง\nตะพด\nตะพอง\nตะพัก\nตะพัง\nตะพัด\nตะพั้น\nตะพาก\nตะพาน\nตะพาบ\nตะพาย\nตะพึด\nตะพึดตะพือ\nตะพุ่น\nตะเพรา\nตะเพิง\nตะเพิด\nตะเพียน\nตะโพก\nตะโพง\nตะโพน\nตะเภา\nตะใภ้\nตะม่อ\nตะมอย\nตะรังกะนู\nตะรังตังกวาง\nตะรังตังช้าง\nตะราง\nตะลอง\nตะลอน\nตะล่อม\nตะละ\nตะลาน\nตะลิงปลิง\nตะลิบ\nตะลีตะลาน\nตะลึง\nตะลึงพรึงเพริด\nตะลุง\nตะลุ่ม\nตะลุ่มนก\nตะลุมบอน\nตะลุ่มโปง\nตะลุมพอ\nตะลุมพุก\nตะลุย\nตะเลง\nตะแลงแกง\nตะไล\nตะวัน\nตะเวน\nตะหลิว\nตะหลุก\nตะหลุง\nตะแหง่ว\nตะแหมะแขะ\nตะโหงก\nตัก\nตักกะ\nตักเตือน\nตั๊กแตน\nตักษัย\nตัง\nตั่ง\nตั้ง\nตังเก\nตังฉ่าย\nตังเม\nตังวาย\nตังโอ๋\nตัจฉก\nตัจฉนี\nตัณฑุล\nตัณหา\nตัด\nตัน\nตันตระ\nตันติ\nตันหยง\nตับ\nตับปิ้ง\nตัว\nตั๋ว\nตัวจี๊ด\nตัวตืด\nตั้วโผ\nตั้วเหี่ย\nตา\nตาก\nตากวาง\nต่าง\nตาด\nตาน\nต่าน\nต้าน\nตานนกกด\nตานี\nตาบ\nตาม\nตามะแน\nตามิน\nตาย\nตาราไต\nตาล\nตาลุ\nต๋าว\nตาเสือ\nตาหนู\nตาฬ\nตำ\nต่ำ\nตำนาน\nตำบล\nตำแบ\nตำแย\nตำรวจ\nตำรับ\nตำรา\nตำรุ\nตำลึง\nตำเสา\nตำหนัก\nตำหนิ\nตำแหน่ง\nติ\nติก\nติ๊ก\nติกะ\nติกาหรัง\nติง\nติ่ง\nติ๋ง\nติ่งตั่ง\nติ๋งต่าง\nติงส\nติงสติ\nติณ\nติด\nติตติกะ\nติตติร\nติตถ\nติตถะ\nติถี\nติมิงคละ\nติรัจฉาน\nติลก\nติละ\nติ้ว\nตี\nตี่\nตีน\nตีบ\nตีรถะ\nตีระ\nตึ\nตึก\nตึ้ก\nตึ้กตั้ก\nตึง\nตึดตื๋อ\nตึ๊ดตื๋อ\nตืด\nตื่น\nตื้น\nตื้อ\nตื๊อ\nตื๋อ\nตุ\nตุ๊\nตุ๊กแก\nตุ๊กตา\nตุ๊กต่ำ\nตุกติก\nตุ๊กติ๊ก\nตุ๊กตุ่น\nตุ๊กตุ๋ย\nตุง\nตุ้งก่า\nตุ้งติ้ง\nตุ๊ดตู่\nตุน\nตุ่น\nตุ๋น\nตุนาหงัน\nตุบ\nตุ้บ\nตุ๊บป่อง\nตุปัดตุป่อง\nตุปัดตุเป๋\nตุ่ม\nตุ้ม\nตุ๋ม\nตุ้มกว้าว\nตุมกา\nตุ้มแซะ\nตุมตัง\nตุ้มเต๋น\nตุ้มปี่\nตุมพะ\nตุ่ย\nตุ้ย\nตุ๊ย\nตุ๋ยตุ่ย\nตุรคะ\nตุรงค์\nตุล\nตุลา\nตุหรัดตุเหร่\nตู\nตู่\nตู้\nตูก\nตูด\nตูบ\nตูม\nเต๊ก\nเต็ง\nเต่ง\nเตช\nเตโช\nเต้น\nเต็นท์\nเต็ม\nเตย\nเตร่\nเตร็ด\nเตรตา\nเตรียม\nเตรียมตรม\nเตละ\nเตลิด\nเตว็ด\nเต่อ\nเตอะ\nเตะ\nเตา\nเต่า\nเต้า\nเต๋า\nเต่าเกียด\nเต้าเจี้ยว\nเต้าทึง\nเต้าหู้\nเต้าฮวย\nเต๊าะ\nเตาะแตะ\nเติ่ง\nเติบ\nเติม\nเตี้ย\nเตียง\nเตียน\nเตียบ\nเตี๋ยม\nเตียรถ์\nเตียว\nเตี่ยว\nเตือน\nแต่\nแต้\nแตก\nแตง\nแต่ง\nแตงเม\nแต้จิ๋ว\nแตด\nแต๊ดแต๋\nแตน\nแต้ม\nแตร\nแตระ\nแต้ว\nแต้วแร้ว\nแต้วแล้ว\nแต่ว่า\nแต้แว้ด\nแตะ\nโต\nโต้\nโตก\nโต่ง\nโต้ง\nโตงเตง\nโตฎก\nโต๊ด\nโตน\nโตนด\nโต้โผ\nโตมร\nโตย\nโตรก\nโต๊ะ\nใต้\nไต\nไต่\nไต้\nไต๋\nไตร\nไตรกิศยา\nไตรดายุค\nไตร่ตรอง\nไตรย\nไต้หวัน\nถก\nถกล\nถงาด\nถด\nถนน\nถนอม\nถนัด\nถนัน\nถนำ\nถนิม\nถม\nถ่ม\nถมอ\nถมึงทึง\nถลก\nถลกบาตร\nถลน\nถล่ม\nถลอก\nถลัน\nถลา\nถลาก\nถลาย\nถลำ\nถลึงตา\nถลุง\nถ่วง\nถ้วน\nถ้วย\nถวัล\nถวัลย์\nถวาย\nถวิน\nถวิล\nถ่อ\nถ้อ\nถอก\nถอง\nถ่อง\nถ้อง\nถอด\nถอน\nถอบ\nถอบแถบ\nถ่อม\nถอย\nถ่อย\nถ้อย\nถะ\nถะถั่น\nถะมัดถะแมง\nถัก\nถัง\nถั่ง\nถัด\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นยา\nบิลเลียด\nบิวเรตต์\nบิสมัท\nบี้\nบีฑา\nบีตา\nบีบ\nบีเยศ\nบึก\nบึกบึน\nบึง\nบึ่ง\nบึ้ง\nบุ\nบุก\nบุคคล\nบุคลากร\nบุคลาธิษฐาน\nบุคลิก\nบุง\nบุ่ง\nบุ้ง\nบุ้งกี๋\nบุญ\nบุญญาธิการ\nบุญญานุภาพ\nบุญญาภินิหาร\nบุญญาภิสังขาร\nบุณฑริก\nบุณมี\nบุณย์\nบุตร\nบุตรี\nบุถุชน\nบุทคล\nบุนนาค\nบุบ\nบุบบิบ\nบุปผชาติ\nบุพกรรม\nบุพการี\nบุพกิจ\nบุพชาติ\nบุพทักษิณ\nบุพนิมิต\nบุพบท\nบุพพาจารย์\nบุพเพสันนิวาส\nบุพโพ\nบุ๋ม\nบุ่มบ่าม\nบุ้ย\nบุรณะ\nบุรพทิศ\nบุรพบท\nบุรพาจารย์\nบูรพาจารย์\nบุระ\nบุราณ\nบุรินทร์\nบุริมทิศ\nบุริมพรรษา\nบุริมสิทธิ\nบุรี\nบุรุษ\nบุโรทั่ง\nบุษกร\nบุษบก\nบุษบง\nบุษบัน\nบุษบา\nบุษบามินตรา\nบุษปราค\nบุษปะ\nบุษย์\nบุษย์น้ำทอง\nบุษยมาส\nบุษยะ\nบุษราคัม\nบุหงัน\nบุหงา\nบุหรง\nบุหรี่\nบุหลัน\nบู่\nบู้\nบูชนียสถาน\nบูชา\nบูชิต\nบูด\nบูดู\nบูร\nบูรณ์\nบูรณภาพ\nบูรณมี\nบูรณะ\nบูรณาการ\nบูรพ์\nบูรพะ\nบูรพา\nเบ้\nเบ่ง\nเบ๊จี๋\nเบญกานี\nเบญจกัลยาณี\nเบญจกามคุณ\nเบญจขันธ์\nเบญจดุริยางค์\nเบญจธรรม\nเบญจบรรพต\nเบญจพรรณ\nเบญจเพส\nเบญจมาศ\nเบญจรงค์\nเบญจศก\nเบญจศีล\nเบญจะ\nเบญจา\nเบญจางค์\nเบญจางคประดิษฐ์\nเบญญา\nเบญพาด\nเบ็ด\nเบ็ดเตล็ด\nเบ็ดเสร็จ\nเบน\nเบนซิน\nเบรก\nเบริลเลียม\nเบส\nเบ้อ\nเบอร์\nเบอร์คีเลียม\nเบ้อเร่อ\nเบ้อเร่อเท่อ\nเบ้อเริ่ม\nเบ้อเริ่มเทิ่ม\nเบอะ\nเบอะบะ\nเบะ\nเบา\nเบ้า\nเบาราณ\nเบาะ\nเบิก\nเบิ่ง\nเบี้ย\nเบี่ยง\nเบียด\nเบียน\nเบียร์\nเบี้ยว\nเบือ\nเบื่อ\nเบื้อ\nเบื้อง\nเบือน\nแบ\nแบ้\nแบก\nแบคทีเรีย\nแบ่ง\nแบงก์\nแบดมินตัน\nแบตเตอรี่\nแบน\nแบนโจ\nแบบ\nแบ็บ\nแบเรียม\nแบหลา\nแบะ\nโบ\nโบ้\nโบ๋\nโบก\nโบกขรณี\nโบกขรพรรษ\nโบชุก\nโบต\nโบนัส\nโบ๊เบ๊\nโบย\nโบรมีน\nโบรอน\nโบราณ\nโบสถ์\nใบ\nใบ้\nไบ่\nปก\nปกติ\nปกรณ์\nปกรณัม\nปกิณกะ\nปกีรณัม\nปโกฏิ\nปง\nป่ง\nปงช้าง\nปฎล\nปฏัก\nปฏิกรณ์\nปฏิกรรม\nปฏิการะ\nปฏิกิริยา\nปฏิกูล\nปฏิคม\nปฏิคหิต\nปฏิคาหก\nปฏิฆะ\nปฏิชีวนะ\nปฏิญญา\nปฏิญาณ\nปฏิทิน\nปฏิบถ\nปฏิบัติ\nปฏิปทา\nปฏิปักษ์\nปฏิปัน\nปฏิปุจฉาพยากรณ์\nปฏิปุจฉาวาที\nปฏิพัทธ์\nปฏิพากย์\nปฏิภาค\nปฏิภาณ\nปฏิมา\nปฏิมากร\nปฏิยุทธ์\nปฏิรพ\nปฏิรูป\nปฏิโลม\nปฏิวัติ\nปฏิวาต\nปฏิวาท\nปฏิเวธ\nปฏิสนธิ\nปฏิสวะ\nปฏิสังขรณ์\nปฏิสันถาร\nปฏิสัมภิทา\nปฏิเสธ\nปฐพี\nปฐม\nปฐวี\nปณต\nปณาม\nปณิธาน\nปณิธิ\nปณีต\nปด\nปดิวรัดา\nปติ\nปถพี\nปถมัง\nปถวี\nปทัฏฐาน\nปทัสถาน\nปทานุกรม\nปทีป\nปทุม\nปน\nป่น\nปนัดดา\nปปัญจะ\nปม\nปรนัย\nปรปักษ์\nปรโลก\nปรวาที\nปรก\nปรกติ\nปรง\nปรตยักษ์\nปรน\nปรนนิบัติ\nปรนิมมิตวสวัตดี\nปรบ\nปรปักษ์\nปรมัตถ์\nปรมาจารย์\nปรมาณู\nปรมาภิไธย\nปรมาภิเษก\nปรมินทร์\nบรเมนทร์\nปรเมศวร์\nปรเมษฐ์\nปรวด\nปรวนแปร\nปรศุ\nปรสิต\nปร๋อ\nปรองดอง\nปรอด\nปรอท\nปรอย\nประ\nประกบ\nประกฤต\nประกฤติ\nประกล\nประกวด\nประกวดประขัน\nประกอบ\nประกัน\nประกับ\nประกาย\nประกายพรึก\nประการ\nประกาศ\nประกาศนียบัตร\nประกาศิต\nประกำ\nประกิด\nประกิต\nประคด\nประคนธรรพ\nประคนธรรพ์\nประคบ\nประคบประหงม\nประคอง\nประคับประคอง\nประคัลภ์\nประคำ\nประคิ่น\nประคุณ\nประเคน\nประเคราะห์\nประโคน\nประโคนธรรพ\nประโคนธรรพ์\nประโคม\nประจง\nประจญ\nประจบ\nประจบประแจง\nประจวบ\nประจ๋อประแจ๋\nประจักษ์\nประจักษนิยม\nประจัญ\nประจัน\nประจาก\nประจาค\nประจาน\nประจำ\nประจิม\nประจิ้มประเจ๋อ\nประจุ\nประจุคมน์\nประจุบัน\nประเจก\nประเจิด\nประเจิดประเจ้อ\nประเจียด\nประแจ\nประชด\nประชน\nประชวม\nประชวร\nประชัน\nประชา\nประชาธิปไตย\nประชิด\nประชี\nประชุม\nประเชิญ\nประณต\nประณม\nประณาม\nประณิธาน\nประณิธิ\nประณีต\nประณุท\nประดง\nประดน\nประดวน\nประดอน\nประดอย\nประดัก\nประดักประเดิด\nประดัง\nประดับ\nประดา\nประดาก\nประดาป\nประดาษ\nประดิชญา\nประดิดประดอย\nประดิทิน\nประดิษฐ์\nประดิษฐกรรม\nประดิษฐาน\nประดุง\nประดุจ\nประดู่\nประเด\nประเด็น\nประเดิม\nประเดียง\nประเดี๋ยว\nประเดี๋ยวประด๋าว\nประแดง\nประแดะ\nประโดง\nประโดย\nประตง\nประตัก\nประตาป\nประติชญา\nประติญาณ\nประติทิน\nประติมากร\nประติมากรรม\nประติรพ\nประตู\nประถม\nประถมจินดา\nประทม\nประท้วง\nประทวน\nประทักษ์\nประทักษิณ\nประทัง\nประทัด\nประทับ\nประทาน\nประทาย\nประทาศี\nประทิน\nประทิ่น\nประทีป\nประทุฐ\nประทุน\nประทุษ\nประทุษฐ์\nประเทศ\nประเทา\nประเทียด\nประเทียบ\nประเทือง\nประธาน\nประธานาธิบดี\nประนม\nประนอ\nประนอม\nประนัง\nประนัปดา\nประนีประนอม\nประปราน\nประปราย\nประปา\nประเปรี้ยง\nประเปรียว\nประพจน์\nประพนธ์\nประพรม\nประพฤติ\nประพฤทธิ์\nประพัด\nประพัทธ์\nประพันธ์\nประพาต\nประพาส\nประพาสมหรณพ\nประพาฬ\nประพิณ\nประพิมพ์ประพาย\nประพุทธ์\nประเพณี\nประโพธ\nประไพ\nประไพร\nประภพ\nประภัสสร\nประภา\nประภาคาร\nประภาพ\nประภาษ\nประภาส\nประเภท\nประมง\nประมวล\nประมาณ\nประมาท\nประมุข\nประมุท\nประมูล\nประเมิน\nประโมง\nประโมทย์\nประยงค์\nประยุกต์\nประยุทธ์\nประยุร\nประยูร\nประโยค\nประโยชน์\nประโรหิต\nประลมพ์\nประลอง\nประลัย\nประลาต\nประลาย\nประลุ\nประเล่ห์\nประเล้าประโลม\nประโลม\nประวรรต\nประวรรตน์\nประวัติ\nประวาล\nประวาลปัทม์\nประวาส\nประวิง\nประวิช\nประวิตร\nประวิน\nประวีณ\nประเวณี\nประเวศ\nประเวศน์\nประศม\nประศาสน์\nประศุ\nประสก\nประสงค์\nประสบ\nประสพ\nประสม\nประสะ\nประสัก\nประสันนาการ\nประสัยห์\nประสา\nประสาท\nประสาธน์\nประสาน\nประสาร\nประสิทธิ์\nประสิทธิผล\nประสิทธิภาพ\nประสีประสา\nประสูต\nประสูติ\nประเสบัน\nประเสบันอากง\nประเสริฐ\nประหนึ่ง\nประหม่า\nประหยัด\nประหลาด\nประหล่ำ\nประหวัด\nประหวั่น\nประหัตประหาร\nประหาณ\nประหาร\nประเหล\nประเหส\nประไหมสุหรี\nประอบ\nประอร\nปรัก\nปรักปรำ\nปรักมะ\nปรัง\nปรัชญา\nปรัตถจริยา\nปรัตยุบัน\nปรัน\nปรับ\nปรัมปรา\nปรัศจิม\nปรัศนา\nปรัศนี\nปรัศว์\nปรัสสบท\nปร่า\nปรากฏ\nปรากรม\nปรากฤต\nปราการ\nปราง\nปรางค์\nปราจีน\nปราชญ์\nปราชญา\nปราชัย\nปราณ\nปราณี\nปราด\nปราน\nปรานี\nปราบ\nปราบดาภิเษก\nปราปต์\nปราม\nปรามาส\nปราโมช\nปราโมทย์\nปราย\nปรารถนา\nปรารภ\nปรารมภ์\nปราศ\nปราศจาก\nปราศรัย\nปราษณี\nปราษาณ\nปราสัย\nปราสาท\nปรำ\nปริ\nปริก\nปริกขาร\nปริกรรม\nปริกัป\nปริคณห์\nปริจาค\nปริจาริกา\nปริเฉท\nปริชน\nปริซึม\nปริญญา\nปริณาม\nปริณายก\nปริต\nปริตตะ\nปริตโตทก\nปริตร\nปริทรรศน์\nปริทัยหัคคี\nปริทัศน์\nปริเทพ\nปริเทวะ\nปรินิพพาน\nปริบ\nปริบท\nปริปันถ์\nปริพนธ์\nปริพัตร\nปริพันธ์\nปริพาชก\nปริภัณฑ์\nปริภาษ\nปริภูมิ\nปริโภค\nปริ่ม\nปริมณฑล\nปริมาณ\nปริมาตร\nปริยัติ\nปริยานุช\nปริยาย\nปริเยศ\nปริโยสาน\nปริวรรต\nปริวัตร\nปริวาร\nปริวาส\nปริวิตก\nปริเวณ\nปริศนา\nปริษัท\nปริสัญญู\nปริสุทธิ\nปริหาน\nปริหาร\nปรี่\nปรีชญา\nปรีชา\nปรี๊ด\nปรีดา\nปรีดิ\nปรีดิ์\nปรีดี\nปรีติ\nปรียะ\nปรียา\nปรึก\nปรึกษา\nปรึง\nปรือ\nปรื๋อ\nปรุ\nปรุง\nปรู\nปรู๋\nปรูด\nปรู๊ด\nปรู๊ดปร๊าด\nปรู๊ฟ\nปฤงคพ\nปฤจฉา\nปฤษฎางค์\nปฤษฐ\nปลก\nปลกเปลี้ย\nปลง\nปล่ง\nปลด\nปล้น\nปลวก\nปลอก\nปล่อง\nปล้อง\nปลอด\nปล้อน\nปลอบ\nปลอม\nปล่อย\nปละ\nปลัก\nปลั๊ก\nปลัง\nปลั่ง\nปลัด\nปลัดขิก\nปลา\nปลาต\nปลาบ\nปลาย\nปลาสเตอร์\nปลาสนาการ\nปล้ำ\nปลิง\nปลิด\nปลิ้น\nปลิโพธ\nปลิม\nปลิ่ม\nปลิว\nปลี\nปลีก\nปลื้ม\nปลุก\nปลูก\nปวกเปียก\nปวง\nป่วง\nปวด\nป่วน\nป้วน\nป้วนเปี้ยน\nป่วย\nปวัตน์\nปวารณา\nปวาล\nปวาส\nปวาฬ\nปวิช\nปวิตร\nปวิธ\nปวิเวก\nปวีณ\nปวุติ\nปเวณี\nปเวส\nปเวสน์\nปศุ\nปสันนะ\nปสันนาการ\nปสาท\nปสาน\nปสาสน์\nปสุ\nปสุต\nปสูติ\nปหังสนะ\nปหาน\nปหาร\nปหาส\nปอ\nป้อ\nป๋อ\nปอก\nปอง\nป่อง\nป้อง\nปอด\nปอน\nป้อน\nปอนด์\nปอเนาะ\nปอบ\nป้อแป้\nปอม\nป้อม\nป๋อม\nปอย\nป้อย\nป้อยอ\nปะ\nปะกน\nปะกัง\nปะการัง\nปะกำ\nปะขาว\nปะงาบ\nปะตาปา\nปะตาระกาหลา\nปะติดปะต่อ\nปะติยาน\nปะทะ\nปะทะปะทัง\nปะทุ\nปะทุน\nปะปน\nปะมง\nปะราลี\nปะรำ\nปะไร\nปะลอม\nปะเลง\nปะแล่ม\nปะโลง\nปะวะหล่ำ\nปะหงับ\nปะหนัน\nปะหัง\nปะเหลาะ\nปัก\nปักข์\nปักเป้า\nปักษ์\nปักษา\nปักษิน\nปักษี\nปัง\nปั๋ง\nปังสุ์\nปังสุกุล\nปัจจัตตะ\nปัจจันต์\nปัจจันตคาม\nปัจจันตชนบท\nปัจจันตประเทศ\nปัจจัย\nปัจจามิตร\nปัจจุคมน์\nปัจจุทธรณ์\nปัจจุบัน\nปัจจุสมัย\nปัจเจก\nปัจโจปการกิจ\nปัจฉา\nปัจฉิม\nปัจถรณ์\nปัจนึก\nปัจยาการ\nปัจเวกขณ์\nปัชชุน\nปัญจนที\nปัญจวัคคีย์\nปัญจก\nปัญจกะ\nปัญจมี\nปัญจวีสติ\nปัญญัติ\nปัญญา\nปัญหา\nปัฏ\nปัฏนะ\nปัฐยาวัต\nปัณฑรหัตถี\nปัณณะ\nปัณณาส\nปัณณาสก์\nปัณรสี\nปัณหิ\nปัด\nปัตคาด\nปัตตะ\nปัตตานึก\nปัตตานุโมทนา\nปัตตาเวีย\nปัตติ\nปัตติก\nปัตถร\nปัตถะ\nปัตนิ\nปัตนี\nปัตหล่า\nปัถพี\nปัถวี\nปัทม์\nปัทมะ\nปัทมาสน์\nปัน\nปั่น\nปั้น\nปั้นจั่น\nปันจุเหร็จ\nปั้นลม\nปั้นหยา\nปั้นเหน่ง\nปับ\nปั๊บ\nปัปผาสะ\nปัพพาชนียกรรม\nปัพภาระ\nปั๊ม\nปัยกา\nปัยยิกา\nปัวเปีย\nปัศจิม\nปัศตัน\nปัสสาวะ\nปัสสาสะ\nปา\nป่า\nป้า\nปาก\nปาง\nป้าง\nปาจรีย์\nปาจิตตีย์\nปาจีน\nปาฏลิ\nปาฏิบท\nปาฏิบุคลิก\nปาฏิโภค\nปาฏิหาริย์\nปาฐก\nปาฐกถา\nปาฐะ\nปาณกชาติ\nปาณะ\nปาณาติบาต\nปาณิ\nปาณี\nปาด\nปาติโมกข์\nปาตี\nปาเต๊ะ\nปาท่องโก๋\nปาทังกา\nปาทาน\nปาทุกา\nปาน\nป่าน\nป้าน\nปานะ\nปานียะ\nป้าบ\nป๊าบ\nปาพจน์\nปาม\nปาโมกข์\nป่าย\nป้าย\nปายาส\nปาร์เกต์\nปารมี\nปารเมศ\nปาราชิก\nปาริฉัตร\nปาริชาต\nปารุสกวัน\nปาล\nปาล์ม\nปาลิไลยก์\nปาลี\nปาว\nป่าว\nป๊าว\nปาวาร\nปาษาณ\nปาส\nปาสาณ\nปาสาทิกะ\nปาหนัน\nปาหี่\nปำ\nป้ำ\nป้ำเป๋อ\nปิกนิก\nปิ้ง\nปิงคละ\nปิงปอง\nปิฎก\nปิฏฐะ\nปิฐิ\nปิณฑะ\nปิด\nปิตตะ\nปิตา\nปิตามหัยกา\nปิตามหัยยิกา\nปิตุ\nปิตุจฉา\nปิตุภูมิ\nปิตุลา\nปิโตรเลียม\nปิ่น\nปิ่นแก้ว\nปิ่นโต\nปิปผลี\nปิ่ม\nปิ้ม\nปิยะ\nปิยังคุ\nปิโยรส\nปิลันธน์\nปิ๋ว\nปิศาจ\nปิหกะ\nปี\nปี่\nปี้\nปี๋\nปีก\nปีฐะ\nปี๊ด\nปีติ\nปีน\nปีบ\nปี๊บ\nปีศาจ\nปีฬกะ\nปึก\nปึง\nปึ่ง\nปึ๋ง\nปึ้ด\nปึมปื้อ\nปืน\nปื้น\nปือ\nปื้อ\nปื๋อ\nปุ\nปุ๊\nปุก\nปุกปุย\nปุคละ\nปุ้งกี๋\nปุงควะ\nปุงลิงค์\nปุงลึงค์\nปุจฉา\nปุฏะ\nปุณฑริก\nปุด\nปุตตะ\nปุถุชน\nปุนนาค\nปุนภพ\nปุนัพสุ\nปุบ\nปุ๊บ\nปุปผะ\nปุปะ\nปุพพะ\nปุ่ม\nปุ่มป่ำ\nปุ้ม\nปุ๋ม\nปุย\nปุ้ย\nปุ๋ย\nปุรณะ\nปุระ\nปุราณ\nปุราณะ\nปุริมพรรษา\nปุเรจาริก\nปุโรหิต\nปุลลิงค์\nปุลลึงค์\nปุลินท์\nปุโลปุเล\nปุษยะ\nปุสสะ\nปู\nปู่\nปูชกะ\nปูชนียบุคคล\nปูชนียวัตถุ\nปูชนียะ\nปูชา\nปูชิต\nปูด\nปูน\nปูม\nปู้ยี่ปู้ยำ\nปูระ\nปูลู\nเป้\nเป๋\nเปก\nเป๊ก\nเป่ง\nเป้ง\nเป๋ง\nเป็ด\nเปตพลี\nเปตอง\nเป็น\nเปยยาล\nเปร็ง\nเปรต\nเปรม\nเปรย\nเปรอ\nเปรอะ\nเปราะ\nเปรียง\nเปรี้ยง\nเปรี้ยงปร้าง\nเปรียญ\nเปรียบ\nเปรี่ยม\nเปรียว\nเปรี้ยว\nเปรียะ\nเปรี๊ยะ\nเปรื่อง\nเปรื้อย\nเปล\nเปล่ง\nเปลว\nเปลา\nเปล่า\nเปล้า\nเปลาะ\nเปลี้ย\nเปลี่ยน\nเปลี่ยม\nเปลี่ยว\nเปลือก\nเปลือง\nเปลื้อง\nเปลือย\nเปศะ\nเปศัส\nเปสการ\nเปสละ\nเปสุญวาท\nเป๋อ\nเป้อเย้อ\nเปอร์\nเปอร์เซ็นต์\nเปะ\nเปา\nเป่า\nเป้า\nเป๊า\nเป๋า\nเป๋าฮื้อ\nเปาะ\nเป๊าะ\nเปาะเปี๊ยะ\nเปาะแปะ\nเปิก\nเปิง\nเปิงมาง\nเปิด\nเปิ่น\nเปิบ\nเปิ๊บ\nเปีย\nเปียก\nเปี๊ยก\nเปี๊ยบ\nเปี่ยม\nเปี้ยว\nเปี๊ยว\nเปียะ\nเปี๊ยะ\nเปือก\nเปื้อน\nเปื่อย\nแป\nแป้ง\nแป๋ง\nแปด\nแป๊ด\nแปทู\nแป้น\nแป๊น\nแปบ\nแป๊บ\nแปม\nแปร\nแปร๋\nแปรก\nแปรง\nแปร่ง\nแปร๊ด\nแปร้น\nแปร๋น\nแปรปรวน\nแประ\nแปล\nแปล้\nแปลก\nแปลง\nแปลน\nแปลบ\nแปล๊บ\nแป้ว\nแป๊ว\nแปะ\nแป๊ะ\nแป๊ะซะ\nโป\nโป่\nโป้\nโป๊\nโปก\nโป๊ก\nโป๊กเกอร์\nโปกขรณี\nโปกขรพรรษ\nโปเก\nโปง\nโป่ง\nโป้ง\nโป่งข่าม\nโปงลาง\nโป่งวิด\nโปฐบท\nโปฐปทมาส\nโปดก\nโปตถกะ\nโปน\nโป๊ป\nโป๊ยเซียน\nโปรแกรม\nโปรง\nโปร่ง\nโปรด\nโปรตอน\nโปรตีน\nโปรเตสแตนต์\nโปรแทรกเตอร์\nโปรย\nโปล่ง\nโปลิโอ\nโปโล\nโปสก\nโปสต์การ์ด\nโปะ\nโป๊ะ\nโป๊ะจ้าย\nไป\nไป่\nไป๋\nไปยาล\nไปรษณีย์\nไปรษณียบัตร\nไปรษณียภัณฑ์\nไปรษณียากร\nไปล่\nไปศาจ\nผก\nผกา\nผกาย\nผคม\nผง\nผงก\nผงม\nผงะ\nผงาด\nผง่าน\nผจง\nผจญ\nผจัญ\nผจาน\nผชุม\nผณิน\nผณินทร\nผณิศวร\nผด\nผดุง\nผเดิน\nผทม\nผนวก\nผนวช\nผนัง\nผนิด\nผนึก\nผม\nผยอง\nผรณาปีติ\nผรสุ\nผริต\nผรุสวาท\nผล\nผลคุน\nผลคุนี\nผล็อย\nผละ\nผลัก\nผลัด\nผลับ\nผลัวะ\nผลา\nผลาญ\nผลานิสงส์\nผลาผล\nผลาหาร\nผลิ\nผลิกะ\nผลิต\nผลิน\nผลี\nผลีผลาม\nผลึก\nผลึ่ง\nผลือ\nผลุ\nผลุง\nผลุด\nผลุน\nผลุนผลัน\nผลุบ\nผลุบผลับ\nผลุย\nผลู\nผวน\nผวย\nผวา\nผสม\nผสาน\nผอง\nผ่อง\nผ่อน\nผอบ\nผอม\nผ็อย\nผอูน\nผะ\nผะดา\nผะสา\nผัก\nผัคคุณ\nผัคคุณี\nผัง\nผัด\nผัน\nผับ\nผัว\nผัวะ\nผัสสะ\nผัสสาหาร\nผา\nผ่า\nผ้า\nผาก\nผาง\nผ่าง\nผาณิต\nผาด\nผาติ\nผ่าน\nผาม\nผาย\nผ่ายผอม\nผาล\nผาลคุน\nผาลา\nผ่าว\nผาสุก\nผ้าฮาด\nผำ\nผ้ำ\nผิ\nผิง\nผิด\nผิตะ\nผิน\nผิว\nผี\nผี้ว์\nผึง\nผึ่ง\nผึ้ง\nผึ้งรวง\nผืน\nผื่น\nผุ\nผุด\nผุยผง\nผุสราคา\nผู้\nผูก\nเผ\nเผง\nเผชิญ\nเผ็ด\nเผด็จ\nเผดิม\nเผดียง\nเผ่น\nเผนิก\nเผย\nเผยอ\nเผยิบ\nเผยิบผยาบ\nเผล\nเผล่\nเผล็ด\nเผลอ\nเผลอไผล\nเผละ\nเผลาะ\nเผลาะแผละ\nเผลียง\nเผอเรอ\nเผอิญ\nเผอิล\nเผะ\nเผา\nเผ่า\nเผ้า\nเผาะ\nเผิ้ง\nเผิน\nเผียน\nเผือ\nเผื่อ\nเผือก\nเผือด\nเผือน\nเผื่อน\nแผ่\nแผก\nแผง\nแผด\nแผน\nแผ่น\nแผนก\nแผล\nแผลง\nแผล็บ\nแผล็ว\nแผละ\nแผ่ว\nแผ้ว\nโผ\nโผง\nโผฏฐัพพะ\nโผน\nโผเผ\nโผย\nโผล่\nโผลกเผลก\nโผละ\nโผอน\nโผะ\nไผ\nไผ่\nไผท\nฝน\nฝรั่ง\nฝรั่งเศส\nฝ่อ\nฝอย\nฝัก\nฝัง\nฝั่ง\nฝัด\nฝัน\nฝา\nฝ่า\nฝ้า\nฝาก\nฝาง\nฝาด\nฝาน\nฝาย\nฝ่าย\nฝ้าย\nฝิ่น\nฝี\nฝี่\nฝีก\nฝึก\nฝืด\nฝืน\nฝุ่น\nฝูง\nเฝ้า\nเฝือ\nเฝือก\nเฝือง\nเฝื่อน\nแฝก\nแฝง\nแฝด\nใฝ่\nไฝ\nพก\nพกุล\nพง\nพงศ์\nพงศกร\nพงศธร\nพงศา\nพงศาวดาร\nพจน์\nพจนา\nพจนานุกรม\nพจนารถ\nพจนีย์\nพจมาน\nพจี\nพชระ\nพญา\nพญาลอ\nพณิช\nพณิชย์\nพดด้วง\nพธู\nพนันดร\nพนาดร\nพนาดอน\nพนาราม\nพนาลัย\nพนาลี\nพนาวาส\nพนาเวศ\nพนาศรม\nพนาสณฑ์\nพนาสัณฑ์\nพเนจร\nพ่น\nพ้น\nพนม\nพนอง\nพนอม\nพนัก\nพนักงาน\nพนัง\nพนัน\nพนัส\nพนา\nพนาย\nพนิดา\nพนิต\nพบ\nพม่า\nพยนต์\nพยศ\nพยัก\nพยักพเยิด\nพยัคฆ์\nพยัคฆา\nพยัคฆิน\nพยัคฆี\nพยัชน์\nพยัญชนะ\nพยัต\nพยับ\nพยากรณ์\nพยาฆร์\nพยางค์\nพยาธิ\nพยาน\nพยาบาท\nพยาบาล\nพยาม\nพยามะ\nพยายาม\nพยุ\nพยุง\nพยุหยาตรา\nพยุหโยธา\nพยุหเสนา\nพยุหะ\nพยู่ห์\nพเยีย\nพร\nพรต\nพรม\nพรรค\nพรรค์\nพรรคานต์\nพรรณ\nพรรณนา\nพรรดึก\nพรรลาย\nพรรษ\nพรรษา\nพรรเอิญ\nพรวด\nพรวน\nพรหม\nพรหมจรรย์\nพรหมจาริณี\nพรหมจารี\nพรหมา\nพรหมาสตร์\nพรหมินทร์\nพรอก\nพร่อง\nพร้อง\nพรอด\nพร้อม\nพร้อมพรัก\nพร่อย\nพร้อย\nพระ\nพระนอม\nพระนาด\nพระฮาม\nพรักพร้อม\nพรั่ง\nพรัด\nพรั่น\nพรับ\nพร่า\nพร้า\nพราก\nพราง\nพร่าง\nพราด\nพราน\nพราย\nพราว\nพราหมณ์\nพราหมณะ\nพราหมณี\nพราหมี\nพรำ\nพร่ำ\nพริก\nพริ้ง\nพริบ\nพริ้ม\nพรึง\nพรึน\nพรึบ\nพรึ่บ\nพรืด\nพรุ\nพรุ่ง\nพรุน\nพรู\nพรูด\nพฤกษ์\nพฤกษชาติ\nพฤกษเทวดา\nพฤกษราช\nพฤกษศาสตร์\nพฤกษา\nพฤฒ\nพฤฒา\nพฤฒาจารย์\nพฤฒิ\nพฤต\nพฤติ\nพฤทธ์\nพฤทธิ์\nพฤนต์\nพฤนท์\nพฤศจิก\nพฤศจิกายน\nพฤษภ\nพฤษภาคม\nพฤหัสบดี\nพล\nพละ\nพลากร\nพลาดิศัย\nพลาธิการ\nพลานามัย\nพลบ\nพลวก\nพลวง\nพลวัต\nพลศาสตร์\nพลอ\nพล้อ\nพลอง\nพลอด\nพลอน\nพลอมแพลม\nพลอย\nพล่อย\nพลั่ก\nพลัง\nพลั่ง\nพลั้ง\nพลัด\nพลัน\nพลับ\nพลับพลา\nพลับพลึง\nพลั่ว\nพล่า\nพลาง\nพลาญ\nพลาด\nพล่าน\nพลาม\nพล่าม\nพลาย\nพลาสติก\nพลาสมา\nพลาหก\nพลำ\nพล้ำ\nพลำภัง\nพลิก\nพลิพัท\nพลิ้ว\nพลี\nพลุ\nพลุก\nพลุ่ก\nพลุกพล่าน\nพลุ่ง\nพลุ้ย\nพลู\nพลูโต\nพลูโทเนียม\nพวก\nพวง\nพ่วง\nพวน\nพวย\nพสก\nพสุ\nพสุธา\nพสุสงกรานต์\nพหล\nพหุ\nพหุล\nพหู\nพอ\nพ่อ\nพ้อ\nพอก\nพอง\nพ้อง\nพอน\nพ้อม\nพอโลเนียม\nพะ\nพะงา\nพะงาบ\nพะจง\nพะทำมะรง\nพะนอ\nพะเน้าพะนอ\nพะเนิน\nพะเนียง\nพะแนง\nพะพาน\nพะพิง\nพะเพิง\nพะยอม\nพ่ะย่ะค่ะ\nพะยูง\nพะยูน\nพะเยิบ\nพะเยิบพะยาบ\nพะรุงพะรัง\nพะโล้\nพะไล\nพะวง\nพะวักพะวน\nพะวา\nพะว้าพะวัง\nพะอง\nพะอากพะอำ\nพะอืดพะอม\nพัก\nพักตร์\nพักตรา\nพักร\nพัง\nพังกา\nพังงา\nพังผืด\nพังพวย\nพังพอน\nพังพาน\nพังพาบ\nพังเพย\nพัช\nพัชนี\nพัชระ\nพัญจน์\nพัฒนะ\nพัฒนา\nพัฒนากร\nพัฒนาการ\nพัด\nพัดชา\nพัดดึงส์\nพัตร\nพัทธ์\nพัทธยา\nพัทธสีมา\nพัทร\nพัน\nพันตู\nพันทาง\nพันธ์\nพันธะ\nพันธกรณี\nพันธบัตร\nพันธมิตร\nพันธนะ\nพันธนาคาร\nพันธนาการ\nพันธุ์\nพันธุกรรม\nพันลึก\nพันลือ\nพันเลิศ\nพันเอิญ\nพับ\nพัลลภ\nพัลวัน\nพัว\nพัวะ\nพัศดี\nพัสดุ\nพัสตร์\nพัสถาน\nพา\nพาก\nพากเพียร\nพากย์\nพาง\nพ่าง\nพาชี\nพาณิช\nพาณิชย์\nพาณิชยกรรม\nพาณิชยการ\nพาณิชยศาสตร์\nพาณิชยศิลป์\nพาณินี\nพาณี\nพาณีนี\nพาด\nพาท\nพาทย์\nพาธ\nพาธา\nพาน\nพ่าน\nพานร\nพานรินทร์\nพาม\nพาย\nพ่าย\nพายม้า\nพายัพ\nพายุ\nพาร์เซก\nพารณ\nพารา\nพาราฟิน\nพาล\nพาลา\nพาลี\nพาลุก\nพาโล\nพาไล\nพาส\nพาสน์\nพาสนา\nพาสุกรี\nพ่าห์\nพาหนะ\nพาหะ\nพาหา\nพาหิรกะ\nพาหิระ\nพาหุ\nพาหุรัด\nพาหุสัจจะ\nพาเหียร\nพาฬ\nพำ\nพำนัก\nพำพึม\nพำลา\nพิกล\nพิกสิต\nพิกัด\nพิกัติ\nพิกัน\nพิการ\nพิกุล\nพิเคราะห์\nพิฆน์\nพิฆเนศ\nพิฆเนศวร\nพิฆาต\nพิง\nพิจัย\nพิจาร\nพิจารณ์\nพิจารณา\nพิจิก\nพิจิต\nพิจิตร\nพิชญ์\nพิชัย\nพิชาน\nพิชิต\nพิเชฐ\nพิเชียร\nพิฑูรย์\nพิณ\nพิดทูล\nพิดาน\nพิโดร\nพิตร\nพิถี\nพิถีพิถัน\nพิทย\nพิทย์\nพิทยา\nพิทยาคม\nพิทยาคาร\nพิทยาธร\nพิทยาลัย\nพิทักษ์\nพิทูร\nพิเทศ\nพิธาน\nพิธี\nพิธุ\nพินทุ\nพินอบพิเทา\nพินัย\nพินาศ\nพินิจ\nพินิต\nพินิศ\nพินิศจัย\nพิเนต\nพิบัติ\nพิบุล\nพิบูล\nพิปริต\nพิปลาส\nพิพรรธ\nพิพรรธน์\nพิพักพิพ่วน\nพิพัฒ\nพิพัฒน์\nพิพากษ์\nพิพากษา\nพิพาท\nพิพิธ\nพิพิธภัณฑ์\nพิพิธภัณฑสถาน\nพิภพ\nพิภัช\nพิภาค\nพิภูษณะ\nพิเภก\nพิมปะการัง\nพิมพ์\nพิมพการัง\nพิมพา\nพิมพาภรณ์\nพิมล\nพิมเสน\nพิมาน\nพิมุข\nพิโมกข์\nพิโมกษ์\nพิโยกพิเกน\nพิโยค\nพิรอด\nพิระ\nพิรากล\nพิราบ\nพิราม\nพิราลัย\nพิริยะ\nพิรี้พิไร\nพิรุณ\nพิรุธ\nพิรุฬห์\nพิเรนทร์\nพิเราะ\nพิโรธ\nพิไร\nพิลังกาสา\nพิลาป\nพิลาส\nพิลิปดา\nพิลึก\nพิลึกกึกกือ\nพิลึกพิลั่น\nพิโลน\nพิไล\nพิศ\nพิศวง\nพิศวาส\nพิศาล\nพิศุทธ์\nพิศุทธิ์\nพิเศษ\nพิษ\nพิษฐาน\nพิษนาศน์\nพิสดาร\nพิสมร\nพิสมัย\nพิสัง\nพิสัช\nพิสัย\nพิสิฐ\nพิสุทธิ์\nพิสูจน์\nพิหค\nพิหาร\nพิฬาร\nพี\nพี่\nพี้\nพีชคณิต\nพีระมิด\nพึง\nพึ่ง\nพึ่บ\nพึ่บพั่บ\nพึม\nพึมพำ\nพืช\nพืด\nพื้น\nพุ\nพุก\nพุกาม\nพุง\nพุ่ง\nพุงดอ\nพุฒ\nพุฒิ\nพุด\nพุดตาน\nพุทธ\nพุทธะ\nพุทธังกูร\nพุทธางกูร\nพุทธันดร\nพุทธาภิเษก\nพุทธาวาส\nพุทธิ\nพุทโธ่\nพุทรา\nพุธ\nพุ่ม\nพุมเรียง\nพุ้ย\nพู\nพูพอน\nพู่\nพูด\nพูน\nพู้น\nพู่ระหง\nเพ\nเพ็ก\nเพกา\nเพคะ\nเพ็ง\nเพ่ง\nเพ็จ\nเพชฉลูกรรม\nเพชฌฆาต\nเพชร\nเพชรดา\nเพชรปาณี\nเพชรฤกษ์\nเพชรายุธ\nเพชรกลับ\nเพชรสังฆาต\nเพชรหลีก\nเพชรหึง\nเพ็ญ\nเพฑูริย์\nเพณี\nเพ็ดทูล\nเพดาน\nเพท\nเพทนา\nเพทาย\nเพทุบาย\nเพโทบาย\nเพ่นพ่าน\nเพนียด\nเพไนย\nเพ้ย\nเพรง\nเพรซีโอดิเมียม\nเพรา\nเพราะ\nเพริด\nเพริศ\nเพรียก\nเพรียง\nเพรียบ\nเพรี้ยม\nเพรียว\nเพรื่อ\nเพรือง\nเพล\nเพลง\nเพล็ด\nเพล้โพล้\nเพลา\nเพลาะ\nเพลิง\nเพลิดเพลิน\nเพลิน\nเพลีย\nเพลี้ย\nเพลี่ยง\nเพศ\nเพส\nเพสลาด\nเพ่อ\nเพ้อ\nเพ้อเจ้อ\nเพอิญ\nเพะ\nเพา\nเพาะ\nเพิก\nเพิง\nเพิ่ง\nเพิดเพ้ย\nเพิ่ม\nเพี้ย\nเพียง\nเพี้ยง\nเพียงออ\nเพี้ยน\nเพียบ\nเพียร\nเพื่อ\nเพื่อน\nแพ\nแพ้\nแพง\nแพ่ง\nแพงพวย\nแพทย์\nแพทยศาสตร์\nแพน\nแพ่น\nแพนก\nแพนงเชิง\nแพร\nแพร่\nแพรก\nแพร่ง\nแพรว\nแพร้ว\nแพลง\nแพลทินัม\nแพล็บ\nแพลม\nแพลเลเดียม\nแพละ\nแพละโลม\nแพว\nแพ้ว\nแพศย์\nแพศยา\nแพะ\nโพ\nโพก\nโพกพาย\nโพง\nโพงพาง\nโพชฌงค์\nโพซิตรอน\nโพด\nโพทะเล\nโพแทสเซียม\nโพธ\nโพธิ\nโพธิ์\nโพน\nโพ้น\nโพนทะนา\nโพบาย\nโพย\nโพยก๊วน\nโพยม\nโพรก\nโพรง\nโพรโทแอกทิเนียม\nโพรมีเทียม\nโพระดก\nโพล่\nโพลง\nโพล่ง\nโพล้ง\nโพลน\nโพล้เพล้\nโพละ\nโพสพ\nไพ\nไพ่\nไพจิตร\nไพชน\nไพชยนต์\nไพฑูรย์\nไพที\nไพบูลย์\nไพพรรณ\nไพร\nไพร่\nไพรจิตร\nไพรชน\nไพรชยนต์\nไพรฑูรย์\nไพรที\nไพรบูลย์\nไพรเราะ\nไพรัช\nไพรำ\nไพริน\nไพรินทร์\nไพรี\nไพเราะ\nไพโรจน์\nไพล\nไพล่\nไพศาขะ\nไพศาล\nไพเศษ\nไพสพ\nไพสิฐ\nไพหาร\nฟก\nฟ้ง\nฟรักโทส\nฟรี\nฟลูออรีน\nฟ่อ\nฟ้อ\nฟอก\nฟอง\nฟ่อง\nฟ้อง\nฟอด\nฟอน\nฟ่อน\nฟ้อน\nฟ้อแฟ้\nฟอร์มาลดีไฮด์\nฟอร์มาลิน\nฟอสฟอรัส\nฟอสเฟต\nฟัก\nฟักฟุ้น\nฟัง\nฟังก์ชัน\nฟัด\nฟัน\nฟั่น\nฟั้น\nฟ้า\nฟาก\nฟาง\nฟ่าง\nฟาด\nฟาทอม\nฟาน\nฟ่าม\nฟาย\nฟาร์ม\nฟาสซิสต์\nฟิด\nฟิต\nฟิบ\nฟิล์ม\nฟิวส์\nฟิสิกส์\nฟี่\nฟี้\nฟืดฟาด\nฟืน\nฟื้น\nฟืม\nฟุ\nฟุ้ง\nฟุต\nฟุน\nฟุบ\nฟุ่บ\nฟุ่มเฟือย\nฟุลสแก๊ป\nฟู\nฟู่\nฟูก\nฟูด\nฟูม\nเฟ็ด\nเฟ้น\nเฟลด์สปาร์\nเฟ้อ\nเฟอร์เมียม\nเฟอะ\nเฟอะฟะ\nเฟะ\nเฟะฟะ\nเฟิน\nเฟี้ยม\nเฟี้ยว\nเฟือ\nเฟื้อ\nเฟือง\nเฟื่อง\nเฟื้อง\nเฟือน\nเฟือย\nเฟื้อย\nแฟ่\nแฟง\nแฟชั่น\nแฟน\nแฟบ\nแฟ้ม\nแฟรนเซียม\nแฟลกซ์\nแฟลต\nแฟะ\nโฟกัส\nไฟ\nภควดี\nภควัต\nภควันต์\nภควัม\nภควา\nภควาน\nภคะ\nภคันทลา\nภคินี\nภณะ\nภณิดา\nภพ\nภมร\nภมริน\nภมรี\nภมุกา\nภยันตราย\nภยาคติ\nภระ\nภรณี\nภรต\nภรรดร\nภรรดา\nภรรยา\nภระมร\nภระมรี\nภราดร\nภราดรภาพ\nภราดา\nภริยา\nภฤศ\nภวะ\nภวตัณหา\nภวนะ\nภวังค์\nภวังคจิต\nภักดี\nภักตะ\nภักติ\nภักษ์\nภักษา\nภักษาหาร\nภัค\nภัคน์\nภังคะ\nภังคี\nภัจ\nภัณฑ์\nภัณฑาคาร\nภัณฑาคาริก\nภัณฑารักษ์\nภัณฑนะ\nภัณฑู\nภัต\nภัตตาคาร\nภัตตาหาร\nภัตร\nภัทระ\nภัทรกัป\nภัพ\nภัย\nภัสดา\nภัสตรา\nภัสมะ\nภัสสร\nภา\nภาค\nภาคย์\nภาคยานุวัติ\nภาคินี\nภาคิไนย\nภาคี\nภาคียะ\nภาชนะ\nภาชี\nภาณ\nภาณวาร\nภาณกะ\nภาณี\nภาณุ\nภาดร\nภาดา\nภาตระ\nภาตา\nภาตุ\nภาติกะ\nภาติยะ\nภาพ\nภาพย์\nภาม\nภาย\nภาร\nภาระ\nภารดี\nภารต\nภารตี\nภารยทรัพย์\nภารยา\nภารา\nภาวนา\nภาวะ\nภาษ\nภาษณ์\nภาษา\nภาษิต\nภาษี\nภาส\nภาสน์\nภาสวร\nภาสา\nภาสุระ\nภิกขา\nภิกขาจาร\nภิกขุ\nภิกขุนี\nภิกษา\nภิกษาจาร\nภิกษาหาร\nภิกษุ\nภิกษุณี\nภิงคาร\nภิญโญ\nภิตติ\nภินท์\nภินทนาการ\nภิยโย\nภิรมย์\nภิรมย์สุรางค์\nภิษัช\nภิสัก\nภีตะ\nภีมะ\nภีรุ\nภุกต์\nภุขัน\nภุช\nภุชงค์\nภุต\nภุมมะ\nภุมรัตน์\nภุมวาร\nภุมรา\nภุมริน\nภุมรี\nภุมเรศ\nภู\nภู่\nภูต\nภูติ\nภูม\nภูมิ\nภูมี\nภูริ\nภูรี\nภูวดล\nภูวนาถ\nภูวเนตร\nภูวไนย\nภูษา\nภูษิต\nเภกะ\nเภตรา\nเภท\nเภทุบาย\nเภรี\nเภสัช\nโภค\nโภคะ\nโภคิน\nโภคี\nโภไคย\nโภไคศวรรย์\nโภช\nโภชย์\nโภชก\nโภชนะ\nโภชนา\nโภชนาหาร\nโภชนียะ\nไภริน\nไภรี\nไภษัชคุรุ\nไภษัชย์\nมกร\nมกราคม\nมกุฎ\nมคธ\nมฆวัน\nมฆะ\nมฆา\nม่ง\nมงกุฎ\nมงโกรย\nมงคล\nมงคลวาร\nมณฑ์\nมณฑก\nมณฑนะ\nมณฑป\nมณฑล\nมณฑา\nมณฑารพ\nมณฑิระ\nมณเฑียร\nมณี\nมด\nมตะ\nมตกภัต\nมติ\nมทนะ\nมทะ\nมธุ\nมธุกร\nมธุการี\nมธุลีห์\nมธุระ\nมธุรพจน์\nมน\nมนินทรีย์\nม่น\nมนต์\nมนตร์\nมนตรี\nมนท์\nมนทิราลัย\nมนเทียร\nมนสิการ\nมนัส\nมนัสวี\nมนินทรีย์\nมนิมนา\nมนิลา\nมนุญ\nมนุษย์\nมนุษยชาติ\nมนุษยธรรม\nมนุษย์มนา\nมนุษยโลก\nมนุษยศาสตร์\nมนุษยสัมพันธ์\nมนุสาร\nมนู\nมนูสาร\nมโน\nมโนช\nมโนชญ์\nมโนราห์\nมโนสาเร่\nมโนห์รา\nมมังการ\nมยุรฉัตร\nมยุระ\nมยุรา\nมยุรี\nมยุเรศ\nมยูร\nมรกต\nมรคา\nมรฑป\nมรณ์\nมรณะ\nมรณกรรม\nมรณบัตร\nมรณภัย\nมรณภาพ\nมรดก\nมรรค\nมรรคา\nมรรตัย\nมรรยาท\nมรรษ\nมรสุม\nมริจ\nมริยาท\nมรีจิ\nมรุต\nมฤค\nมฤคย์\nมฤคศิระ\nมฤคศิรมาส\nมฤคเศียร\nมฤคินทร์\nมฤเคนทร์\nมฤดก\nมฤต\nมฤตยู\nมฤทุ\nมล\nมละ\nมลัก\nมลังเมลือง\nมล้าง\nมลาย\nมลายู\nมวก\nม่วง\nมวน\nม่วน\nม้วน\nม้วนต้วน\nมวย\nม้วย\nมวล\nมหกรรม\nมหรณพ\nมหรรณพ\nมหรสพ\nมหัจฉริยะ\nมหัต\nมหัทธนะ\nมหันต์\nมหันตโทษ\nมหัพภาค\nมหัศจรรย์\nมหา\nมหากฐิน\nมหากาฬ\nมหาขันธกะ\nมหาจักร\nมหาชน\nมหาชัย\nมหาชาติ\nมหาโชตรัต\nมหาดไทย\nมหาดเล็ก\nมหาตมะ\nมหาไถ่\nมหาเทพ\nมหาเทพี\nมหาเทวี\nมหาธาตุ\nมหานิกาย\nมหานิล\nมหาบพิตร\nมหาบัณฑิต\nมหาพน\nมหาพรหม\nมหาภารตะ\nมหาภิเนษกรมณ์\nมหาภูต\nมหาเมฆ\nมหายาน\nมหายุค\nมหาราช\nมหาฤกษ์\nมหาละลวย\nมหาละลาย\nมหาวงศ์\nมหาวรรค\nมหาวิทยาลัย\nมหาศักราช\nมหาศาล\nมหาสงกรานต์\nมหาสดมภ์\nมหาสดำ\nมหาสมุทร\nมหาสาวก\nมหาหงส์\nมหาหิงคุ์\nมหาอำนาจ\nมหาอุจ\nมหาอุด\nมหาอุปรากร\nมหาอุปราช\nมหิ\nมหิดล\nมหิธร\nมหิป\nมหิงส์\nมหิทธิ\nมหินท์\nมหิมา\nมหิศร\nมหิศวร\nมหิษ\nมหิษี\nมหึมา\nมเหยงค์\nมเหศ\nมเหศวร\nมเหศักดิ์\nมเหสักข์\nมเหสิ\nมเหสี\nมเหาฬาร\nมโหรสพ\nมโหระทึก\nมโหรี\nมโหฬาร\nมไหศวรรย์\nมอ\nมอง\nมองโกลอยด์\nมองโกเลีย\nมองคร่อ\nมอญ\nมอด\nม่อต้อ\nมอเตอร์\nมอเตอร์ไซค์\nมอน\nม่อน\nมอบ\nมอม\nมอมแมม\nม่อย\nมอร์ฟีน\nมอระกู่\nมอลโทส\nม่อลอกม่อแลก\nม่อห้อม\nม่อฮ่อม\nมะ\nมะกรูด\nมะกล่ำ\nมะกอก\nมะก่อง\nมะกะโรนี\nมะกา\nมะเกลือ\nมะเกี๋ยง\nมะข่วง\nมะขวิด\nมะขาม\nมะเขือ\nมะแข่น\nมะคังแดง\nมะค่า\nมะคำไก่\nมะคำดีควาย\nมะงั่ว\nมะงุมมะงาหรา\nมะซัก\nมะซาง\nมะดัน\nมะดีหวี\nมะดูก\nมะเดหวี\nมะเดื่อ\nมะต้อง\nมะตะบะ\nมะตาด\nมะตาหะรี\nมะตึ่ง\nมะตื๋น\nมะตูม\nมะแตก\nมะโต\nมะนาว\nมะปราง\nมะปริง\nมะฝ่อ\nมะพร้าว\nมะพลับ\nมะพูด\nมะแพน\nมะแพร้ว\nมะเฟือง\nมะแฟน\nมะไฟ\nมะม่วง\nมะม่าว\nมะมี่\nมะมื่น\nมะมุด\nมะเมอ\nมะเมีย\nมะเมื่อย\nมะแม\nมะยง\nมะยม\nมะระ\nมะริด\nมะรืน\nมะรุม\nมะรุมมะตุ้ม\nมะเร็ง\nมะเรื่อง\nมะโรง\nมะลอกมะแลก\nมะละกอ\nมะลิ\nมะลื่น\nมะลืมดำ\nมะลุลี\nมะแว้ง\nมะสัง\nมะเส็ง\nมะหวด\nมะหะหมัด\nมะหาด\nมะหิ่ง\nมะเหงก\nมะอึก\nมะฮอกกานี\nมัก\nมักกะโรนี\nมักกะลีผล\nมักกะสัน\nมักขะ\nมั่กขั้ก\nมักขิกา\nมัค\nมัคคะ\nมัคคุเทศก์\nมัคนายก\nมัฆวาน\nมั่ง\nมังกง\nมังกร\nมังกุ\nมังคละ\nมังค่า\nมังคุด\nมังตาน\nมังสวิรัติ\nมังสะ\nมังสี\nมัจจะ\nมัจจุ\nมัจฉริยะ\nมัจฉรี\nมัจฉะ\nมัจฉา\nมัชชะ\nมัชวิรัติ\nมัชชาระ\nมัชฌันติกสมัย\nมัชฌิม\nมัชฌิมา\nมัญจา\nมัญชิษฐา\nมัญชุ\nมัญชุสา\nมัญชูสา\nมัญเชฏฐะ\nมัฏฐะ\nมัณฑนศิลป์\nมัณฑนา\nมัด\nมัตตะ\nมัตตัญญู\nมัตตา\nมัตติกา\nมัตถกะ\nมัตถลุงค์\nมัตสยะ\nมัตสยา\nมัตสระ\nมัตสริน\nมัททวะ\nมัทนะ\nมัทยะ\nมัธยฐาน\nมัธยม\nมัธยันห์\nมัธยัสถ์\nมัน\nมั่น\nมันตา\nมันถะ\nมันทิระ\nมันทิราลัย\nมับ\nมั้ม\nมัมมี่\nมัย\nมัลละ\nมัลลิกา\nมัว\nมัวซัว\nมั่ว\nมัศยา\nมัสตุ\nมัสตาร์ด\nมัสมั่น\nมัสยิด\nมัสรู่\nมัสลิน\nมัสสุ\nมา\nม้า\nมาก\nมาคสิระ\nมาฆบูชา\nมาฆะ\nม้าง\nมางสะ\nมาณพ\nมาณวิกา\nมาด\nมาดา\nมาตงค์\nมาตร\nมาตรา\nมาตฤ\nมาตังคะ\nมาตา\nมาตามหัยกะ\nมาตามหัยกา\nมาตามหัยยิกา\nมาติกะ\nมาติกา\nมาตุ\nมาตุจฉา\nมาตุรงค์\nมาตุเรศ\nมาตุละ\nมาตุลา\nมาตุลานี\nมาทะ\nมาธยมิก\nมาธยมิกะ\nมาธุระ\nมาธุสร\nมาธูระ\nมาน\nม่าน\nม้าน\nมานพ\nมานะ\nมานัต\nมานัส\nมานิต\nมานี\nมานุษ\nมานุษยวิทยา\nมาโนชญ์\nมาบ\nมาภา\nม้าม\nม่าย\nมายา\nมาร\nมาราธิราช\nมารค\nมารดร\nมารดา\nมารยา\nมารยาท\nมารศรี\nมารษา\nมาริต\nมารุต\nมาลย์\nมาลัย\nมาลา\nมาลาตี\nมาลาเรีย\nมาลินี\nมาลี\nมาลุต\nมาศ\nมาส\nมาสก\nมาห์\nม่าห์\nมาหิส\nม่าเหมี่ยว\nมาฬก\nมิ\nมิค\nมิคสัญญี\nมิ่ง\nมิจฉา\nมิด\nมิตร\nมิติ\nมิเตอร์\nมิถยา\nมิถุน\nมิถุนายน\nมิทธะ\nมินตรา\nมินตา\nมินหม้อ\nมิ่ม\nมิ้ม\nมิไย\nมิรันตี\nมิลลิกรัม\nมิลลิบาร์\nมิลลิเมตร\nมิลลิลิตร\nมิลักขะ\nมิลักขู\nมิส\nมิสกรี\nมิสกวัน\nมิสซา\nมี\nมี่\nมีด\nมีเทน\nมีน\nมีนาคม\nมี่สั้ว\nมึง\nมึน\nมืด\nมืน\nมื่น\nมือ\nมื้อ\nมุ\nมุก\nมุกดา\nมุกดาหาร\nมุกุระ\nมุข\nมุขเด็จ\nมุขยประโยค\nมุโขโลกนะ\nมุคคะ\nมุง\nมุ่ง\nมุ้ง\nมุจฉา\nมุจนะ\nมุจลินท์\nมุญจนะ\nมุญชะ\nมุฐิ\nมุณฑกะ\nมุณฑะ\nมุด\nมุตกิด\nมุตฆาต\nมุตตะ\nมุตตา\nมุตติ\nมุตะ\nมุติ\nมุททา\nมุทธชะ\nมุทธา\nมุทธาภิเษก\nมุทรา\nมุทริกา\nมุทะลุ\nมุทา\nมุทิกา\nมุทิงค์\nมุทิตา\nมุทุ\nมุทุตา\nมุ่น\nมุนิ\nมุนินทร์\nมุนี\nมุบ\nมุบมิบ\nมุม\nมุ้ม\nมุ่ย\nมุรธา\nมุรธาภิเษก\nมุสละ\nมุสลิม\nมุสา\nมุสิก\nมุหงิด\nมุหน่าย\nมุหุต\nมุฮัมมัด\nมูก\nมูเซอ\nมูตร\nมู่ทู่\nมูน\nมูมมาม\nมูรติ\nมูรธา\nมูรธาภิเษก\nมูล\nมูละ\nมูลา\nมูลิกากร\nมู่ลี่\nมู่เล่\nมูสัง\nมูสิก\nมูสิกะ\nมูสิกทันต์\nเม\nเม็ก\nเมกะเฮิรตซ์\nเมขลา\nเมฆ\nเมฆา\nเมฆินทร์\nเมฆี\nเม็ง\nเม็ด\nเมตตา\nเมตไตรย\nเมตร\nเมตริก\nเมตริกตัน\nเมถุน\nเมท\nเมโท\nเมทนี\nเมทินี\nเมทนีดล\nเมทานอล\nเมทิลแอลกอฮอล์\nเมธ\nเมธา\nเมธาวี\nเมธี\nเมน\nเม่น\nเม้น\nเมนเดลีเวียม\nเมนทอล\nเม้ม\nเมรัย\nเมริเดียน\nเมรุ\nเมล์\nเมล็ด\nเมลือง\nเมษ\nเมษายน\nเมห์\nเมหนะ\nเมหะ\nเมะ\nเมา\nเม่า\nเม้า\nเมารี\nเมาลี\nเมาฬี\nเมาะ\nเมิง\nเมิน\nเมิล\nเมีย\nเมียง\nเมี่ยง\nเมี้ยน\nเมือ\nเมื้อ\nเมื่อ\nเมือก\nเมือง\nเมือบ\nเมื่อย\nแม่\nแม้\nแมก\nแมกนีเซียม\nแมง\nแมงกะพรุน\nแมงกานิน\nแมงกานีส\nแมงคา\nแมงคาเรือง\nแมงช้าง\nแมงดา\nแมงลัก\nแม่ตะงาว\nแมน\nแม่น\nแม้น\nแมลง\nแมลบ\nแมว\nแม้ว\nแมะ\nโม\nโม่\nโม้\nโมก\nโมกข์\nโมกษะ\nโมฆกรรม\nโมฆสัญญา\nโมฆะ\nโมฆียกรรม\nโมฆียะ\nโมง\nโม่ง\nโมงครุ่ม\nโมทนา\nโมโนแซ็กคาไรด์\nโมไนย\nโมเม\nโมเมนต์\nโมเย\nโมรา\nโมรี\nโมเรส\nโมลิบดีนัม\nโมลี\nโมเลกุล\nโมเสก\nโมเสส\nโม่ห์\nโมหะ\nโมหันธ์\nโมหาคติ\nโมโห\nไม่\nไม้\nไมกา\nไมครอน\nไมโครกรัม\nไมโครฟิล์ม\nไมโครโฟน\nไมโครมิเตอร์\nไมโครเมตร\nไมโครลิตร\nไมโครเวฟ\nไมตรี\nไมยราบ\nไมล์\nยก\nยกกระบัตร\nยกนะ\nยง\nยงโย่\nยชุรเวท\nยติ\nยติภังค์\nยถากรรม\nยถาภูตญาณ\nย่น\nยนต์\nยนตร์\nยม\nยมก\nยมโดย\nยมนา\nยมล\nยมะ\nยรรยง\nยล\nยวง\nยวด\nยวน\nยวบ\nย้วย\nยวรยาตร\nยศ\nยโส\nยอ\nย่อ\nยอก\nย็อกแย็ก\nยอง\nย่อง\nย้อง\nยอด\nยอน\nย้อน\nยอบ\nยอม\nย่อม\nย้อม\nย่อย\nย้อย\nย้อแย้\nยะ\nย่ะ\nยะยอบ\nยะยับ\nยัก\nยักข์\nยักขินี\nยักษ์\nยักษา\nยักษิณี\nยักษี\nยัง\nยั้ง\nยั่งยืน\nยัชโญปวีต\nยัญ\nยัญญะ\nยัด\nยัติภังค์\nยัน\nยั่น\nยันต์\nยันตร\nยันตร์\nยันตรกรรม\nยั่นตะนี\nยับ\nยั่ว\nยั้ว\nยั้วเยี้ย\nยัวรยาตร\nยัวะ\nยัษฏิ\nยา\nย่า\nยาก\nยาคุ\nยาคู\nยาง\nย่าง\nยางพารา\nยาจก\nยาจนา\nยาไฉน\nยาด\nยาดา\nยาตร\nยาตรา\nยาน\nย่าน\nย่านพาโหม\nยานมาศ\nยานุมาศ\nยานี\nยาม\nย่าม\nยามะ\nยามักการ\nยามา\nยาย\nย้าย\nยายี\nยาว\nย้าว\nยาวกาลิก\nยาวชีวิก\nยาสูบ\nย่าหยา\nยาหยี\nยำ\nย่ำ\nย้ำ\nยำเยีย\nยิก\nยิง\nยิ่ง\nยิฏฐะ\nยิน\nยิบ\nยิบหยี\nยิปซัม\nยิปซี\nยิ้ม\nยิมนาสติก\nยิหวา\nยี\nยี่\nยี้\nยี่ก่า\nยี่เก\nยี่เข่ง\nยี่โถ\nยีน\nยี่โป้\nยี่ภู่\nยีราฟ\nยี่สก\nยี่สง\nยี่สน\nยี่สาน\nยี่สุ่น\nยี่หระ\nยี่หร่า\nยี่ห้อ\nยี่หุบ\nยึกยัก\nยึกยือ\nยึด\nยืด\nยืน\nยื่น\nยืม\nยื้อ\nยุ\nยุกกระบัตร\nยุกดิ\nยุกติ\nยุกติธรรม\nยุกต์\nยุค\nยุคนธร\nยุคล\nยุคันต์\nยุคันธร\nยุคุนธร\nยุง\nยุ่ง\nยุ้ง\nยุด\nยุต\nยุติ\nยุทธ\nยุทธ์\nยุทธนา\nยุทโธปกรณ์\nยุบ\nยุ่บ\nยุ่บยั่บ\nยุบล\nยุพดี\nยุพเรศ\nยุพา\nยุพาน\nยุพาพาล\nยุพาพิน\nยุ่มย่าม\nยุ่ย\nยุ้ย\nยุรยาตร\nยูรยาตร\nยุวชน\nยุวดี\nยุวราช\nยุวา\nยุวาน\nยู\nยู่\nยูง\nยูโด\nยูถะ\nยูถิกา\nยูริก\nยูเรนัส\nยูเรเนียม\nยูโรเพียม\nเย\nเย้\nเยง\nเยซู\nเย็ด\nเย็น\nเย็นตาโฟ\nเย็นเตาโฟ\nเย็บ\nเย้ย\nเยอ\nเย่อ\nเยอรมัน\nเยอว\nเย่อหยิ่ง\nเยอะ\nเยอะแยะ\nเยา\nเย้า\nเยาว์\nเยาวชน\nเยาวมาลย์\nเยาวยอด\nเยาวราช\nเยาวเรศ\nเยาวลักษณ์\nเยาวพา\nเยาวพาณี\nเยาวพาน\nเยาะ\nเยิง\nเยิน\nเยิ่น\nเยิ่นเย้อ\nเยินยอ\nเยิบ\nเยิบยาบ\nเยิ้ม\nเยีย\nเยี่ยง\nเยี่ยงอย่าง\nเยียงผา\nเยียดยัด\nเยียน\nเยียบ\nเยี่ยม\nเยียรบับ\nเยียรยง\nเยียว\nเยี่ยว\nเยียวยา\nเยือ\nเยื่อ\nเยื้อ\nเยือก\nเยือง\nเยื่อง\nเยื้อง\nเยือน\nเยื้อน\nแย่\nแย้\nแยก\nแยง\nแย่ง\nแย้ง\nแยงแย่\nแยงแย้\nแยบ\nแย็บ\nแยม\nแย้ม\nแยแส\nแยะ\nโย\nโย้\nโยก\nโยกเยก\nโยคาพจร\nโยคาวจร\nโยคเกณฑ์\nโยคยะ\nโยคะ\nโยคิน\nโยคี\nโยง\nโย่ง\nโย่งเย่ง\nโยงโย่\nโยชน์\nโยชนา\nโยถิกะ\nโยทะกา\nโยธวาทิต\nโยธา\nโยธิน\nโยน\nโยนก\nโยนิโส\nโยนี\nโยม\nโยโส\nใย\nไย\nไย่\nไยดี\nไยไพ\nรก\nรง\nรงค์\nรงควัตถุ\nรงรอง\nรจนา\nรจเรข\nรจเลข\nรจิต\nรชตะ\nรชนิ\nรชนี\nรชะ\nรณรงค์\nรด\nรดี\nรตนะ\nรตะ\nรติ\nรถ\nรน\nร่น\nรบ\nรบาญ\nรพี\nรม\nร่ม\nรมณี\nรมณีย์\nรมณียสถาน\nรมย์\nรมเยศ\nรยางค์\nรวก\nรวง\nร่วง\nรวด\nรวน\nรวนเร\nร่วน\nรวบ\nรวม\nร่วม\nรวย\nรวิ\nรวิวาร\nรวี\nรศนา\nรส\nรสนา\nรสสุคนธ์\nรสายนเวท\nรสิก\nรหัท\nรหัส\nรโห\nรโหฐาน\nรอ\nร่อ\nรอก\nรอง\nร่อง\nร้อง\nรองเง็ง\nร่องแร่ง\nรอด\nรอน\nร่อน\nร้อน\nรอบ\nรอบคอบ\nรอม\nรอมชอม\nรอมร่อ\nรอย\nร่อย\nร้อย\nร่อแร่\nระ\nระกะ\nระกา\nระกำ\nระเกะระกะ\nระคน\nระคาง\nระคาย\nระแคะ\nระฆัง\nระงม\nระงับ\nระแง้\nระโงกหิน\nระชวย\nระดม\nระดะ\nระดับ\nระดา\nระด่าว\nระดู\nระเด่น\nระเดียง\nระแด\nระตู\nระทก\nระทด\nระทม\nระทวย\nระทา\nระทึก\nระแทะ\nระนาด\nระนาบ\nระนาม\nระนาว\nระเนน\nระเนระนาด\nระเนียด\nระแนง\nระแนะ\nระบบ\nระบม\nระบอบ\nระบัด\nระบับ\nระบาด\nระบาย\nระบำ\nระบิล\nระบือ\nระบุ\nระเบง\nระเบ็ง\nระเบิด\nระเบียง\nระเบียน\nระเบียบ\nระแบบ\nระมัดระวัง\nระมาด\nระเมียร\nระย่อ\nระย่อม\nระยะ\nระยั้ง\nระยับ\nระย้า\nระยาบ\nระยำ\nระยิบระยับ\nระโยง\nระโยงระยาง\nระรวย\nระรอง\nระร่อน\nระรัว\nระราน\nระร่าย\nระริก\nระรี่\nระรึง\nระรื่น\nระรื้น\nระเร้ง\nระเริง\nระเรียง\nระเรื่อย\nระแรง\nระลวง\nระลอก\nระลึก\nระวัง\nระวาง\nระวาย\nระวิง\nระแวง\nระแวดระวัง\nระไว\nระส่ำระสาย\nระหกระเหิน\nระหง\nระหวย\nระหว่าง\nระหองระแหง\nระหัด\nระหาย\nระเห็จ\nระเหย\nระเหระหน\nระเหหน\nระเหิด\nระเหินระหก\nระแหง\nระโหย\nระอา\nระอิดระอา\nระอุ\nรัก\nรักข์\nรักขิต\nรักตะ\nรักบี้\nรักเร่\nรักแร้\nรักษ์\nรักษา\nรัง\nรั้ง\nรังเกียจ\nรังแก\nรังค์\nรังควาน\nรังแค\nรังรอง\nรังวัด\nรังสิ\nรังสี\nรังสิมันตุ์\nรังสิมา\nรัจฉา\nรัช\nรัชชูปการ\nรัชมังคลาภิเษก\nรัชชุ\nรัชฎาภิเษก\nรัชดาภิเษก\nรัชนะ\nรัชนี\nรัญจวน\nรัฏฐาภิปาลโนบาย\nรัฐ\nรัฐประศาสโนบาย\nรัฐประศาสนศาสตร์\nรัด\nรัต\nรัตกัมพล\nรัตมณี\nรัตคน\nรัตจันทน์\nรัตตัญญู\nรัตติ\nรัตน์\nรัตนะ\nรัตนโกสินทร์\nรัตนโกสินทรศก\nรัตนชาติ\nรัตนตรัย\nรัตนบัลลังก์\nรัตนวราภรณ์\nรัตนสิงหาสน์\nรัตนา\nรัตนากร\nรัตนาภรณ์\nรัตนาวลี\nรัตมา\nรัถ\nรัถยา\nรัทเทอร์ฟอร์เดียม\nรัน\nรั้น\nรันทด\nรันทวย\nรับ\nรัมณียสถาน\nรัมภา\nรัมมี่\nรัมย์\nรัย\nรัว\nรั่ว\nรั้ว\nรัศมิมัต\nรัศมิมาน\nรัศมี\nรัษฎากร\nรัสเซีย\nรัสสะ\nรัสสระ\nรา\nร่า\nร้า\nราก\nรากษส\nรากสาด\nราคะ\nราคจริต\nราคา\nราคิน\nราคี\nราง\nร่าง\nร้าง\nรางจืด\nรางชาง\nรางวัล\nราช\nราชกิจจานุเบกษา\nราชนิกุล\nราชวโรงการ\nราชญี\nราชดัด\nราชพฤกษ์\nราชมาณพ\nราชมาษ\nราชมาส\nราชย์\nราชสีห์\nราชะ\nราชัน\nราชันย์\nราชัย\nราชา\nราชาธิปไตย\nราชาธิราช\nราชาภิเษก\nราชายตนะ\nราชาวดี\nราชี\nราชินิกุล\nราชินีกุล\nราชินี\nราชินูปถัมภ์\nราชูปถัมภ์\nราชูปโภค\nราเชน\nราเชนทร์\nราเชนทรยาน\nราโชวาท\nราไชศวรรย์\nราญ\nราญรอน\nราด\nราต\nราตร\nราตรี\nราน\nร่าน\nร้าน\nราบ\nราพณ์\nราพณาสูร\nราม\nรามเกียรติ์\nรามสูร\nรามัญ\nรามา\nราย\nร่าย\nร้าย\nราว\nร้าว\nราวี\nราศี\nราษฎร\nราษฎร์\nราษตรี\nราษราตรี\nราหุ\nราหู\nรำ\nร่ำ\nรำคาญ\nรำงับ\nรำจวน\nรำบาญ\nรำพัน\nรำพาย\nรำพึง\nรำเพย\nรำไพ\nรำมะนา\nรำมะนาด\nรำมะร่อ\nร่ำรวย\nร่ำร่ำ\nรำไร\nรำลึก\nรำหัด\nรำหัส\nริ\nริก\nริดสีดวง\nริน\nริ้น\nริบ\nริบบิ้น\nริบรี่\nริบหรี่\nริปุ\nริปู\nริม\nริ้ว\nริษยา\nรี\nรี่\nรี้พล\nรีด\nรีดักชัน\nรีต\nรีเนียม\nรีบ\nรีม\nรีรอ\nรี้ริก\nรึง\nรึ้ง\nรื่น\nรื้น\nรื้อ\nรุ\nรุก\nรุกข์\nรุกขชาติ\nรุกขเทวดา\nรุกขมูล\nรุกขา\nรุกรุย\nรุ่ง\nรุ้ง\nรุงรัง\nรุ่งริ่ง\nรุจ\nรุจา\nรุจนะ\nรุจิ\nรุจี\nรุจิระ\nรุจิรา\nรุด\nรุต\nรุทธ์\nรุทระ\nรุธิร\nรุธิระ\nรุเธียร\nรุน\nรุ่น\nรุบรู่\nรุม\nรุ่ม\nรุ่มร่าม\nรุย\nรุ่ย\nรุรุ\nรุหะ\nรู\nรู่\nรู้\nรูจี\nรูด\nรูทีเนียม\nรูบิเดียม\nรูป\nรูปิยะ\nรูปี\nรูเล็ตต์\nเร่\nเรข\nเรขา\nเรขาคณิต\nเร็ง\nเร่ง\nเร้ง\nเรณุ\nเรณู\nเรดอน\nเรดาร์\nเรเดียม\nเร้น\nเรรวน\nเรไร\nเร็ว\nเร่ว\nเรวดี\nเรอ\nเร่อ\nเรา\nเร่า\nเร้า\nเราะ\nเริง\nเริด\nเริม\nเริ่ม\nเริ้ม\nเริศร้าง\nเรี่ย\nเรี้ย\nเรียก\nเรียง\nเรียด\nเรียน\nเรียบ\nเรียม\nเรี่ยม\nเรียว\nเรี่ยว\nเรี้ยวรก\nเรือ\nเรื่อ\nเรื้อ\nเรือก\nเรือง\nเรื่อง\nเรื้อง\nเรืองรอง\nเรือด\nเรือน\nเรื้อน\nเรื่อย\nแร\nแร่\nแรก\nแร็กเกต\nแรง\nแร่ง\nแร้ง\nแรด\nแร้นแค้น\nแรม\nแร้ว\nแระ\nโร\nโร่\nโรค\nโรคา\nโรคาพาธ\nโรง\nโรจ\nโรจน์\nโรเดียม\nโรตี\nโรท\nโรธ\nโรม\nโรมัน\nโรเมอร์\nโรย\nโรเร\nโรหิณี\nโรหิต\nไร\nไร่\nไร้\nไรย์\nฤกษ์\nฤกษณะ\nฤคเวท\nฤชา\nฤชุ\nฤณ\nฤดี\nฤดียา\nฤดู\nฤต\nฤติยา\nฤตุ\nฤทธา\nฤทธิ์\nฤทัย\nฤษภ\nฤษยา\nฤษี\nฤๅ\nฤๅดี\nฤๅทัย\nฤๅษี\nฤๅสาย\nลก\nล่ก\nลฆุ\nลง\nล่ง\nลงกา\nล้งเล้ง\nลด\nลดา\nลดาวัลย์\nลน\nล้น\nลบ\nลบอง\nลพ\nลพุช\nลม\nล่ม\nล้ม\nลมาด\nลรรลุง\nลลนา\nลลิต\nลวก\nลวง\nล่วง\nล้วง\nลวณะ\nลวด\nล้วน\nลวนลาม\nลวนะ\nล่วม\nลวะ\nลวิตร\nลหุ\nลหุกาบัติ\nล่อ\nล้อ\nลอก\nล็อก\nล็อกเกต\nลอกแลก\nลอการิทึม\nลอง\nล่อง\nลองกอง\nลองจิจูด\nลองไน\nลอด\nลอตเตอรี่\nลอน\nล่อน\nลอบ\nลอม\nล้อม\nลอมชอม\nลอมพอก\nลอย\nล่อย\nล่อแล่\nลอว์เรนเซียม\nลออ\nละ\nล่ะ\nละคร\nละติจูด\nละบม\nละบอง\nละบือ\nละเบ็ง\nละโบม\nละม่อม\nละมั่ง\nละมาน\nละม้าย\nละมุ\nละมุด\nละมุน\nละเมอ\nละเมาะ\nละเมิด\nละเมียด\nละแมะ\nละโมก\nละโมบ\nละไม\nละลวย\nละลอก\nละล้า\nละล้าละลัง\nละลาน\nละลาบละล้วง\nละลาย\nละล้าว\nละล่ำละลัก\nละลิบ\nละลุม\nละเลง\nละเล้า\nละเลาะ\nละเลิง\nละเลียด\nละเลียบ\nละไล้\nละว้า\nละวาด\nละเวง\nละแวก\nละโว้\nละหมาด\nละห้อย\nละหาน\nละหาร\nละหุ่ง\nละเหย\nละเหี่ย\nละอง\nละออง\nละอาย\nละเอียด\nละแอน\nลัก\nลักขณะ\nลักขณา\nลักขะ\nลักขี\nลักจั่น\nลักปิดลักเปิด\nลักษณ์\nลักษณนาม\nลักษณะ\nลักษณาการ\nลักษมณ์\nลักษมาณา\nลักษมี\nลักษะ\nลัคคะ\nลัคน์\nลัคนา\nลัง\nลั่ง\nลังกา\nลังคี\nลังถึง\nลังลอง\nลังเล\nลังสาด\nลัชชา\nลัชชี\nลัญจ์\nลัญจกร\nลัญฉกร\nลัญฉน์\nลัฐิ\nลัฐิกา\nลัด\nลัดา\nลัทธ์\nลัทธิ\nลัน\nลั่น\nลันเต\nลันเตา\nลันไต\nลั่นทม\nลันโทม\nลับ\nลัพธ์\nลัพธิ\nลัภ\nลัภนะ\nลัภย์\nลัมพ์\nลัย\nลา\nล่า\nล้า\nลาก\nลาง\nล่าง\nล้าง\nลางลิง\nลางสาด\nลาช\nลาชะ\nลาชา\nลาญ\nลาด\nลาดเลา\nล้าต้า\nล่าเตียง\nลาน\nล่าน\nล้าน\nลาบ\nลาพอน\nลาภ\nลาม\nล่าม\nลามก\nลาย\nล้าย\nลายสือ\nลาลา\nลาว\nลาวัณย์\nลาวา\nลำ\nล่ำ\nล้ำ\nลำเข็ญ\nลำแข\nลำเค็ญ\nลำเจียก\nลำดวน\nลำดับ\nลำเนา\nลำบอง\nลำบาก\nลำปำ\nลำพวน\nลำพอง\nลำพัง\nลำพู\nลำเพ็ญ\nลำเพา\nลำแพน\nลำโพง\nลำไพ่\nลำภุขัน\nลำมะลอก\nลำยอง\nลำไย\nลำลอง\nล่ำลา\nลำลาบ\nลำลึก\nลำเลาะ\nลำเลิก\nลำเลียง\nลำเวียง\nลำเอียก\nลำเอียง\nลิ\nลิกขา\nลิกไนต์\nลิกู\nลิเก\nลิขนะ\nลิขสิทธิ์\nลิขิต\nลิง\nลิงค์\nลิด\nลิต\nลิตมัส\nลิตร\nลิเทียม\nลิ่น\nลิ้น\nลินจง\nลิ้นจี่\nลินลา\nลินสีด\nลิ่นฮื้อ\nลินิน\nลิบ\nลิปดา\nลิปสติก\nลิปิ\nลิฟต์\nลิเภา\nลิ่ม\nลิ้ม\nลิมป์\nลิมปนะ\nลิลิต\nลิว\nลิ่ว\nลิสง\nลี\nลี่\nลี้\nลีซอ\nลีบ\nลีลา\nลีลาศ\nลีฬหา\nลึก\nลึงค์\nลืด\nลื่น\nลื้น\nลืบ\nลืม\nลือ\nลื่อ\nลื้อ\nลุ\nลุก\nลุง\nลุ้ง\nลุ่น\nลุ้น\nลุพธ์\nลุ่ม\nลุมพี\nลุมพู\nลุย\nลุ่ย\nลุ้ย\nลู่\nลูก\nลูกระมาศ\nลูกเอ็น\nลูขะ\nลูทีเชียม\nลูบ\nเลก\nเล็ก\nเลข\nเลขา\nเลขาธิการ\nเลขานุการ\nเล็ง\nเล้ง\nเล่งฮื้อ\nเลเซอร์\nเลฑฑุ\nเลณฑุ\nเลณะ\nเล็ด\nเลน\nเล็น\nเล่น\nเลนส์\nเล็บ\nเลบง\nเลปกร\nเลปน์\nเลเป\nเลเพ\nเล็ม\nเล่ม\nเลย\nเลว\nเลวง\nเลวูโลส\nเลศ\nเลษฏุ\nเล่ห์\nเล่ห์กระเท่ห์\nเลหลัง\nเลหะ\nเลอ\nเล่อ\nเลอะ\nเลอะเทอะ\nเละ\nเละเทะ\nเลา\nเล่า\nเล้า\nเลากัย\nเล้าโลม\nเลาะ\nเลิก\nเลิ่กลั่ก\nเลิง\nเลิ้ง\nเลินเล่อ\nเลิศ\nเลีย\nเลียง\nเลี่ยง\nเลี้ยง\nเลียงผา\nเลียงฝ้าย\nเลียงมัน\nเลียน\nเลี่ยน\nเลียนไฟ\nเลียบ\nเลี่ยม\nเลียว\nเลี้ยว\nเลือก\nเลือง\nเลื่อง\nเลือด\nเลือน\nเลื่อน\nเลื่อม\nเลื่อย\nเลื้อย\nเลื่อยล้า\nแล\nแล่\nแล้\nแลก\nแล็กเกอร์\nแล็กโทส\nแลง\nแล่ง\nแล้ง\nแลน\nแล่น\nแลนทานัม\nแลบ\nแล้ว\nและ\nโล่\nโล้\nโลก\nโลกเชษฐ์\nโลกธรรม\nโลกธาตุ\nโลกนาถ\nโลกบาล\nโลกย์\nโลกัย\nโลกวัชชะ\nโลกวิทู\nโลกัตถจริยา\nโลกันตร์\nโลกา\nโลกาธิบดี\nโลกาธิปไตย\nโลกานุวัตร\nโลกาภิวัตน์\nโลกามิส\nโลกายัต\nโลกาวินาศ\nโลกิยะ\nโลกีย์\nโลกียวัตร\nโลกียวิสัย\nโลกียสุข\nโลกุตระ\nโลกุตรธรรม\nโลกุตรภูมิ\nโลง\nโล่ง\nโล้ง\nโล่งโจ้ง\nโล่งโต้ง\nโล้งโต้ง\nโลจนะ\nโลณะ\nโลด\nโล่ติ๊น\nโลโต\nโลท\nโลน\nโล้น\nโลภ\nโลม\nโลมเล้า\nโลมะ\nโลมา\nโลลุป\nโลเล\nโลโล\nโลโล้\nโลหะ\nโลหกุมภี\nโลหัช\nโลหิต\nไล่\nไล้\nไลย\nไลลา\nไล่เลี่ย\nฦๅ\nฦๅชา\nฦๅสาย\nวก\nวง\nวงก์\nวงกต\nวงศ์\nวงศกร\nวงศา\nวงษ์\nวจนะ\nวจี\nวชิระ\nวชิรปาณี\nวชิรหัตถ์\nวชิราวุธ\nวฏะ\nวฏาการ\nวณิช\nวณิชชา\nวณิชย์\nวณิชยา\nวณิพก\nวดี\nวทนะ\nวทัญญุตา\nวทัญญู\nวธุกา\nวธู\nวน\nวนศาสตร์\nวนสณฑ์\nวนสัณฑ์\nวนอุทยาน\nวนัส\nวนัสบดี\nวนา\nวนาดร\nวนาดอน\nวนานต์\nวนาลัย\nวนาลี\nวนาวาส\nวนาศรม\nวนาสณฑ์\nวนาสัณฑ์\nวนิดา\nวนิพก\nวเนจร\nวโนทยาน\nวยัคฆ์\nวยากรณ์\nวรดนู\nวรทาน\nวรมหาวิหาร\nวรงค์\nวรณะ\nวรรค\nวรรคย์\nวรรช\nวรรชย์\nวรรณะ\nวรรณกรรม\nวรรณคดี\nวรรณยุกต์\nวรรณยุต\nวรรณศิลป์\nวรรณนา\nวรรณพฤติ\nวรรณึก\nวรรธกะ\nวรรธนะ\nวรรษ\nวรรษา\nวรวิหาร\nวรัญญู\nวรางคณา\nวรางคนา\nวราห์\nวราหะ\nวรุณ\nวโรดม\nวฤก\nวลัช\nวลัญช์\nวลัญชน์\nวลัย\nวลาหก\nวลี\nวศค\nวศะ\nวศิน\nวสนะ\nวสภะ\nวสละ\nวสวัดดี\nวสวัตตี\nวสะ\nวสันต์\nวสันตดิลก\nวสันตฤดู\nวสันตวิษุวัต\nวสา\nวสี\nวสุ\nวสุธา\nวสุนธรา\nวสุมดี\nวหะ\nวอ\nวอก\nวอกแวก\nว่องไว\nวอด\nวอน\nว่อน\nว็อบ\nวอมแวม\nวอลเลย์บอล\nวอแว\nวะ\nวัก\nวักกะ\nวัคคีย์\nวัคคุ\nวัคซีน\nวัง\nวังก์\nวังชา\nวังเวง\nวังศะ\nวังสะ\nวัจจะ\nวัจกุฎี\nวัจฉละ\nวัจน์\nวัช\nวัชชะ\nวัชพืช\nวัชฌ์\nวัชระ\nวัชรปาณี\nวัชรยาน\nวัชรอาสน์\nวัชราสน์\nวัชรินทร์\nวัชรี\nวัชเรนทร์\nวัฏ\nวัฏฏะ\nวัฏจักร\nวัฏทุกข์\nวัฏสงสาร\nวัฏกะ\nวัฏฏิ\nวัฒกะ\nวัฒกี\nวัฒนธรรม\nวัฒนะ\nวัฒนา\nวัณ\nวัณโรค\nวัณฏ์\nวัณณะ\nวัณนา\nวัด\nวัต\nวัตต์\nวัตตา\nวัตถ์\nวัตถาภรณ์\nวัตถาลังการ\nวัตถุ\nวัตนะ\nวัตร\nวัตสดร\nวัตสะ\nวัติ\nวัทน์\nวัน\nวันต์\nวันทนา\nวันทนาการ\nวันทนีย์\nวันทยหัตถ์\nวันทยาวุธ\nวันทา\nวันทิ\nวับ\nวับวาบ\nวับวาม\nวับแวบ\nวับแวม\nวัปปะ\nวัมมิกะ\nวัย\nวัลก์\nวัลคุ\nวัลย์\nวัลลภ\nวัลลี\nวัว\nวัสสะ\nวัสโสทก\nวัสดุ\nวัสตร์\nวัสน์\nวัสนะ\nวัสสานะ\nวัสสานฤดู\nวา\nว่า\nว้า\nว้าเหว่\nวาก\nว้าก\nวากยสัมพันธ์\nวากยะ\nวาง\nว่าง\nว้าง\nวาจก\nวาจา\nวาจาไปยะ\nวาจาล\nวาชเปยะ\nวาณิช\nวาณิชกะ\nวาณิชย์\nวาณี\nวาด\nวาต\nวาตะ\nวาตภัย\nวาท\nวาทศาสตร์\nวาทศิลป์\nวาทกะ\nวาทนะ\nวาทย์\nวาทยกร\nวาทิต\nวาทิน\nวาที\nวาน\nวานซืน\nว่าน\nวานร\nวานรินทร์\nวาเนเดียม\nวาบ\nวาปี\nวาม\nวามน\nวามนาวตาร\nวามะ\nวาย\nว่าย\nว้าย\nวายะ\nวาโย\nวายามะ\nวายุ\nวายุกูล\nวาร\nวาระ\nวารสาร\nวารสารศาสตร์\nวาริ\nวารี\nวาริช\nวารีช\nวาริท\nวาริธร\nวารุณ\nวารุณี\nวาล\nวาลวีชนี\nวาล์ว\nวาลิกา\nวาลุกา\nวาว\nว่าว\nว้าว่อน\nว้าวุ่น\nวาสนะ\nวาสนา\nวาสพ\nวาสะ\nวาสิน\nวาสี\nวาสุกรี\nวาสุกี\nวาสุเทพ\nวาหนะ\nวาหะ\nวาหินี\nวาฬ\nวิกขัมภ์\nวิกขัมภนะ\nวิกเขป\nวิกรม\nวิกรัย\nวิกรานต์\nวิกฤต\nวิกฤติ\nวิกล\nวิกสิต\nวิกัต\nวิกัติ\nวิกัติการก\nวิกัป\nวิกัย\nวิการ\nวิกาล\nวิกาลโภชน์\nวิคหะ\nวิเคราะห์\nวิฆเนศ\nวิฆเนศวร\nวิฆาต\nวิง\nวิ่ง\nวิ่งเปี้ยว\nวิงวอน\nวิจฉิกะ\nวิจล\nวิจักขณ์\nวิจักษ์\nวิจักษณ์\nวิจัย\nวิจาร\nวิจารณ์\nวิจารณญาณ\nวิจิ\nวิจิกิจฉา\nวิจิต\nวิจิตร\nวิจิน\nวิจุณ\nวิจุรณ\nวิชชา\nวิชชุ\nวิชชุดา\nวิชชุตา\nวิชชุลดา\nวิชญะ\nวิชน\nวิชนี\nวิชย\nวิชัย\nวิชา\nวิชานนะ\nวิชิต\nวิเชียร\nวิญญัตติ\nวิญญาณ\nวิญญาณกทรัพย์\nวิญญู\nวิฑูรย์\nวิด\nวิตก\nวิตถาร\nวิตามิน\nวิถี\nวิทธะ\nวิทยฐานะ\nวิทยา\nวิทยาคม\nวิทยาคาร\nวิทยาลัย\nวิทยุ\nวิทยุต\nวิทวัส\nวิทัตถิ\nวิทัศน์\nวิทารณ์\nวิทิต\nวิทู\nวิทูร\nวิเทศ\nวิเทโศบาย\nวิธ\nวิธวา\nวิธาน\nวิธี\nวิธุระ\nวิธู\nวิธูปนะ\nวิ่น\nวินตกะ\nวินัย\nวินาที\nวินายก\nวินาศ\nวินิจ\nวินิจฉัย\nวินิต\nวินิบาต\nวินิปาติก\nวิเนต\nวิบัติ\nวิบาก\nวิบุล\nวิบุลย์\nวิบูล\nวิบูลย์\nวิปการ\nวิปฏิสาร\nวิปโยค\nวิประโยค\nวิปริต\nวิปลาส\nวิปวาส\nวิปักษ์\nวิปัสสก\nวิปัสสนา\nวิปัสสนายานิก\nวิพากษ์\nวิพิธทัศนา\nวิพุธ\nวิภว\nวิภวตัณหา\nวิภังค์\nวิภัช\nวิภัตติ\nวิภา\nวิภาค\nวิภาช\nวิภาดา\nวิภาวี\nวิภาษ\nวิภาส\nวิภู\nวิภูษณะ\nวิภูษา\nวิภูษิต\nวิมน\nวิมล\nวิมลัก\nวิมังสา\nวิมัติ\nวิมาน\nวิมุข\nวิมุต\nวิมุตติ\nวิเมลือง\nวิโมกข์\nวิโยค\nวิระ\nวิรงรอง\nวิรังรอง\nวิรัช\nวิรัต\nวิรัติ\nวิราคะ\nวิราม\nวิริยภาพ\nวิริยะ\nวิรุธ\nวิรุฬห์\nวิรุฬหก\nวิรูป\nวิรูปักษ์\nวิเรนทร์\nวิโรจ\nวิโรจน์\nวิโรฒ\nวิโรธ\nวิลันดา\nวิลัย\nวิลาด\nวิลาศ\nวิลาป\nวิลาวัณย์\nวิลาส\nวิลาสินี\nวิลิปดา\nวิลิศมาหรา\nวิเลป\nวิเลปนะ\nวิโลกนะ\nวิโลม\nวิไล\nวิไลวรรณ\nวิวรณ์\nวิวรรธน์\nวิวัฏ\nวิวัฒน์\nวิวัฒนาการ\nวิวัน\nวิวาท\nวิวาห์\nวิวาหมงคล\nวิวาหะ\nวิวิต\nวิวิธ\nวิเวก\nวิศรุต\nวิศว\nวิศวกร\nวิศวกรรม\nวิศวกรรมศาสตร์\nวิศัลย์\nวิศาขบูชา\nวิศาขา\nวิศาล\nวิศิษฏ์\nวิศุทธ์\nวิศุทธิ์\nวิเศษ\nวิเศษณ์\nวิษณุ\nวิษณุกรรม\nวิษธร\nวิษัย\nวิษาณ\nวิษุวัต\nวิสกี้\nวิสรรชนีย์\nวิสฤต\nวิสสุกรรม\nวิสัชนา\nวิสัญญี\nวิสัย\nวิสัยทัศน์\nวิสาขบูชา\nวิสาขะ\nวิสาขา\nวิสามัญ\nวิสามานยนาม\nวิสาร\nวิสารทะ\nวิสาล\nวิสาสะ\nวิสาหกิจ\nวิสิฐ\nวิสุงคามสีมา\nวิสุทธ์\nวิสุทธิ์\nวิสูตร\nวิเสท\nวิหค\nวิหลั่น\nวิหาร\nวิหิงสา\nวิเหสา\nวิฬาร\nวิฬาร์\nวี\nวีจิ\nวีชนี\nวีณา\nวี้ด\nวีรกรรม\nวีรชน\nวีรบุรุษ\nวีรสตรี\nวี่วัน\nวี่แวว\nวีสะ\nวุ้ง\nวุฐิ\nวุฒ\nวุฒิ\nวุด\nวุ่น\nวุ้น\nวุบ\nวุ้ย\nวุลแฟรม\nวู้\nวูดวาด\nวูบ\nวู่วาม\nเว้\nเวค\nเวคิน\nเวคี\nเวจ\nเวช\nเวชยันต์\nเวฐน์\nเวณิ\nเวณิก\nเวณุ\nเวตน์\nเวตร\nเวตาล\nเวท\nเวทคู\nเวทนา\nเวทย์\nเวทัลละ\nเวทางค์\nเวทางคศาสตร์\nเวทานต์\nเวทานตะ\nเวทิ\nเวที\nเวธะ\nเวน\nเว้น\nเวนไตย\nเวไนย\nเวมัต\nเว้ย\nเวยยากรณะ\nเวร\nเวรมณี\nเวรี\nเวโรจน์\nเวลา\nเวเลนซี\nเวศม์\nเวศย์\nเวศยา\nเวสน์\nเวสภู\nเวสม์\nเวสวัณ\nเวสสะ\nเวสสันดร\nเวสสุกรรม\nเวสสุวัณ\nเวสารัช\nเวสิยา\nเวหน\nเวหะ\nเวหา\nเวหาส\nเวฬุ\nเวฬุริยะ\nเว่อ\nเว้า\nเวิก\nเวิ้ง\nเวี่ย\nเวียง\nเวียด\nเวียดนาม\nเวียน\nเวียร\nเวี่ยว\nแว้\nแวง\nแว้ง\nแวด\nแว้ด\nแวน\nแว่น\nแวนดา\nแวบ\nแว็บ\nแวม\nแว็ม\nแวว\nแว่ว\nแวะ\nโว\nโว่\nโวการ\nโว่ง\nโวทาน\nโวย\nโว้ย\nโว้เว้\nโวหาร\nไว\nไว้\nไวกูณฐ์\nไวฑูรย์\nไวทย์\nไวน์\nไวพจน์\nไวยากรณ์\nไวยาวัจกร\nไวยาวัจมัย\nไวรัส\nไววรรณ\nไวษณพ\nไวโอลิน\nศก\nศกุน\nศกุนต์\nศกุนิ\nศกุนี\nศจี\nศตะ\nศตภิษัช\nศตวรรษ\nศตพรรษ\nศตกะ\nศนิ\nศพ\nศมนะ\nศมะ\nศยาม\nศยามล\nศร\nศรายุธ\nศราวรณ์\nศรรกรา\nศรวณะ\nศรวณีย์\nศรวิษฐา\nศรัณย์\nศรัณยู\nศรัท\nศรัทธา\nศรัย\nศราทธ์\nศราทธพรต\nศราพก\nศราวก\nศราวณะ\nศรี\nศรีตรัง\nศรุติ\nศฤคาล\nศฤงค์\nศฤงคาร\nศฤงคาริน\nศฤงคารี\nศลิษฏ์\nศลิษา\nศวะ\nศวัส\nศวา\nศวาน\nศศะ\nศศธร\nศศพินทุ์\nศศลักษณ์\nศศิ\nศศิน\nศศี\nศศิขัณฑ์\nศศิธร\nศศิมณฑล\nศศิวิมล\nศอ\nศอก\nศักดา\nศักดิ\nศักดิ์\nศักดินา\nศักติ\nศักย\nศักยภาพ\nศักย์\nศักยะ\nศักร\nศักรินทร์\nศักเรนทร์\nศักราช\nศังกร\nศัตรู\nศันสนะ\nศันสนีย์\nศัพท์\nศัยยา\nศัล\nศัลย์\nศัลยกรรม\nศัลยแพทย์\nศัลยศาสตร์\nศัสดร\nศัสตร\nศัสตรศาสตร์\nศัสตรา\nศัสตราวุธ\nศากตะ\nศากย\nศากยะ\nศากยพุทธ\nศากยมุนี\nศาฎก\nศาณ\nศานต์\nศานติ\nศาป\nศารท\nศารทูล\nศาริกา\nศาล\nศาลา\nศาศวัต\nศาสดา\nศาสตร์\nศาสตรา\nศาสตราจารย์\nศาสนา\nศาสนกิจ\nศาสนจักร\nศาสนธรรม\nศาสนบุคคล\nศาสนพิธี\nศาสนวัตถุ\nศาสนศาสตร์\nศาสนสถาน\nศาสนสมบัติ\nศาสนิกชน\nศาสนีย์\nศาสนูปถัมภก\nศาสน์\nศิกษก\nศิการ\nศิขร\nศิขริน\nศิขรี\nศิขัณฑ์\nศิคาล\nศิงขร\nศิงขริน\nศิตะ\nศิถี\nศิพิระ\nศิระ\nศิรประภา\nศิราภรณ์\nศิโรรัตน์\nศิโรเวฐน์\nศิรา\nศิรามพุช\nศิโรราบ\nศิลป\nศิลป์\nศิลปะ\nศิลปกร\nศิลปกรรม\nศิลปกิจ\nศิลปวัตถุ\nศิลปวิทยา\nศิลปศาสตร์\nศิลปศึกษา\nศิลปหัตถกรรม\nศิลปิน\nศิลปี\nศิลา\nศิวะ\nศิวโมกข์\nศิวลึงค์\nศิวเวท\nศิวาลัย\nศิศีระ\nศิษฎิ\nศิษฏ์\nศิษย์\nศิษยานุศิษย์\nศีขร\nศีต\nศีตกาล\nศีรษะ\nศีล\nศึก\nศึกษา\nศึกษาธิการ\nศึกษานิเทศก์\nศุกร์\nศุกรวรรณ\nศุกรวาร\nศุกระ\nศุกล\nศุกลปักษ์\nศุจิ\nศุทธะ\nศุทธิ\nศุนะ\nศุนิ\nศุภกร\nศุภเคราะห์\nศุภนิมิต\nศุภมัสดุ\nศุภมาตรา\nศุภมาส\nศุภอักษร\nศุภางค์\nศูกร\nศุลกากร\nศุลการักษ์\nศุลี\nศุษิร\nศูทร\nศูนย์\nศูนยวาท\nศูละ\nศูลิน\nเศรณี\nเศรษฐ\nเศรษฐ์\nเศรษฐกิจ\nเศรษฐศาสตร์\nเศรษฐี\nเศร้า\nเศลษ\nเศวต\nเศวตร\nเศวตัมพร\nเศษ\nเศาจ\nเศาร์\nเศารยะ\nเศิก\nเศียร\nโศก\nโศกา\nโศกาดูร\nโศกาลัย\nโศกี\nโศจิ\nโศธนะ\nโศภน\nโศภะ\nโศภา\nโศภิต\nโศภิน\nโศภิษฐ์\nโศภี\nโศรดา\nโศรตร\nโศลก\nไศล\nไศวะ\nษมา\nษัฏ\nษัฑ\nษัณ\nษัษ\nษัษฐะ\nษัษฐี\nโษฑศัน\nสก\nสกวาที\nสกฏะ\nสกทาคามิผล\nสกิทาคามิผล\nสกทาคามิมรรค\nสกิทาคามิมรรค\nสกทาคามี\nสกิทาคามี\nสกนธ์\nสกปรก\nสกรณีย์\nสกรรจ์\nสกรรมกริยา\nสกล\nสกลมหาสังฆปริณายก\nสกัด\nสกา\nสกาว\nสกี\nสกุณ\nสกุณา\nสกุณี\nสกุน\nสกุนต์\nสกุล\nสเกต\nสแกนเดียม\nสขะ\nสง\nส่ง\nสงกร\nสงกรานต์\nสงกา\nสงค์\nสงคร\nสงคราม\nสงเคราะห์\nสงฆ์\nสงบ\nสงวน\nส่งสการ\nสงสัย\nสงสาร\nสงสารวัฏ\nสงัด\nสง่า\nสฐะ\nสณฑ์\nสด\nสดมภ์\nสดับ\nสดับปกรณ์\nสดำ\nสดุดี\nสตะ\nสตน\nสตภิสชะ\nสตรอนเชียม\nสตริกนิน\nสตรี\nสตัฟฟ์\nสตัมภ์\nสตางค์\nสติ\nสติปัฏฐาน\nสตี\nสตู\nสตูป\nสเต๊ก\nสถบดี\nสถล\nสถวีระ\nสถาน\nสถานะ\nสถานี\nสถาบัน\nสถาปนา\nสถาปนิก\nสถาปัตยกรรม\nสถาปัตยกรรมศาสตร์\nสถาปัตยเรขา\nสถาปัตยเวท\nสถาพร\nสถาวร\nสถิต\nสถิตยศาสตร์\nสถิติ\nสถิร\nสถีรวาท\nสถุล\nสถูป\nสทิง\nสทึง\nสทุม\nสธนะ\nสาธุสะ\nสน\nส้น\nสนทนา\nสนทรรศ\nสนทรรศน์\nสนเทศ\nสนเท่ห์\nสนธยา\nสนธิ\nสนน\nสนม\nสนวน\nสนอง\nสนอบ\nสนอม\nสนะ\nสนัด\nสนั่น\nสนับ\nสนับทึบ\nสนับสนุน\nสนาน\nสนาม\nสนายุ\nสนิกะ\nสนิท\nสนิธ\nสนิม\nสนุก\nสนุกเกอร์\nสนุข\nสนุต\nสนุ่น\nสบ\nสบง\nสบถ\nสบัน\nสบาย\nสบู่\nสไบ\nสปริง\nสปอร์\nสปาเกตตี\nสเปกตรัม\nสเปกโทรสโกป\nสไปริลลัม\nสพาบ\nสภา\nสภาพ\nสภาวการณ์\nสภาวะ\nสม\nสมการ\nสมจารี\nสมดุล\nสมมูล\nส้ม\nสมญา\nสมณะ\nสมณบริขาร\nสมณศักดิ์\nสมณสารูป\nสมเด็จ\nสมถะ\nสมถยานิก\nสมถวิปัสสนา\nสมนาคุณ\nสมบัติ\nสมบุกสมบัน\nสมบูรณ์\nสมบูรณาญาสิทธิราชย์\nสมประดี\nสมปฤดี\nสมปฤๅดี\nส้มป่อย\nสมปัก\nสมผุส\nสมพง\nสมพงศ์\nสมพล\nสมพัตสร\nสมพาส\nสมเพช\nสมโพธน์\nสมโพธิ\nสมภพ\nสมภาร\nสมโภค\nสมโภช\nสมมต\nสมมติ\nสมมุติ\nสมมาตร\nส้มมือ\nสมโมท\nสมโยค\nสมร\nสมรด\nสมรรถ\nสมรรถนะ\nสมรรถภาพ\nสมรส\nสมฤดี\nสมฤติ\nสมวายะ\nสมเสร็จ\nสมอ\nสมอง\nสมะ\nสมัคร\nสมังคี\nสมัช\nสมัชชา\nสมัญญา\nสมัต\nสมัน\nสมันต์\nสมัย\nสมา\nสมาคม\nสมาจาร\nสมาชิก\nสมาทาน\nสมาธิ\nสมาน\nสมานฉันท์\nสมาบัติ\nสมาพันธรัฐ\nสมาส\nสม่ำเสมอ\nสมิง\nสมิต\nสมิติ\nสมิทธ์\nสมิทธิ\nสมี\nสมุก\nสมุจจัย\nสมุจเฉท\nสมุฏฐาน\nสมุด\nสมุทร\nสมุทรโคดม\nสมุทัย\nสมุน\nสมุนไพร\nสมุลแว้ง\nสมุห\nสมุห์\nสมุหกลาโหม\nสมุหเทศาภิบาล\nสมุหนาม\nสมุหนายก\nสโมธาน\nสโมสร\nสยด\nสยนะ\nสยบ\nสยมพร\nสยมภู\nสยอง\nสยอน\nสยัมวรา\nสยาม\nสยามานุสติ\nสยามินทร์\nสยาย\nสยิว\nสยิ้ว\nสยุมพร\nสยุมภู\nสร\nสรง\nสร่ง\nสรณะ\nสรณคมน์\nสรณาคมน์\nสรณตรัย\nสรตะ\nสรทะ\nสรนุก\nสรเนาะ\nสรไน\nสรเพชญ\nสรภะ\nสรภัญญะ\nสรภู\nสรม\nสรร\nสรรค์\nสรรพ\nสรรพคุณ\nสรรพนาม\nสรรพสามิต\nสรรพัชญ\nสรรพากร\nสรรพางค์\nสรรเพชญ\nสรรเพชุดา\nสรรเสริญ\nสรลอน\nสรเลข\nสรวง\nสรวม\nสรวล\nสรเสริญ\nสร้อย\nสระ\nสระกอ\nสระท้อน\nสระพรั่ง\nสระอาด\nสรั่ง\nสรัสวดี\nสร่าง\nสร้าง\nสราญ\nสรี้\nสรีระ\nสรีรกิจ\nสรีรธาตุ\nสรีรวิทยา\nสรีรศาสตร์\nสรีรังคาร\nสรีรางคาร\nสรุป\nสโรช\nสโรชะ\nสฤก\nสฤต\nสฤษฎิ\nสฤษฎี\nสฤษฏ์\nสฤษดิ์\nสลด\nสลบ\nสลวน\nสลวย\nสลอด\nสลอน\nสลอย\nสละ\nสลัก\nสลัด\nสลัดได\nสลับ\nสลัว\nสลา\nสลาก\nสลาง\nสล้าง\nสลาด\nสลาตัน\nสลาบ\nสลาย\nสลิด\nสลิล\nสลึก\nสลึง\nสลุต\nสลุบ\nสลุมพร\nสแลง\nสวการย์\nสวภาพ\nสวราชย์\nสวก\nส้วง\nสวด\nสวน\nสวนะ\nสวนาการ\nส่วน\nสวนิต\nสวบ\nสวม\nส้วม\nสวย\nส่วย\nส้วย\nสวยม\nสวรรค\nสวรรค์\nสวรรคต\nสวรรคาลัย\nสวรรยา\nสวระ\nสวะ\nสวัสดิ\nสวัสดิ์\nสวัสดิการ\nสวัสดิภาพ\nสวัสดิมงคล\nสวัสดี\nสวัสติ\nสวาตี\nสวัสติกะ\nสวา\nสวาปาม\nสวาคตะ\nสวาง\nสว่าง\nสวาด\nสวาดิ\nสวาท\nสว่าน\nสว้าน\nสวาบ\nสวามิ\nสวามี\nสวามินี\nสวาย\nสวาสดิ์\nสวาหะ\nสวิง\nสวิญญาณกทรัพย์\nสวิตช์\nสสาร\nสสุระ\nสสุรี\nสหกรณ์\nสหการ\nสหจร\nสหชาต\nสหชาติ\nสหธรรม\nสหธรรมิก\nสหประชาชาติ\nสหพันธ์\nสหพันธรัฐ\nสหภาพ\nสหศึกษา\nสหัช\nสหัมบดี\nสหัส\nสหัสสะ\nสหัสธารา\nสหัสนัยน์\nสหัสเนตร\nสหัสรังสี\nสหัสา\nสหาย\nสอ\nส่อ\nสอง\nส่อง\nส้อง\nสอด\nสอน\nส่อน\nสอบ\nสอพลอ\nส้อม\nสอย\nสะ\nสะกด\nสะกอ\nสะกาง\nสะการะ\nสะกิด\nสะกิดสะเกา\nสะเก็ด\nสะแก\nสะคร้อ\nสะคราญ\nสะค้าน\nสะเงาะสะแงะ\nสะดม\nสะดวก\nสะดิ้ง\nสะดึง\nสะดือ\nสะดุ้ง\nสะดุด\nสะเด็ด\nสะเดา\nสะเดาะ\nสะตอ\nสะตาหมัน\nสะตึ\nสะตือ\nสะตุ\nสะเต๊ะ\nสะโตก\nสะทก\nสะท้อน\nสะท้าน\nสะทึก\nสะเทิน\nสะเทิ้น\nสะเทือน\nสะเทื้อน\nสะบะ\nสะบัก\nสะบักสะบอม\nสะบัด\nสะบัดสะบิ้ง\nสะบั้น\nสะบันงา\nสะบ้า\nสะบู\nสะแบง\nสะเปะสะปะ\nสะพรั่ง\nสะพรึงกลัว\nสะพรึบ\nสะพรึ่บ\nสะพัก\nสะพัง\nสะพัด\nสะพั้น\nสะพาน\nสะพาย\nสะเพร่า\nสะโพก\nสะเภา\nสะใภ้\nสะโมง\nสะระตะ\nสะระแหน่\nสะลาง\nสะลาบ\nสะลึมสะลือ\nสะวี้ดสะว้าด\nสะสม\nสะสวย\nสะสาง\nสะเหล่อ\nสะอาง\nสะอาด\nสะอ้าน\nสะอิ้ง\nสะอิดสะเอียน\nสะอึก\nสะอื้น\nสะเอ้ง\nสะเอว\nสะเออะ\nสะโอดสะอง\nสะไอ\nสัก\nสักกะ\nสักยะ\nสักกัจจะ\nสักกายทิฐิ\nสักการ\nสักการะ\nสักขี\nสักวา\nสักหลาด\nสัค\nสัคคะ\nสั่ง\nสังกร\nสังกรณี\nสังกรประโยค\nสังกะตัง\nสังกะวัง\nสังกะวาด\nสังกะสี\nสังกัด\nสังกัปปะ\nสังกา\nสังการ\nสังกาศ\nสังกิเลส\nสังเกต\nสังข์\nสังขกร\nสังขตธรรม\nสังขตะ\nสังขยา\nสังขลิก\nสังขลิกา\nสังขาร\nสังขารา\nสังเขป\nสังค์\nสังคญาติ\nสังคม\nสังคหะ\nสังคัง\nสังคายนา\nสังคายนาย\nสังคีต\nสังคีติ\nสังเค็ด\nสังเคราะห์\nสังฆกรรม\nสังฆการี\nสังฆเถระ\nสังฆทาน\nสังฆนายก\nสังฆปาโมกข์\nสังฆภัต\nสังฆเภท\nสังฆมณฑล\nสังฆมนตรี\nสังฆราช\nสังฆสภา\nสังฆาณัติ\nสังฆาฏิ\nสังฆาทิเสส\nสังฆาธิการ\nสังฆานุสติ\nสังฆาวาส\nสังยุตนิกาย\nสังโยค\nสังโยชน์\nสังวร\nสังวัจฉระ\nสังวัธยาย\nสังวาล\nสังวาส\nสังเวคะ\nสังเวช\nสังเวชนียสถาน\nสังเวย\nสังเวียน\nสังสกฤต\nสังสการ\nสังสนทนา\nสั่งสนทนา\nสังสรรค์\nสังสารวัฏ\nสังสิทธิ\nสังสุทธ์\nสังสุทธิ\nสังหร\nสังหรณ์\nสังหาร\nสังหาริมทรัพย์\nสังหาริมะ\nสังหิต\nสัจ\nสัจกิริยา\nสัจจะ\nสัจญาณ\nสัจธรรม\nสัจนิยม\nสัจพจน์\nสัชฌะ\nสัชฌุ\nสัญจร\nสัญเจตนา\nสัญชาตญาณ\nสัญชาติ\nสัญฌา\nสัญญา\nสัญญาณ\nสัญญี\nสัญโญชน์\nสัญนิยม\nสัญประกาศ\nสัญลักษณ์\nสัฐิ\nสัณฐาน\nสัณฐิติ\nสัณฑ์\nสัณห์\nสัด\nสัดจอง\nสัต\nสัตตะ\nสัตตาหกรณียะ\nสัตตาหกาลิก\nสัตมวาร\nสัตสดก\nสัตตบงกช\nสัตตบรรณ\nสัตตบุษย์\nสัตตู\nสัตถันดร\nสัตถา\nสัตถิ\nสัตถุ\nสัตถุศาสนา\nสัตบรรณ\nสัตย์\nสัตยพรต\nสัตยวาที\nสัตยาเคราะห์\nสัตยาธิษฐาน\nสัตยาบัน\nสัตว์\nสัตวชาติ\nสัตวบาล\nสัตวแพทย์\nสัตววิทยา\nสัตวา\nสัทธรรม\nสัทธา\nสัทธาจริต\nสัทธาธิกะ\nสัทธินทรีย์\nสัทธิงวิหาริก\nสัทธิวิหาริก\nสัทวิทยา\nสัทศาสตร์\nสัทอักษร\nสัน\nสั่น\nสั้น\nสันดาน\nสันดาป\nสันโดษ\nสันต์\nสันตติ\nสันตะปาปา\nสันตะวา\nสันติ\nสันตุฏฐี\nสันถวไมตรี\nสันถวะ\nสันถัต\nสันถาร\nสันทนะ\nสันทะ\nสันทัด\nสันทัสนะ\nสันทาน\nสันทิฐิก\nสันทิส\nสันเทหะ\nสันธาน\nสันนิธิ\nสันนิบาต\nสันนิวาส\nสันนิษฐาน\nสันสกฤต\nสับ\nสับปลับ\nสับปลี้\nสับปะรด\nสัปคับ\nสัปดาห์\nสัปดาหะ\nสัปดน\nสัปตศก\nสัปทน\nสัปปะ\nสัปปิ\nสัปปุริส\nสัปปุรุษ\nสัประยุทธ์\nสัปหงก\nสัปเหร่อ\nสัพ\nสัพพะ\nสัพพัญญู\nสัพเพเหระ\nสัพยอก\nสัมบูรณ์\nสัมปชัญญะ\nสัมปทา\nสัมปทาน\nสัมปยุต\nสัมปโยค\nสัมประสิทธิ์\nสัมประหาร\nสัมปรายภพ\nสัมปรายิกภพ\nสัมปัตติ\nสัมผัปลาป\nสัมผัปลาปะ\nสัมผัส\nสัมพล\nสัมพหุลา\nสัมพัจฉรฉินท์\nสัมพัตสร\nสัมพัทธ์\nสัมพันธ์\nสัมพันธน์\nสัมพันธภาพ\nสัมพันธมิตร\nสัมพันธไมตรี\nสัมพาหะ\nสัมพุทธ\nสัมพุทธะ\nสัมโพธิ\nสัมภวะ\nสัมภเวสี\nสัมภัต\nสัมภัตตะ\nสัมภาระ\nสัมภาษณ์\nสัมโภคกาย\nสัมมนา\nสัมมัปธาน\nสัมมา\nสัมโมทนียกถา\nสัมฤทธิ\nสัมฤทธิ์\nสัมฤทธิศก\nสัยน์\nสัลเลข\nสัสดี\nสัสตทิฐิ\nสัสสะ\nสัสสุ\nสัสสู\nสา\nส่า\nสาก\nสากรรจ์\nสากล\nสากัจฉา\nสากัลย์\nสากิยะ\nสาเก\nสาขา\nสาคร\nสาคเรศ\nสาคู\nสาง\nส้าง\nสาชล\nสาฎก\nสาฏิก\nสาณี\nสาด\nสาไถย\nสาทร\nสาทิส\nสาทุ\nสาโท\nสาธก\nสาธยะ\nสาธยาย\nสาธารณะ\nสาธารณชน\nสาธารณประโยชน์\nสาธารณภัย\nสาธารณรัฐ\nสาธารณสถาน\nสาธารณสมบัติ\nสาธารณสุข\nสาธารณูปการ\nสาธารณูปโภค\nสาธารณ์\nสาธิต\nสาธุ\nสาน\nส่าน\nสานุ\nสานู\nสานุศิษย์\nสาบ\nสาบสูญ\nสาบาน\nสาป\nสาปไตย\nสาม\nสามชุก\nสามเณร\nสามเณรี\nสามนต์\nสามนตราช\nสามยทรัพย์\nสามล\nสามหาว\nสามะ\nสามัคคี\nสามัญ\nสามัตถิยะ\nสามานย์\nสามานยนาม\nสามารถ\nสามิต\nสามินี\nสามิภักดิ์\nสามี\nสามีจิกรรม\nสาย\nส่าย\nส้าย\nสายชู\nสายัณห์\nสายาห์\nสาร\nสารคดี\nสารธรรม\nสารนิเทศ\nสารบบ\nสารบรรณ\nสารบัญ\nสารบาญ\nสารบาญชี\nสารประโยชน์\nสารสนเทศ\nสารทุกข์\nสารถี\nสารท\nสารพัด\nสารพัน\nสารพางค์\nสารภาพ\nสารภี\nสารวัตร\nสาระ\nสาระแน\nสาระพา\nสาระยำ\nสาระวารี\nสาระสะมา\nสารัตถประโยชน์\nสารัตถศึกษา\nสารัตถะ\nสารัทธ์\nสารัมภ์\nสาราณียกร\nสาราณียธรรม\nสาราณียะ\nสารานุกรม\nสารีริกธาตุ\nสารูป\nสาโรช\nสาละ\nสาละวน\nสาลิ\nสาลิกา\nสาลินี\nสาลี\nสาลี่\nสาลู\nสาโลหิต\nสาว\nสาวก\nสาวิกา\nสาวิตร\nสาวิตรี\nสาสน\nสาสน์\nสาส์น\nสาสนา\nสาสม\nสาหร่าย\nสาหรี\nส่าหรี\nสาหัส\nสาเหตุ\nสาแหรก\nสำ\nสำส่อน\nส่ำ\nสำคัญ\nสำซ่าง\nสำแดง\nสำทับ\nสำนวน\nสำนอง\nสำนัก\nสำนาน\nสำนึก\nสำนึง\nสำเนา\nสำเนียง\nสำบัด\nสำปะลอ\nสำปะหลัง\nสำปั้น\nสำปันนี\nสำเภา\nสำมะงา\nสำมะโน\nสำมะลอ\nสำมะเลเทเมา\nสำมะหา\nสำรด\nสำรวจ\nสำรวม\nสำรวย\nสำรวล\nสำรอก\nสำรอง\nสำรับ\nสำราก\nสำราญ\nสำริด\nสำเร็จ\nสำเรา\nสำเริง\nสำโรง\nสำลัก\nสำลาน\nสำลี\nสำแลง\nสำหรวด\nสำหรับ\nสำหา\nสำเหนียก\nสำเหร่\nสำออย\nสำอาง\nสิ\nสิกข์\nสิข\nสิกขมานา\nสิกขา\nสิขร\nสิขรี\nสิขเรศ\nสิขา\nสิขานล\nสิขี\nสิคาล\nสิง\nสิ่ง\nสิงขร\nสิงค์\nสิงคลิ้ง\nสิงคลี\nสิงคาร\nสิงคาล\nสิงคี\nสิงโต\nสิงห์\nสิงหนาท\nสิงหบัญชร\nสิงหรา\nสิงหราช\nสิงหาคม\nสิงหาสน์\nสิงหล\nสิญจน์\nสิตะ\nสิตางศุ์\nสิถิล\nสิทธ์\nสิทธัตถะ\nสิทธา\nสิทธาจารย์\nสิทธารถ\nสิทธิ\nสิทธิ์\nสิทธิการิยะ\nสิธยะ\nสิน\nสิ้น\nสินเทา\nสินธพ\nสินธุ\nสินธุ์\nสินธุระ\nสินธู\nสินเธาว์\nสินาด\nสินิทธ์\nสินี\nสิเนรุ\nสิเนหก\nสิเนหะ\nสิเนหา\nสิเน่หา\nสิบ\nสิปปะ\nสิมพลี\nสิระ\nสิโรดม\nสิโรตม์\nสิริ\nสิรี\nสิลา\nสิว\nสิ่ว\nสิวะ\nสิวาลัย\nสิวิกา\nสี\nสี่\nสี้\nสีกา\nสีกุน\nสีข้าง\nสีด\nสีดอ\nสีดา\nสีตลรัศมี\nสีตโลทก\nสีโตทก\nสีทันดร\nสีมันต์\nสีมา\nสีละมัน\nสีวิกา\nสีสอ\nสีสะ\nสีสา\nสีสุก\nสีเสียด\nสีห์\nสีหนาท\nสีหบัญชร\nสีหราช\nสีหไสยา\nสีหไสยาสน์\nสีหะ\nสึก\nสึง\nสืบ\nสื่อ\nสุ\nสุก\nสุกข์\nสุกร\nสุกรม\nสุกำศพ\nสุกียากี้\nสุข\nสุขา\nสุขาภิบาล\nสุขารมณ์\nสุขาวดี\nสุขิน\nสุขี\nสุขุม\nสุขุมาล\nสุโข\nสุคต\nสุคติ\nสุคนธ\nสุคนธ์\nสุคนธชาติ\nสุคนธรส\nสุคันธ์\nสุคันธรส\nสุงกะ\nสุงกากร\nสุงสิง\nสุงสุมาร\nสุจริต\nสุจหนี่\nสุจิ\nสุจิต\nสุจิตร\nสุชน\nสุชัมบดี\nสุชา\nสุชาดา\nสุญ\nสุญญากาศ\nสุญตา\nสุญนิยม\nสุณ\nสุณิสา\nสุด\nสุดา\nสุต\nสุตตนิบาต\nสุตตะ\nสุตตันตปิฎก\nสุตตันตะ\nสุติ\nสุทธ\nสุทธ์\nสุทธาวาส\nสุทธิ\nสุทรรศน์\nสุทัศน์\nสุธา\nสุธาโภชน์\nสุธารส\nสุธาสินี\nสุธาสี\nสุธี\nสุนทร\nสุนทรี\nสุนทรียภาพ\nสุนทรียศาสตร์\nสุนทรียะ\nสุนัข\nสุนันท์\nสุโนก\nสุบดี\nสุบรรณ\nสุบิน\nสุปรีดิ์\nสุปรีย์\nสุปาณี\nสุพพัต\nสุพรรณ\nสุพรรณบัฏ\nสุพรรณภาชน์\nสุพรรณราช\nสุพรรณศรี\nสุพรรณถัน\nสุพรรณิการ์\nสุภร\nสุภัค\nสุภา\nสุภาพ\nสุภาษิต\nสุม\nสุ่ม\nสุมทุม\nสุมน\nสุมนะ\nสุมนัส\nสุมนา\nสุ้มเสียง\nสุมะ\nสุมาลี\nสุเมธ\nสุเมรุ\nสุรคต\nสุรเชษฐ์\nสุรบดี\nสุรภาพ\nสุรโลก\nสุรสีหนาท\nสุรเสียง\nสุรงค์\nสุรังค์\nสุรภี\nสุรัติ\nสุรัสวดี\nสุรา\nสุรางค์จำเรียง\nสุรางคนา\nสุรางคนางค์\nสุรารักษ์\nสุราลัย\nสุรินทร์\nสุรินทราหู\nสุริยะ\nสุริยกันต์\nสุริยกานต์\nสุริยการ\nสุริยกาล\nสุริยคติ\nสุริยคราส\nสุริยมณฑล\nสุริยวงศ์\nสุริยง\nสุริยา\nสุริเยนทร์\nสุริเยศ\nสุริโย\nสุริยน\nสุริยัน\nสุริยุปราคา\nสุรีย์\nสุรุ่ยสุร่าย\nสุลต่าน\nสุวคนธ์\nสุวภาพ\nสุวรรณ\nสุวรรณภูมิ\nสุวะ\nสุวาน\nสุวินัย\nสุวิมล\nสุษิระ\nสุสาน\nสุหนัต\nสุหร่ง\nสุหร่าย\nสุหฤท\nสุหัท\nสุเหร่า\nสู\nสู่\nสู้\nสูง\nสูจิ\nสูจิบัตร\nสูญ\nสูด\nสูต\nสูตร\nสูติ\nสูติกรรม\nสูตินรีเวช\nสูติบัตร\nสูติแพทย์\nสูติศาสตร์\nสูท\nสูทกรรม\nสูทศาสตร์\nสูบ\nสูปะ\nสูร\nสูรย์\nสูรยกานต์\nสูริ\nสูสี\nเส\nเสก\nเสกขบุคคล\nเสกขะ\nเสขบุคคล\nเสขะ\nเส็ง\nเส้ง\nเส็งเคร็ง\nเสงี่ยม\nเสฏฐี\nเสณี\nเสด\nเสด็จ\nเสตุ\nเสถียร\nเสทะ\nเสโท\nเสน\nเส้น\nเสนง\nเสน่ง\nเสน่ห์\nเสนหา\nเสน่หา\nเสนอ\nเสนะ\nเสนา\nเสนาธิการ\nเสนาบดี\nเสน่า\nเสนากุฎ\nเสนางค์\nเสนางคนิกร\nเสนานี\nเสนาสนะ\nเสนาะ\nเสนี\nเสนีย์\nเสนียะ\nเสนียด\nเสบย\nเสบียง\nเสพ\nเสพย์\nเสเพล\nเสภา\nเสม็ด\nเสมหะ\nเสมอ\nเสมา\nเสมียน\nเสมือน\nเสย\nเสร็จ\nเสริด\nเสริม\nเสรี\nเสลด\nเสลบรรพต\nเสลา\nเสลี่ยง\nเสลือกสลน\nเสโล\nเสวก\nเสวกามาตย์\nเสวนะ\nเสวนา\nเสวย\nเสวียน\nเสสรวง\nเสสรวล\nเสา\nเส้า\nเสาร์\nเสารภย์\nเสารี\nเสาวคนธ์\nเสาวธาร\nเสาวภา\nเสาวภาคย์\nเสาวภาพ\nเสาวรภย์\nเสาวรส\nเสาวลักษณ์\nเสาวณิต\nเสาวนะ\nเสาวนา\nเสาวนีย์\nเสาหฤท\nเสาะ\nเสาะแสะ\nเสิร์จ\nเสิร์ฟ\nเสีย\nเสียง\nเสี่ยง\nเสียด\nเสี้ยน\nเสียบ\nเสียม\nเสี่ยม\nเสี้ยม\nเสียว\nเสี่ยว\nเสี้ยว\nเสือ\nเสื่อ\nเสื้อ\nเสือก\nเสื่อม\nแส\nแส่\nแส้\nแสก\nแสง\nแสด\nแสดง\nแสตมป์\nแสน\nแสนย์\nแสนยากร\nแสนยานุภาพ\nแสบ\nแสม\nแสยก\nแสยง\nแสยะ\nแสรก\nแสร้ง\nแสลง\nแสล้ม\nแสวง\nแสะ\nโสก\nโสกโดก\nโสกันต์\nโสโครก\nโสณฑ์\nโสณิ\nโสณี\nโสด\nโสดก\nโสดม\nโสดา\nโสดาบัน\nโสดาปัตติผล\nโสดาปัตติมรรค\nโสต\nโสตทัศนวัสดุ\nโสตทัศนอุปกรณ์\nโสตทัศนูปกรณ์\nโสตินทรีย์\nโสตถิ\nโสทก\nโสทร\nโสธก\nโสธนะ\nโสน\nโสภณ\nโสภา\nโสภี\nโสภิณี\nโสเภณี\nโสม\nโสมนัส\nโสมม\nโสมย์\nโสร่ง\nโสรจ\nโสรวาร\nโสโร\nโสวรรณ\nโสหุ้ย\nโสฬส\nใส\nใส่\nไส\nไส้\nไสย\nไสยา\nไสยาสน์\nไสร้\nไสว\nหก\nหกคะเมน\nหง\nหงก\nหงส์\nหงสบาท\nหงสรถ\nหงอ\nหงอก\nหง่อง\nหงองแหงง\nหงอด\nหงอน\nหง่อม\nหงอย\nหง่อย\nหงัก\nหงับ\nหง่าง\nหงาย\nหง่าว\nหงำ\nหงิก\nหงิง\nหงิม\nหงึก\nหงุงหงิง\nหงุดหงิด\nหงุบ\nหงุ่ย\nหญ้า\nหญ้าฝรั่น\nหญ้ายายเภา\nหญิง\nหญิบ\nหด\nหตะ\nหทัย\nหน\nหนวก\nหน่วง\nหนวด\nหน่วย\nหน่วยกิต\nหนอ\nหน่อ\nหนอก\nหนอง\nหนอน\nหนอนตายหยาก\nหน่อย\nหน็อยแน่\nหนัก\nหนัง\nหนังสติ๊ก\nหนังสือ\nหนั่น\nหนับ\nหนา\nหน้า\nหน่าง\nหนาด\nหนาน\nหนาม\nหน่าย\nหนาว\nหนำ\nหนำเลี้ยบ\nหนี\nหนี้\nหนีบ\nหนึก\nหนึ่ง\nหนึบ\nหนืด\nหนุ\nหนุน\nหนุบ\nหนุ่ม\nหนุ่ย\nหนู\nห่ม\nหมก\nหมด\nหม่น\nหมวก\nหมวด\nหมวน\nหมอ\nหม่อ\nหม้อ\nหมอก\nหมอง\nหม่อง\nหมอน\nหม่อน\nหมอบ\nหม่อม\nหมอย\nหม้อห้อม\nหมัก\nหมักหมม\nหมัด\nหมัน\nหมั่น\nหมั้น\nหมับ\nหมา\nหม่า\nหมาก\nหมากฮอส\nหมาง\nหมาด\nหมามุ่ย\nหมามุ้ย\nหมาย\nหม้าย\nหมาร่า\nหม่ำ\nหม้ำ\nหมิ่น\nหมี\nหมี่\nหมึก\nหมืน\nหมื่น\nหมุด\nหมุน\nหมุบ\nหมุบหมับ\nหมุบหมิบ\nหมุ่ย\nหมุยขาว\nหมู\nหมู่\nหมูหริ่ง\nหยก\nหย่ง\nหยด\nหยวก\nหยวบ\nหยอก\nหยอกเอิน\nหย็อกหย็อย\nหยอง\nหย็อง\nหย่อง\nหย็องกรอด\nหย็องแหย็ง\nหยอด\nหยอน\nหย่อน\nหย่อม\nหย็อมแหย็ม\nหย็อย\nหย่อย\nหยัก\nหยักไย่\nหยักเหยา\nหยัง\nหยั่ง\nหยังหยัง\nหยัด\nหยัน\nหยับ\nหยั่วเมือง\nหย่า\nหยากเยื่อ\nหยากไย่\nหยาด\nหยาบ\nหยาม\nหยาว\nหย้าว\nหยำเป\nหยำเหยอะ\nหยำแหยะ\nหยิก\nหยิ่ง\nหยิบ\nหยิม\nหยี\nหยี่\nหยุกหยิก\nหยุด\nหยุ่น\nหยุบ\nหยุมหยิม\nหยูกยา\nหโยดม\nหรคุณ\nหรณะ\nหรดาล\nหรดี\nหรรษ์\nหรรษา\nหรอ\nหรอก\nหร็อมแหร็ม\nหรอย\nหระ\nหรับ\nหรา\nหริ\nหริ่ง\nหริณะ\nหริต\nหริตกี\nหรีตกี\nหรี่\nหรีด\nหรือ\nหรุบ\nหรุบรู่\nหรุบหรู่\nหรุ่ม\nหรู\nหรูหรา\nหฤทัย\nหฤทย์\nหฤษฎ์\nหฤษฎี\nหฤหรรษ์\nหฤโหด\nหลง\nหลงใหล\nหลงจู๊\nหลด\nหลน\nหล่น\nหลบ\nหล่ม\nหลวง\nหลวม\nหลอ\nหล่อ\nหลอก\nหลอด\nหลอน\nหล็อน\nหล่อน\nหลอม\nหละ\nหละหลวม\nหลัก\nหลัง\nหลั่ง\nหลัด\nหลั่น\nหลับ\nหลัว\nหลา\nหล้า\nหลาก\nหลาน\nหลาบ\nหลาม\nหลาย\nหลาว\nหลิ่ง\nหลิท\nหลิน\nหลิม\nหลิว\nหลิ่ว\nหลี\nหลีก\nหลีโก\nหลีบ\nหลีฮื้อ\nหลืบ\nหลุกหลิก\nหลุด\nหลุน\nหลุบ\nหลุม\nหลุมพอ\nหลุมพี\nหลู่\nหวง\nห่วง\nห้วง\nหวด\nหวน\nห้วน\nหวย\nห้วย\nหวอ\nหวอด\nหวะ\nหวัง\nหวัด\nหวั่น\nหวันยิหวา\nหวัว\nหวัวร่อ\nหวัวเราะ\nหวา\nหว่า\nหว้า\nหวาก\nหว่าง\nหวาด\nหวาน\nหว่าน\nหวาม\nหวาย\nหวำ\nหวิด\nหวิว\nหวี\nหวี่\nหวีด\nหวือ\nหวุดหวิด\nหวูด\nหอ\nห่อ\nห้อ\nหอก\nหอง\nห้อง\nหอน\nห่อน\nหอบ\nหอม\nห้อม\nหอย\nห้อย\nหะ\nหะยี\nหะหาย\nหัก\nหัจญ์\nหัจญี\nหัช\nหัฏฐะ\nหัด\nหัต\nหัตถ์\nหัตถกรรม\nหัตถการ\nหัตถกิจ\nหัตถบาส\nหัตถพันธ์\nหัตถาภรณ์\nหัตถศาสตร์\nหัตถศิลป์\nหัตถศึกษา\nหัตถาจารย์\nหัตถินี\nหัตถี\nหัน\nหั่น\nหั้น\nหันตรา\nหับ\nหัย\nหัว\nหัวร่อ\nหัวเราะ\nหัส\nหัสดิน\nหัสดี\nหัสต์\nหัสตะ\nหา\nห่า\nห้า\nหาก\nหาง\nห่าง\nห้าง\nหาญ\nหาด\nห่าน\nหาบ\nหาม\nห่าม\nห้าม\nหาย\nหายใจ\nหายนะ\nหาร\nหารือ\nหาว\nห้าว\nหาสะ\nหำ\nห้ำ\nหิ้ง\nหิงคุ\nหิงสา\nหิงห้อย\nหิ่งห้อย\nหิ่งหาย\nหิด\nหิต\nหิตานุหิตประโยชน์\nหิน\nหิมพาน\nหิมพานต์\nหิมวัต\nหิมวันต์\nหิมวา\nหิมะ\nหิมาลัย\nหิรัญ\nหิรัญญิการ์\nหิรัญบัฏ\nหิรัณย์\nหิรัณยรัศมี\nหิริ\nหิว\nหิ้ว\nหี\nหีด\nหีนยาน\nหีบ\nหึ\nหึง\nหึ่ง\nหึงสา\nหืด\nหืน\nหื่น\nหือ\nหื้อ\nหุง\nหุน\nหุ่น\nหุ้น\nหุนหัน\nหุบ\nหุ้ม\nหุยฮา\nหู\nหู่\nหูก\nหูด\nเห\nเห่\nเหง\nเหง่ง\nเหงา\nเหง้า\nเหงื่อ\nเหงือก\nเห็จ\nเห็ด\nเหติ\nเหตุ\nเห็น\nเหน่ง\nเหนงนายพราน\nเหน็ดเหนื่อย\nเหน็บ\nเหน่อ\nเห็นอ้ม\nเหนอะ\nเหนอะหนะ\nเหน้า\nเหนาะ\nเหนียง\nเหนี่ยง\nเหนี่ยน\nเหนียม\nเหนียว\nเหนี่ยว\nเหนือ\nเหนื่อย\nเห็บ\nเหม\nเหม่\nเหม็ง\nเหม่ง\nเหม็น\nเหมวดี\nเหม่อ\nเหมันต์\nเหมันตฤดู\nเหมา\nเหมายัน\nเหมาะ\nเหมียว\nเหมี่ยว\nเหมือง\nเหมือด\nเหมือน\nเหมื่อย\nเหย\nเหยง\nเหย่อย\nเหยา\nเหย่า\nเหย้า\nเหยาะ\nเหยาะแหยะ\nเหยิง\nเหยิบ\nเหยียด\nเหยียบ\nเหยี่ยว\nเหยื่อ\nเหยือก\nเหรอ\nเหรอะ\nเหรัญญิก\nเหรา\nเหราะ\nเหรียญ\nเหล่\nเหล็ก\nเหลน\nเหลว\nเหลอ\nเหลา\nเหล่า\nเหล้า\nเหลาะแหละ\nเหลิง\nเหลิงเจิ้ง\nเหลียน\nเหลี่ยม\nเหลียว\nเหลือ\nเหลือก\nเหลือง\nเหลือบ\nเหลือม\nเหลื่อม\nเหว\nเหว่\nเหวง\nเหวย\nเหวอะ\nเหวอะหวะ\nเหวี่ยง\nเห่อ\nเหอะ\nเหะ\nเหะหะ\nเหา\nเห่า\nเหาะ\nเหิน\nเหิม\nเหี้ย\nเหียง\nเหียน\nเหี้ยน\nเหี้ยม\nเหี่ยว\nเหื่อ\nเหือด\nแห\nแห่\nแห้\nแหก\nแหง\nแหง่\nแห่ง\nแห้ง\nแหงแก๋\nแหง่ง\nแหงน\nแหน\nแห้น\nแหนง\nแหนบ\nแหนม\nแหบ\nแหม\nแหม่\nแหม่ม\nแหมะ\nแหย\nแหย่\nแหยง\nแหย่ง\nแหยม\nแหย็ม\nแหยะ\nแหล่\nแหลก\nแหล่ง\nแหลน\nแหลม\nแหละ\nแหว\nแห้ว\nแหวก\nแหว่ง\nแหวด\nแหวน\nแหวะ\nแหะ\nโห่\nโหง\nโหด\nโหน\nโหนก\nโหน่ง\nโหม\nโหม่ง\nโหมด\nโหย\nโหยกเหยก\nโหยง\nโหย่ง\nโหร\nโหรง\nโหรงเหรง\nโหรดาจารย์\nโหระพา\nโหรา\nโหราจารย์\nโหราศาสตร์\nโหล\nโหล่\nโหลงโจ้ง\nโหว\nโหว่\nโหว้\nโหวกเหวก\nโหวง\nโหวด\nโหวต\nให้\nใหญ่\nใหม่\nไห\nไห่\nไห้\nไหน\nไหม\nไหม้\nไหรณย์\nไหล\nไหล่\nไหว\nไหว้\nไหหลำ\nอก\nอกตเวทิตา\nอกตเวที\nอกตัญญุตา\nอกตัญญู\nอกนิษฐ์\nอกรณีย์\nอกรรมกริยา\nอกัปปิยวัตถุ\nอกัปปิยะ\nอกุศล\nอคติ\nอคาธ\nอโฆษะ\nองก์\nองค์\nองคชาต\nองคมนตรี\nองครักษ์\nองคาพยพ\nองคุลี\nองศ์\nองศา\nองอาจ\nองุ่น\nอจลา\nอจินตา\nอจินไตย\nอจิระ\nอเจลก\nอเจละ\nอชะ\nอชิน\nอชินี\nอชิระ\nอฏวี\nอณิ\nอณู\nอโณทัย\nอด\nอดิถี\nอดิเทพ\nอดิเรก\nอดิศร\nอดิศวร\nอดิศัย\nอดีต\nอดุล\nอดุลย์\nอติ\nอติชาต\nอติมานะ\nอติราช\nอติเรก\nอติสาร\nอถรรพเวท\nอาถรรพเวท\nอทระ\nอทินนาทาน\nอธรรม\nอธิ\nอธิกมาส\nอธิกรณ์\nอธิกวาร\nอธิกสุรทิน\nอธิการ\nอธิคม\nอธิฏฐาน\nอธิบดี\nอธิบาย\nอธิป\nอธิปไตย\nอธิมาตร\nอธิมุตติ\nอธิโมกข์\nอธิราช\nอธิวาส\nอธิวาสนะ\nอธิศีล\nอธิษฐาน\nอธึก\nอ้น\nอนงค์\nอนงคณะ\nอนงคเลขา\nอนธการ\nอนนต์\nอนยะ\nอนรรฆ\nอนรรถ\nอนล\nอนวัช\nอนัญ\nอนัตตา\nอนันต์\nอนันตริยกรรม\nอนัม\nอนาคต\nอนาคามิผล\nอนาคามิมรรค\nอนาคามี\nอนาจาร\nอนาถ\nอนาถา\nอนาทร\nอนาธิปไตย\nอนามัย\nอนามิกา\nอนารยชน\nอนารยธรรม\nอนารยะ\nอนาลัย\nอนำ\nอนิจ\nอนิจจัง\nอนิจจา\nอนิฏฐารมณ์\nอนิยต\nอนิยม\nอนิล\nอนิวรรต\nอนิวรรตน์\nอนีกะ\nอนีจะ\nอนึก\nอนึ่ง\nอนุ\nอนุกร\nอนุกรม\nอนุกรรมการ\nอนุกระเบียด\nอนุกาชาด\nอนุการ\nอนุกูล\nอนุคามิก\nอนุเคราะห์\nอนุจร\nอนุช\nอนุชน\nอนุชา\nอนุชาต\nอนุชิต\nอนุญาต\nอนุญาโตตุลาการ\nอนุตร\nอนุเถระ\nอนุทิน\nอนุบท\nอนุบาล\nอนุประโยค\nอนุปริญญา\nอนุปสัมบัน\nอนุปัสนา\nอนุพงศ์\nอนุพัทธ์\nอนุพันธ์\nอนุโพธ\nอนุภรรยา\nอนุภริยา\nอนุภาค\nอนุภาษ\nอนุมัติ\nอนุมาตรา\nอนุมาน\nอนุมูล\nอนุโมทนา\nอนุโยค\nอนุรักษ์\nอนุรักษนิยม\nอนุราช\nอนุราธ\nอนุราธะ\nอนุราธา\nอนุรูป\nอนุโลม\nอนุวงศ์\nอนุวรรตน์\nอนุวัต\nอนุวัตน์\nอนุวัตร\nอนุวัติ\nอนุวาต\nอนุศาสก\nอนุศาสน์\nอนุศาสนาจารย์\nอนุศิษฏ์\nอนุสติ\nอนุสนธิ\nอนุสร\nอนุสรณ์\nอนุสัญญา\nอนุสัย\nอนุสาวรีย์\nอนุสาสนี\nอเนก\nอเนกคุณ\nอเนกรรถประโยค\nอเนจอนาถ\nอโนชา\nอโนดาต\nอบ\nอบเชย\nอบาย\nอปจายนธรรม\nอปจายนมัย\nอปมงคล\nอปยศ\nอประไมย\nอปรัณณชาติ\nอปรา\nอปราชัย\nอปราชิต\nอปริมาณ\nอปลักษณ์\nอปโลกน์\nอปวาท\nอเปหิ\nอพพะ\nอพยพ\nอภัพ\nอภัย\nอภิ\nอภิฆาต\nอภิชฌา\nอภิชน\nอภิชนาธิปไตย\nอภิชัย\nอภิชาต\nอภิชิต\nอภิญญา\nอภิญญาณ\nอภิธรรม\nอภิธาน\nอภิไธย\nอภินันท์\nอภินันทนาการ\nอภินัย\nอภินิหาร\nอภิเนษกรมณ์\nอภิบาล\nอภิปรัชญา\nอภิปราย\nอภิมหาอำนาจ\nอภิมานะ\nอภิมุข\nอภิรดี\nอภิรติ\nอภิรมย์\nอภิรักษ์\nอภิราม\nอภิรุต\nอภิรุม\nอภิรูป\nอภิลักขิต\nอภิลักขิตสมัย\nอภิเลปน์\nอภิวันท์\nอภิวาท\nอภิวาทน์\nอภิเษก\nอภิสมโพธิ\nอภิสมัย\nอภิสมาจาร\nอภิสัมโพธิ\nอภิสัมโพธิญาณ\nอภิสิต\nอภิสิทธิ์\nอภูตะ\nอม\nอมพะนำ\nอ้ม\nอมตธรรม\nอมตบท\nอมตะ\nอมนุษย์\nอมร\nอมรา\nอมราวดี\nอมรินทร์\nอมเรนทร์\nอมเรศ\nอมฤต\nอมัตร\nอมาตย์\nอมาวสี\nอมาวสุ\nอมาวาสี\nอมิตร\nอเมริกัน\nอย่า\nอยาก\nอย่าง\nอยุทธ์\nอยู่\nอร\nอรชร\nอรชุน\nอรดี\nอรติ\nอรทัย\nอรไท\nอรนุช\nอรพินท์\nอรพิม\nอรรค\nอรรฆ\nอรรฆย์\nอรรจน์\nอรรณพ\nอรรถ\nอรรถกถา\nอรรถกถาจารย์\nอรรถาธิบาย\nอรรธ\nอรสุม\nอรหะ\nอรหัง\nอรหัต\nอรหัตผล\nอรหัตมรรค\nอรหัน\nอรหันต์\nอรหันตฆาต\nอร่อย\nอรัญ\nอรัญญิก\nอรัญวาส\nอรัญวาสี\nอรัณย์\nอราดี\nอร่าม\nอริ\nอรินทร์\nอริน\nอริยกะ\nอริยทรัพย์\nอริยบุคคล\nอริยผล\nอริยมรรค\nอริยสั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nอำพล\nอำพะนำ\nอำพัน\nอำไพ\nอำเภอ\nอำมร\nอำมฤคโชค\nอำมฤต\nอำมหิต\nอำมาตย์\nอำมาตยาธิปไตย\nอำยวน\nอำรุง\nอำลา\nอำอวม\nอ้ำอึ้ง\nอิก\nอิง\nอิงค์\nอิงอร\nอิจฉา\nอิฉัน\nอิชยา\nอิฏฐารมณ์\nอิฐ\nอิฐผล\nอิด\nอิตถี\nอิตเทรียม\nอิตเทอร์เบียม\nอิติวุตตกะ\nอิทธิ\nอิน\nอินซูลิน\nอินเดีย\nอินเดียนแดง\nอินเดียม\nอินท์\nอินทขีล\nอินทนิล\nอินทผลัม\nอินทร์\nอินทรธนู\nอินทรวงศ์\nอินทรวิเชียร\nอินทรศักดิ์\nอินทราณี\nอินทราภิเษก\nอินทรายุธ\nอินทรี\nอินทรีย์\nอินทรียสังวร\nอินทีวร\nอินทุ\nอินฟราเรด\nอินัง\nอิ่ม\nอิมัลชัน\nอิริเดียม\nอิริยา\nอิริยาบถ\nอิรุพเพท\nอิเล็กตรอน\nอิเล็กทรอนิกส์\nอิเล็กโทน\nอิศร\nอิศวร\nอิษฏ์\nอิษฏี\nอิส\nอิสตรี\nอิสัตรี\nอิสรภาพ\nอิสระ\nอิสริยยศ\nอิสริยะ\nอิสริยาภรณ์\nอิสลาม\nอิสสา\nอิสิ\nอิสี\nอิหม่าม\nอิหลักอิเหลื่อ\nอี\nอี่\nอี้\nอี๊\nอี๋\nอี๋อ๋อ\nอีก\nอีก้อ\nอีก๋อย\nอีโก้ง\nอีจู้\nอี๊ด\nอีเต้อ\nอีโต้\nอีทุบ\nอีเทอร์\nอีนุงตุงนัง\nอีนูน\nอีโน\nอีแปะ\nอีโปง\nอีเพา\nอีมู\nอีรม\nอีลุ้ม\nอีลุ่ยฉุยแฉก\nอีเลิ้ง\nอีศ\nอีศวร\nอีส\nอีสาน\nอีสุกอีใส\nอีหรอบ\nอีหลักอีเหลื่อ\nอีหลี\nอีหลุกขลุกขลัก\nอีหลุกขลุกขลุ่ย\nอีเห็น\nอีเหน็บ\nอีเหนียว\nอีเหละเขละขละ\nอีเหละเขะขะ\nอีโหน่อีเหน่\nอีโหลกโขลกเขลก\nอีแอ่น\nอึ\nอึก\nอึ้ก\nอึ๊ก\nอึกทึก\nอึกอัก\nอึง\nอึ่ง\nอึ้ง\nอึด\nอึดตะปือ\nอึ้ดทึ่ด\nอึน\nอืด\nอื่น\nอื้น\nอือ\nอื้อ\nอื้อฮือ\nอุ\nอุก\nอุกกา\nอุกกาบาต\nอุกฤษฏ์\nอุกลาบาต\nอุค\nอุคระ\nอุคหนิมิต\nอุโฆษ\nอุ้ง\nอุจ\nอุจจาระ\nอุจฉุ\nอุจเฉท\nอุจเฉททิฐิ\nอุจาด\nอุชุ\nอุฏฐาการ\nอุณหภูมิ\nอุณหะ\nอุณหาหาร\nอุณหิส\nอุณา\nอุณาโลม\nอุด\nอุดเตา\nอุดม\nอุดมการณ์\nอุดมคติ\nอุดมศึกษา\nอุดร\nอุดหนุน\nอุตดม\nอุตตมะ\nอุตมภาพ\nอุตมางค์\nอุตดร\nอุตรกุรุทวีป\nอุตตรายัน\nอุตรนิกาย\nอุตรผลคุนี\nอุตตรผลคุนี\nอุตรภัทรบท\nอุตตรภัทรบท\nอุตตรภัททะ\nอุตราภิมุข\nอุตราวรรต\nอุตราวัฏ\nอุตราษาฒ\nอุตตราสาฬหะ\nอุตราสงค์\nอุตตานภาพ\nอุตพิด\nอุตรา\nอุตริ\nอุตริมนุสธรรม\nอุตลุด\nอุตส่าห์\nอุตสาหกรรม\nอุตสาหะ\nอุตุ\nอุตุนิยม\nอุตุนิยมวิทยา\nอุทก\nอุทกธาร\nอุทกธารา\nอุทกภัย\nอุทกวิทยา\nอุทกศาสตร์\nอุทธรณ์\nอุทธัจ\nอุทยาน\nอุทร\nอุทริยะ\nอุทลุม\nอุทัช\nอุทัย\nอุทาน\nอุทาร\nอุทาหรณ์\nอุทิศ\nอุทุมพร\nอุเทศ\nอุเทสิกเจดีย์\nอุธัจ\nอุ่น\nอุบ\nอุบล\nอุบะ\nอุบ๊ะ\nอุบัติ\nอุบาท\nอุบาทว์\nอุบาย\nอุบาสก\nอุบาสิกา\nอุเบกขา\nอุโบสถ\nอุปกรณ์\nอุปกรม\nอุปการ\nอุปการะ\nอุปการี\nอุปกิเลส\nอุปจาร\nอุปถัมภ์\nอุปถัมภก\nอุปทม\nอุปทูต\nอุปเทศ\nอุปเท่ห์\nอุปธิ\nอุปนัย\nอุปนิกขิต\nอุปนิษัท\nอุปนิสัย\nอุปบัติ\nอุปปาติกะ\nอุปพัทธ์\nอุปพันธ์\nอุปโภค\nอุปมา\nอุปมาน\nอุปไมย\nอุปยุวราช\nอุปรากร\nอุปราคา\nอุปราช\nอุปริ\nอุปริมปริยาย\nอุปโลกน์\nอุปเวท\nอุปสมบท\nอุปสมบัน\nอุปสัมบัน\nอุปสรรค\nอุปสัมปทา\nอุปฮาด\nอุปัชฌาย์\nอุปัชฌายวัตร\nอุปัชฌายะ\nอุปัฏฐาก\nอุปัฏฐานะ\nอุปัทวะ\nอุปัทวันตราย\nอุปาทาน\nอุปาหนา\nอุภัย\nอุ้ม\nอุมงค์\nอุโมงค์\nอุย\nอุ่ย\nอุ้ย\nอุ๊ย\nอุยยาน\nอุยยาม\nอุรณะ\nอุรพี\nอุระ\nอุรังอุตัง\nอุรัจฉัท\nอุรัจฉทะ\nอุรา\nอุรุ\nอุไร\nอุลกมณี\nอุลโลจ\nอุลามก\nอุลิด\nอุโลก\nอุแว้\nอุษณกร\nอุษณกาล\nอุษณรัศมี\nอุษณรุจี\nอุษณาการ\nอุษณีษ์\nอุษมะ\nอุษมัน\nอุษา\nอุษาโยค\nอุสภ\nอุสส่าห์\nอุสสาหะ\nอุสา\nอุสุ\nอุสุภ\nอุสุภราช\nอุสุม\nอุหรับ\nอุหลบ\nอุเหม่\nอุฬาร\nอู\nอู่\nอู้\nอูฐ\nอูด\nอูม\nอูย\nอูรุ\nอู๋อี๋\nเอ\nเอ้\nเอ๊\nเอก\nเอกเขนก\nเอกซเรย์\nเอกรรถประโยค\nเอกัคตา\nเอกังสพยากรณ์\nเอกังสวาที\nเอกา\nเอ้กา\nเอกาธิปไตย\nเอเคอร์\nเอง\nเอ็ง\nเอ๋ง\nเอ็ด\nเอ็ดตะโร\nเอดส์\nเอตทัคคะ\nเอ้เต\nเอทิล\nเอน\nเอ็น\nเอนไซม์\nเอ็นดู\nเอ็นอ่อน\nเอม\nเอ็มบริโอ\nเอย\nเอ่ย\nเอ๊ย\nเอ๋ย\nเอร็ดอร่อย\nเอราวัณ\nเอว\nเอ๊ว\nเอวัง\nเอฬกะ\nเอฬา\nเออ\nเอ่อ\nเออร์เบียม\nเอ้อระเหย\nเอ้อเร้อ\nเอ้อเฮอ\nเอ๊ะ\nเอะใจ\nเอะอะ\nเอะอะมะเทิ่ง\nเอา\nเอาทาร\nเอาทารย์\nเอารส\nเอาฬาร\nเอาะลาย\nเอิก\nเอิกเกริก\nเอิ้น\nเอิบ\nเอียง\nเอี้ยง\nเอียด\nเอี๊ยด\nเอียน\nเอี่ยน\nเอี่ยม\nเอี๊ยม\nเอี้ยมจุ๊น\nเอี้ยมเฟี้ยม\nเอี่ยว\nเอี้ยว\nเอื้อ\nเอื๊อก\nเอื้อง\nเอือด\nเอือน\nเอื้อน\nเอือม\nเอื้อม\nเอื่อย\nเอื้อย\nแอ\nแอ้\nแอ๋\nแอก\nแอกทิเนียม\nแอ่ง\nแอ้งแม้ง\nแอด\nแอ้ด\nแอ๊ด\nแอ่น\nแอนติเจน\nแอนติบอดี\nแอนติอิเล็กตรอน\nแอโนด\nแอบ\nแอม\nแอ้ม\nแอมแปร์\nแอมมิเตอร์\nแอมโมเนีย\nแอร่ม\nแอลกอฮอล์\nแอลฟา\nแอว\nแอ่ว\nแอ้วแซ่ว\nแอสทาทีน\nแอสไพริน\nแอสฟัลต์\nแอหนัง\nแออัด\nโอ\nโอ่\nโอ้\nโอ๋\nโอก\nโอ้ก\nโอ้กอ้าก\nโอ๊ก\nโอกาส\nโอฆชล\nโอฆสงสาร\nโอฆะ\nโอ่ง\nโองการ\nโองโขดง\nโอชะ\nโอชา\nโอโซน\nโอฐ\nโอด\nโอ๊ต\nโอตตัปปะ\nโอทนะ\nโอน\nโอบ\nโอปปาติกะ\nโอภา\nโอภาส\nโอม\nโอย\nโอ๊ย\nโอรส\nโอละพ่อ\nโอลิมปิก\nโอวาท\nโอษฐ์\nโอษฐชะ\nโอษฐภัย\nโอสถ\nโอห์ม\nโอหัง\nโอฬาร\nโอฬาริก\nโอฬารึก\nโอ้เอ้\nโอเอซิส\nโอ้โฮ\nไอ\nไอ้\nไอโซโทป\nไอน์สไตเนียม\nไอยรา\nไอยเรศ\nไอราพต\nไอราวัณ\nไอราวัต\nไอศกรีม\nไอศวรรย์\nไอศุริยสมบัติ\nไอศูรย์\nไอออน\nไอโอดีน\nฮกเกี้ยน\nฮด\nฮวงซุ้ย\nฮวน\nฮ้วนหมู\nฮวบ\nฮ่อ\nฮ้อ\nฮอกกี้\nฮอด\nฮ่อม\nฮ่อยจ๊อ\nฮอร์โมน\nฮอลแลนด์\nฮอลันดา\nฮะ\nฮะเบส\nฮะเรีย\nฮัก\nฮังเล\nฮัจญ์\nฮัจญะฮ์\nฮัจญี\nฮั่น\nฮั้ว\nฮา\nฮ้า\nฮ่างหลวง\nฮาจญ์\nฮาม\nฮาเร็ม\nฮาห์เนียม\nฮิจเราะห์\nฮินดู\nฮิปโปโปเตมัส\nฮิสทีเรีย\nฮีเลียม\nฮึ\nฮึก\nฮึด\nฮึดฮัด\nฮึ่ม\nฮึย\nฮึ่ย\nฮืดฮาด\nฮือ\nฮื่อ\nฮื้อ\nฮื้อฉี่\nฮุด\nฮุบ\nฮุยเลฮุย\nฮู้\nฮูก\nฮูม\nเฮ\nเฮฮา\nเฮกตาร์\nเฮกโตกรัม\nเฮกโตเมตร\nเฮกโตลิตร\nเฮง\nเฮ็ด\nเฮโมโกลบิน\nเฮย\nเฮ่ย\nเฮ้ย\nเฮโรอีน\nเฮลิคอปเตอร์\nเฮโล\nเฮละโล\nเฮ้ว\nเฮอ\nเฮ่อ\nเฮ้อ\nเฮอริเคน\nเฮิรตซ์\nเฮี้ยน\nเฮี้ยบ\nเฮี้ยว\nเฮือก\nเฮือน\nแฮ\nแฮ่\nแฮก\nแฮ่กึ๊น\nแฮนด์บอล\nแฮฟเนียม\nแฮม\nแฮะ\nโฮ\nโฮก\nโฮ่ง\nโฮ้ง\nโฮเต็ล\nโฮลเมียม\nโฮะ\nไฮ้\nไฮโกรมิเตอร์\nไฮดรา\nไฮโดร\nไฮโดรคาร์บอน\nไฮโดรเจน\nไฮโดรมิเตอร์\nไฮไฟ\nไฮโล\nไฮฮี\n"
+      var words = "ก.ก.\nก.ก.น.\nก.ข.ค.\nก.ค.\nก.จ.\nก.ช.น.\nก.ฌ.\nก.ต.\nก.ต.ง.\nก.ต.ช.\nก.ตร.\nก.ท.\nก.น.ช.\nก.บช.\nก.บถ.\nก.ป.ส.\nก.พ.\nก.ม.\nก.ย.\nก.ร.\nก.ล.ต.\nก.ว.\nก.ศ.ว.\nก.ส.ท.\nก.ส.ธ.\nก.ส.อ.\nก.อ.\nกก.ตชด.\nกก.ตร.น.\nกก.ภ.จว.\nกก.รสช.\nกกบ.ขส.ทบ.\nกกล.รพน.\nกง.กห.\nกง.ทบ.\nกง.ทร.\nกซข.ป.\nกซม.ป.\nกทม.กรุงเทพมหานคร\nกบ.ทบ.\nกป.สป.\nกพ.ทบ.\nกพ.ทร.\nกพ.ทหาร\nกร.ทบ.\nกรป.กลาง\nกรอ.พอ.\nกศ.ด.\nกศ.บ.\nกศ.บป.\nกศ.ม.\nกษ.ด.\nกษ.บ.\nกษ.ม.\nกส.ด.\nกส.ทบ.\nกส.บ.\nกส.ม.\nกอ.ปค.\nกอ.รพน.\nกอ.รมน.\nกอ.รสต.\nข.ต.ว.\nขว.ทบ.\nขว.ทร.\nขว.ทหาร\nขส.ทบ.\nขส.ทร.\nขส.ทอ.\nค.ด.\nค.บ.\nค.พ.ศ.\nค.ม.\nค.ร.น.\nค.ร.ฟ.\nค.ร.ม.\nค.ศ.\nค.อ.ด.\nค.อ.บ.\nค.อ.ม.\nคศ.ด.\nคศ.บ.\nคศ.ม.\nง.ด.\nจ.จ.\nจ.จ.จ.\nจ.ช.\nจ.ต.\nจ.ท.\nจ.ป.ร.\nจ.ม.\nจ.ศ.\nจ.ส.ต.\nจ.ส.ท.\nจ.ส.อ.\nจ.อ.\nจ.อ.ร.\nจ.๑๘\nจก.ธน.\nจก.สน.\nช.ค.\nช.ค.บ.\nช.พ.ค.\nช.ส.\nช.ส.ค.\nฌ.ป.ค.\nฌ.ศ.ร.\nฌ.ส.อ.\nฐท.สห.\nด.ช.\nด.ญ.\nด.ต.\nด.ศ.ค.\nด.ศ.ร.\nดย.ทร.\nต.ก.\nต.ค.\nต.จ.\nต.จ.ว.\nต.ช.\nต.ต.\nต.บ.\nต.ม.\nต.ร.\nต.ศ.ร.\nต.ห.\nต.อ.\nต.อ.จ.\nตร.กม.\nตร.ซม.\nตร.ต.\nตร.ทล.\nตร.น.\nตร.ปม.\nตร.ภ.\nตร.ม.\nตร.รฟ.\nตร.ว.\nตร.ส.\nตร.สข.\nท.จ.\nท.จ.ว.\nท.ช.\nท.ญ.\nท.ด.\nท.ท.ท.\nท.ทบ.\nท.บ.\nท.พ.\nท.ม.\nท.ศ.\nทก.ด.\nทก.บ.\nทก.ม.\nทส.ปช.\nทส.รมว.กห.\nทุ.ส.นิ.ม.\nธ.ก.ส.\nธ.ค.\nธ.ญ\nธ.บ.\nน.ช.\nน.ญ.\nน.ด.\nน.ต.\nน.ท.\nน.น.\nน.บ.\nน.บ.ท.\nน.ป.ท.\nน.พ.\nน.ม.\nน.ร.\nน.ว.\nน.ศ.\nน.ส.\nน.ส.พ.\nน.ส.๓\nน.สพ.\nน.อ.\nนปพ.ภ.\nนศ.ด.\nนศ.บ.\nนศ.ม.\nบ.ก.\nบ.ข.ส.\nบ.ช.\nบ.ด.ท.\nบ.ตร.\nบ.ภ.\nบ.ม.\nบก.จร.\nบก.ตชด.\nบก.ตม.\nบก.ทล.\nบก.น.\nบก.ป.\nบก.ปค.\nบก.ปม.\nบก.ภ.เขต\nบก.รน.\nบก.รฟ.\nบก.ร้อย.ตชด.\nบก.ส.\nบกข.ป.\nบจพ.ป.\nบช.ก.\nบช.ด.\nบช.ตชด.\nบช.น.\nบช.บ.\nบช.ปส.\nบช.ภ.\nบช.ม.\nบชท.ป.\nบชน.ป.\nบชส.ป.\nบธ.ด.\nบธ.บ.\nบธ.ม.\nบนท.ป.\nบนอ.ป.\nบปช.ป.\nป.กท.\nป.กศ.\nป.กศ.สูง\nป.จ.\nป.จ.ว.\nป.ช.\nป.ธ.\nป.ป.\nป.ป.ก.\nป.ป.ช.\nป.ป.ป.\nป.ป.ร.\nป.ป.ส.\nป.พ.\nป.พ.พ.\nป.พย.\nป.ม.\nป.ม.ก.\nป.ม.ช.\nป.ม.ธ.\nป.ม.ศ.\nป.ม.อ.\nป.ร.ร.๔\nป.ร.ร.๕\nป.ร.ร.๖\nป.ล.\nป.ว.พ.\nป.วิ.อ.\nป.ส.ส.\nป.อ.\nป.อ.ร.ส.\nป.๑\nปม.วส.\nปอ.พ.\nผกก.ภ.\nผช.ผอ.\nผต.มท.\nผบ.ตร.\nผบ.ทบ.\nผบ.ทร.\nผบ.ทสส.\nผบ.ทอ.\nผบก.น.\nผบก.ป.\nผบก.ปค.\nผบก.ปม.\nผบก.ภ.\nผบช.ก.\nผบช.ตชด.\nผบช.น.\nผบช.ภ.\nผว.กทม.\nผอ.ปจ.\nพ.ก.ง.\nพ.กศ.\nพ.ข.ต.\nพ.ค.\nพ.ค.ช.\nพ.ค.ว.\nพ.ค.ศ.\nพ.จ.ต.\nพ.จ.ท.\nพ.จ.อ.\nพ.ช.\nพ.ช.ค.\nพ.ด.\nพ.ต.\nพ.ต.ต.\nพ.ต.ท.\nพ.ต.อ.\nพ.ต.อ.พิเศษ\nพ.ท.\nพ.บ.\nพ.ป.\nพ.ภ.ม.\nพ.ม.\nพ.ม.ช.\nพ.ย.\nพ.ร.ก.\nพ.ร.ฎ.\nพ.ร.ต.\nพ.ร.ธ.\nพ.ร.บ.\nพ.ศ.\nพ.ศ.บ.\nพ.ส.ร.\nพ.ส.ล.\nพ.อ.\nพ.อ.ต.\nพ.อ.ท.\nพ.อ.พิเศษ\nพ.อ.อ.\nพณ.ด.\nพณ.บ.\nพณ.ม.\nพธ.ด.\nพธ.บ.\nพธ.ม.\nพบ.ด.\nพบ.บ.\nพบ.ม.\nพย.ด.\nพย.บ.\nพย.ม.\nพล.จ.\nพล.ต.\nพล.ต.จ.\nพล.ต.ต.\nพล.ต.ท.\nพล.ต.อ.\nพล.ท.\nพล.ปตอ.\nพล.ม.\nพล.ม.๒\nพล.ร.จ.\nพล.ร.ต.\nพล.ร.ท.\nพล.ร.อ.\nพล.อ.\nพล.อ.จ.\nพล.อ.ต.\nพล.อ.ท.\nพล.อ.อ.\nพลา.ทร.\nพศ.ด.\nพศ.บ.\nพศ.ม.\nพอ.สว.\nภ.ง.ด.\nภ.ง.ด.๙\nภ.ด.\nภ.บ.\nภ.บ.ท.๕\nภ.ป.ร.\nภ.พ.\nภ.ม.\nภ.สถ.บ.\nม.ค.\nม.จ.\nม.ป.ท.\nม.ป.ป.\nม.ป.พ.\nม.ร.ว.\nม.ศ.\nม.อ.\nม.อ.ปัตตานี\nมิ.ย.\nมี.ค.\nยศ.ทบ.\nยศ.ทร.\nยศ.ทอ.\nร.ง.\nร.ด.\nร.ต.\nร.ต.ต.\nร.ต.ท.\nร.ต.อ.\nร.ท.\nร.น.\nร.บ.\nร.พ.\nร.ฟ.ล.\nร.ย.ล.\nร.ย.ส.ท.\nร.ล.\nร.ศ.\nร.ส.พ.\nร.อ.\nรป.ม.\nรร.จปร.\nรร.จอ.\nรร.ชท.\nรร.ตท.\nรร.นร.\nรร.นรต.\nรร.นอ.\nล.ญ.\nล.ว.\nลส.ชบ.\nว.ค.\nว.ฉ.\nว.ช.\nว.ด.ป.\nว.ป.ถ.\nวท.บ.\nศ.บ.\nศ.ป.ก.\nศ.ศ.ป.\nศฝร.ภ.\nศศ.บ.\nศษ.บ.\nศส.บ.\nส.ก.\nส.ก.ศ.ท.\nส.ค.\nส.ค.1\nส.ค.ร.\nส.ค.ส.\nส.ต.\nส.ต.ต.\nส.ต.ท.\nส.ต.อ.\nส.ท.\nส.ทร.\nส.ป.ช.\nส.ป.ส.ท.\nส.ป.อ.\nส.ร.\nส.ล.น.\nส.ว.\nส.ว.ท.\nส.ว.ส.ท.\nส.ส.\nส.ส.ท.\nส.ส.ร.\nส.ห.\nส.อ.\nสถ.บ.\nสนง.สสอ.\nสพ.ญ.\nสพ.บ.\nสว.จร.\nสว.ธร.\nสว.ส.\nสว.สป.\nสว.สส.\nสว.อก.\nสส.บ.\nสุ.จิ.ปุ.ลิ.\nห.ร.ม.\nอ.ก.ค.\nอ.ก.จ.\nอ.จ.\nอ.ช.พ.\nอ.ตร.\nอ.บ.\nอ.ส.ท.\nอ.ส.ม.ท.\nอ.ส.ย.\nอ.อ.ป.\nอส.รด.\nอุ.อา.ก.ส.\nฮ.จ.\nฮ.ท.\nฮ.ฝ.\nฮ.ล.\nฮ.ศ.\nเม.ย.\n\nกรีนิช\nกลันตัน\nกัลกัตตา\nกัวลาลัมเปอร์\nกัศมีร์\nกาฐมาณฑุ\nโกลกาตา\nควิเบก\nคอนเนตทิคัต\nคาบูล\nคุชราต\nคุนหมิง\nเคนตักกี\nเคนทักกี\nเคมบริดจ์\nแคชเมียร์\nแคนซัส\nแคนเบอร์รา\nแคโรไลนา\nแคลิฟอร์เนีย\nโคเปนเฮเกน\nโคลัมโบ\nโคโลราโด\nไครสต์เชิร์ช\nไคโร\nจาการ์ตา\nจำปาศักดิ์\nเจนไน\nเจนีวา\nเจ้อเจียง\nฉงชิ่ง\nเฉิงตู\nชานตง\nชิคาโก\nเชนไน\nเชอร์โนบิล\nซัปโปโร\nซานมารีโน\nซาบาห์\nซาราเยโว\nซาราวัก\nซิดนีย์\nซีอาน\nซีแอตเทิล\nซูริก\nซูริค\nเซเชลส์\nเซนได\nเซี่ยงไฮ้\nโซเฟีย\nโซล\nโซโลมอน\nไซ่ง่อน\nไซบีเรีย\nดัลลัส\nดาโคตา\nดานัง\nดีทรอยต์\nดูไบ\nเดนเวอร์\nเดลาแวร์\nเดียนเบียนฟู\nโดเวอร์\nโดฮา\nไดฟุกุ\nไดฟูกุ\nตรังกานู\nตริโปลี\nตูวาลู\nเตหะราน\nโตเกียว\nโตรอนโต\nทมิฬนาฑู\nทริโปลี\nทิเบต\nเทกซัส\nเท็กซัส\nเทนเนสซี\nเทลอาวีฟ\nแทสเมเนีย\nโทรอนโต\nไทเป\nธากา\nนางาซากิ\nนาริตะ\nนิวเจอร์ซีย์\nนิวเดลี\nนิวยอร์ก\nนิวยอร์ค\nนิวแฮมป์เชียร์\nเนบราสกา\nเนแบรสกา\nเนวาดา\nบรัสเซลส์\nบราซิเลีย\nบอมเบย์\nบอสตัน\nบังกาลอร์\nบังคาลอร์\nบูคาเรสต์\nบูดาเปสต์\nเบงกาซี\nเบนกาซี\nเบรุต\nเบลเกรด\nเบอร์ลิน\nแบกแดด\nปอยเปต\nปะลิส\nปะหัง\nปักกิ่ง\nปัญจาบ\nปัฏนา\nปารีส\nปีนัง\nเประ\nเปียงยาง\nพนมเปญ\nพระตะบอง\nพะโค\nพะสิม\nพาราณสี\nพิหารี\nเพนซิลวาเนีย\nเพนซิลเวเนีย\nฟรานซ์\nฟลอริดา\nฟิลาเดลเฟีย\nฟุกุชิมะ\nฟุกุชิมา\nฟุกุโอกะ\nฟูกูโอกะ\nแฟรงก์เฟิร์ต\nมอสโก\nมะนิลา\nมะละแหม่ง\nมัณฑะเลย์\nมัทราส\nมาดริด\nมิชิแกน\nมินนิโซตา\nมิยางิ\nมิลาน\nมิวนิก\nมิสซูรี\nมุมไบ\nเมน\nเมลเบิร์น\nเมาะตะมะ\nเมาะลำเลิง\nแมนจูเรีย\nแมนเชสเตอร์\nแมนฮัตตัน\nแมริแลนด์\nแมรีแลนด์\nแมสซาชูเซตส์\nยะไข่\nย่างกุ้ง\nยูทาห์\nยูนนาน\nเยรูซาเล็ม\nโยโกฮามา\nริยาด\nรีโอเดจาเนโร\nโรดไอแลนด์\nลอนดอน\nลอสแองเจลิส\nลาปาซ\nลาสเวกัส\nลิสบอน\nลุยเซียนา\nโลซาน\nโลซานน์\nวอชิงตัน\nวอร์ซอ\nวิสคอนซิน\nเวนิส\nเวลส์\nเวอร์จิเนีย\nเวอร์มอนต์\nเวียงจันทน์\nเวียนนา\nแวนคูเวอร์\nไวโอมิง\nสกอตแลนด์\nสก็อตแลนด์\nสตอกโฮล์ม\nสลังงอร์\nเสฉวน\nเสียมราฐ\nเสียมเรียบ\nหงสา\nหงสาวดี\nหนานไห่\nหลวงพระบาง\nหูเป่ย\nหูเป่ย์\nหูหนาน\nเหอเป่ย\nเหอเป่ย์\nเหอหนาน\nอชันตา\nอลาสกา\nอวันตี\nออริกอน\nออสโล\nอะแลสกา\nอัตตะปือ\nอัมมาน\nอัมสเตอร์ดัม\nอัสสัม\nอาบูดาบี\nอาร์คันซอ\nอินเดียนา\nอิบารากิ\nอิลลินอยส์\nอิสตันบูล\nอิสลามาบัด\nอุรุมชี\nอูลานบาตอร์\nเอดินบะระ\nเอเธนส์\nแอตแลนตา\nแอริโซนา\nแอลเจียร์\nโอคลาโฮมา\nโอค็อตสค์\nโอกินาวา\nโอซากา\nโอริสสา\nโอเรกอน\nโอไฮโอ\nไอดาโฮ\nไอโอวา\nฮอนโนลูลู\nฮานอย\nฮาเนดะ\nฮาราเร\nฮาวาย\nฮิโรชิมา\nฮุสตัน\nเฮลซิงกิ\n\nมกรา\nกุมภา\nมีนา\nเมษา\nพฤษภา\nมิถุนา\nกรกฎา\nสิงหา\nกันยา\nตุลา\nพฤศจิกา\nธันวา\nเอ\nบี\nซี\nดี\nอี\nเอฟ\nจี\nเอช\nไอ\nเจ\nเค\nแอล\nเอ็ม\nเอ็น\nโอ\nพี\nคิว\nอาร์\nเอส\nที\nยู\nวี\nดับเบิล\nดับบลิว\nเอ็กซ์\nเอ๊กซ์\nวาย\nแซด\nแอลฟา\nแอลฟ่า\nเบตา\nเบต้า\nแกมมา\nแกมม่า\nเดลตา\nเดลต้า\nโอเมกา\nโอเมก้า\nเมกะ\nกิกะ\nนาโน\nไมโคร\n\nกรรมาชน\nกรอบรูป\nกระดี๊กระด๊า\nกระบับ\nกราวนด์\nกรีน\nกรุ๊ป\nกฤษณ์\nกลาส\nก๊วน\nกษัตริยา\nกษัตริยาธิราช\nก่อนหน้า\nกะบับ\nกับดัก\nกัมมันตะ\nก๊าก\nก๋ากั่น\nกาญจน์\nกาญจนาภิเษก\nกามิกาเซ่\nการันตี\nกาหลิบ\nกิฟท์\nกิมจิ\nกีวี\nกึ๊ก\nกึ๋ย\nกุนซือ\nกุมภาพันธ์\nกู๋\nเกจิ\nเกมส์\nเกย์\nเกรด\nเกรย์\nเกสต์เฮาส์\nเก๊ะ\nเก๋ากี้\nเกิร์ล\nแกงค์\nแกรนด์\nแกสโซฮอล์\nแก๊สโซฮอล์\nโกเต็กซ์\nโกลด์\nโกะ\nโก๊ะ\nไกด์\nขั้นตอน\nเขวี้ยง\nคณาญาติ\nครัวซอง\nครัวซองต์\nคร่ำครวญ\nครีเอทีฟ\nครูเสด\nคลับ\nคลาสสิก\nคลิตอริส\nคลิป\nความหมาย\nควิก\nควีน\nคองเกรส\nคอนซูเมอร์\nคอนเซปต์\nคอนเซ็ปต์\nคอนโด\nคอนโดมิเนียม\nคอนเทนเนอร์\nคอนแทค\nคอนแท็ค\nคอนโทรล\nคอนเฟิร์ม\nคอปเตอร์\nคอมพ์\nคอมเพล็กซ์\nคอมมอนส์\nคอมเมนท์\nคอมเมนต์\nคอร์ป\nคอร์ปอเรชั่น\nคอร์รัปชัน\nคอร์รัปชั่น\nคอรัปชัน\nคอรัปชั่น\nคอร์ส\nคอลเล็กชั่น\nคอลัมน์\nคอลัมนิสต์\nคัตเอาต์\nคันคาก\nคันถธุระ\nคันธาระ\nคันยิ\nคัสตาร์ด\nคาราโอเกะ\nคีตกวี\nคีตปฏิภาณ\nคีตราชัน\nคาปูชิโน\nคามิคาเซ่\nคาเฟ่\nคาร์\nคาร์โก้\nคาราเมล\nคาแรกเตอร์\nคาแร็กเตอร์\nคาแรคเตอร์\nคาแร็คเตอร์\nคาวบอย\nคาสิโน\nคิกขุ\nคิวบิก\nคูลเลอร์\nเคบับ\nเครป\nเคลม\nเคลียร์\nเคลื่อนย้าย\nเคส\nเคอร์ฟิว\nแคชเชียร์\nแคทวอล์ค\nแคนดิเดต\nแคนตาลูป\nแคนยอน\nแคนู\nแคป\nแคมป์\nแคมปัส\nแคมเปญ\nแคร์\nแครกเกอร์\nแคร็กเกอร์\nแครอท\nแคสต์\nแคสติง\nแคสติ้ง\nโค้ก\nโค้ช\nโคโยตี\nโคโยตี้\nโครนา\nโคอะล่า\nโคอาลา\nโคอาล่า\nไคลแมกซ์\nไคลแม็กซ์\nงั้น\nง่าว\nงี้\nเง็ง\nโง่เขลา\nไง\nจตุคาม\nจ๊อกกี้\nจอหงวน\nจังโก้\nจัมโบ้\nจ๊าบ\nจารกรรม\nจารชน\nจิ๊ก\nจิ๊กโก๋\nจิ๊กซอว์\nจิตพิสัย\nจิตเภท\nจีดีพี\nจึ๊ก\nจุ๊ย\nจูน\nจูเนียร์\nเจ๊\nเจได\nเจ็ต\nเจล\nเจ๊าะแจ๊ะ\nเจี๊ยว\nแจ็กเก็ต\nแจ๊กเก็ต\nแจ็กพอต\nแจ็กพ็อต\nแจ๊กพอต\nแจ๊กพ็อต\nแจม\nแจ๊ส\nโจ๋\nฉลุย\nเฉิ่ม\nชนะเลิศ\nช็อค\nช็อต\nช็อป\nช็อปปิ้ง\nช็อปเปอร์\nชะโนด\nชัตเตอร์\nชัวร์\nชาร์จ\nชาร์ต\nชาร์ป\nชินบัญชร\nชิฟฟอน\nชีส\nชีอะห์\nเช็ก\nเช็งเม้ง\nเชฟ\nเชลียร์\nเชอร์รี่\nแชเชือน\nแช่แข็ง\nแชมป์\nแชมปิยอง\nแชมเปญ\nแชมเปี้ยน\nแชมพู\nโชว์รูม\nโชห่วย\nใช้งาน\nไชน่า\nซ้อ\nซอมบี้\nซะ\nซังเต\nซันตาคลอส\nซัพพลาย\nซัพพลายเออร์\nซัมเมอร์\nซากุระ\nซาดิสต์\nซาดิสม์\nซาตาน\nซานตาคลอส\nซาฟารี\nซาบะ\nซามูไร\nซาร์\nซาร์ดีน\nซาเล้ง\nซิง\nซิ่ง\nซิงเกิล\nซิตี\nซิตี้\nซินโดรม\nซิม\nซิ้ม\nซิมโฟนี\nซิมโฟนี่\nซิลเวอร์\nซี้\nซี้ซั้ว\nซีดาน\nซีน\nซีนีเพล็กซ์\nซีเนียร์\nซีร็อกซ์\nซีรีส์\nซีเรียส\nซีอีโอ\nซื่อบื้อ\nซุนหนี่\nซุปเปอร์\nซูชิ\nซูเปอร์\nซูม\nซูโม่\nซูเอี๋ย\nซูฮก\nเซ็กซ์\nเซ็กซี่\nเซ็กส์\nเซนเซอร์\nเซ็นเซอร์\nเซนเตอร์\nเซ็นเตอร์\nเซ็นทรัล\nเซนส์\nเซ่นไหว้\nเซฟตี้\nเซรามิก\nเซลส์\nเซลส์แมน\nเซอร์\nเซอร์ไพรส์\nเซอร์วิส\nเซาท์\nเซี้ยว\nแซ็ก\nแซกโซโฟน\nแซ็กโซโฟน\nแซนด์วิช\nแซมบ้า\nแซลมอน\nแซว\nโซเชียล\nโซน\nโซนี่\nโซลาร์\nโซโล\nโซโล่\nญาณทัสสนะ\nดยุก\nดยุค\nดร็อป\nดรัมเมเยอร์\nดรามา\nดราม่า\nดอกเตอร์\nด็อกเตอร์\nดัมพ์\nดั๊มพ์\nดาวน์\nดิกชันนารี\nดิสเครดิต\nดีกรี\nดีเจ\nดีไซน์\nดีไซน์เนอร์\nดีไซเนอร์\nดีเบต\nดีพาร์ตเมนต์\nดีพาร์ตเมนท์\nดีพาร์ทเมนต์\nดีพาร์ทเมนท์\nดีมานด์\nดีล\nดีลเลอร์\nดีเลย์\nเดชานุภาพ\nเดบิต\nเดโม\nเดย์\nเด้อ\nเดอะ\nเด๊ะ\nเดี้ยง\nเดี๊ยะ\nแดนซ์\nแดนเซอร์\nแดรี่\nโดนัท\nโดมิโน\nโดรายากิ\nไดเอ็ต\nตถตา\nตนเอง\nตรวจทาน\nตรวจสอบ\nตอกย้ำ\nต๊อง\nต่อยอด\nต่อรอง\nตะหงิด\nตังค์\nตันเถียน\nตัวตน\nตัวเอง\nตาปรือ\nต้าอ่วย\nติงต๊อง\nติ๋ม\nติ่มซำ\nติว\nติวเตอร์\nตี๋\nตื้บ\nตุ๊ก\nตุ๊กตุ๊ก\nตุ๊ด\nตุ๋ย\nตู้เซฟ\nเต๊ะ\nเตี๊ยม\nแตงกวา\nแตงโม\nแต๋ว\nโต๋เต๋\nโต๊ะจีน\nไตรมาส\nถ่ายทำ\nถูกต้อง\nทงคัตสึ\nทริป\nทรู\nทอม\nท็อป\nทอร์นาโด\nทอล์ค\nทักซิโด\nทันตกรรม\nทันตแพทยศาสตร์\nทับซ้อน\nทัวร์\nทัวร์นาเมนต์\nทัวร์นาเมนท์\nทัวริสต์\nทาเลนต์\nทาวน์\nทาวน์เฮาส์\nทำงาน\nทิป\nทิพยสมบัติ\nทิวลิป\nทีรามิสุ\nทีวี\nทูน่า\nเท็กซ์\nเทค\nเทคโน\nเทคโนแครต\nเทควันโด\nเทป\nเทรด\nเทรนด์\nเทรนเนอร์\nเทรลเลอร์\nเทรลเล่อร์\nเทเลกราฟ\nเทวบัญชา\nเทวบุตร\nเทวา\nเทวาธิราช\nเทโวโรหนะ\nเทอร์โบ\nเที่ยงคืน\nเที่ยงวัน\nเทียมทาน\nแทกติค\nแทคติค\nแทงกั๊ก\nแทงโก้\nโทมาฮอก\nโทมาฮอว์ก\nโทมาฮอว์ค\nโทร\nโทรโข่ง\nไทม์\nไทยแลนด์\nไทเฮา\nธรรมา\nธรรมาภิบาล\nธัมโม\nธีม\nธุรกรรม\nธุหร่ำ\nเธค\nนพมาศ\nนรีแพทย์\nน็อก\nน็อค\nน้องใหม่\nนอมินี\nนอร์ท\nน่ะ\nนางแบบ\nนาฏยศาลา\nนายแบบ\nนายพราน\nนินจา\nนิรันดร์\nนิว\nนิวส์\nนู้ด\nเนอะ\nเนิร์สเซอรี\nเนิร์สเซอรี่\nเนี้ยบ\nโนติส\nไนท์\nไนน์\nบรรพชน\nบร็อกโคลี\nบร็อคโคลี\nบรา\nบริกร\nบริวเวอรี่ส์\nบลอนด์\nบลูเบอร์รี\nบลูเบอร์รี่\nบ๊วย\nบอกซ์\nบ็อกซ์\nบ๊อกซ์\nบอดี้\nบอนด์\nบ๊อบ\nบอมบ์\nบ๋อย\nบอยคอต\nบอยคอตต์\nบอร์ด\nบังเกอร์\nบัตเตอร์\nบัลลาสต์\nบัส\nบาบูน\nบาร์บีคิว\nบาร์บี้\nบาลานซ์\nบิ๊ก\nบิล\nบึม\nบึ้ม\nบุญคุณ\nบุ๋น\nบุปผา\nบู๊\nบูชิโด\nบูติก\nบูติค\nบูม\nเบเกอรี่\nเบญจมบพิตร\nเบตาดีน\nเบนโตะ\nเบนโล\nเบบี้\nเบลอ\nเบอร์เกอร์\nเบอร์รี\nเบิร์ด\nเบิร์น\nแบ็กโฮ\nแบคโฮ\nแบด\nแบต\nแบนเนอร์\nแบรนด์\nแบล็ก\nแบล็ค\nไบโอ\nโบกี้\nโบตั๋น\nโบ้ย\nโบรกเกอร์\nโบรชัวร์\nโบว์\nโบว์ลิ่ง\nไบเบิล\nปฏิสัมพันธ์\nป๊อก\nปอดแหก\nป๊อป\nป๋อหลอ\nปักขคณนา\nปัจเจกชน\nปัจฉิมนิเทศ\nป๊า\nป๋า\nป่าไม้\nปาร์ตี้\nปาสกาล\nปาสคาล\nปาสเตอร์\nปิกอัพ\nปิ๊ง\nปิโตรเคมี\nปิยมิตร\nปึ้ก\nปูอัด\nเปโซ\nเป็นไง\nเปปเปอร์มินต์\nเปเปอร์\nเปราะบาง\nเป๊ะ\nเป่ายิงฉุบ\nเป่ายิ้งฉุบ\nเปียโน\nแป้ก\nแป๋ว\nแป๊ะเจี๊ยะ\nโปร\nโปรเจกต์\nโปรเจ็กต์\nโปรเจกเตอร์\nโปรเจ็กเตอร์\nโปรเจคท์\nโปรเจ็คท์\nโปรดักชั่น\nโปรดิวเซอร์\nโปรโมชั่น\nโปรโมต\nโปรโมเตอร์\nโปรโมท\nโปลิศ\nโปสเตอร์\nผลไม้\nผลักดัน\nผ้าห่ม\nผิดพลาด\nผู้นำ\nแผดเผา\nเฝอ\nพงษ์\nพริตตี้\nพรีเซนต์\nพรีเซ็นเตอร์\nพรีเมียม\nพรีเมียร์\nพฤหัส\nพล็อต\nพลาซ่า\nพลานุภาพ\nพ่อค้า\nพอเพียง\nพะเรอ\nพันธกิจ\nพันธุวิศวกรรม\nพาร์\nพาร์ตเนอร์\nพาร์ทเนอร์\nพาวเวอร์\nพาสเจอร์ไรส์\nพาสตา\nพาสต้า\nพาสปอร์ต\nพาเหรด\nพิซซ่า\nพีเรียด\nพุดดิ้ง\nพุทธภูมิ\nพุทธศตวรรษ\nพุทโธ\nพูล\nเพทนาการ\nเพนกวิน\nเพนตากอน\nเพรส\nเพรียวบาง\nเพลซ\nเพลท\nเพลย์บอย\nเพียบแปร้\nเพียว\nเพาเวอร์\nแพกเกจ\nแพ็ค\nแพตเทิร์น\nแพทเทิร์น\nแพทยสภา\nแพนงเชิญ\nแพนดา\nแพนด้า\nแพลน\nโพลล์\nโพลารอยด์\nโพสต์\nไพลิน\nฟยอร์ด\nฟรังก์\nฟรุต\nฟลอร์\nฟลุก\nฟลุค\nฟลุต\nฟลุท\nฟอยล์\nฟอร์ม\nฟันด์\nฟาวล์\nฟาสต์ฟู้ด\nฟินิกซ์\nฟิวเจอร์\nฟีด\nฟีเวอร์\nฟุตบาท\nเฟรช\nเฟรชชี่\nเฟรม\nเฟมินิสต์\nเฟส\nเฟอร์นิเจอร์\nเฟอร์รี่\nเฟิร์ม\nเฟี้ยวฟ้าว\nแฟกซ์\nแฟ็กซ์\nแฟนซี\nแฟนตาซี\nแฟ้บ\nแฟร์\nแฟรนไชส์\nแฟรี\nแฟรี่\nแฟลช\nแฟล็ต\nโฟน\nโฟม\nโฟล์ค\nไฟต์\nไฟแนนซ์\nไฟลต์\nไฟลท์\nภควัทคีตา\nภควัมบดี\nภควัมปติ\nภคันทลาพาธ\nภววิสัย\nภารตะ\nภูมิทัศน์\nม้ง\nมวลชน\nมยุราภิรมย์\nมลภาวะ\nมหภาค\nมหาอุปราชา\nมอคคา\nมอคค่า\nมอนสเตอร์\nม็อบ\nมอบตัว\nมอยส์เจอไรเซอร์\nมอลล์\nมะกัน\nมั้ง\nมัฟฟิน\nมั้ย\nม้านั่ง\nมาเฟีย\nมาม่า\nมายองเนส\nมายาคติ\nมาร์ก\nมาร์เก็ต\nมาร์เก็ตติ้ง\nมาร์ค\nมาร์จิน\nมาร์ช\nมาร์ต\nมาร์ท\nมาราธอน\nม้าหินอ่อน\nมินต์\nมินท์\nมินิ\nมิลค์\nมิวสิค\nมิสซัง\nมิสไซล์\nมิสเตอร์\nมือถือ\nมุมมอง\nเมคอัพ\nเมจิก\nเมจิค\nเมทัล\nเมเปิล\nเมาท์\nเมี่ยงคำ\nแมกกาซีน\nแม็กกาซีน\nแมคเคอเรล\nแม่ค้า\nแมชชีน\nแมชีน\nแมนชั่น\nแมมบ้า\nแมมโบ้\nโมจิ\nโมเดล\nโมเดิร์น\nโมเต็ล\nโมโนเรล\nโมหจริต\nไมค์\nไมเกรน\nยนตรกรรม\nยอมรับ\nยะเยือก\nยังไง\nยากูซ่า\nยาวี\nยิม\nยิว\nยุวทูต\nยูโทเปีย\nยูโร\nยูวี\nเยน\nเยลลี่\nเย้ว\nเยอบีรา\nเยอบีร่า\nเยอร์บีรา\nเยอร์บีร่า\nแยมโรล\nโยเกิร์ต\nโยโย่\nรวมมิตร\nร็อค\nร็อคเก็ต\nรองรับ\nรอมฎอน\nรอยัลตี้\nระโงก\nรันเวย์\nรัม\nรากหญ้า\nราชบัณฑิตยสถาน\nราชานุญาต\nราชานุสาวรีย์\nรามเทพ\nรามาธิบดี\nรามายณะ\nราเม็ง\nราเมน\nรายชื่อ\nราสเบอร์รี\nริกเตอร์\nริคเตอร์\nรีไซเคิล\nรีดไถ\nรีทัช\nรีเทิร์น\nรีไทร์\nรีแบรนด์\nรีพอร์ท\nรีโมต\nรีโมท\nรีวิว\nรีสอร์ต\nรีสอร์ท\nรีเสิร์ช\nรุมบ้า\nรุสโซ\nรูบิก\nรูบิค\nเรซิน\nเรซิ่น\nเรดิโอ\nเรต\nเรตติ้ง\nแรงใจ\nแรงดูด\nแรงผลัก\nแรลลี\nแรลลี่\nโรดแมป\nโรเนียว\nโรแมนติก\nโรแมนติค\nโรล\nโรลออน\nไรเฟิล\nล็อกเกอร์\nลอจิสติกส์\nล็อต\nล็อบบี้\nลอร์ด\nล้มเหลว\nละติน\nละอ่อน\nลาซานญ่า\nลาติน\nลาเต้\nลานีญา\nลามะ\nลิมิต\nลิมูซีน\nลิสต์\nลีก\nลีด\nลีดเดอร์\nลีเมอร์\nลีลาวดี\nลุค\nลูกชาย\nลูกสาว\nเลกเชอร์\nเลคเชอร์\nเลดี้\nเลสเบี้ยน\nเลิฟ\nแลนด์\nแล็บ\nโลโก้\nโลชั่น\nไลท์\nไลน์\nไลฟ์\nวนาราม\nวราราม\nวโรกาส\nว้อดก้า\nวอเตอร์\nวอฟเฟิล\nว้อย\nวอร์ม\nวอร์มอัพ\nวอร์รูม\nวอล์ก\nวอล์ค\nวอลซ์\nวอลนัต\nวอลนัท\nวอลล์\nว่ะ\nวันเวย์\nวัสสา\nวาซาบิ\nวาทกรรม\nวาทะ\nวานิลลา\nวานิลา\nวาฟเฟิล\nวาริชศาสตร์\nว้าว\nวัคค์\nวัจนะ\nวาไรตี้\nวิก\nวิดีโอ\nวิทย์\nวิน\nวิป\nวิปปิ้ง\nวิภัชภาค\nวิว\nวิลล์\nวิลเลจ\nวีเจ\nวีซ่า\nวีดิทัศน์\nวีน\nวีไอพี\nวืด\nเวณิกา\nเวเฟอร์\nเวสต์\nเวอร์\nเวิร์ก\nเวิร์กช็อป\nเวิร์ค\nเวิร์ลด์\nเวิลด์\nแวมไพร์\nไวกิ้ง\nไวเบรเตอร์\nไวอะกร้า\nไวอากร้า\nศากยบุตร\nศิรินทร์\nศิลปวัฒนธรรม\nศิลปากร\nศิวิไลซ์\nศึกษาศาสตร์\nสกรัม\nสกาย\nสกู๊ป\nสเกตช์\nสเก็ตช์\nสคริปต์\nสแควร์\nสงบสุข\nสจ๊วต\nสตรอเบอร์รี\nสตรอเบอรี\nสตรอว์เบอร์รี\nสตริง\nสต็อก\nสต๊อก\nสต็อค\nสต๊อค\nสตอรี\nสตาร์\nสตาร์ท\nสติกเกอร์\nสติ๊กเกอร์\nสตีล\nสตูดิโอ\nสเตชัน\nสเตชั่น\nสเตเดียม\nสเตนเลส\nสเต็ป\nสเตย์\nสเตริโอ\nสเตอริโอ\nสแตนดาร์ด\nสแตนเลส\nสโตน\nสโตร์\nสไตรค์\nสไตล์\nสถาปัตย์\nสไนเปอร์\nสปอต\nสป็อต\nสปอนเซอร์\nสปอร์ต\nสปา\nสปาย\nสปิริต\nสเปก\nสเปค\nสไปเดอร์\nสมณพราหมณ์\nสมาพันธ์\nสมิติเวช\nสโรชา\nสลัม\nสแล็ก\nสโลแกน\nสโลว์\nสไลด์\nสวีท\nสหรัฐ\nสหัชญาณ\nสหัสวรรษ\nสะกอม\nสะเด่า\nสะบึม\nสะบึมส์\nสะออน\nสังโฆ\nสะโหลสะเหล\nสันทนาการ\nสัมนา\nสามช่า\nสามแยก\nสารขัณฑ์\nสี่แยก\nสึนามิ\nสุนทรีย์\nสุริยยาตร\nสุริยยาตร์\nสุหนี่\nเสกสรรค์\nเสพติด\nเสือโคร่ง\nหงวน\nหน่อมแน้ม\nหมวย\nหมั่นโถว\nหม่านโถว\nหมายปอง\nหมิง\nหยวน\nหลวงตา\nหลวงปู่\nหลวงพี่\nหล่อฮังก้วย\nหลินจือ\nห่วย\nเห็นด้วย\nเหมย\nเห่ย\nเหี่ยวย่น\nแหม็บ\nแหวว\nโหงว\nโหงวเฮ้ง\nโหลน\nโหลยโท่ย\nไหง\nไหร่\nอพาร์ตเมนต์\nอพาร์ตเมนท์\nอพาร์ทเมนต์\nอพาร์ทเมนท์\nอมาตยาธิปไตย\nอยุติธรรม\nอริยสงฆ์\nอ่วม\nอวอร์ด\nออกแบบ\nออดิชั่น\nออดิทอเรียม\nออเดอร์\nออโต้\nออทิสติก\nอ่อนด้อย\nออฟ\nออยล์\nออร์แกน\nออร์แกนิก\nออร์แกนิค\nออร์เดอร์\nออรัล\nออสซี่\nอะ\nอัตลักษณ์\nอัตวิสัย\nอันเดอร์\nอันตรกิริยา\nอัลตรา\nอัลไซเมอร์\nอัลบัม\nอัลบั้ม\nอัลมอนด์\nอาข่า\nอาโนเนะ\nอาฟเตอร์\nอาร์ติสต์\nอาร์พีจี\nอาว์\nอาสวะ\nอิกัวนา\nอินดอร์\nอินดัสตรีส์\nอินเตอร์\nอิ่มแปร้\nอิมพีเรียล\nอิเล็กทริก\nอิเล็กทริค\nอิเลียด\nอิสรชน\nอิเหนา\nอิออน\nอีแต๋น\nอีโรติก\nอีเวนท์\nอีสต์\nอีสเตอร์\nอึ๊บ\nอึ้ม\nอึ๋ม\nอึมครึม\nอุด้ง\nอุตสาหการ\nอุเทน\nอุปการคุณ\nอุปทาน\nอุปนายก\nอุปนายิกา\nอุปสงค์\nอุปัทวเหตุ\nอุรังคธาตุ\nอูคูเลเล่\nอู้ฟู่\nเอ๋\nเอ็กซ์โป\nเอ็กซ์เพรส\nเอ็กโซเซต์\nเอ็กโซเซ่ต์\nเอเซีย\nเอ็นจีโอ\nเอ็นเตอร์เทน\nเอนทรานซ์\nเอ็นทรานซ์\nเอฟเฟ็กต์\nเอเยนต์\nเอลนีโญ\nเอสเปรสโซ\nเอสเพรสโซ\nเอ๋อ\nเอาต์\nเอาท์\nเอาท์ดอร์\nเอ๊าะ\nแอ็กชั่น\nแอ็คชั่น\nแอคทีฟ\nแอดมิชชั่น\nแอดมิสชัน\nแอนด์\nแอ๊บแบ๊ว\nแอปเปิล\nแอปเปิ้ล\nแอปพริคอท\nแอพพริคอท\nแอพริคอต\nแอร์\nแอโรบิก\nแอโรบิค\nแอลมอนด์\nแอสเตอร์\nโอเค\nโอเปอเรเตอร์\nโอเปร่า\nโอเพ่น\nโอ้ย\nโอยัวะ\nโอรสาธิราช\nโอเลี้ยง\nโอวัลติน\nโอเวอร์\nไอซ์\nไอซียู\nไอดอล\nไอเดีย\nไอติม\nฮวงจุ้ย\nฮ่องเต้\nฮองเฮา\nฮอต\nฮ็อต\nฮอตดอก\nฮ็อตด็อก\nฮันนีมูน\nฮัม\nฮัลโลวีน\nฮัลโหล\nฮากกา\nฮาร์ด\nฮาราคีรี\nฮาลาล\nฮาโลวีน\nฮิ\nฮิต\nฮิบรู\nฮิปโป\nฮิปฮอป\nฮีโร่\nฮูลาฮูป\nฮูล่าฮูป\nเฮฟวี\nเฮฟวี่\nเฮอร์ริเคน\nเฮีย\nแฮนด์\nแฮปปี้\nแฮมเบอร์เกอร์\nโฮป\nโฮม\nโฮลดิงส์\nโฮลวีต\nโฮสเตส\nไฮกุ\nไฮแจ็ค\nไฮโซ\nไฮเทค\nไฮบริด\nไฮเปอร์\nไฮไลต์\nไฮไลท์\nไฮเวย์\nไฮสคูล\nไฮเอนด์\n\nกรีซ\nกัมพูชา\nกัวเตมาลา\nกาตาร์\nกานา\nกาบอง\nกายอานา\nกินี\nเกรนาดีนส์\nเกรเนดา\nเกาหลี\nแกมเบีย\nโกตดิวัวร์\nคองโก\nคอโมโรส\nคอสตาริกา\nคาซัคสถาน\nคิตส์\nคิริบาตี\nคิริบาส\nคิวบา\nคีร์กีซสถาน\nคูเวต\nเคนยา\nเคปเวิร์ด\nเคย์แมน\nแคนาดา\nแคเมอรูน\nโครเอเชีย\nโคลอมเบีย\nจอร์เจีย\nจอร์แดน\nจาเมกา\nจิบูตี\nจีน\nชาด\nชิลี\nเช็ก\nซามัว\nซาอุ\nซิมบับเว\nซีเรีย\nซูดาน\nซูรินาเม\nเซนต์\nเซเนกัล\nเซอร์เบีย\nเซาตูเม\nเซียร์รา\nแซมเบีย\nโซมาเลีย\nโซเวียต\nไซปรัส\nญี่ปุ่น\nดารุสซาลาม\nเดนมาร์ก\nโดมินิกัน\nโดมินิกา\nตรินิแดด\nตองกา\nติมอร์\nตุรกี\nตูนิเซีย\nเติร์กเมนิสถาน\nโตโก\nโตเบโก\nไต้หวัน\nทาจิกิสถาน\nแทนซาเนีย\nนอร์เวย์\nนามิเบีย\nนาอูรู\nนิการากัว\nนิวซีแลนด์\nเนเธอร์แลนด์\nเนปาล\nเนวิส\nไนจีเรีย\nไนเจอร์\nบราซิล\nบริติช\nบริเตน\nบรูไน\nบอตสวานา\nบอสเนีย\nบังกลาเทศ\nบังคลาเทศ\nบัลแกเรีย\nบาร์บูดา\nบาร์เบโดส\nบาห์เรน\nบาฮามาส\nบิสเซา\nบุรุนดี\nบูร์กินาฟาโซ\nเบนิน\nเบลเยียม\nเบลารุส\nเบลีซ\nเบอร์มิวดา\nโบลิเวีย\nปรินซิปี\nปากีสถาน\nปานามา\nปาปัวนิวกินี\nปารากวัย\nปาเลสไตน์\nปาเลา\nเปรู\nเปอร์เซีย\nเปอร์โตริโก\nโปรตุเกส\nโปแลนด์\nฝรั่งเศส\nพม่า\nฟิจิ\nฟินแลนด์\nฟิลิปปินส์\nเฟรนช์\nภูฏาน\nภูฐาน\nมองโกเลีย\nมอนเตเนโกร\nมอนแทนา\nมอริเชียส\nมอริเตเนีย\nมอลโดวา\nมอลตา\nมัลดีฟส์\nมาเก๊า\nมาซิโดเนีย\nมาดากัสการ์\nมาร์แชลล์\nมาลาวี\nมาลี\nมาเลเซีย\nเม็กซิโก\nเมียนมาร์\nโมซัมบิก\nโมนาโก\nโมนาโค\nโมร็อกโก\nไมโครนีเซีย\nยูกันดา\nยูโกสลาเวีย\nยูเครน\nเยเมน\nเยอรมนี\nรวันดา\nรัสเซีย\nโรมาเนีย\nลักเซมเบิร์ก\nลัตเวีย\nลาว\nลิกเตนสไตน์\nลิทัวเนีย\nลิเบีย\nลีโอน\nลูเซีย\nเลโซโท\nเลบานอน\nเลสเต\nไลบีเรีย\nวาติกัน\nวานูอาตู\nวินเซนต์\nเวเนซุเอลา\nเวียดนาม\nศรีลังกา\nสเปน\nสโลวะเกีย\nสโลวัก\nสโลวีเนีย\nสวาซิแลนด์\nสวิตเซอร์แลนด์\nสวีเดน\nสหรัฐ\nสหราชอาณาจักร\nสิกขิม\nสิงคโปร์\nอเมริกา\nออสเตรเลีย\nออสเตรีย\nอันดอร์รา\nอัฟกานิสถาน\nอาเซอร์ไบจาน\nอาร์เจนตินา\nอาร์เมเนีย\nอาระเบีย\nอิเควทอเรียล\nอิตาลี\nอินเดีย\nอินโดนีเซีย\nอิรัก\nอิสราเอล\nอิหร่าน\nอียิปต์\nอุซเบกิสถาน\nอุรุกวัย\nเอกวาดอร์\nเอธิโอเปีย\nเอมิเรตส์\nเอริเทรีย\nเอลซัลวาดอร์\nเอสโตเนีย\nแองโกลา\nแอนติกา\nแอลจีเรีย\nแอลเบเนีย\nโอมาน\nไอซ์แลนด์\nไอร์แลนด์\nฮ่องกง\nฮอนดูรัส\nฮังการี\nเฮติ\nเฮอร์เซโกวีนา\n\nกระบี่\nกรุงเทพ\nกาญจนบุรี\nกาฬสินธุ์\nกำแพงเพชร\nขอนแก่น\nจันทบุรี\nฉะเชิงเทรา\nชลบุรี\nชัยนาท\nชัยภูมิ\nชุมพร\nเชียงราย\nเชียงใหม่\nตรัง\nตราด\nตาก\nนครนายก\nนครปฐม\nนครพนม\nนครราชสีมา\nนครศรีธรรมราช\nนครสวรรค์\nนนทบุรี\nนราธิวาส\nน่าน\nบึงกาฬ\nบุรีรัมย์\nปทุมธานี\nประจวบคีรีขันธ์\nปราจีนบุรี\nปัตตานี\nพะเยา\nพังงา\nพัทลุง\nพิจิตร\nพิษณุโลก\nเพชรบุรี\nเพชรบูรณ์\nแพร่\nภูเก็ต\nมหาสารคาม\nมุกดาหาร\nแม่ฮ่องสอน\nยโสธร\nยะลา\nร้อยเอ็ด\nระนอง\nระยอง\nราชบุรี\nลพบุรี\nลำปาง\nลำพูน\nเลย\nศรีสะเกษ\nสกลนคร\nสงขลา\nสตูล\nสมุทรปราการ\nสมุทรสงคราม\nสมุทรสาคร\nสระแก้ว\nสระบุรี\nสิงห์บุรี\nสุโขทัย\nสุพรรณบุรี\nสุราษฎร์\nสุราษฎร์ธานี\nสุรินทร์\nหนองคาย\nหนองบัวลำภู\nอยุธยา\nอ่างทอง\nอำนาจเจริญ\nอุดรธานี\nอุตรดิตถ์\nอุทัยธานี\nอุบลราชธานี\nกันทรลักษ์\nจตุจักร\nไชยา\nซีคอน\nดอนเมือง\nถลาง\nไทรโยค\nธนบุรี\nธัญบุรี\nบางกอก\nบางปะกง\nบางระจัน\nปะทิว\nปาย\nพญาไท\nพัฒน์พงษ์\nพัทยา\nพารากอน\nภูมิซรอล\nรัตนาธิเบศร์\nรังสิต\nลันตา\nลาดพร้าว\nวโรรส\nวิภาวดี\nสตึก\nสมุย\nสัตหีบ\nสิมิลัน\nสุขุมวิท\nสุไหง\nเสลภูมิ\nอังรีดูนังต์\nอ่างขาง\nอินทนนท์\nเอ็มโพเรียม\n\nคิวชู\nแคริบเบียน\nแคสเปียน\nดานูบ\nตะนาวศรี\nนอร์วีเจียน\nนิโคบาร์\nเนรัญชรา\nไนล์\nบอร์เนียว\nบอลติก\nเบงกอล\nปิง\nแปซิฟิก\nมะละกา\nมินดาเนา\nมิสซิสซิปปี\nเมดิเตอร์เรเนียน\nเมโสโปเตเมีย\nยมุนา\nยุโรป\nยูเรเชีย\nยูเรเซีย\nแยงซี\nแยงซีเกียง\nสแกนดิเนเวีย\nสะโตง\nสาละวิน\nสุมาตรา\nสุเอซ\nอะเมซอน\nอันดามัน\nอัลไต\nอาร์กติก\nอาหรับ\nอินโดจีน\nอิรวดี\nอิระวดี\nอีเจียน\nอุษาคเณย์\nอูราล\nเอเชีย\nเอเดรียติก\nเอเวอเรสต์\nแอตแลนติก\nแอนตาร์กติก\nแอนตาร์กติกา\nแอฟริกา\nโอลิมปัส\nไอโอเนียน\nฮวงโห\nฮอกไกโด\nฮอนชู\n\nกบิลพัสดุ์\nกุสินารา\nโกลิยะ\nโกสัมพี\nโคตรบอง\nโคตรบูรณ์\nตองอู\nทรอย\nทวารวดี\nทวาราวดี\nเทวทหะ\nไทรบุรี\nนาลันทา\nไบแซนไทน์\nปรัสเซีย\nปัลลวะ\nปาฏลีบุตร\nพุทธคยา\nมถุรา\nมายัน\nมิถิลา\nราชคฤห์\nล้านช้าง\nล้านนา\nลุมพินี\nวัชชี\nเวสาลี\nสารนาถ\nสาวัตถี\nหริภุญชัย\nอโยธยา\nออตโตมัน\nอังวะ\nอินทปัตถ์\nอุชเชนี\n\nกราฟิก\nกราฟิกส์\nกราฟิค\nกริด\nกิกะไบต์\nกูเกิล\nกูเกิ้ล\nเกตเวย์\nโกลบอล\nคลัสเตอร์\nคลาส\nคลิก\nคลิปอาร์ต\nคอนโซล\nคอนเทนต์\nคอมพิวติ้ง\nคอมไพล์\nคอมไพเลอร์\nคอมมูนิเคชั่น\nคอร์\nคีย์\nคีย์บอร์ด\nเครือข่าย\nเคอร์เซอร์\nเคอร์เนล\nแคช\nแคมฟรอก\nแคมฟร็อก\nแคร็ก\nโค้ด\nจาวา\nจีพีเอส\nชิป\nชิพ\nเชลล์\nแช็ต\nแชนเนล\nแชนแนล\nซ็อกเก็ต\nซอฟต์แวร์\nซอฟท์แวร์\nซอร์ส\nซัพพอร์ต\nซัพพอร์ท\nซีดี\nซีดีรอม\nซีเนอร์\nเซิร์ฟเวอร์\nโซลูชัน\nโซลูชั่น\nไซต์\nไซเบอร์\nทรานแซกชัน\nทรานแซกชั่น\nทรานแซ็กชัน\nทรานแซ็กชั่น\nทรานแซคชัน\nทรานแซคชั่น\nทรานแซ็คชัน\nทรานแซ็คชั่น\nทวิตเตอร์\nทวีต\nทัชแพด\nเทมเพลต\nเทอร์มินัล\nแท็ก\nแท็บ\nแทบเล็ต\nโทรจัน\nเน็ต\nเน็ตบุ๊ก\nเน็ตบุค\nเน็ตบุ๊ค\nเน็ตเวิร์ก\nเน็ตเวิร์ค\nโน้ตบุ๊ก\nโน้ตบุค\nโน้ตบุ๊ค\nดอส\nดาวน์เกรด\nดาวน์โหลด\nดิจิตอล\nดิจิทัล\nดีบั๊ก\nดีวีดี\nดีไวซ์\nเดเบียน\nเดลไฟ\nเดสก์ท็อป\nโดเมน\nไดรว์\nไดรเวอร์\nไดเรกทอรี\nไดโอด\nเทเลคอม\nบล็อกเกอร์\nบรอดแบนด์\nบราวเซอร์\nบลูทูท\nบลูทูธ\nบลูเรย์\nบั๊ก\nบัฟเฟอร์\nบิต\nบิท\nบูต\nเบราว์เซอร์\nแบนด์วิดท์\nไบต์\nไบนารี\nโปรแกรมเมอร์\nโปรเซส\nโปรเซสเซอร์\nโปรโตคอล\nพร็อกซี\nพอร์ต\nพอร์ท\nพาเนล\nพาร์ทิชัน\nพารามิเตอร์\nพาสเวิร์ด\nพิกเซล\nเพจ\nเพจเจอร์\nแพกเก็ต\nแพตช์\nแพลตฟอร์ม\nโพรเซส\nโพรเซสเซอร์\nโพรโทคอล\nไพธอน\nฟล็อปส์\nฟอนต์\nฟอร์แมต\nฟอร์เวิร์ด\nฟอรัม\nฟีเจอร์\nเฟซบุ๊ก\nเฟิร์มแวร์\nแฟล็ก\nโฟลเดอร์\nไฟร์ฟอกซ์\nไฟร์วอลล์\nไฟล์\nมอดูล\nมอนิเตอร์\nมัลติ\nมัลติทัช\nมัลติเพล็กซ์\nมัลแวร์\nมาสเตอร์\nมีเดีย\nเมนู\nเมมโมรี\nเมล\nเมาส์\nแมค\nโมดูล\nโมเด็ม\nโมบาย\nโมบายล์\nโมไบล์\nไมโครซอฟท์\nยูนิกซ์\nยูนิโคด\nยูนิโค้ด\nริงโทน\nรีเฟรช\nรีเลย์\nเราเตอร์\nเรียลไทม์\nลิงก์\nลินุกซ์\nลีนุกซ์\nลูป\nเลเยอร์\nแล็ปท็อป\nไลเซนส์\nไลบรารี\nวิกิ\nวิกิพีเดีย\nวินโดวส์\nวินโดว์ส\nเว็บ\nเวอร์ชวล\nเวอร์ชัน\nเวอร์ชั่น\nเวิร์กสเตชัน\nเวิร์กสเตชั่น\nเวิร์คสเตชัน\nเวิร์คสเตชั่น\nเวิร์ด\nเวิร์ม\nไวแมกซ์\nสกรีน\nสแกน\nสแกนเนอร์\nสแต็ก\nสนิฟเฟอร์\nสปายแวร์\nสเปซ\nสแปม\nสมาร์ท\nสล็อต\nเสิร์ช\nโหลด\nออนไลน์\nออปติก\nออปติคอล\nออปติคัล\nออฟไลน์\nออราเคิล\nอัพเกรด\nอัพเดต\nอัพโหลด\nอัปเกรด\nอัปเดต\nอัปโหลด\nอัลกอริทึม\nอาร์กิวเมนต์\nอินเตอร์เน็ต\nอินทิเกรเตอร์\nอินเทอร์เน็ต\nอินเทอร์เฟซ\nอินเทล\nอินพุต\nอินพุท\nอีเมล\nอีเมล์\nอูบุนตู\nอูบันตู\nเอนจิน\nเอ็นจิน\nเอาต์พุต\nเอาต์พุท\nเอาท์พุต\nเอาท์พุท\nแอนะล็อก\nแอนิเมชัน\nแอนิเมชั่น\nแอปพลิเคชัน\nแอปพลิเคชั่น\nแอพพลิเคชัน\nแอพพลิเคชั่น\nแอสเซมบลี\nแอสเซมเบลอร์\nโอเพน\nไอคอน\nไอซี\nไอพอด\nไอพ็อด\nไอแพด\nไอโฟน\nฮับ\nฮาร์ดดิสก์\nฮาร์ดแวร์\nแฮกเกอร์\nแฮ็กเกอร์\nแฮนด์เฮลด์\nโฮสต์\n\nกรีก\nกัณณาฑ\nกัศมีรี\nคันจิ\nคาตาคานะ\nคุชราตี\nคุรุมุขี\nซีริลลิก\nซูลู\nเซลติก\nเซิร์บ\nตากาล็อก\nเตลุคู\nเติร์ก\nทราวิฑ\nเบงกาลี\nปัญจาบี\nพินอิน\nมลยาฬัม\nมองโกล\nมาราฐี\nมาเลย์\nเม็กซิกัน\nแมนจู\nแมนดาริน\nไมถิลี\nเยอรมัน\nรัสเซียน\nสวาฮิลี\nสวิส\nสินธี\nอูรดู\nอัสสมี\nอารบิก\nอิตาเลียน\nอุยกูร์\nแอฟริกัน\nโอริยา\nไอริช\nฮันกึล\nฮินดี\nฮิรางานะ\nฮีบรู\n\nกรีนพีซ\nกรือเซะ\nกวนอิม\nกวนอู\nกัดดาฟี\nกัลยาณวัตร\nกัสสปะ\nกาลิเลโอ\nกินเนส\nกุมภกรรณ\nกูเตนเบิร์ก\nเกตส์\nเกษมณี\nโกณฑัญญะ\nขงเบ้ง\nคริสโตเฟอร์\nคองคอร์ด\nคอลเกต\nคานธี\nคาเบรียล\nคาร์ฟูร์\nคาร์สัน\nคาราบาว\nคาสิโอ\nคิริน\nคุนลุ้น\nคูโบต้า\nเครมลิน\nแคทรีนา\nโคตมะ\nโคตมี\nโคลัมบัส\nไคฟง\nไครสเลอร์\nง้อไบ๊\nจตุพร\nจ็อบส์\nจอห์น\nจิ้น\nจิม\nจิ๋ม\nจิว\nจุฬาภรณ์\nจุฬาลงกรณ์\nเจมส์\nแจ็กสัน\nโจเซฟ\nโจว\nชมัยมรุเชฐ\nชมัยมรุเชษฐ์\nชเวดากอง\nชาร์ลส์\nชินราช\nชินวัตร\nชุนชิว\nเช็ง\nเชตวัน\nเชฟรอน\nเชฟโรเลต\nเชลซี\nไชยานุชิต\nซ่ง\nซังฮี้\nซัดดัม\nซันซิล\nซัมซุง\nซัวเจ๋ง\nซินหัว\nซีซาร์\nซีแพค\nซูซาน\nซูซูกิ\nซูบารุ\nเซ็นทารา\nเซเวน\nเซเว่น\nโซฟิเทล\nโซยุซ\nโซยูซ\nณัฐวุฒิ\nดาร์ลี่\nดาวโจนส์\nดิสนีย์\nดีแทค\nดูปองท์\nเดโมแครต\nเดลล์\nเดลินิวส์\nเดวิด\nแดวู\nโดนัลด์\nโดราเอมอน\nโดเรมอน\nต๋อง\nตั๊กม้อ\nตากสิน\nตาเมือน\nตาลีบัน\nตูน\nเตมีย์\nโต๋\nโตชิบา\nโตโยต้า\nถังซัมจั๋ง\nถังซำจั๋ง\nทรพา\nทราเวล\nทรูมูฟ\nทีปังกร\nเทปโก\nเทพรัตน\nเทวทัต\nเทสโก้\nโทมัส\nไททานิก\nไททานิค\nไทยรัฐ\nธีออส\nนครินทรา\nนโปเลียน\nนพดล\nนราดูร\nนเรนทร\nนอสตราดามุส\nนาซา\nนาซ่า\nนาซี\nนาโต\nนาโต้\nนาลแก\nนิคอน\nนิโคลัส\nนิด้า\nนินเทนโด\nนิปปอน\nนิวตัน\nนิสสัน\nเนคเทค\nเนชั่น\nเนชันแนล\nเนชั่นแนล\nเนวิน\nเนสเล่\nเนสาด\nแนท\nแนสแดค\nโนเกีย\nโนเบล\nโนเวลล์\nโนโวเทล\nไนเม็กซ์\nบรอดเวย์\nบรัดเลย์\nบรู๊ซ\nบัลเมอร์\nบารัก\nบารัค\nบู๊ตึ๊ง\nเบญกาย\nเบนซ์\nเบ็นซ์\nเบนจามิน\nโบตัน\nไบโอเทค\nประชาธิปัตย์\nปวีณา\nปอเต็กตึ๊ง\nปอเต๊กตึ๊ง\nป่อเต็กตึ๊ง\nปัตตะโชติ\nปารุสก์\nปีเตอร์\nปูติน\nเป๊ปซี่\nเป้ย\nเปอร์โยต์\nเปาบุ้นจิ้น\nโปเกมอน\nโป๊ยก่าย\nพรหมทัต\nพลาโต\nพอลล่า\nพานาโซนิค\nพานาโซนิก\nพิทยานุกูล\nพิมพิสาร\nเพนแทกซ์\nเพลโต\nไพโอเนียร์\nฟรอยด์\nฟรังซิส\nฟรานซิส\nฟลอเรนซ์\nฟอร์ด\nฟิลิปส์\nฟูจิ\nแฟซ่า\nโฟร์โมสต์\nภูมิพล\nภูริทัต\nมงฟอร์ต\nมณโฑ\nมติชน\nมหิตลาธิเบศร\nมโหสถ\nมัจฉานุ\nมาร์กาเร็ต\nมาร์ติน\nมาสด้า\nมิตซูบิชิ\nมิราเคิล\nมุสโสลินี\nเม้ง\nเมจิ\nเมอร์ซีเดส\nเมอร์เซเดส\nแมกซ์เวลล์\nแมกไซไซ\nแมคอินทอช\nแมชีนเนอรี่\nโมคคัลลานะ\nโมโตโรลา\nโมโตโรล่า\nโมเนีย\nไมเคิล\nไมยราพณ์\nยโสธรา\nยะโฮวา\nยะโฮวาห์\nยามาฮ่า\nยาเวห์\nยาฮู\nยูนิเซฟ\nยูเนสโก\nยูไล\nเยโฮวาห์\nรอยเตอร์\nรอยัล\nรัชดา\nรัสปูติน\nราฟาเอล\nรามาวตาร\nราเมศวร\nราหุล\nริชาร์ด\nรีพับลิกัน\nรูนีย์\nเรนโบว์\nแรมโบ้\nโรตารี\nโรนัลโด\nโรนัลโด้\nโรบินสัน\nโรเบิร์ต\nล็อกซเล่ย์\nลิงคอล์น\nลิจฉวี\nลิไท\nลิไทย\nลินคอล์น\nลิเวอร์พูล\nเลโนโว\nเลียดก๊ก\nโลตัส\nวชิราลงกรณ์\nวลาดิเมียร์\nวอลล์สตรีท\nวาเลนไทน์\nวิกตอเรีย\nวิทยานุสรณ์\nวิทยายน\nวิมเบิลดัน\nวิลเลียม\nวีระ\nวุฒิชัย\nเวียดกง\nไวตามิลค์\nศกุนตลา\nศรีวิชัย\nศิริพงษ์\nศิริราช\nศุภชลาศัย\nสดกก๊อกธม\nสดายุ\nสตาลิน\nสตีฟ\nสแตนฟอร์ด\nสวรินทิรา\nสังกัจจายน์\nสาทิตย์\nสารีบุตร\nสิริกิติ์\nสิรินธร\nสิหิงค์\nสีวลี\nสีหนุ\nสีหมุนี\nสีหโมนี\nสุครีพ\nสุทโธทนะ\nสุเทพ\nสุนทราภรณ์\nสุนีย์\nสุรนารี\nสุรยุทธ์\nสุริยาสน์\nเส้าหลิน\nโสกราตีส\nโสภิต\nหนุมาน\nหลินฮุ่ย\nหลุยส์\nเห้งเจีย\nไหหม่า\nองคต\nองคุลิมาล\nอชาตศัตรู\nอดุลยเดช\nอพอลโล\nอริสโตเติล\nอริสมันต์\nอลิซาเบธ\nอ๋อม\nออร์คิด\nออสการ์\nอะพอลโล\nอับราฮัม\nอั้ม\nอัลกออิดะห์\nอัลคาเทล\nอัลจาซีราห์\nอัลเฟรด\nอัลเลาะห์\nอัสซุส\nอัสสชิ\nอัสสัมชัญ\nอาเซม\nอาเซ็ม\nอาเซียน\nอาฟต้า\nอาร์เซนอล\nอินทรชิต\nอินทราทิตย์\nอีซูซุ\nอีเลฟเวน\nอีเลฟเว่น\nอุณรุท\nอุบลรัตน์\nอุบาลี\nอุ๋ย\nเอกทัศน์\nเอเซอร์\nเอ็ดเวิร์ด\nเอดิสัน\nเอแบค\nเอลิซาเบธ\nเอสพลานาด\nเอสพลานาร์ด\nแอคคอร์\nแอคคอร์ด\nแองเจลิน่า\nแอตแลนติส\nแอน\nแอ๋ม\nแอมบาสซาเดอร์\nแอมบาสเดอร์\nแอมเวย์\nแอ๋ว\nโอดีสซีย์\nโอเดียน\nโอบามา\nโอรสาราม\nโอลิมเปีย\nโออิชิ\nไอน์สไตน์\nฮอนด้า\nฮอปกินส์\nฮอลลีวูด\nฮอลลีวู้ด\nฮานามิ\nฮามาส\nฮิตเลอร์\nฮิตาชิ\nฮุนเซน\nฮุนเซ็น\nฮุนได\nฮุสเซ็น\nเฮนรี\nเฮนรี่\nเฮเลน\nโฮจิมินห์\nโฮปเวลล์\nโฮเมอร์\n\nกลีเซอรีน\nกำทอน\nแกนีมีด\nครอส\nคริสตัล\nคลอโรพลาสต์\nคลอไรด์\nควอนตัม\nคอนดักเตอร์\nคอปเปอร์\nคอลลาเจน\nคอเลสเตอรอล\nคอสมิก\nคูลอมบ์\nเคอราติน\nแคโรทีน\nแคสสินี\nโครมาโทกราฟี\nไคโตซาน\nจีโนม\nจุลชีววิทยา\nชิคุนกุนยา\nซัลฟิวริก\nซัลเฟต\nซัลไฟด์\nซิงค์\nซิริอุส\nซิลิกา\nซิลิเกต\nซิลิโคน\nซีเทน\nซีเวิร์ต\nเซ็กเตอร์\nเซ็กเมนต์\nเซมิ\nโซนาร์\nไซบอร์ก\nดอปเปลอร์\nดอปเพลอร์\nไดนามิก\nไดนามิกส์\nไดนามิค\nไดนามิคส์\nไดออกไซด์\nทรานส์\nทามิฟลู\nเทฟลอน\nเทสโทสเตอโรน\nเทอร์โม\nแทนนิน\nไททัน\nไทฟอยด์\nไทรอยด์\nธาลัสซีเมีย\nเนกาตีฟ\nโนวา\nบอแรกซ์\nโบทอกซ์\nโบท็อกซ์\nไบโอติน\nปฏิยานุพันธ์\nโปรเจสเตอโรน\nพอลิเมอร์\nพันธุศาสตร์\nพัลซาร์\nพาร์กินสัน\nพาราเซตามอล\nพาราโบลา\nเพอร์ออกไซด์\nโพรเจสเทอโรน\nโพลาไรซ์\nโพลิเมอร์\nโพลีเอทิลีน\nไพรเมต\nฟลาโวนอยด์\nฟลูออเรสเซนซ์\nฟลูออไรด์\nฟอสซิล\nฟิชชัน\nฟิวชัน\nฟีโรโมน\nไฟเบอร์\nมอนอกไซด์\nมิราจ\nเมตริกซ์\nเมทริกซ์\nเมลานิน\nเมลามีน\nโมเมนตัม\nไมโตคอนเดรีย\nไมโทคอนเดรีย\nยีสต์\nยูริก\nยูเรีย\nรูมาตอยด์\nวีก้า\nเวกเตอร์\nเวก้า\nเวสิเคิล\nโวลต์\nสเกล\nสเกลาร์\nสเต็ม\nสเตียรอยด์\nสปีชีส์\nสเปิร์ม\nสัมพัทธภาพ\nสุริยจักรวาล\nออกเทน\nออโรรา\nออโรร่า\nอะคริลิก\nอะครีลิก\nอะซีติก\nอะซีโตน\nอะมิโน\nอะลูมินา\nอันโดรเมดา\nอัลคาไลน์\nอัลตราซาวด์\nอัลตราซาวนด์\nอัลลอยด์\nอินทิกรัล\nอินทิเกรต\nอีโบลา\nอีโบล่า\nเอ็กซ์โพเนนเชียล\nเอทานอล\nเอทิลีน\nเอนโทรปี\nเอสเตอร์\nเอสโตรเจน\nเอสโทรเจน\nแอนดรอยด์\nแอนแทร็กซ์\nแอมพลิจูด\nแอมโมเนียม\nแอลกอฮอลิซึม\nแอสพาร์แตม\nโอเซลทามิเวียร์\nฮับเบิล\nฮิวมัส\nไฮดรอกไซด์\nไฮดรอลิก\nไฮโดรลิก\nไฮเพอร์โบลา\n\nกงเต็ก\nกฎุมพี\nกฏ\nกฏหมาย\nกบฎ\nกราไฟต์\nก๊อปปี้\nกะทะ\nกังวาล\nกุฎฐัง\nกุฏุมพี\nฃวด\nคฑา\nคลินิค\nคลีนิก\nคลีนิค\nคาทอลิค\nคึ่นฉ่าย\nแคตตาล็อก\nโควต้า\nฅน\nจุมพฎ\nช็อคโกแลต\nแซ่ด\nดัทช์\nทนง\nทรมาณ\nทราก\nทะแยง\nทิฏฐิ\nบล็อค\nบ๊องแบ๊ว\nบัลเล่ต์\nเบรค\nแบงค์\nปรากฎ\nปัคคหะ\nปาฏิโมกข์\nปิติ\nปิรามิด\nโปรเตสแตนท์\nพนิช\nพยักเพยิด\nพริ้ว\nพลูโตเนียม\nพากษ์\nเฟิร์น\nยากี้\nเยภุยยสิกา\nรุสเซีย\nฤาษี\nล็อค\nล็อคเกอร์\nวันทยาหัตถ์\nวานิช\nวิญญาน\nวิศิษฐ์\nศรีษะ\nสเปกโทรสโคป\nสฤษฎ์\nสลิ่ม\nสัตตสดก\nสาราณียากร\nสุกี้\nสุกี้ยากี้\nสูญญากาศ\nหยอมแหยม\nหยอย\nหล่ะ\nอะดรีนาลีน\nอะหลั่ย\nอัตคัต\nอัฟริกา\nอานิสงค์\nอาฟริกา\nอิริยาบท\nอิเลคโทรนิคส์\nอีรุงตุงนัง\nอุตรายัน\nอุลตรา\nอุลตร้า\nโอกาศ\n\nกกหู\nกงการ\nกงจักร\nกฎเกณฑ์\nกฎบัตร\nกฎหมาย\nกฎหมู่\nกดขี่\nกดดัน\nก้นกบ\nก้นบึ้ง\nก้นปล่อง\nกนิษฐภคินี\nกนิษฐภาดา\nกรงเล็บ\nกรมการ\nกรมท่า\nกรมธรรม์\nกรมนา\nกรมวัง\nกรรมกร\nกรรมการ\nกรรมฐาน\nกรรมบถ\nกรรมพันธุ์\nกรรมวิธี\nกรรมสิทธิ์\nกระจกเงา\nกระจกตา\nกระจกนูน\nกระจกเว้า\nกระจอกชวา\nกระจอกเทศ\nกระจ้อยร่อย\nกระจับบก\nกระจับปิ้ง\nกระจับปี่\nกระโชกโฮกฮาก\nกระดานดำ\nกระดานหก\nกระดาษแก้ว\nกระดาษไข\nกระดาษทราย\nกระดาษสา\nกระดูกงู\nกระทาชาย\nกระเท่เร่\nกระบวนการ\nกระบองเพชร\nกระผีกริ้น\nกระยาทิพย์\nกระยาสารท\nกระยาหาร\nกระสอบทราย\nกระสุนปืน\nกระแสจิต\nกระแสน้ำ\nกระแสลม\nกรับคู่\nกรับพวง\nกรับเสภา\nกราดเกรี้ยว\nกราวรูด\nกริ่งเกรง\nกรีฑาสถาน\nกรีดกราย\nกรี๊ดกร๊าด\nกลไก\nกลบท\nกลเม็ด\nกลยุทธ์\nกลวิธี\nกลศาสตร์\nกลอักษร\nกลบเกลื่อน\nกลมกล่อม\nกลมกลืน\nกลมเกลียว\nกล้วยแขก\nกล้วยไม้\nกล่องเสียง\nกล่อมเกลา\nกล่อมเกลี้ยง\nกลัดกลุ้ม\nกลัดมัน\nกลั่นกรอง\nกลั่นแกล้ง\nกลับกลอก\nกลางคน\nกลางคัน\nกลางค่ำ\nกลางคืน\nกลางแจ้ง\nกลางแปลง\nกลางวัน\nกลาดเกลื่อน\nกล่าวขวัญ\nกล่าวโทษ\nกล่าวหา\nกล้ำกราย\nกล้ำกลืน\nกลิ้งกลอก\nกลิ้งเกลือก\nกลิ่นอาย\nกลียุค\nกวดขัน\nกวัดแกว่ง\nกวัดไกว\nกวีนิพนธ์\nก่อกวน\nก่อการ\nก่อตั้ง\nก่อสร้าง\nก่อหวอด\nก้อร่อก้อติก\nกองกลาง\nกองเกิน\nกองโจร\nกองทัพ\nกองทุน\nกองพล\nกองพัน\nกองฟอน\nกองร้อย\nกองหนุน\nกอบโกย\nกะเกณฑ์\nกะบังลม\nกักกัน\nกักขัง\nกักตัว\nกักตุน\nกัณฑ์เทศน์\nกัดฟัน\nกันชน\nกันท่า\nกันสาด\nกันเอง\nกับแกล้ม\nกับข้าว\nกับระเบิด\nกากเพชร\nกากหมู\nกาชาด\nกาญจนาภิเษก\nก้านคอ\nกาฝาก\nก้ามกราม\nกามกิจ\nกามคุณ\nกามเทพ\nกามโรค\nก้ามปู\nกายกรรม\nกายบริหาร\nกายภาพ\nกายวิภาค\nกายสิทธิ์\nก่ายกอง\nการคลัง\nการเงิน\nการบ้าน\nการเปรียญ\nการเมือง\nการเรือน\nการละเล่น\nกาลกิริยา\nกาลเทศะ\nก้าวก่าย\nก้าวร้าว\nก้าวหน้า\nกาสาวพัสตร์\nกาฬพฤกษ์\nกาฬโรค\nกำปั้น\nกำมือ\nกำแพงขาว\nกำลังใจ\nกำลังม้า\nกี่งอำเภอ\nกิจกรรม\nกิจการ\nกิจวัตร\nกิจจะลักษณะ\nกิตติคุณ\nกิตติศัพท์\nกินขาด\nกินใจ\nกินดอง\nกินโต๊ะ\nกินแบ่ง\nกินเปล่า\nกินเลี้ยง\nกินเส้น\nกินแหนง\nกิโลกรัม\nกิโลเมตร\nกิโลลิตร\nกิโลเฮิรตซ์\nกีดกัน\nกีดกั้น\nกีดขวาง\nกึกก้อง\nกึกกัก\nกึกกือ\nกึ่งกลาง\nกุกกัก\nกุ๊กกิ๊ก\nกุ้งฝอย\nกุ้งมังกร\nกุ้งแห้ง\nกุ้งเต้น\nกุ้งยิง\nกุญแจผี\nกุญแจมือ\nกุญแจเลื่อน\nกุญแจเสียง\nกุลธิดา\nกุลบุตร\nกุลสตรี\nกู้ยืม\nเก้งก้าง\nเก็บกวาด\nเก็บเกี่ยว\nเก็บงำ\nเก็บตก\nเกรงกลัว\nเกรงใจ\nเกรงขาม\nเกรียงไกร\nเกรียมกรม\nเกรี้ยวกราด\nเกล็ดเลือด\nเกลี้ยกล่อม\nเกลี้ยงเกลา\nเกลือกกลั้ว\nเกลือกกลิ้ง\nเกลื่อนกล่น\nเกลื่อนกลาด\nเกศธาตุ\nเกษตรกร\nเกษตรกรรม\nเกษตรศาสตร์\nเกษมสันต์\nเกษียรสมุทร\nเก้อเขิน\nเกาะแกะ\nเกี่ยงงอน\nเกียจคร้าน\nเกียรติคุณ\nเกียรตินิยม\nเกียรติประวัติ\nเกียรติภูมิ\nเกียรติยศ\nเกียรติศักดิ์\nเกียรติมุข\nเกี่ยวข้อง\nเกี่ยวดอง\nเกี่ยวพัน\nเกี่ยวโยง\nเกี้ยวพาน\nเกี้ยวพาราสี\nแก่แดด\nแก้ขัด\nแก้ไข\nแก้ตัว\nแก้เผ็ด\nแก้ลำ\nแกงคั่ว\nแกงจืด\nแกงบวด\nแกงป่า\nแกงเผ็ด\nแกงส้ม\nแก่งแย่ง\nแก่นแก้ว\nแก่นสาร\nแก้วตา\nแก้วหู\nแกว่งกวัด\nแกว่งไกว\nแกะรอย\nโก้เก๋\nโกรธเกรี้ยว\nโกรธขึ้ง\nไก่เขี่ย\nไก่ชน\nไก่บ้าน\nไก่ป่า\nไก่ฟ้า\nไกล่เกลี่ย\nขจัดขจาย\nขนเพชร\nขนสัตว์\nขนหนู\nขนส่ง\nขนมจีน\nขบขัน\nขบวนการ\nข่มขี่\nข่มขู่\nข่มขืน\nข่มเหง\nขมหิน\nขมิ้นชัน\nขมุบขมิบ\nขยะแขยง\nขยักขย่อน\nขยักขย้อน\nขยับขยาย\nขยับเขยื้อน\nขวดโหล\nขวยเขิน\nขวัญใจ\nขวัญตา\nขวัญอ่อน\nขวากหนาม\nขวางโลก\nของ้าว\nขอสับ\nขอขมา\nขอทาน\nขอโทษ\nขอร้อง\nขออภัย\nข้อเขียน\nข้อความ\nข้อเท็จจริง\nของกลาง\nของขวัญ\nของแข็ง\nของชำ\nของลับ\nของเล่น\nของว่าง\nของเหลว\nของไหล\nของไหว้\nข้องใจ\nข้องแวะ\nขอบข่าย\nขอบเขต\nขอบคุณ\nขอบใจ\nขอบพระคุณ\nข้อมูล\nข้อแม้\nข้อหา\nข้อสังเกต\nขัดข้อง\nขัดขืน\nขัดเขิน\nขัดจังหวะ\nขัดดอก\nขัดแตะ\nขัดยอก\nขัดแย้ง\nขัดสมาธิ\nขันหมาก\nขันอาสา\nขับขี่\nขับเคี่ยว\nขั้วโลก\nขาจร\nขาประจำ\nข้าราชการ\nข้าศึก\nข้าหลวง\nขาดแคลน\nขาดใจ\nขาดตอน\nขาดตัว\nขาดทุน\nขาดเหลือ\nขายหน้า\nข่าวกรอง\nข่าวคราว\nข่าวล่า\nข่าวลือ\nข่าวสาร\nข้าวเกรียบ\nข้าวแกง\nข้าวของ\nข้าวจี่\nข้าวเจ้า\nข้าวซอย\nข้าวต้ม\nข้าวตอก\nข้าวตัง\nข้าวแตน\nข้าวทิพย์\nข้าวบิณฑ์\nข้าวเปลือก\nข้าวโพด\nข้าวฟ่าง\nข้าวเม่า\nข้าวสวย\nข้าวสาร\nข้าวเหนียว\nข้าวหมาก\nข้าวหลาม\nขี้เกียจ\nขี้ข้า\nขี้ครอก\nขี้คร้าน\nขี้คุก\nขี้ไคล\nขี้เซา\nขีดขั้น\nขีดคร่อม\nขีดคั่น\nขีดฆ่า\nขี้ตา\nขี้ตืด\nขี้เถ้า\nขี้ทูด\nขี้ปะติ๋ว\nขี้ผึ้ง\nขี้มูก\nขี้ยา\nขี้แย\nขี้ริ้ว\nขี้เรื้อน\nขี้เล็บ\nขี้หู\nขี้หน้า\nขี้เหนียว\nขี้เหล็ก\nขี้เหร่\nขึงขัง\nขึงพืด\nขึ้งโกรธ\nขึ้นใจ\nขึ้นชื่อ\nขึ้นมือ\nขืนใจ\nขื่นขม\nขุดคุ้ย\nขุนทอง\nขุนนาง\nขุนพล\nขุนศึก\nขุนหลวง\nขูดรีด\nเข็มกลัด\nเข็มขัด\nเข้มข้น\nเข้มแข็ง\nเข้มงวด\nเข็มทิศ\nเข็มหมุด\nเข้าขา\nเข้าเค้า\nเข้าใจ\nเข้าชื่อ\nเข้าตัว\nเข้าถึง\nเข้าทรง\nเข้าท่า\nเข้าที\nเข้าเนื้อ\nเข้าเล่ม\nเขียวเสวย\nเขียวหวาน\nแขกเต้า\nแข็งกร้าว\nแข็งกล้า\nแข็งแกร่ง\nแข็งข้อ\nแข็งขัน\nแข่งขัน\nแข็งใจ\nแข็งตัว\nแข็งเมือง\nแข็งแรง\nแขวนลอย\nโขกสับ\nโขยกเขยก\nไขข้อ\nไขควง\nไขมัน\nไข่มุก\nไขว่ห้าง\nไขสันหลัง\nไขสือ\nไข่เค็ม\nไข่เยี่ยวม้า\nไข่หงส์\nไข่เหี้ย\nคงกระพัน\nคงตัว\nคงทน\nคงที่\nคชลักษณ์\nคชสาร\nคชสีห์\nคชราช\nคณิตศาสตร์\nคดเคี้ยว\nคติธรรม\nคติพจน์\nคนกลาง\nคนไข้\nคนใช้\nคนทรง\nคบไฟ\nคบเพลิง\nคบค้า\nคบคิด\nคบหา\nคมคาย\nครบครัน\nครบถ้วน\nครอบครอง\nครอบคลุม\nครอบครัว\nครอบงำ\nครอบจักรวาล\nคริสตกาล\nคริสตจักร\nคริสต์มาส\nคริสต์ศตวรรษ\nคริสต์ศักราช\nคริสตัง\nคริสเตียน\nครุกรรม\nครุภัณฑ์\nครุศาสตร์\nครุฑพ่าห์\nครุ่นคิด\nคลอเคลีย\nคล่องแคล่ว\nคล่องตัว\nคล่องมือ\nคลั่งไคล้\nคลาคล่ำ\nคลาไคล\nคลาดเคลื่อน\nคลาดแคล้ว\nคลี่คลาย\nคลึงเคล้น\nคลึงเคล้า\nคลื่นไส้\nคลื่นเหียน\nคลุกคลี\nคลุกคลาน\nคลุมเครือ\nคลุมโปง\nคลุ้มคลั่ง\nควงสว่าน\nควบคุม\nควบคู่\nควบแน่น\nควันหลง\nความคิด\nความหลัง\nความเห็น\nคอหอย\nคอห่าน\nคอแห้ง\nค่อนขอด\nค่อนแคะ\nค้อนควัก\nคั่งค้าง\nคั่งแค้น\nคัดค้าน\nคัดง้าง\nคัดท้าย\nคัดเลือก\nคันจาม\nคันฉ่อง\nคันฉาย\nคันชัก\nคันชั่ง\nคันไถ\nคันนา\nคันเร่ง\nคับขัน\nคับคั่ง\nคับแค้น\nคับแคบ\nคางทูม\nคางหมู\nค้างคืน\nค้างปี\nคาดคั้น\nคาดเชือก\nคาดโทษ\nคาดหมาย\nคานหาม\nคาบเกี่ยว\nคาบศิลา\nคาบสมุทร\nคำขาด\nคำนำ\nคิดค้น\nคืนดี\nคืนตัว\nคุกเข่า\nคุณค่า\nคุณชาย\nคุณธรรม\nคุณนาย\nคุณภาพ\nคุณลักษณะ\nคุณวุฒิ\nคุณศัพท์\nคุณสมบัติ\nคุณหญิง\nคุณากร\nคุณูปการ\nคุโณปการ\nคุมเชิง\nคุ้มกัน\nคุยเขื่อง\nคุยโต\nคุ้ยเขี่ย\nคุ้มครอง\nคู่กรณี\nคู่กัด\nคู่ขา\nคู่แข่ง\nคู่ครอง\nคู่ควร\nคู่คิด\nคู่คี่\nคู่ใจ\nคู่ชีพ\nคู่ชีวิต\nคู่บารมี\nคู่บุญ\nคู่ปรปักษ์\nคู่ปรับ\nคู่ผสม\nคู่มือ\nคู่รัก\nคู่ลำดับ\nคู่สาย\nคู่หมั้น\nคู่หู\nคู่อริ\nคู่อาฆาต\nเคมีภัณฑ์\nเคยตัว\nเคร่งขรึม\nเคร่งครัด\nเคร่งเครียด\nเครดิตฟองซิเอร์\nเครื่องกล\nเครื่องกัณฑ์\nเครื่องแกง\nเครื่องเขิน\nเครื่องครัว\nเครื่องเคียง\nเครื่องเงิน\nเครื่องจักร\nเครื่องเซ่น\nเครื่องดนตรี\nเครื่องต้น\nเครื่องทุ่นแรง\nเครื่องเทศ\nเครื่องใน\nเครื่องบิน\nเครื่องบูชา\nเครื่องแบบ\nเครื่องประดับ\nเครื่องปรุง\nเครื่องปรุงรส\nเครื่องมือ\nเครื่องยนต์\nเครื่องร่อน\nเครื่องราง\nเครื่องเรือน\nเครื่องล่าง\nเครื่องเล่น\nเครื่องสาย\nเครื่องสำอาง\nเครื่องสุกำศพ\nเครื่องหมาย\nเครือรัฐ\nเคลียคลอ\nเคลื่อนที่\nเคลื่อนไหว\nเคลือบแคลง\nเคลือบแฝง\nเคลือบฟัน\nเคว้งคว้าง\nเคหสถาน\nเค้าโครง\nเคียดแค้น\nเคี่ยวเข็ญ\nเคี้ยวเอื้อง\nเคืองขุ่น\nโคนม\nโคบาล\nโคมูตร\nโคมลอย\nโครงการ\nโครงเรื่อง\nโครงงาน\nโครงสร้าง\nโครมคราม\nโคลงเคลง\nฆ้องกระแต\nฆ้องชัย\nฆ้องวง\nฆ้องหุ่ย\nฆ้องเหม่ง\nฆ้องโหม่ง\nฆาตกร\nฆาตกรรม\nฆานประสาท\nงงงวย\nงงงัน\nงดเว้น\nงบดุล\nงบประมาณ\nงมโข่ง\nงมงาย\nง่วงงุน\nง่วงเหงา\nงอหาย\nง้องอน\nงอนง้อ\nงอมแงม\nงาช้าง\nง่าเงย\nงานการ\nง่ายดาย\nงึมงำ\nเงินเดือน\nเงินตรา\nเงินยวง\nเงียบกริบ\nเงียบเชียบ\nเงียบเหงา\nเงื่องหงอย\nเงื่อนไข\nเงื่อนงำ\nเงื่อนเวลา\nเงื้อมมือ\nแง่งอน\nจงใจ\nจงรัก\nจดจ่อ\nจดจำ\nจดหมาย\nจดหมายเหตุ\nจรจัด\nจรรยาบรรณ\nจริงจัง\nจริงใจ\nจอมขวัญ\nจอมใจ\nจอมทัพ\nจอมปลวก\nจอมพล\nจ๊ะเอ๋\nจักสาน\nจักรพรรดิ\nจักรภพ\nจักรยาน\nจักรยานยนต์\nจักรราศี\nจักรวรรดิ\nจักรวรรดินิยม\nจักรวาล\nจังหนับ\nจัดการ\nจัดจ้าน\nจัดเจน\nจัดแจง\nจัดตั้ง\nจัดสรร\nจับกุม\nจับจด\nจับเจ่า\nจ่าหน้า\nจาตุทสี\nจาตุมหาราช\nจาตุมหาราชิก\nจาตุมหาราชิกา\nจาตุรงคสันนิบาต\nจาตุรราชการ\nจานเชิง\nจานบิน\nจานผี\nจานเสียง\nจาบจ้วง\nจำเป็น\nจำพรรษา\nจำวัด\nจ้ำจี้จ้ำไช\nจำเลาะตา\nจิงโจ้น้ำ\nจิตใจ\nจิตตภาวนา\nจิตตัง\nจิตตานุปัสสนา\nจิตนิยม\nจิตบำบัด\nจิตแพทย์\nจิตวิสัย\nจิตรกร\nจิตรกรรม\nจิตรลดา\nจิตวิทยา\nจิตเวช\nจิตเวชศาสตร์\nจินตกวี\nจินตนา\nจินตนาการ\nจินตภาพ\nจุฑามณี\nจุฑามาศ\nจุฑารัตน์\nจุนเจือ\nจุ้นจ้าน\nจุลชีพ\nจุลชีวัน\nจุลชีวิน\nจุลทรรศน์\nจุลภาค\nจุลวรรค\nจุลศักราช\nจุลสาร\nจุลินทรีย์\nจุฬามณี\nจุฬาลักษณ์\nเจตคติ\nเจตจำนง\nเจตนารมณ์\nเจตภูต\nเจริญพร\nเจ้ากรม\nเจ้ากรรม\nเจ้าของ\nเจ้าขา\nเจ้าข้า\nเจ้าคณะ\nเจ้าค่ะ\nเจ้าจอม\nเจ้าชู้\nเจ้าตัว\nเจ้าถิ่น\nเจ้าท่า\nเจ้าที่\nเจ้าทุกข์\nเจ้านาย\nเจ้าเนื้อ\nเจ้าบ้าน\nเจ้าบ่าว\nเจ้าประคุณ\nเจ้าประคู้น\nเจ้าพนักงาน\nเจ้าพระคุณ\nเจ้าพระยา\nเจ้าพ่อ\nเจ้าพายุ\nเจ้าฟ้า\nเจ้าภาพ\nเจ้ามือ\nเจ้าแม่\nเจ้าเรือน\nเจ้าสังกัด\nเจ้าสัว\nเจ้าสาว\nเจ้าหน้าที่\nเจ้าหนี้\nเจ้าอาวาส\nเจาะจง\nเจือจาง\nเจือจาน\nเจือปน\nเจื้อยแจ้ว\nแจกจ่าย\nแจ่มแจ้ง\nแจ่มใส\nโจงกระเบน\nโจมตี\nโจรกรรม\nโจรสลัด\nใจความ\nใจคอ\nฉกฉวย\nฉกชิง\nฉลองได\nฉ้อฉล\nฉัตรมงคล\nฉันทลักษณ์\nฉายาลักษณ์\nฉิบหาย\nฉุกเฉิน\nฉุกละหุก\nฉุนเฉียว\nฉุปศาสตร์\nเฉไฉ\nเฉยเมย\nเฉาโฉด\nเฉิดฉัน\nเฉิดฉาย\nเฉิดฉิน\nเฉียบขาด\nเฉียบพลัน\nเฉียบแหลม\nเฉื่อยชา\nแฉะแบะ\nโฉดเฉา\nโฉมงาม\nโฉมฉาย\nโฉมเฉลา\nโฉมตรู\nโฉมยง\nโฉมศรี\nโฉมหน้า\nชดช้อย\nชดเชย\nชดใช้\nชนบท\nชนินทร์\nชนกกรรม\nชนมพรรษา\nชนมายุ\nชมเชย\nชมพูทวีป\nชมพูนท\nชมพูนุท\nชราธรรม\nชราภาพ\nชลจร\nชลธาร\nชลธี\nชลนัยน์\nชลนา\nชลเนตร\nชลประทาน\nชลมารค\nชลาธาร\nชลาลัย\nชลาศัย\nชลาสินธุ์\nชโลทร\nช่วงชิง\nช่วงใช้\nชวนชม\nชวนหัว\nช่วยเหลือ\nช่อฟ้า\nช่อม่วง\nชอกช้ำ\nช่องเขา\nช่องแคบ\nช่องไฟ\nช่องว่าง\nช้องนาง\nชอบกล\nชอบใจ\nชอบธรรม\nชอบพอ\nชักโครก\nชักเงา\nชักจูง\nชักชวน\nชักนำ\nชักเนื้อ\nชักพระ\nชักเย่อ\nชักใย\nชั่งใจ\nชังฆวิหาร\nชัดเจน\nชั้นเชิง\nชั่วคน\nชั่วคราว\nชั่วช้า\nชั่วโมง\nชั่วแล่น\nชาเย็น\nช้านาน\nช่างเครื่อง\nช่างฝีมือ\nช่างฟิต\nช่างไฟ\nช้างน้ำ\nช้างเผือก\nช้างพลาย\nช้างพัง\nช้างสาร\nช้างสีดอ\nชาติธรรม\nชาตินิยม\nชาติพันธุ์\nชาติพันธุ์วิทยา\nชาติภูมิ\nชานชาลา\nชายชาตรี\nชายคา\nชายฝั่ง\nชายทะเล\nชาวเล\nชาววัง\nช้ำใจ\nช้ำชอก\nชิงชัง\nชิงพลบ\nชินชา\nชินบุตร\nชิ้นเอก\nชิมลาง\nชีเปลือย\nชี้ขาด\nชี้แจง\nชี้นำ\nชี้แนะ\nชี้ฟ้า\nชีพจร\nชีพิตักษัย\nชื่นชม\nชื่นบาน\nชื่นมื่น\nชื่อย่อ\nชื่อรอง\nชื่อเล่น\nชื่อเสียง\nชุกชุม\nชุติมา\nชุบตัว\nชุบเลี้ยง\nชุมชน\nชุมทาง\nชุมสาย\nชุ่มใจ\nชุ่มชื่น\nชุ่มชื้น\nชุมนุมชน\nชูชีพ\nชูโรง\nชู้สาว\nเชยชม\nเชลยศักดิ์\nเชลยศึก\nเช่าซื้อ\nเช้าตรู่\nเช้ามืด\nเชิงกราน\nเชิงกล\nเชิงชั้น\nเชิงชาย\nเชิงซ้อน\nเชิงเดียว\nเชิงเดี่ยว\nเชิงตะกอน\nเชิงเทิน\nเชิงมุม\nเชิดชู\nเชิงอรรถ\nเชี่ยนหมาก\nเชี่ยวชาญ\nเชื่องช้า\nเชื่อใจ\nเชื่อถือ\nเชื่อฟัง\nเชื่อมือ\nเชื้อชาติ\nเชื้อเพลิง\nเชื้อไฟ\nเชื้อโรค\nเชื้อสาย\nเชื้อเชิญ\nเชื่องช้า\nเชือนแช\nเชื่อวัน\nแช่เย็น\nแช่อิ่ม\nแช่มช้อย\nแช่มชื่น\nโชกโชน\nโชติช่วง\nโชติรส\nใช้สอย\nซบเซา\nซมซาน\nซวนเซ\nซอกซอน\nซอกแซก\nซ่องสุม\nซ่องเสพ\nซ่องแซ่ง\nซ่อนรูป\nซ่อนเร้น\nซ่อนหา\nซ่อนกลิ่น\nซ่อนทราย\nซ่อมแซม\nซักค้าน\nซักซ้อม\nซักไซ้\nซักฟอก\nซักแห้ง\nซังกะตาย\nซังตาย\nซัดเซ\nซัดทอด\nซับซ้อน\nซับใน\nซับพระพักตร์\nซากศพ\nซ่านเซ็น\nซ้ำซ้อน\nซ้ำซาก\nซ้ำเติม\nซ้ำร้าย\nซี่โครง\nซีดเซียว\nซึมกะทือ\nซึมซาบ\nซึมเซา\nซึมทราบ\nซึมเศร้า\nซื่อตรง\nซื่อสัตย์\nซื้อขาย\nซุกซน\nซุกซ่อน\nซุบซิบ\nซู่ซ่า\nเซซัง\nเซ่อซ่า\nแซ่ซ้อง\nโซดาไฟ\nญาณทัสนะ\nญาณวิทยา\nญาณศาสตร์\nญาติกา\nฐานราก\nดกดื่น\nดงดิบ\nดลใจ\nดลบันดาล\nดวงแก้ว\nดวงใจ\nดวงเดือน\nดวงตรา\nดวงตา\nดวงสมร\nดอกจัน\nดอกจิก\nดอกบัว\nดอกเบี้ย\nดอกฟ้า\nดอกไม้\nดอกยาง\nดอกเล็บ\nดอกทอง\nดอกสร้อย\nดองยา\nดักคอ\nดักฟัง\nดังนั้น\nดังนี้\nดังหนึ่ง\nดั้งเดิม\nดัดจริต\nดัดแปลง\nดันทุรัง\nดับขันธ์\nดับจิต\nดับชีพ\nด่าทอ\nด่างทับทิม\nด่างพร้อย\nดาดฟ้า\nดาราศาสตร์\nดาลเดือด\nดาวกระจาย\nดาวเคราะห์\nดาวตก\nดาวเทียม\nดาวรุ่ง\nดาวเรือง\nดาวฤกษ์\nดาวหาง\nดาวเหนือ\nดาษดื่น\nดินขาว\nดินดาน\nดินดำ\nดินประสิว\nดินปืน\nดินระเบิด\nดินสอ\nดินสอพอง\nดิ้นรน\nดิบดี\nดีเกลือ\nดีใจ\nดีซ่าน\nดีดัก\nดีเดือด\nดีฝ่อ\nดีดดิ้น\nดึกดำบรรพ์\nดึกดื่น\nดึงดัน\nดึงดูด\nดื่มด่ำ\nดื้อด้าน\nดื้อดึง\nดื้อแพ่ง\nดื้อยา\nดื้อรั้น\nดุดัน\nดุเดือด\nดุร้าย\nดุลการค้า\nดุลพินิจ\nดุลภาค\nดุลยพินิจ\nดุลยภาพ\nดุษฎีนิพนธ์\nดุษฎีบัณฑิต\nดุษณีภาพ\nดูแคลน\nดูถูก\nดูดาย\nดูเบา\nดูแล\nดูหมิ่น\nดูเหมือน\nดูดดื่ม\nเด็ดขาด\nเด็ดดวง\nเด็ดเดี่ยว\nเดนตาย\nเดาสวด\nเดาสุ่ม\nเดินทาง\nเดินสะพัด\nเดินสาย\nเดินเหิน\nเดิมพัน\nเดียงสา\nเดียดฉันท์\nเดียวกัน\nเดียวดาย\nเดี๋ยวเดียว\nเดี๋ยวนี้\nเดือดดาล\nเดือดร้อน\nเดือนมืด\nเดือนหงาย\nแดดาล\nแดดิ้น\nแดกดัน\nโด่เด่\nโด่งดัง\nโดดเดี่ยว\nโดยสาร\nได้การ\nได้แก่\nได้ใจ\nได้ที\nได้ยิน\nได้เสีย\nตกเขียว\nตกค้าง\nตกใจ\nตกต่ำ\nตกแต่ง\nตกทอด\nตกฟาก\nตกมัน\nตกยาก\nตกลง\nตกหล่น\nต้นขั้ว\nต้นคิด\nต้นฉบับ\nต้นตอ\nต้นตำรับ\nต้นทุน\nต้นแบบ\nต้นเพลิง\nต้นมือ\nต้นไม้\nต้นร่าง\nต้นเรื่อง\nต้นสังกัด\nต้นหน\nต้นเหตุ\nตบตา\nตบแต่ง\nตบแผละ\nตบมือ\nต้มข่า\nต้มโคล้ง\nต้มยำ\nต้มส้ม\nตรมตรอม\nตรรกวิทยา\nตรรกศาสตร์\nตรวจการ\nตรวจการณ์\nตรวจตรา\nตระบัดสัตย์\nตรัสรู้\nตราตั้ง\nตราบาป\nตรายาง\nตราสาร\nตริตรอง\nตรีกฏุก\nตรีกาย\nตรีโกณ\nตรีโกณมิติ\nตรีคูณ\nตรีทูต\nตรีปิฎก\nตรีภพ\nตรีมูรติ\nตรึกตรอง\nตรึงตรา\nตรุษจีน\nตฤณชาติ\nตฤณมัย\nตลกบาตร\nตลบตะแลง\nตลบหลัง\nตลาดนัด\nตลาดน้ำ\nตลาดมืด\nตลาดสด\nต่อตี\nต่อเติม\nต่อว่า\nต่อสู้\nต่อกร\nต่อต้าน\nต่อแย้ง\nต้องการ\nต้องโทษ\nต้องหา\nต้อนรับ\nตอบโต้\nตอบแทน\nต่อยหอย\nตะพาบน้ำ\nตักตวง\nตักบาตร\nตั้งเข็ม\nตั้งไข่\nตั้งเค้า\nตั้งแง่\nตั้งใจ\nตั้งต้น\nตั้งแต่\nตั้งท้อง\nตัดขาด\nตัดใจ\nตัดเชือก\nตัดตอน\nตัดทอน\nตัดบท\nตัดพ้อ\nตัดรอน\nตัดสิน\nตับเต่า\nตับแลบ\nตับอ่อน\nตัวกลาง\nตัวการ\nตัวเก็ง\nตัวดี\nตัวตั้ง\nตัวเต็ง\nตัวถัง\nตัวแทน\nตัวประกอบ\nตัวประกัน\nตัวแปร\nตัวผู้\nตัวพิมพ์\nตัวเมีย\nตัวยืน\nตัวเลข\nตัวอย่าง\nตั๋วเงิน\nตั๋วแลกเงิน\nตากล้อง\nตาไก่\nตาข่าย\nตาชั่ง\nตาตุ่ม\nตาทวด\nตาปลา\nตาราง\nต่างหาก\nต้านทาน\nตามใจ\nตายใจ\nตายซาก\nตายด้าน\nตายตัว\nตายทั้งกลม\nตายห่า\nตายโหง\nตาลปัตร\nต่ำช้า\nต่ำต้อย\nตำส้ม\nติเตียน\nติณชาติ\nติดขัด\nติดใจ\nติดต่อ\nติดตั้ง\nติดตาม\nติดตื้น\nติดพัน\nติดลม\nติดอ่าง\nตีเกลียว\nตีขลุม\nตีความ\nตีคู่\nตีจาก\nตีตื้น\nตีแผ่\nตีรวน\nตีลังกา\nตีวง\nตีเสมอ\nตีนกา\nตีนคู้\nตีนจก\nตีนตะขาบ\nตีนผี\nตีนเหยียด\nตึกแถว\nตึกระฟ้า\nตึงเครียด\nตึงตัง\nตื้นตัน\nตื่นตัว\nตื่นตูม\nตื่นเต้น\nตุ๊ต๊ะ\nตุ้บตั้บ\nตุ้มหู\nตุลาการ\nตุลาคม\nตู้นิรภัย\nตูมตาม\nตู้เสบียง\nเตโชธาตุ\nเตร็ดเตร่\nเต้นรำ\nเตาแก๊ส\nเตาผิง\nเตาฟู่\nเตาไฟ\nเตารีด\nเตาสูบ\nเต่าทอง\nเต้ารับ\nเต้าส่วน\nเต้าเสียบ\nเต้าหู้ยี้\nแต่ละ\nแตกคอ\nแตกคอก\nแตกฉาน\nแตกดับ\nแตกตื่น\nแตกพาน\nแตกแยก\nแตกร้าว\nแตกหัก\nแต่งงาน\nแต่งตั้ง\nแต้มคู\nแต้มต่อ\nแตรงอน\nแตรเดี่ยว\nแตรฝรั่ง\nแตรฟันฟาร์\nแตรวง\nโต้ตอบ\nโต้เถียง\nโต้แย้ง\nโต๊ะหมู่\nโต๊ะอิหม่าม\nใต้ถุน\nไต้ก๋ง\nไต่คู้\nไต่เต้า\nไต่ถาม\nไต้ฝุ่น\nไตรจักร\nไตรจีวร\nไตรตรึงษ์\nไตรทวาร\nไตรปิฎก\nไตรเพท\nไตรภพ\nไตรภูมิ\nไตรภาคี\nไตรยางศ์\nไตรรงค์\nไตรรัตน์\nไตรลักษณ์\nไตรโลก\nไตรสรณคมน์\nไตรสิกขา\nไต่สวน\nถกเถียง\nถดถอย\nถนัดถนี่\nถนิมสร้อย\nถมถืด\nถมเถ\nถมไป\nถลากไถล\nถ้วนถี่\nถ้วยฟู\nถ่องแท้\nถอดถอน\nถ้อยคำ\nถ้อยแถลง\nถากถาง\nถ่านไฟฉาย\nถ่านหิน\nถามไถ่\nถ่ายทอด\nถ่ายทุกข์\nถ่ายเท\nถาวรวัตถุ\nถ้ำมอง\nถี่ถ้วน\nถึงใจ\nถูกใจ\nถูกชะตา\nเถรวาท\nเถ้าแก่\nเถ้าแก่เนี้ย\nแถมพก\nแถลงการณ์\nไถ่ถอน\nไถ่ถาม\nทดแทน\nทดรอง\nทดลอง\nทดสอบ\nทนทาน\nทนายความ\nทบทวน\nทแยงมุม\nทรงกลด\nทรงเครื่อง\nทรงเจ้า\nทรัพย์สิน\nทรามชม\nทรามเชย\nทรามวัย\nทรามสงวน\nทรามสวาท\nทรุดโทรม\nทฤษฎีบท\nท้วงติง\nท่วมท้น\nทวาทศ\nทวาทศมาส\nทวาบรยุค\nทวารบาล\nทวิบถ\nทวิบท\nทวิบาท\nทวิภาค\nทวิภาคี\nทวีคูณ\nทศกัณฐ์\nทศชาติ\nทศทิศ\nทศนิยม\nทศพร\nทศพล\nทศพิธราชธรรม\nทศมาส\nทศวรรษ\nท่อไอเสีย\nท้อถอย\nท้อแท้\nทองขาว\nทองคำ\nทองคำขาว\nทองคำเปลว\nทองเค\nทองแดง\nทองบรอนซ์\nทองม้วน\nทองย้อย\nทองสัมฤทธิ์\nทองหยอด\nทองหยิบ\nทองเหลือง\nทองเอก\nท่องเที่ยว\nท้องตรา\nท้องถิ่น\nท้องที่\nท้องน้อย\nท้องร่อง\nท้องเรื่อง\nทอดมัน\nทอดทิ้ง\nทอดน่อง\nทอดยอด\nทอดหุ่ย\nทอยกอง\nทะเบียนบ้าน\nทะเลทราย\nทะเลสาบ\nทะเลหลวง\nทักขิณาวัฏ\nทักท้วง\nทักทาย\nทักษิณาวรรต\nทักษิณาทาน\nทักษิณานุประทาน\nทั้งกลม\nทั้งคน\nทั้งดุ้น\nทั้งที\nทั้งนั้น\nทั้งนี้\nทั้งปวง\nทั้งผอง\nทั้งเพ\nทั้งมวล\nทั้งสิ้น\nทั้งหมด\nทั้งหลาย\nทัณฑ์บน\nทัดทาน\nทัดเทียม\nทันควัน\nทันใจ\nทันใด\nทันตา\nทันสมัย\nทันที\nทับถม\nทับทรวง\nทับศัพท์\nทั่วถึง\nทั่วไป\nท่าทาง\nท่าที\nท้าทาย\nทางการ\nทางข้าม\nทางด่วน\nทางเท้า\nทางโท\nทางใน\nทางผ่าน\nทางม้าลาย\nทางหลวง\nทางออก\nทางเอก\nทานกัณฑ์\nทานตะวัน\nท่านชาย\nทานบารมี\nท่านผู้หญิง\nท่านหญิง\nทาบทาม\nท้ายทอย\nทารุณกรรม\nทำคลอด\nทำใจ\nทำซ้ำ\nทำท่า\nทำที\nทำแท้ง\nทำโทษ\nทำบาป\nทำบุญ\nทำพิษ\nทำฟัน\nทำร้าย\nทำวัตร\nทำสาว\nทำเสน่ห์\nทำหมัน\nทำให้\nทิ้งขว้าง\nทิ้งทวน\nทิ้งท้าย\nทินกร\nทิพจักขุ\nทิพโสต\nทิพยจักษุ\nทิพยญาณ\nทิพยเนตร\nทิพยรส\nทิพากร\nทิ่มตำ\nทิ่มแทง\nทิวากร\nทิวากาล\nทิศทาง\nทีเด็ด\nทีท่า\nทีนี้\nทีหลัง\nทีฆนิกาย\nทีฆสระ\nที่ดิน\nที่นอน\nที่นั่ง\nที่ปรึกษา\nที่พึ่ง\nที่มั่น\nที่ราบ\nที่ว่าการ\nที่สุด\nที่หมาย\nที่ไหน\nทุกที\nทุกเมื่อ\nทุกข์สุข\nทุนทรัพย์\nทุนนิยม\nทุนรอน\nทุนสำรอง\nทุ่มเถียง\nทุ่มเท\nทูนหัว\nทูลกระหม่อม\nเทกระจาด\nเทครัว\nเทพเจ้า\nเทพดา\nเทพธิดา\nเทพนม\nเทพนิยม\nเทพนิยาย\nเทพบุตร\nเทพสังหรณ์\nเทศกาล\nเทศนาโวหาร\nเทศบัญญัติ\nเทศบาล\nเทศมนตรี\nเทห์ฟากฟ้า\nเท่ากับ\nเท่าใด\nเท่าตัว\nเท่าทัน\nเท่าทุน\nเท่าเทียม\nเท่านั้น\nเท่าไร\nเท้าช้าง\nเทิดทูน\nเที่ยงตรง\nเที่ยงแท้\nเที่ยงธรรม\nเทียนชนวน\nเทียนพรรษา\nเทียบเคียง\nเทียบเท่า\nเทือกเขา\nเทือกเถา\nแท็งก์น้ำ\nแท่นพิมพ์\nแท่นมณฑล\nแท่นหมึก\nแทรกซอน\nแทรกซ้อน\nแทรกซึม\nแทรกแซง\nแทะโลม\nไทยดำ\nไทยทาน\nไทยธรรม\nไทยน้อย\nไทยใหญ่\nธงชัย\nธงชาติ\nธงทิว\nธรณีวิทยา\nธรณีสงฆ์\nธรรมกาย\nธรรมการ\nธรรมเกษตร\nธรรมขันธ์\nธรรมคุณ\nธรรมจรรยา\nธรรมจริยา\nธรรมจักร\nธรรมจักษุ\nธรรมจาคะ\nธรรมจารี\nธรรมชาติ\nธรรมดา\nธรรมเนียม\nธรรมราชา\nธรรมศาสตร์\nธรรมสภา\nธรรมสังเวช\nธัญพืช\nธารพระกร\nธีรภาพ\nธีรราช\nนกเขา\nนกต่อ\nนกยูง\nนกรู้\nนกหวีด\nนครบาล\nนครรัฐ\nนงคราญ\nนงนุช\nนงพะงา\nนงเยาว์\nนงราม\nนงลักษณ์\nนบนอบ\nนพเก้า\nนพคุณ\nนพเคราะห์\nนพปฎล\nนพพล\nนพรัตน์\nนพศก\nนพศูล\nนมข้น\nนมผง\nนมไม้\nนมนาน\nนมหนู\nนมแมว\nนรีเวช\nนรีเวชวิทยา\nนวดฟั้น\nนวยนาด\nนวลระหง\nนวลลออ\nนวลละออง\nนวลจันทร์\nนอกครู\nนอกคอก\nนอกจาก\nนอกใจ\nนอกชาน\nนอกรีต\nนอกเหนือ\nนองเนือง\nนองเลือด\nนอนก้น\nนอนใจ\nนอบนบ\nนอนเล่น\nนอบน้อม\nน้อมนำ\nน้อยใจ\nน้อยหน้า\nนักการ\nนักการเมือง\nนักกีฬา\nนักข่าว\nนักท่องเที่ยว\nนักเทศน์\nนักโทษ\nนักธรรม\nนักบวช\nนักบิน\nนักบุญ\nนักปราชญ์\nนักพรต\nนักรบ\nนักเรียน\nนักเลง\nนักวิชาการ\nนักศึกษา\nนักสิทธิ์\nนักสืบ\nนักหนา\nนั่งเทียน\nนั่งร้าน\nนัดแนะ\nนัดหมาย\nนั่นแหละ\nนั่นเอง\nนับถือ\nนับประสา\nนัยน์ตา\nนาดำ\nนาปรัง\nนาปี\nนาสวน\nนาหว่าน\nนาคบาศ\nนาคปรก\nนาคราช\nนางกวัก\nนางกำนัล\nนางงาม\nนางใน\nนางบำเรอ\nนางแบบ\nนางพญา\nนางฟ้า\nนางไม้\nนางโลม\nนางสาว\nนางห้าม\nนางเอก\nนาฏกรรม\nนาฏดนตรี\nนาฏศิลป์\nนานนม\nน่านน้ำ\nน่านฟ้า\nนามกร\nนามธรรม\nนามไธย\nนามบัตร\nนามปากกา\nนามแฝง\nนามสกุล\nนามสงเคราะห์\nนามสมญา\nนายทะเบียน\nนายท่า\nนายท้าย\nนายทุน\nนายประกัน\nนายหน้า\nนายอำเภอ\nนารายณ์หัตถ์\nนารีผล\nนาวิกโยธิน\nนำจับ\nนำพา\nนำทาง\nนำร่อง\nนำสืบ\nนำแสดง\nน้ำกรด\nน้ำกาม\nน้ำเกลือ\nน้ำข้าว\nน้ำแข็ง\nน้ำแข็งไส\nน้ำแข็งแห้ง\nน้ำครำ\nน้ำคร่ำ\nน้ำค้าง\nน้ำค้างแข็ง\nน้ำคาวปลา\nน้ำคำ\nน้ำเค็ม\nน้ำเคย\nน้ำเงิน\nน้ำเงี้ยว\nน้ำจัณฑ์\nน้ำจิ้ม\nน้ำใจ\nน้ำเชื้อ\nน้ำเชื่อม\nน้ำซาวข้าว\nน้ำดอกไม้\nน้ำดี\nน้ำตก\nน้ำตา\nน้ำตาล\nน้ำท่า\nน้ำนม\nน้ำนวล\nน้ำบาดาล\nน้ำประสานทอง\nน้ำประปา\nน้ำปลา\nน้ำป่า\nน้ำผึ้ง\nน้ำพริก\nน้ำพริกเผา\nน้ำพี้\nน้ำพุ\nน้ำมนต์\nน้ำมนตร์\nน้ำมัน\nน้ำมือ\nน้ำมูก\nน้ำเมา\nน้ำย่อย\nน้ำยา\nน้ำรัก\nน้ำแร่\nน้ำลาย\nน้ำเลี้ยง\nน้ำสต๊อก\nน้ำส้ม\nน้ำส้มสายชู\nน้ำสังข์\nน้ำสาบาน\nน้ำเสียง\nน้ำหนวก\nน้ำหนอง\nน้ำหนัก\nน้ำหน้า\nน้ำหนึ่ง\nน้ำหมึก\nน้ำหอม\nน้ำเหลือง\nน้ำอบ\nน้ำอ้อย\nน้ำอัดลม\nนิ่งเฉย\nนิจศีล\nนิดเดียว\nนิดหน่อย\nนิติกร\nนิติกรรม\nนิติธรรม\nนิตินัย\nนิติบัญญัติ\nนิติบุคคล\nนิติภาวะ\nนิติวิทยาศาสตร์\nนิติเวช\nนิติเวชศาสตร์\nนิติศาสตร์\nนิเทศศาสตร์\nนิ่มนวล\nนิรุกติศาสตร์\nนิเวศวิทยา\nนิศากร\nนิศากาล\nนิศาชล\nนิศารัตน์\nนี่แน่ะ\nนี่แหละ\nนี่เอง\nนึกคิด\nนุงถุง\nนุ่งห่ม\nนุ่มนวล\nนุ่มนิ่ม\nเนตรนารี\nเนติบัณฑิต\nเนยเทียม\nเนยใส\nเนิ่นนาน\nเนิบนาบ\nเนื้อความ\nเนื้อคู่\nเนื้อเค็ม\nเนื้องอก\nเนื้อตัว\nเนื้อตาย\nเนื้อที่\nเนื้อแท้\nเนื้อเปื่อย\nเนื้อผ้า\nเนื้อเพลง\nเนื้อไม้\nเนื้อเยื่อ\nเนื้อร้อง\nเนื้อร้าย\nเนื้อเรื่อง\nเนื้อหา\nเนืองนอง\nเนืองนิตย์\nเนืองแน่น\nแน่ใจ\nแน่ชัด\nแน่แท้\nแน่นอน\nแน่นิ่ง\nแน่แน่ว\nแน่นแฟ้น\nแน่นหนา\nแนบเนียน\nแนบแน่น\nแนวคิด\nแนวทาง\nแนวโน้ม\nแนวป่า\nแนวรบ\nแนวร่วม\nแนวหน้า\nแนวหลัง\nแน่วแน่\nแนะนำ\nแนะแนว\nโน้มน้าว\nในหลวง\nบกพร่อง\nบงกช\nบงการ\nบดบัง\nบทกลอน\nบทกวี\nบทความ\nบทคัดย่อ\nบทเฉพาะกาล\nบทนำ\nบทบัญญัติ\nบทบาท\nบทประพันธ์\nบทเพลง\nบทร้อง\nบทเรียน\nบทลงโทษ\nบทสนทนา\nบทอัศจรรย์\nบทจร\nบทบงสุ์\nบทมาลย์\nบทรัช\nบทเรศ\nบทวลัญช์\nบนบาน\nบรมครู\nบรมธาตุ\nบรมบพิตร\nบรมวงศานุวงศ์\nบรมอัฐิ\nบรรณพิภพ\nบรรณศาลา\nบรรณาการ\nบรรณาธิการ\nบรรณานุกรม\nบรรณารักษ์\nบรรณารักษศาสตร์\nบรรดามี\nบรรดาศักดิ์\nบรรทัดฐาน\nบรรพบุรุษ\nบรรลัยกัลป์\nบรรลัยจักร\nบริคณห์สนธิ\nบวงสรวง\nบ่วงบาศ\nบ้วนพระโอษฐ์\nบ่อเกิด\nบอกกล่าว\nบอกบท\nบอกบุญ\nบอกใบ้\nบอกปัด\nบ้องกัญชา\nบ้องตื้น\nบ้องไฟ\nบ้องหู\nบอดสี\nบ่อนทำลาย\nบอบช้ำ\nบอบบาง\nบอบแบบ\nบังโกลน\nบังโคลน\nบังใบ\nบั้งไฟ\nบังคับการ\nบังคับบัญชา\nบัญชาการ\nบัณฑุกัมพล\nบัดดล\nบัดเดี๋ยว\nบัดนั้น\nบัดนี้\nบัดสีบัดเถลิง\nบัตรเครดิต\nบัตรพลี\nบัตรสนเท่ห์\nบัตรสินเชื่อ\nบั่นทอน\nบั้นท้าย\nบั้นปลาย\nบั้นพระองค์\nบั้นเอว\nบันไดลิง\nบันไดเลื่อน\nบันเทิงคดี\nบัวลอย\nบัวบก\nบ้าจี้\nบ้าดีเดือด\nบ้าน้ำลาย\nบ้าบิ่น\nบ้าระห่ำ\nบ้าเลือด\nบ้าหอบฟาง\nบากบั่น\nบากหน้า\nบางตา\nบางเบา\nบางที\nบาดเจ็บ\nบาดแผล\nบาดหมาง\nบาตรใหญ่\nบาทบงกช\nบาทบงสุ์\nบาทบริจาริกา\nบาทวิถี\nบานเกล็ด\nบานตะเกียง\nบานตะไท\nบานเบอะ\nบานปลาย\nบานแผละ\nบานพับ\nบ้านจัดสรร\nบ้านช่อง\nบ้านนอก\nบ้านพัก\nบ้านเมือง\nบ้านรับรอง\nบ้านเรือน\nบาปกรรม\nบายศรี\nบ่ายเบี่ยง\nบ่ายหน้า\nบ่าวไพร่\nบิดเบี้ยว\nบิดเบือน\nบิดพลิ้ว\nบี้แบน\nบีบคั้น\nบีบรัด\nบึ้งตึง\nบึ้งบูด\nบุกบั่น\nบุกเบิก\nบุกรุก\nบุคลิกภาพ\nบุคลิกลักษณะ\nบุญธรรม\nบุญนิธิ\nบุญฤทธิ์\nบุบสลาย\nบุ้ยใบ้\nบุรุษเพศ\nบุหงารำไป\nบู้บี้\nบูชายัญ\nบูดบึ้ง\nบูดเบี้ยว\nเบาความ\nเบาใจ\nเบาบาง\nเบาปัญญา\nเบามือ\nเบาแรง\nเบาสมอง\nเบาหวาน\nเบาโหวง\nเบ้าตา\nเบาะแส\nเบิกความ\nเบิกบาน\nเบี้ยล่าง\nเบี้ยเลี้ยง\nเบี้ยหวัด\nเบี่ยงบ่าย\nเบียดบัง\nเบียดเบียน\nเบียดเสียด\nเบื้องต้น\nเบื้องบน\nเบื้องหน้า\nเบื้องหลัง\nแบกะดิน\nแบเบาะ\nแบ่งเบา\nแบ่งปัน\nแบ่งแยก\nแบบฉบับ\nแบบแปลน\nแบบแผน\nแบบฝึกหัด\nแบบพิมพ์\nแบบสอบถาม\nแบบอย่าง\nแบะแฉะ\nแบะท่า\nโบแดง\nโบราณคดี\nโบราณวัตถุ\nโบราณสถาน\nใบขับขี่\nใบจอง\nใบตอง\nใบแทรก\nใบบอก\nใบบุญ\nใบเบิกทาง\nใบปลิว\nใบพัด\nใบโพ\nใบไม้\nใบระกา\nใบรับรอง\nใบลา\nใบเลี้ยง\nใบสั่ง\nใบสำคัญ\nใบสุทธิ\nใบเสร็จ\nใบหน้า\nใบอนุญาต\nใบระกา\nปกครอง\nปกคลุม\nปกป้อง\nปกปิด\nปฏิบัติการ\nปฏิบัติบูชา\nปฐพีวิทยา\nปฐมฌาน\nปฐมทัศน์\nปฐมเทศนา\nปฐมนิเทศ\nปฐมพยาบาล\nปฐมยาม\nปฐมฤกษ์\nปฐมวัย\nปฐมสมโพธิ\nปนเป\nป่นปี้\nปมเขื่อง\nปมเด่น\nปมด้อย\nปรนเปรอ\nปรบไก่\nปรบมือ\nปรสิตวิทยา\nประโปรย\nประพรม\nประกันชีวิต\nประกันภัย\nประจักษ์พยาน\nประจัญบาน\nประจันหน้า\nประจำการ\nประจำเดือน\nประจำเมือง\nประจำยาม\nประชดประชัน\nประชากร\nประชากรศาสตร์\nประชาคม\nประชาชน\nประชาราษฎร์\nประชาชาติ\nประชาชี\nประชาทัณฑ์\nประชาบาล\nประชาพิจารณ์\nประชาภิบาล\nประชามติ\nประชาสงเคราะห์\nประชาสัมพันธ์\nประดับประดา\nประดามี\nประดาน้ำ\nประเดี๋ยวเดียว\nประเดี๋ยวนี้\nประทับใจ\nประทุษร้าย\nประเทศราช\nประพาสต้น\nประเพณีนิยม\nประลัยกัลป์\nประวัติการณ์\nประวัติศาสตร์\nประสบการณ์\nประสบการณ์นิยม\nประสาทการ\nประสูติการ\nประสูติกาล\nประเส\nปรับทุกข์\nปรับโทษ\nปรับปรุง\nปรากฏการณ์\nปราดเปรียว\nปราดเปรื่อง\nปราบปราม\nปริญญาบัตร\nปรัยัติธรรม\nปรุโปร่ง\nปลงใจ\nปลงตก\nปลดทุกข์\nปลดปลง\nปลดปล่อย\nปลดเปลื้อง\nปลดระวาง\nปลดแอก\nปล้นสะดม\nปลอกกระสุน\nปลอกคอ\nปลอดโปร่ง\nปลอดภัย\nปลอมปน\nปลอมแปลง\nปลอบโยน\nปล่อยใจ\nปล่อยตัว\nปล่อยปละ\nปลั๊กไฟ\nปลากริม\nปลาเค็ม\nปลาจ่อม\nปลาเจ่า\nปลาแดก\nปลาตู้\nปลาทอง\nปลาร้า\nปลาส้ม\nปลาดาว\nปลาบิน\nปลาฝา\nปลาวาฬ\nปลาหมึก\nปลาบปลื้ม\nปลายข้าว\nปลายแถว\nปลายทาง\nปลิ้นปลอก\nปลิ้นปล้อน\nปลีกตัว\nปลีกย่อย\nปลุกใจ\nปลุกปล้ำ\nปลุกปั่น\nปลุกระดม\nปลุกเสก\nปลูกฝัง\nปลูกสร้าง\nปวดถ่วง\nปวดมวน\nปวดร้าว\nป่วนปั่น\nป่วยการ\nปอกลอก\nป้องกัน\nปักใจ\nปักดำ\nปักหลัก\nปัจเจกบุคคล\nปัจเจกพุทธะ\nปัจเจกโพธิ\nปัจฉิมชน\nปัจฉิมทิศ\nปัจฉิมภาค\nปัจฉิมยาม\nปัจฉิมลิขิต\nปัจฉิมวัย\nปัจฉิมวาจา\nปัญญาชน\nปัญญาวิมุติ\nปัญญาอ่อน\nปัดเป่า\nปันส่วน\nปั่นป่วน\nปั่นแปะ\nปั่นหัว\nปั้นจิ้ม\nปั้นเจ๋อ\nปั้นปึ่ง\nปั้นสิบ\nปั๊มน้ำมัน\nป่าช้า\nป่าชายเลน\nป่าดง\nป่าดงดิบ\nป่าดิบ\nป่าเถื่อน\nป่าเบญจพรรณ\nป่าละเมาะ\nปากกา\nปากขอ\nปากแข็ง\nปากคอ\nปากคำ\nปากคีบ\nปากจัด\nปากน้ำ\nปากเปล่า\nปากเสียง\nปานกลาง\nป่านนี้\nป้านลม\nป้ายสี\nป่าวร้อง\nปิดฉาก\nปิดบัง\nปิตุฆาต\nปิตุภูมิ\nปีมะโว้\nปีแสง\nปี่กลาง\nปี่ไฉน\nปี่ชวา\nปี่นอก\nปี่ใน\nปี่พาทย์\nปี่อ้อ\nปีกกา\nปีนเกลียว\nปีนป่าย\nปึกแผ่น\nปึงปัง\nปืนกล\nปืนครก\nปืนพก\nปืนยา\nปืนยาว\nปืนลม\nปืนเล็ก\nปืนเล็กยาว\nปืนสั้น\nปืนใหญ่\nปุบปับ\nปุ๊บปั๊บ\nปุ่มเปือก\nปุยฝ้าย\nปุ๋ยคอก\nปุ๋ยเคมี\nปุ๋ยวิทยาศาสตร์\nปุ๋ยหมัก\nปุ๋ยอินทรีย์\nปูจ๋า\nปูเสฉวน\nปู่เจ้า\nปู่ทวด\nปูนขาว\nปูนซีเมนต์\nปูนดิบ\nปูนแดง\nปูนปลาสเตอร์\nปูนปั้น\nเป็ดเทศ\nเป็ดน้ำ\nเป็นกลาง\nเป็นใจ\nเป็นต้น\nเป็นต่อ\nเป็นรอง\nเป็นไร\nเป็นลม\nเป็นห่วง\nเป็นอยู่\nเปรมปรีดิ์\nเปรอะเปื้อน\nเปรียบเทียบ\nเปรียบเปรย\nเปรี้ยวปาก\nเปรี้ยวหวาน\nเปรื่องปราด\nเปลญวน\nเปล่งปลั่ง\nเปล่าดาย\nเปล่าเปลี่ยว\nเปลี่ยนใจ\nเปลี่ยนตัว\nเปลี่ยนแปลง\nเปลี่ยนมือ\nเปลี่ยนหน้า\nเป๋อเหลอ\nเปะปะ\nเป่ากบ\nเป้านิ่ง\nเป้าหมาย\nเปิดฉาก\nเปิดเปิง\nเปิดโปง\nเปิดผนึก\nเปิดเผย\nเปียกปูน\nแป้งสาลี\nแป้งนวล\nแป้งเปียก\nแป้งมัน\nแป้งฝุ่น\nแป้งร่ำ\nแป้งสิงคโปร์\nแป้งหมี่\nแปดปน\nแปดเปื้อน\nแปรปรวน\nแปรผัน\nแปรพักตร์\nแปรรูป\nแปรอักษร\nแปลกปลอม\nแปะโป้ง\nโป้ปด\nโปร่งแสง\nโปร่งใส\nโปรดปราน\nโปรยทาน\nโปรยปราย\nโปโลน้ำ\nผกผัน\nผกากรอง\nผงขาว\nผงชูรส\nผงซักฟอก\nผงฟู\nผดุงครรภ์\nผมไฟ\nผลพลอยได้\nผลลัพธ์\nผลัดเปลี่ยน\nผลิตผล\nผลิตภัณฑ์\nผลุบโผล่\nผสมเทียม\nผสมผสาน\nผสมผเส\nผสมพันธุ์\nผสมโรง\nผสมเสร็จ\nผ่องแผ้ว\nผ่องใส\nผ่อนคลาย\nผ่อนชำระ\nผ่อนปรน\nผ่อนผัน\nผ่อนส่ง\nผอมโซ\nผอมแห้ง\nผักชี\nผักตบชวา\nผักบุ้ง\nผังเมือง\nผัดผ่อน\nผันแปร\nผันผวน\nผ่าตัด\nผ่าเผย\nผ่าหมาก\nผ่าเหล่า\nผ้าขนหนู\nผ้าขาวม้า\nผ้าขี้ริ้ว\nผ้าเช็ดตัว\nผ้าเช็ดปาก\nผ้าเช็ดมือ\nผ้าเช็ดหน้า\nผ้าดิบ\nผ้าต่วน\nผ้าไตร\nผ้าถุง\nผ้าแถบ\nผ้านวม\nผ้านุ่ง\nผ้าใบ\nผ้าป่า\nผ้าป่าน\nผ้าผ่อน\nผ้าพันคอ\nผ้าพันแผล\nผ้าแพร\nผ้าโพกหัว\nผ้ามัดหมี่\nผ้ายาง\nผ้าลูกไม้\nผ้าเหลือง\nผ้าอนามัย\nผ้าอ้อม\nผาดโผน\nผาติกรรม\nผิดหวัง\nผิวเผิน\nผิวพรรณ\nผิวหนัง\nผีกระสือ\nผีกระหัง\nผีกองกอย\nผีโขมด\nผีดิบ\nผีตองเหลือง\nผีถ้วยแก้ว\nผีแถน\nผีทะเล\nผีบุญ\nผีปอบ\nผีพุ่งไต้\nผีฟ้า\nผีเรือน\nผีสาง\nผีเสื้อ\nผีห่า\nผึ่งผาย\nผุดผ่อง\nผุดผาด\nผู้คน\nผู้คุม\nผู้จัดการ\nผู้ชาย\nผู้เชี่ยวชาญ\nผู้ดี\nผู้โดยสาร\nผู้ต้องขัง\nผู้ต้องหา\nผู้แทน\nผู้น้อย\nผู้บริโภค\nผู้บังคับบัญชา\nผู้ปกครอง\nผู้ประกอบการ\nผู้ป่วย\nผู้พิพากษา\nผู้เยาว์\nผู้ร้าย\nผู้วิเศษ\nผู้สื่อข่าว\nผู้เสียหาย\nผู้หญิง\nผู้ใหญ่\nผู้ใหญ่บ้าน\nผูกขวัญ\nผูกขาด\nผูกพัน\nผูกมัด\nเผชิญหน้า\nเผด็จการ\nเผด็จศึก\nเผยแผ่\nเผยแพร่\nเผละผละ\nเผ่าพันธุ์\nเผื่อแผ่\nแผงลอย\nแผนการ\nแผนงาน\nแผนที่\nแผนผัง\nแผนภาพ\nแผนภูมิ\nแผ่นดิน\nแผ่นเสียง\nแผ้วพาน\nโผงผาง\nฝนทอง\nฝอยทอง\nฝักแค\nฝักบัว\nฝักฝ่าย\nฝักใฝ่\nฝังใจ\nฝังหัว\nฝาชี\nฝาแฝด\nฝาละมี\nฝ่าพระบาท\nฝ่าฝืน\nฝ่าฟัน\nฝ้าฟาง\nฝากตัว\nฝากฝัง\nฝีดาษ\nฝีมะม่วง\nฝีจักร\nฝีเท้า\nฝีปาก\nฝีพาย\nฝีมือ\nฝีเย็บ\nฝึกงาน\nฝึกปรือ\nฝึกฝน\nฝึกสอน\nฝึกหัด\nฝืดเคือง\nใฝ่ฝัน\nพงพี\nพงศ์พันธุ์\nพญาโศก\nพญาไฟ\nพบปะ\nพบพาน\nพรสวรรค์\nพรมคด\nพรมแดน\nพรมมิ\nพรรคพวก\nพรรณราย\nพรวดพราด\nพรหมชาติ\nพรหมลิขิต\nพรหมโลก\nพรหมวิหาร\nพร้อมใจ\nพร้อมพรั่ง\nพร้อมเพรียง\nพร้อมมูล\nพร้อมสรรพ\nพร้อมหน้า\nพระครู\nพระคุณ\nพระเคราะห์\nพระเครื่อง\nพระเจ้า\nพระเจ้าอยู่หัว\nพระชายา\nพระทัย\nพระนาง\nพระนางเจ้า\nพระเป็นเจ้า\nพระผู้เป็นเจ้า\nพระพิมพ์\nพระพุทธเจ้า\nพระพุทธองค์\nพระภูมิ\nพระยา\nพระรอง\nพระสนม\nพระสนมเอก\nพระองค์\nพระองค์เจ้า\nพระเอก\nพรั่งพร้อม\nพรั่งพรู\nพรั่นพรึง\nพร่างพราว\nพรายน้ำ\nพรายแพรว\nพราวแพรว\nพร่ำพลอด\nพร่ำเพรื่อ\nพร่ำเพ้อ\nพริกไทย\nพริ้งพราย\nพริ้งเพรา\nพริ้งเพริศ\nพริบตา\nพริ้มพราย\nพริ้มเพรา\nพรุ่งนี้\nพฤติกรรม\nพฤติการณ์\nพฤตินัย\nพลการ\nพลขับ\nพลความ\nพลเมือง\nพลรบ\nพลร่ม\nพลเรือน\nพลโลก\nพลศึกษา\nพลบค่ำ\nพลอดรัก\nพลังงาน\nพลังเงียบ\nพลังจิต\nพลั้งปาก\nพลั้งเผลอ\nพลั้งพลาด\nพลัดถิ่น\nพลัดพราก\nพลาดท่า\nพลาดพลั้ง\nพลิกแพลง\nพลีกรรม\nพลุ่งพล่าน\nพวกพ้อง\nพวงมาลัย\nพวงมาลา\nพวงหรีด\nพวงคราม\nพวงชมพู\nพวงแสด\nพ่วงพี\nพวยน้ำ\nพวยพุ่ง\nพสกนิกร\nพหุคูณ\nพหุภาคี\nพหูพจน์\nพหูสูต\nพอควร\nพอใจ\nพอใช้\nพอใช้ได้\nพอดี\nพอตัว\nพอทำเนา\nพอประมาณ\nพอเพียง\nพอแรง\nพอสมควร\nพอเหมาะ\nพ่อขุน\nพ่อครัว\nพ่อตา\nพ่อบ้าน\nพ่อพันธุ์\nพ่อม่าย\nพ่อเมือง\nพ่อเลี้ยง\nพ่อสื่อ\nพอกพูน\nพ้องพาน\nพักผ่อน\nพักพิง\nพักฟื้น\nพักร้อน\nพักแรม\nพัดยศ\nพัดลม\nพันพัว\nพับฐาน\nพับเพียบ\nพัวพัน\nพาซื่อ\nพาดพิง\nพิณพาทย์\nพิธีกร\nพิธีกรรม\nพิธีการ\nพิธีรีตอง\nพิธีสาร\nพินัยกรรม\nพิมพ์เขียว\nพิมพ์ใจ\nพิมพ์ดีด\nพิษสง\nพี่น้อง\nพี่เบิ้ม\nพี่เลี้ยง\nพึงใจ\nพึงพอใจ\nพึ่งพา\nพึ่งพิง\nพืชพันธุ์\nพืชมงคล\nพื้นฐาน\nพื้นที่\nพื้นบ้าน\nพื้นเพ\nพื้นเมือง\nพื้นเสีย\nพุพอง\nพุทธกาล\nพุทธคุณ\nพุทธจักร\nพุทธเจดีย์\nพุทธฎีกา\nพุทธปฏิมา\nพุทธปฏิมากร\nพุทธมามกะ\nพุทธศักราช\nพุทธศาสนิกชน\nพุทธองค์\nพุทธชาด\nพุทธรักษา\nพุ่มพวง\nพุ่มไม้\nพู่กัน\nพูดจา\nเพ่งเล็ง\nเพดานบิน\nเพดานปาก\nเพริศพราย\nเพริศพริ้ง\nเพริศแพร้ว\nเพรียกพร้อง\nเพรียวลม\nเพลงเชิด\nเพลงยาว\nเพลิงกัลป์\nเพลินใจ\nเพลินตา\nเพลี่ยงพล้ำ\nเพ้อฝัน\nเพาะกาย\nเพาะชำ\nเพาะปลูก\nเพิกถอน\nเพิกเฉย\nเพิ่มเติม\nเพิ่มพูน\nเพียงตา\nเพียงพอ\nเพียบแประ\nเพียบพร้อม\nเพื่อนเกลอ\nเพื่อนตาย\nเพื่อนบ้าน\nเพื่อนฝูง\nเพื่อนยาก\nแพ้ท้อง\nแพร่หลาย\nแพร่งพราย\nแพรวพราว\nโพธิญาณ\nโพธิบัลลังก์\nโพธิสมภาร\nโพธิสัตว์\nโพ้นทะเล\nโพยภัย\nไพ่ตาย\nไพ่ป๊อก\nไพรวัน\nไพรสณฑ์\nไพรสัณฑ์\nไพร่พล\nไพร่ฟ้า\nไพร่สม\nไพร่ส่วย\nไพร่หลวง\nฟกช้ำ\nฟองเต้าหู้\nฟองน้ำ\nฟองมัน\nฟ้องกลับ\nฟ้องร้อง\nฟอนเฟะ\nฟักทอง\nฟัดเฟียด\nฟันดาบ\nฟันฝ่า\nฟันแท้\nฟันน้ำนม\nฟันปลา\nฟันฟาง\nฟันเฟือง\nฟันม้า\nฟันเลื่อย\nฟันหนู\nฟั่นเฝือ\nฟั่นเฟือน\nฟื้นตัว\nฟื้นฝอย\nฟื้นฟู\nฟุ้งซ่าน\nฟุ้งเฟ้อ\nฟุ้งเฟื่อง\nฟุตบอล\nฟูฟ่อง\nฟูเฟื่อง\nฟูมฟัก\nฟูมฟาย\nเฟะฟะ\nเฟื่องฟ้า\nเฟื่องฟุ้ง\nเฟื่องฟู\nไฟฉาย\nไฟแช็ก\nไฟธาตุ\nไฟฟ้า\nภัตกิจ\nภาคทัณฑ์\nภาคพื้น\nภาคเรียน\nภาคภูมิ\nภาพถ่าย\nภาพนิ่ง\nภาพประกอบ\nภาพพจน์\nภาพยนตร์\nภาพลวงตา\nภาพลักษณ์\nภายนอก\nภายใน\nภายหน้า\nภายหลัง\nภารกิจ\nภารธุระ\nภารโรง\nภารตวิทยา\nภาษาศาสตร์\nภาสกร\nภิญโญภาพ\nภินชาติ\nภูธร\nภูธเรศ\nภูบาล\nภูเบศ\nภูเบศวร์\nภูเขา\nภูเขาไฟ\nภูผา\nภูตคาม\nภูตบดี\nภูตรูป\nภูเตศวร\nภูมินทร์\nภูมิบาล\nภูมิประเทศ\nภูมิภาค\nภูมิรัฐศาสตร์\nภูมิลำเนา\nภูมิศาสตร์\nภูมิอากาศ\nภูมิธรรม\nภูมิปัญญา\nภูมิรู้\nภูมิใจ\nภูมิฐาน\nภูมิคุ้มกัน\nภูมิแพ้\nภูษาโยง\nเภทภัย\nเภสัชกร\nเภสัชกรรม\nเภสัชวิทยา\nเภสัชศาสตร์\nโภคทรัพย์\nโภคภัณฑ์\nโภชนากร\nโภชนาการ\nมกุฎราชกุมาร\nมงคลแฝด\nมงคลสูตร\nมงคลหัตถี\nมณเฑียรบาล\nมดดำ\nมดแดง\nมดเท็จ\nมดยอบ\nมดลูก\nมธุปายาส\nมธุรส\nมนเทียรบาล\nมนุษย์กบ\nมโนกรรม\nมโนคติ\nมโนทุจริต\nมโนธรรม\nมโนภาพ\nมโนมัย\nมโนรถ\nมโนรมย์\nมโนสุจริต\nมรรคนายก\nมรรคผล\nมฤคชาติ\nมฤคทายวัน\nมฤคราช\nมลทิน\nมลพิษ\nมลสาร\nมวกเหล็ก\nม้วนหน้า\nมวยไทย\nมวยปล้ำ\nมวยล้ม\nมวยวัด\nมวยสากล\nมวยหมู่\nมวลสาร\nมอคราม\nมอซอ\nมอหมึก\nมองเมียง\nมอบตัว\nมอบหมาย\nมอมเมา\nมะขามเทศ\nมะขามป้อม\nมะขามเปียก\nมะเขือเทศ\nมะเขือพวง\nมะพร้าวแก้ว\nมักคุ้น\nมักจี่\nมักง่าย\nมักน้อย\nมักมาก\nมักใหญ่\nมั่งคั่ง\nมั่งมี\nมัจจุราช\nมัชฌิมนิกาย\nมัชฌิมประเทศ\nมัชฌิมยาม\nมัชฌิมวัย\nมัดจำ\nมัดหมี่\nมัธยมกาล\nมัธยมศึกษา\nมันแกว\nมันเทศ\nมันฝรั่ง\nมันเปลว\nมันสมอง\nมั่นคง\nมั่นใจ\nมั่นหมาย\nมั่นเหมาะ\nมัวเมา\nมัวหมอง\nมั่วสุม\nม้าเทศ\nม้าน้ำ\nม้ามืด\nม้าเร็ว\nม้าล่อ\nม้าลาย\nมากมาย\nมาตรการ\nมาตรฐาน\nมาตราส่วน\nมาตุคาม\nมาตุฆาต\nมาตุภูมิ\nม่านตา\nม่านบังตา\nมายากร\nมายากล\nมายาการ\nมายาวี\nมารผจญ\nมารวิชัย\nมารสังคม\nมารหัวขน\nมาลาการ\nมิ่งขวัญ\nมิ่งมิตร\nมิจฉาจาร\nมิจฉาชีพ\nมิดชิด\nมิดเมี้ยน\nมิดหมี\nมิตรจิต\nมิตรภาพ\nมิตรสหาย\nมิน่า\nมีหน้า\nมีดโกน\nมีดดาบ\nมีดโต้\nมีดพก\nมีดพับ\nมีดสั้น\nมึนงง\nมึนชา\nมึนตึง\nมึนเมา\nมืดครึ้ม\nมืดมน\nมืดมัว\nมือจับ\nมือดี\nมือเติบ\nมือปืน\nมือเปล่า\nมือมืด\nมือสอง\nมือเสือ\nมือหนึ่ง\nมือใหม่\nมุกตลก\nมุขปาฐะ\nมุขมนตรี\nมุ่งมั่น\nมุ่งมาด\nมุ่งหน้า\nมุ่งหมาย\nมุ่งหวัง\nมุ้งลวด\nมุ้งสายบัว\nมุมก้ม\nมุมกลับ\nมุมเงย\nมุมฉาก\nมุมตรง\nมุมป้าน\nมุมมืด\nมุมแย้ง\nมุมสะท้อน\nมุมหักเห\nมุมแหลม\nมุสาวาท\nมูกเลือด\nมูกมัน\nมูกหลวง\nมูนดิน\nมูลฐาน\nมูลนาย\nมูลนิธิ\nมูลเหตุ\nมูลค่า\nมูลฝอย\nเม็ดเงิน\nเม็ดเลือด\nเม็ดโลหิต\nเม่นทะเล\nเมรุมาศ\nเมรุราช\nเมล์อากาศ\nเมาดิบ\nเมามัน\nเมามัว\nเมามาย\nเมินเฉย\nเมียน้อย\nเมียหลวง\nเมียงมอง\nเมี่ยงลาว\nเมี่ยงส้ม\nเมื่อกี้\nเมื่อตะกี้\nเมื่อใด\nเมื่อไร\nเมื่อไหร่\nเมื่อนั้น\nเมืองขึ้น\nเมืองท่า\nเมืองนอก\nเมืองหลวง\nเมื่อยขบ\nเมื่อยล้า\nแม่กอง\nแม่กุญแจ\nแม่คุณ\nแม่งาน\nแม่เจ้า\nแม่ชี\nแม่ทัพ\nแม่นม\nแม่น้ำ\nแม่บท\nแม่บ้าน\nแม่เบี้ย\nแม่พระ\nแม่พิมพ์\nแม่เพลง\nแม่มด\nแม่ม่าย\nแม่ไม้\nแม่ยก\nแม่ยาย\nแม่ร้าง\nแม่เรือน\nแม่แรง\nแม่เล้า\nแม่เลี้ยง\nแม่สี\nแม่สื่อ\nแม่เหล็ก\nแมงมุม\nแม่นยำ\nแมลงช้าง\nแมลงวัน\nแมลงปอ\nแมลงภู่\nแมลงเม่า\nแมวเซา\nแมวน้ำ\nแมวป่า\nแมวมอง\nไม้กลัด\nไม้กวาด\nไม้กางเขน\nไม้เกาหลัง\nไม้ขีดไฟ\nไม้จิ้มฟัน\nไม้เด็ด\nไม้ตาย\nไม้ตีพริก\nไม้ที\nไม้เท้า\nไม้บรรทัด\nไม้เมตร\nไม้ระแนง\nไม้เรียว\nไม้หมอน\nไม้อัด\nไม้จัตวา\nไม้ตรี\nไม้ไต่คู้\nไม้โท\nไม้ผัด\nไม้มลาย\nไม้ม้วน\nไม้ยมก\nไม้หน้า\nไม้หันอากาศ\nไม้เอก\nยกกลีบ\nยกครู\nยกเครื่อง\nยกเค้า\nยกทรง\nยกฟ้อง\nยกเมฆ\nยกยอ\nยกย่อง\nยกเลิก\nยกเว้น\nย่นย่อ\nยมทูต\nยมบาล\nยมราช\nยมโลก\nยวดยิ่ง\nยวดยาน\nยวนยี\nยวบยาบ\nย่อท้อ\nย่อส่วน\nย่อหน้า\nย่อหย่อน\nยอกย้อน\nยองใย\nย่องเบา\nย่องแย่ง\nยอดเยี่ยม\nยอดอก\nย้อนยอก\nย้อนรอย\nย้อนศร\nย้อนแสง\nย้อนหลัง\nยอบแยบ\nยอมความ\nย่อมเยา\nย่อยยับ\nยักยอก\nยักย้าย\nยักเยื้อง\nยัญกรรม\nยัญพิธี\nยัดเยียด\nยับเยิน\nยับยั้ง\nยั่วยวน\nยั่วยุ\nยั่วเย้า\nยากวาด\nยากันยุง\nยาเขียว\nยาใจ\nยาฉุน\nยาชา\nยาซัด\nยาดอง\nยาแดง\nยาถ่าย\nยาธาตุ\nยานัตถุ์\nยาเบื่อ\nยาโป๊\nยาแฝด\nยาพิษ\nยาระบาย\nยาสลบ\nยาสั่ง\nยาสีฟัน\nยาสูบ\nยาเส้น\nยาเสพติด\nยาหม่อง\nยาเหลือง\nย่าทวด\nย่านาง\nยากแค้น\nยากจน\nยากเย็น\nยากไร้\nยางนอก\nยางใน\nยางมะตอย\nยางมะตูม\nยางลบ\nยางสน\nยางอาย\nย่างกราย\nย่างเยื้อง\nย่างสด\nย่างสามขุม\nย่างเหยียบ\nยานเกราะ\nยานพาหนะ\nยานอวกาศ\nยานคาง\nยายทวด\nยาวเฟื้อย\nยาวยืด\nยาวเหยียด\nยำทวาย\nยำใหญ่\nยำเกรง\nยำเยง\nย่ำต๊อก\nย่ำยี\nย่ำแย่\nยิงเป้า\nยิ่งนัก\nยิ่งยวด\nยิ่งใหญ่\nยินดี\nยินยอม\nยินร้าย\nยิ้มกริ่ม\nยิ้มแฉ่ง\nยิ้มแต้\nยิ้มแป้น\nยิ้มเผล่\nยิ้มเยาะ\nยิ้มแย้ม\nยียวน\nยึดครอง\nยึดถือ\nยึดมั่น\nยึดเหนี่ยว\nยืดยาด\nยืดยาว\nยืดเยื้อ\nยืดหยุ่น\nยืดอก\nยืนกราน\nยืนต้น\nยืนพื้น\nยืนยง\nยืนยัน\nยืนหยัด\nยื้อยุด\nยุยง\nยุแยง\nยุแหย่\nยุคลบาท\nยุคเข็ญ\nยุคทอง\nยุคมืด\nยุ่งขิง\nยุ่งยาก\nยุ่งเหยิง\nยุติธรรม\nยุทธการ\nยุทธนาวี\nยุทธปัจจัย\nยุทธภัณฑ์\nยุทธภูมิ\nยุทธวิธี\nยุทธศาสตร์\nยุทธหัตถี\nยุทธนาการ\nยุทธนาธิการ\nยุบยับ\nยุบยิบ\nยุพราช\nยู่ยี่\nเย็นเจี๊ยบ\nเย็นใจ\nเย็นฉ่ำ\nเย็นเฉียบ\nเย็นชา\nเย็นชืด\nเย็นตา\nเย็นเยียบ\nเย็นเยือก\nเย็นวาบ\nเย็นวูบ\nเย็บกี่\nเย็บจักร\nเย็บด้าย\nเย้ยหยัน\nเย้าหยอก\nเยาะเย้ย\nเยี่ยมกราย\nเยี่ยมเยียน\nเยี่ยมเยือน\nเยี่ยมยอด\nเยื่อเคย\nเยื่อใย\nเยือกเย็น\nเยื้องกราย\nเยื้องยัก\nเยื้องย่าง\nแยกย้าย\nแยกแยะ\nแย่งชิง\nแยบคาย\nแยบยล\nแย้มพราย\nแย้มยิ้ม\nแย้มสรวล\nโยเย\nโย้เย้\nโยกโคลง\nโยกย้าย\nโยกโย้\nโยนกลอง\nใยหิน\nรกชัฏ\nรกร้าง\nรกเรี้ยว\nรกเรื้อ\nรกราก\nรงควัตถุ\nรชนีกร\nรถกระบะ\nรถเก๋ง\nรถเข็น\nรถแข่ง\nรถจักร\nรถจี๊ป\nรถตู้\nรถทัวร์\nรถบรรทุก\nรถพ่วง\nรถพยาบาล\nรถไฟ\nรถไฟฟ้า\nรถม้า\nรถเมล์\nรถยนต์\nรถราง\nรถลาก\nรถสปอร์ต\nรถสิบล้อ\nรบกวน\nรบรา\nรบเร้า\nรมดำ\nร่มเกล้า\nร่มชูชีพ\nร่มเย็น\nร่มรื่น\nร่วงโรย\nรวงผึ้ง\nรวงรัง\nรวดเร็ว\nรวนเร\nรวบยอด\nรวบรวม\nรวบรัด\nรวมพล\nรวมหัว\nร่วมใจ\nร่วมเพศ\nร่วมมือ\nร่วมรัก\nร่วมสมัย\nรวยริน\nรวยรื่น\nรสชาติ\nรสนิยม\nรองท้อง\nรองเท้า\nรองพื้น\nร่องน้ำ\nร่องรอย\nร้องขอ\nร้องทุกข์\nร้องเรียน\nร้องห่ม\nร้องไห้\nรองช้ำ\nรองทรง\nรอดชีวิต\nรอดตัว\nรอดตาย\nรอนแรม\nร่อนเร่\nร้อนใจ\nร้อนตัว\nร้อนรน\nร้อนรุ่ม\nร้อนวิชา\nร้อนอาสน์\nรอบจัด\nรอบเดือน\nรอบรู้\nรอยร้าว\nร่อยหรอ\nร้อยละ\nร้อยกรอง\nร้อยแก้ว\nร้อยหวาย\nระนาดทุ้ม\nระนาดเอก\nระเบิดขวด\nระเบิดมือ\nระเบียบการ\nรักใคร่\nรักษาการ\nรักษาการณ์\nรังไข่\nรังแตน\nรังนก\nรังผึ้ง\nรังเพลิง\nรังมด\nรังสรรค์\nรังสฤษฏ์\nรั้งรอ\nรังสีแพทย์\nรังสีวิทยา\nรัชกาล\nรัชทายาท\nรัชนีกร\nรัฐธรรมนูญ\nรัฐบาล\nรัฐบุรุษ\nรัฐประศาสน์\nรัฐประหาร\nรัฐพิธี\nรัฐมนตรี\nรัฐวิสาหกิจ\nรัฐศาสตร์\nรัฐสภา\nรัดกุม\nรัดเกล้า\nรัดตัว\nรัดประคด\nรัดรึง\nรัดรูป\nรัตติกาล\nรับขวัญ\nรับจ้าง\nรับช่วง\nรับใช้\nรับซื้อ\nรับทราบ\nรับประกัน\nรับประทาน\nรับปาก\nรับผิด\nรับผิดชอบ\nรับฟ้อง\nรับฟัง\nรับมือ\nรับรอง\nรับรู้\nรับสมัคร\nรับสั่ง\nรับหน้า\nรับเหมา\nรั่วไหล\nรามือ\nร่าเริง\nรากแก้ว\nรากขวัญ\nรากฐาน\nรากฟัน\nรากศัพท์\nรากเหง้า\nร่างกาย\nร่างแห\nร้างรา\nราชกรณียกิจ\nราชการ\nราชกิจ\nราชครู\nราชฐาน\nราชทัณฑ์\nราชทินนาม\nราชทูต\nราชธานี\nราชนาวี\nราชบัณฑิต\nราชบัลลังก์\nราชบาตร\nราชบุตร\nราชปะแตน\nราชภัฏ\nราชมัล\nราชยาน\nราชรถ\nราชลัญจกร\nราชเลขาธิการ\nราชเลขานุการ\nราชวงศ์\nราชวัติ\nราชสกุล\nราชสมบัติ\nราชสาส์น\nราชหัตถเลขา\nราชองครักษ์\nราชโองการ\nราชาคณะ\nราชาศัพท์\nราชินีนาถ\nร้านชำ\nร้านรวง\nราบคาบ\nราบรื่น\nราบเรียบ\nรายการ\nรายงาน\nรายจ่าย\nรายได้\nรายทาง\nรายรับ\nรายล้อม\nรายละเอียด\nรายวิชา\nร่ายยาว\nร่ายรำ\nร้ายกาจ\nร้ายแรง\nราวนม\nราวป่า\nร้าวฉาน\nร้าวราน\nรำพัด\nรำแพน\nรำวง\nร่ำไป\nร่ำร้อง\nร่ำเรียน\nร่ำไร\nร่ำลา\nร่ำไห้\nริเริ่ม\nริอ่าน\nริมฝีปาก\nริ้วรอย\nรีบร้อน\nรีบรุด\nรีบเร่ง\nรื่นรมย์\nรื่นเริง\nรื้อถอน\nรื้อฟื้น\nรุกฆาต\nรุกราน\nรุกล้ำ\nรุกไล่\nรุ่งขึ้น\nรุ่งแจ้ง\nรุ่งเช้า\nรุ่งเรือง\nรุ่งโรจน์\nรุ่งสว่าง\nรุ่งสาง\nรุ่งอรุณ\nรุจิเรข\nรุดหน้า\nรุนแรง\nรุมเร้า\nรุมล้อม\nรุ่มรวย\nรุ่มร้อน\nรุ่ยร่าย\nรู้แกว\nรู้ความ\nรู้คุณ\nรู้งาน\nรู้จัก\nรู้แจ้ง\nรู้ใจ\nรู้เชิง\nรู้ตัว\nรู้ทัน\nรู้เท่า\nรู้เรื่อง\nรู้สำนึก\nรู้สึก\nรู้เห็น\nรูปการณ์\nรูปโฉม\nรูปฌาน\nรูปถ่าย\nรูปทรง\nรูปธรรม\nรูปแบบ\nรูปพรรณ\nรูปพรหม\nรูปภพ\nรูปภาพ\nรูปร่าง\nรูปสมบัติ\nเร่ร่อน\nเร่งด่วน\nเร่งมือ\nเร่งรัด\nเร่งรีบ\nเร่งเร้า\nเร้นลับ\nเร่อร่า\nเร่าร้อน\nเราะราย\nเราะร้าย\nเริงใจ\nเริงรมย์\nเริดร้าง\nเริ่มต้น\nเริ่มแรก\nเรี่ยราด\nเรี่ยไร\nเรียกคืน\nเรียกตัว\nเรียกร้อง\nเรียกหา\nเรียบร้อย\nเรียงความ\nเรียงตัว\nเรียงเบอร์\nเรียงพิมพ์\nเรียงเม็ด\nเรียงราย\nเรียนรู้\nเรียบร้อย\nเรียบเรียง\nเรียบวุธ\nเรี่ยมเร้\nเรี่ยวแรง\nเรือกลไฟ\nเรือกอและ\nเรือกำปั่น\nเรือจ้าง\nเรือดำน้ำ\nเรือโดยสาร\nเรือตรวจการณ์\nเรือตังเก\nเรือธง\nเรือนำร่อง\nเรือบด\nเรือบิน\nเรือใบ\nเรือประมง\nเรือพ่วง\nเรือพิฆาต\nเรือยนต์\nเรือยาว\nเรือโยง\nเรือรบ\nเรือลากจูง\nเรือสำปั้น\nเรือสำเภา\nเรือหลวง\nเรือหางยาว\nเรืออีโปง\nเรือเอี้ยมจุ๊น\nเรื้อรัง\nเรือกสวน\nเรืองนาม\nเรืองรอง\nเรืองแสง\nเรื่องราว\nเรื่องสั้น\nเรือนแก้ว\nเรือนจำ\nเรือนเบี้ย\nเรือนแพ\nเรือนหอ\nเรื่อยเจื้อย\nเรื่อยเฉื่อย\nเรื่อยเปื่อย\nแรเงา\nแรกนา\nแรกนาขวัญ\nแรงงาน\nแรงดึงดูด\nแรงเทียน\nแรงม้า\nแรงเหวี่ยง\nแรมรอน\nแรมรา\nแรมโรย\nโรคจิต\nโรงครัว\nโรงงาน\nโรงเจ\nโรงเตี๊ยม\nโรงทาน\nโรงนา\nโรงพยาบาล\nโรงพัก\nโรงพิมพ์\nโรงเรียน\nโรงเรือน\nโรงแรม\nโรงเลี้ยง\nโรงเลื่อย\nโรงสี\nโรงสีข้าว\nโรงอาหาร\nโรมรัน\nโรยรา\nฤชากร\nฤดูกาล\nลงขัน\nลงแขก\nลงคอ\nลงตัว\nลงท้าย\nลงทุน\nลงโทษ\nลงพุง\nลงมือ\nลงรัก\nลงรอย\nลงแรง\nลงโรง\nลงเอย\nลดตัว\nลดละ\nลดเลี้ยว\nลดหย่อน\nลดหลั่น\nลนลาน\nล้นพ้น\nล้นหลาม\nล้นเหลือ\nลบล้าง\nลบเลือน\nลบหลู่\nลมกรด\nลมค้า\nลมงวง\nลมแดด\nลมทะเล\nลมบก\nลมบน\nลมบ้าหมู\nลมปราณ\nลมปาก\nลมพิษ\nลมว่าว\nลมเสีย\nลมหนาว\nลมหายใจ\nล่มจม\nล่มสลาย\nล้มละลาย\nล้มลุก\nล้มเลิก\nล่วงเกิน\nล่วงรู้\nล่วงละเมิด\nล่วงลับ\nล่วงล้ำ\nล่วงเลย\nล่วงหน้า\nลวดลาย\nลวดสปริง\nลวดหนาม\nล้วนแล้ว\nลหุโทษ\nล่อลวง\nล่อหลอก\nล่อแหลม\nล้อต๊อก\nล้อเลื่อน\nล้อเล่น\nล้อเลียน\nล้อหลอก\nลองเชิง\nลองดี\nลองภูมิ\nล่องหน\nลอดช่อง\nล่อนจ้อน\nลอบกัด\nล้อมวง\nลอยแก้ว\nลอยชาย\nลอยตัว\nลอยนวล\nลอยแพ\nลอยลำ\nละทิ้ง\nละเลย\nละเว้น\nละครนอก\nละครใน\nละครเพลง\nละครร้อง\nละครรำ\nละครลิง\nละครสัตว์\nละเอียดอ่อน\nลักไก่\nลักพา\nลักเพศ\nลักยิ้ม\nลักลอบ\nลักลั่น\nลักหลับ\nลัดเลาะ\nลับตา\nลับแล\nลับหลัง\nลาออก\nล่าช้า\nล่าทัพ\nล้าสมัย\nล้าหลัง\nลากข้าง\nล้างบาง\nล้างผลาญ\nลาดเขา\nลาดตระเวน\nลาดเท\nลาดยาง\nลานบิน\nลาภปาก\nลาภลอย\nลามปาม\nลามเลีย\nลายคราม\nลายเซ็น\nลายแทง\nลายน้ำ\nลายพร้อย\nลายมือ\nลายลักษณ์\nลายเส้น\nลำกล้อง\nลำแข้ง\nลำธาร\nลำแสง\nลำไส้\nลำตัด\nลำนำ\nล่ำสัน\nล้ำยุค\nล้ำสมัย\nล้ำลึก\nล้ำเลิศ\nล้ำเส้น\nล้ำหน้า\nลิงจุ่น\nลิงลม\nลิงโลด\nลิดรอน\nลิ้นไก่\nลิ้นชัก\nลิ้นปี่\nลิ้นควาย\nลิ้นงูเห่า\nลิ้นหมา\nลิบลับ\nลิบลิ่ว\nลิ่มเลือด\nลี้ภัย\nลี้ลับ\nลึกซึ้ง\nลึกลับ\nลึกล้ำ\nลืมตน\nลืมต้น\nลืมตัว\nลืมตา\nลืมเลือน\nลือชา\nลือชื่อ\nลือลั่น\nลุล่วง\nลุกลน\nลุกลาม\nลุกลี้ลุกลน\nลุกฮือ\nลุ่มน้ำ\nลุ่มลึก\nลุ่มหลง\nลุ่ทาง\nลูกกรง\nลูกกรอก\nลูกกรุง\nลูกกลอน\nลูกกลิ้ง\nลูกกวาด\nลูกกะจ๊อก\nลูกกุญแจ\nลูกเกด\nลูกแก้ว\nลูกขนไก่\nลูกข่าง\nลูกขุน\nลูกเขย\nลูกครึ่ง\nลูกคลื่น\nลูกความ\nลูกคอ\nลูกค้า\nลูกคิด\nลูกคู่\nลูกจ้าง\nลูกช้าง\nลูกชิด\nลูกชิ้น\nลูกชุบ\nลูกซอง\nลูกโซ่\nลูกดอก\nลูกดิ่ง\nลูกตะกั่ว\nลูกตุ้ม\nลูกเต้า\nลูกเต๋า\nลูกถ้วย\nลูกทุ่ง\nลูกเธอ\nลูกน้อง\nลูกน้ำ\nลูกนิมิต\nลูกบอล\nลูกบ้าน\nลูกบาศก์\nลูกบิด\nลูกเบี้ยว\nลูกประคบ\nลูกประคำ\nลูกปัด\nลูกปืน\nลูกโป่ง\nลูกผสม\nลูกผู้ชาย\nลูกผู้หญิง\nลูกพรรค\nลูกพี่\nลูกฟูก\nลูกไฟ\nลูกมือ\nลูกโม่\nลูกไม้\nลูกยาเธอ\nลูกรอก\nลูกรัง\nลูกเรือ\nลูกล้อ\nลูกลอย\nลูกเล่น\nลูกเลี้ยง\nลูกโลก\nลูกวัด\nลูกศร\nลูกศิษย์\nลูกสมุน\nลูกสะใภ้\nลูกสูบ\nลูกเสือ\nลูกหนัง\nลูกหนี้\nลูกหนู\nลูกหมาก\nลูกหลง\nลูกหลาน\nลูกหาบ\nลูกหิน\nลูกเห็บ\nลูกเหม็น\nลูกแหง่\nลูกอม\nลูกหม้อ\nลูบคม\nลูบคลำ\nลูบไล้\nเล็กน้อย\nเลขคณิต\nเลขผา\nเลขหมาย\nเล็ดลอด\nเล่นงาน\nเล่นแง่\nเล่นชู้\nเล่นตัว\nเล่นลิ้น\nเล่นหัว\nเลนส์นูน\nเลนส์เว้า\nเล็บครุฑ\nเลยเถิด\nเลศนัย\nเล่ห์กล\nเล่ห์เหลี่ยม\nเลอโฉม\nเลอมาน\nเลอเลิศ\nเลอสรวง\nเล่อล่า\nเลอะเลือน\nเล่าเรียน\nเล่าลือ\nเลาะลัด\nเลิกรา\nเลิกร้าง\nเลิกล้ม\nเลิศเลอ\nเลี้ยงชีพ\nเลี้ยงดู\nเลี้ยงต้อย\nเลียบเคียง\nเลี้ยวลด\nเลือกตั้ง\nเลือกเฟ้น\nเลือกสรร\nเลื่องลือ\nเลือดกำเดา\nเลือดเนื้อ\nเลือดฝาด\nเลือดเย็น\nเลือดร้อน\nเลือดหมู\nเลือดอุ่น\nเลือนราง\nเลื่อนเปื้อน\nเลื่อนลอย\nเลื่อมพราย\nเลื่อมใส\nเลื่อยฉลุ\nเลื่อยลันดา\nเลื่อยวงเดือน\nเลื้อยคลาน\nแลเหลียว\nแลกเปลี่ยน\nแล้วกัน\nและเล็ม\nโล่งใจ\nโล่งโถง\nโล่งอก\nโลดเต้น\nโลดโผน\nโลดลิ่ว\nโลดแล่น\nไล่ที่\nไล่เบี้ย\nไล่เลี่ย\nไล่เลียง\nไล่หลัง\nไล่ออก\nวกวน\nวงกบ\nวงกลม\nวงการ\nวงแขน\nวงเงิน\nวงจร\nวงนอก\nวงใน\nวงรี\nวงเล็บ\nวงเวียน\nวงแหวน\nวงศ์วาน\nวจีกรรม\nวจีเภท\nวจีภาค\nวนเวียน\nวอดวาย\nว็อบแว็บ\nวังวน\nวังหน้า\nวังหลวง\nวังหลัง\nวัดราษฎร์\nวัดวา\nวัดหลวง\nวัดผล\nวัดพื้น\nวัตถุนิยม\nวัตถุประสงค์\nวัตรปฏิบัติ\nวันโกน\nวันพระ\nวันเพ็ญ\nวัยรุ่น\nวัยวุฒิ\nว่ากล่าว\nว่าจ้าง\nว่าด้วย\nว่าที่\nวางก้าม\nวางใจ\nวางตัว\nวางตา\nวางโต\nวางท่า\nวางมวย\nวางมาด\nวางมือ\nวางวาย\nว่างเปล่า\nว่างเว้น\nวาดเขียน\nว่านเครือ\nวาบหวาม\nวายชนม์\nวายปราณ\nวายวาง\nวายวอด\nวายร้าย\nวายุภักษ์\nวาววับ\nวาววาม\nวาวแวว\nวาวแสง\nวิกฤตการณ์\nวิกฤติการณ์\nวิกฤตกาล\nวิกฤติกาล\nวิกลจริต\nวิงเวียน\nวิ่งเต้น\nวิ่งผลัด\nวิ่งรอก\nวิ่งราว\nวิจิตรศิลป์\nวิชาการ\nวิชาชีพ\nวิชาธร\nวิญญูชน\nวิดพื้น\nวิตกจริต\nวิถีทาง\nวิทยากร\nวิทยากล\nวิทยาการ\nวิทยาเขต\nวิทยาทาน\nวิทยาธร\nวิทยานิพนธ์\nวิทยาศาสตร์\nวิเทศสัมพันธ์\nวิธีการ\nวินัยธร\nวินัยปิฎก\nวินาศกรรม\nวินาศภัย\nวินาศสันตะโร\nวิภัชพยากรณ์\nวิภัชวาที\nวิไลวรรณ\nวิสัญญีแพทย์\nวิสัญญีภาพ\nวิสัญญีวิทยา\nวุฒิบัตร\nวุฒิสภา\nวุฒิสมาชิก\nวุ่นวาย\nวุ้นเส้น\nวูบวาบ\nเวจกุฎี\nเวจมรรค\nเวชกรรม\nเวชภัณฑ์\nเวชศาสตร์\nเวทมนตร์\nเวนคืน\nเวรกรรม\nเวฬุการ\nเวฬุวัน\nเว้าวอน\nเวิ้งว้าง\nเวียงวัง\nเวียนเทียน\nแว้งกัด\nแวดล้อม\nแวดวง\nแว่นขยาย\nแว่นแคว้น\nแว่นตา\nแวบวับ\nแววตา\nแวววาม\nแวววาว\nแวะเวียน\nโวยวาย\nไวไฟ\nไว้ใจ\nไว้ชื่อ\nไว้ตัว\nไว้ทุกข์\nไว้ลาย\nไว้หน้า\nไว้อาลัย\nศนิวาร\nศอกกลับ\nศอกกำ\nศอกกำมา\nศักดิ์ศรี\nศักดิ์สิทธิ์\nศารทวิษุวัติ\nศาลแขวง\nศาลจังหวัด\nศาลชั้นต้น\nศาลฎีกา\nศาลเตี้ย\nศาลทหาร\nศาลปกครอง\nศาลพระภูมิ\nศาลเพียงตา\nศาลแพ่ง\nศาลรัฐธรรมนูญ\nศาลแรงงาน\nศาลล้มละลาย\nศาลโลก\nศาลสูง\nศาลสูงสุด\nศาลอาญา\nศาลอุทธรณ์\nศาลากลาง\nศาลาดิน\nศาลาราย\nศาลาวัด\nศิลาฤกษ์\nศิลาแลง\nศิษย์เก่า\nศิษย์เอก\nศีลจุ่ม\nศีลธรรม\nศีลวัต\nศีลอด\nศูนย์กลาง\nศูนย์การค้า\nศูนย์ถ่วง\nศูนย์สูตร\nศูนย์หน้า\nเศร้าใจ\nเศร้าโศก\nเศร้าสร้อย\nเศร้าสลด\nเศร้าหมอง\nเศวตฉัตร\nเศษเกิน\nเศษซ้อน\nเศษวรรค\nเศษส่วน\nเศษเหล็ก\nโศกนาฏกรรม\nโศกศัลย์\nโศกเศร้า\nโศกสลด\nสกลโลก\nส่งเดช\nส่งท้าย\nส่งเสริม\nส่งเสีย\nส่งเสียง\nสงบเงียบ\nสงบเสงี่ยม\nสง่างาม\nสง่าราศี\nสดชื่น\nสดใส\nสตรีเพศ\nสติปัญญา\nสถลมารค\nสถานกงสุล\nสถานที่\nสถานทูต\nสถานการณ์\nสถานภาพ\nสถิติศาสตร์\nสนตะพาย\nสนใจ\nส้นตีน\nสนธิสัญญา\nสนนราคา\nสนับแข้ง\nสนับเพลา\nสนับมือ\nสนามบิน\nสนามเพลาะ\nสนิทสนม\nสนิมขุม\nสนิมสร้อย\nสนุกสนาน\nสบประมาท\nสบายใจ\nสภาพธรรม\nสมควร\nสมจริง\nสมใจ\nสมนัย\nสมน้ำหน้า\nสมประกอบ\nสมส่วน\nสมหวัง\nสมคบ\nสมทบ\nสมยอม\nสมรัก\nสมรู้\nสมสู่\nส้มฉุน\nส้มตำ\nส้มลิ้ม\nส้มกุ้ง\nส้มเช้า\nสมญานาม\nสมมติฐาน\nสมมุติฐาน\nสมมติเทพ\nสมรภูมิ\nสมัครใจ\nสมัยนิยม\nสมุทรศาสตร์\nสมุทรเสนา\nสยดสยอง\nสยองขวัญ\nสยามรัฐ\nสรรหา\nสรวมชีพ\nสรวลเส\nสร้อยเศร้า\nสร้างสรรค์\nสร้างเสริม\nสลดใจ\nสลบไสล\nสละสลวย\nสลาเหิน\nสลากภัต\nสวนครัว\nสวนป่า\nสวนสนุก\nสวนหย่อม\nส่วนกลาง\nส่วนเกิน\nส่วนตัว\nส่วนบุญ\nส่วนแบ่ง\nส่วนประกอบ\nส่วนพระองค์\nส่วนผสม\nส่วนรวม\nส่วนร่วม\nส่วนลด\nส่วนสัด\nสวมกอด\nสวมเขา\nสวมรอย\nสวยมภู\nสว่างไสว\nสวามิภักดิ์\nสวิงสวาย\nสสารนิยม\nส่อเสียด\nสอดคล้อง\nสอดแทรก\nสอดแนม\nสอบถาม\nสอบทาน\nสอบไล่\nสอบสวน\nส้อมเสียง\nสะสวย\nสะแกวัลย์\nสะแกแสง\nสะใจ\nสะเด็ดยาด\nสะเทือนใจ\nสะบัดช่อ\nสั่งสม\nสั่งสอน\nสั่งเสีย\nสังเกตการณ์\nสังคมนิยม\nสังคมวิทยา\nสังคมศาสตร์\nสังคมศึกษา\nสังคมสงเคราะห์\nสัญญาบัตร\nสัดส่วน\nสัตการ\nสัตบุรุษ\nสัตบริภัณฑ์\nสัตภัณฑ์\nสัตมหาสถาน\nสัตโลหะ\nสันเขา\nสันดอน\nสันหลัง\nสั่นเทา\nสั่นเทิ้ม\nสันติบาล\nสันติภาพ\nสันติวิธี\nสันติสุข\nสับเปลี่ยน\nสับสน\nสับหลีก\nสับหว่าง\nสัมมาคารวะ\nสัมมาชีพ\nส่าเหล้า\nสากกะเบือ\nสาทิสลักษณ์\nสาธุการ\nสาธุชน\nสาบเสือ\nสาปสรร\nสาปแช่ง\nสาปส่ง\nสามง่าม\nสามล้อ\nสามเหลี่ยม\nสามเวท\nสามัญชน\nสามัญสำนึก\nสายดิ่ง\nสายดิน\nสายตรวจ\nสายน้ำ\nสายบัว\nสายพาน\nสายฟ้า\nสายยาง\nสายยู\nสายใย\nสายรก\nสายรุ้ง\nสายล่อฟ้า\nสายลับ\nสายเลือด\nสายโลหิต\nสายวัด\nสายส่ง\nสายสวาท\nสายสะดือ\nสายสะพาย\nสายสัมพันธ์\nสายสิญจน์\nสายสืบ\nสายไหม\nสายอากาศ\nสายตา\nสายหยุด\nสารตรา\nสารประกอบ\nสารละลาย\nสารส้ม\nสารหนู\nสารทฤดู\nสาวใช้\nสาวน้อย\nสาวใหญ่\nสำนักงาน\nสำนักพิมพ์\nสำนักสงฆ์\nสำมะโนครัว\nสำเร็จรูป\nสิกขาบท\nสิงสถิต\nสิงสู่\nสิ่งก่อสร้าง\nสิ่งของ\nสิ่งปฏิกูล\nสิ่งพิมพ์\nสิ่งแวดล้อม\nสิ่งศักดิ์สิทธิ์\nสิทธิกร\nสิทธิ์ขาด\nสิทธิชัย\nสิทธิโชค\nสิทธิบัตร\nสินค้า\nสินจ้าง\nสินเชื่อ\nสินไถ่\nสินทรัพย์\nสินน้ำใจ\nสินบน\nสินแร่\nสินสมรส\nสินสอด\nสินไหม\nสิ้นเชิง\nสิ้นสุด\nสีผึ้ง\nสีลม\nสีชอล์ก\nสีถ่าน\nสีเทียน\nสีน้ำ\nสีน้ำมัน\nสีโปสเตอร์\nสีฝุ่น\nสี่เหลี่ยม\nสีหน้า\nสึกหรอ\nสืบทอด\nสืบค้น\nสืบสวน\nสืบสาว\nสืบเสาะ\nสื่อผสม\nสื่อมวลชน\nสื่อสาร\nสุกงอม\nสุกดิบ\nสุกปลั่ง\nสุกใส\nสุขนาฏกรรม\nสุขภัณฑ์\nสุขภาพ\nสุขลักษณะ\nสุขวิทยา\nสุขศาลา\nสุขศึกษา\nสุดท้าย\nสุตกวี\nสุนทรพจน์\nสุภาพชน\nสู่ขอ\nสู่รู้\nสู่สม\nสูงส่ง\nสูญเปล่า\nสูญสิ้น\nสูญเสีย\nสูญหาย\nเสสรวล\nเสแสร้ง\nเสกสรร\nเสถียรภาพ\nเส้นชัย\nเส้นตรง\nเส้นตาย\nเส้นทาง\nเส้นใย\nเส้นรุ้ง\nเส้นเลือด\nเส้นแวง\nเส้นสาย\nเส้นเสียง\nเส้นหมี่\nเส้นเอ็น\nเสบียงกรัง\nเสมอภาค\nเสมอหน้า\nเสมอเหมือน\nเสมียนตรา\nเสร็จสรรพ\nเสร็จสิ้น\nเสริมส่ง\nเสริมสร้าง\nเสริมสวย\nเสรีไทย\nเสรีธรรม\nเสรีนิยม\nเสรีภาพ\nเสาเข็ม\nเสาธง\nเสียใจ\nเสียเชิง\nเสียดาย\nเสียที\nเสียเที่ยว\nเสียเปรียบ\nเสียเปล่า\nเสียรู้\nเสียแรง\nเสียสละ\nเสียหลัก\nเสียหาย\nเสี่ยงทาย\nเสียดแทง\nเสียดแทรก\nเสียดสี\nเสี้ยนศึก\nเสี้ยนหนาม\nเสี้ยมสอน\nเสียวซ่าน\nเสียวไส้\nเสือดาว\nเสือดำ\nเสือปลา\nเสือป่า\nเสือไฟ\nเสื่อกก\nเสื่อกระจูด\nเสื่อน้ำมัน\nเสื่อลำแพน\nเสื้อกล้าม\nเสื้อกั๊ก\nเสื้อเกราะ\nเสื้อครุย\nเสื้อแสง\nเสื้อเมือง\nเสือกคลาน\nเสือกสน\nเสือกไส\nเสื่อมคลาย\nเสื่อมถอย\nเสื่อมทราม\nเสื่อมโทรม\nเสื่อมสลาย\nเสื่อมสูญ\nเสื่อมเสีย\nเสือหมอบ\nแสกหน้า\nแสดงออก\nแสเถา\nแสนกล\nแสนรู้\nแสร้งว่า\nใส่ความ\nใส่ไคล้\nใส่ใจ\nใส่ไฟ\nไส้กรอก\nไส้ไก่\nไส้ติ่ง\nไส้ศึก\nไส้อั่ว\nไส้เดือน\nไส้ตัน\nไสยเวท\nไสยศาสตร์\nหกล้ม\nหงส์หยก\nหงอนไก่\nหงอยก๋อย\nหงอยเหงา\nหงายท้อง\nหงายหลัง\nหงำเหงอะ\nหงำเหงือก\nหดหาย\nหดหู่\nหนทาง\nหนวกหู\nหน่วงเหนี่ยว\nหน่วยก้าน\nหน่อไม้\nหนองใน\nหนองแซง\nหนักข้อ\nหนักใจ\nหนักแน่น\nหนักหน่วง\nหนักหนา\nหนังกลับ\nหนังตะลุง\nหนังเรียด\nหนังสด\nหนังใหญ่\nหนังสือพิมพ์\nหนาแน่น\nหน้ากระดาน\nหน้ากาก\nหน้ากาฬ\nหน้าแข้ง\nหน้าจั่ว\nหน้าฉาน\nหน้าตัก\nหน้าตา\nหน้าต่าง\nหน้าท้อง\nหน้าทับ\nหน้าที่\nหน้าที่นั่ง\nหน้าบัน\nหน้าปัด\nหน้าผา\nหน้าผาก\nหน้าม้า\nหน้ามุข\nหน้าไม้\nหน้าเลือด\nหน้าอก\nหนามเตย\nหน่ายหนี\nหน่ายแหนง\nหนาวเหน็บ\nหนำใจ\nหนี้สิน\nหนี้ส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น\nกณิกนันต์\nกณิการ์\nกด\nกตเวทิตา\nกตเวที\nกตัญชลี\nกตัญญุตา\nกตัญญู\nกตาธิการ\nกตาภินิหาร\nกติกา\nกถา\nกถิกาจารย์\nกทลี\nกน\nก่น\nก้น\nกนก\nกนิษฐ์\nกนิษฐา\nกบ\nกบฏ\nกบดาน\nกบทู\nกบาล\nกบินทร์\nกบิล\nกบี่\nกบูร\nกเบนทร์\nกม\nก้ม\nกมณฑลาภิเษก\nกมณฑโลทก\nกมล\nกมลา\nกมลาศ\nกมลาสน์\nกมเลศ\nกมัณฑลุ\nกมุท\nกร\nกรกฎ\nกรกฎาคม\nกรกฏ\nกรง\nกรชกาย\nกรณฑ์\nกรณิการ์\nกรณี\nกรณีย์\nกรณียกิจ\nกรณียะ\nกรด\nกรน\nกรบ\nกรบูร\nกรพินธุ์\nกรม\nกรรกฎ\nกรรกศ\nกรรเกด\nกรรไกร\nกรรเจียก\nกรรชิง\nกรรเชียง\nกรรโชก\nกรรฐ์\nกรรฐา\nกรรณ\nกรรณา\nกรรณิกา\nกรรณิการ์\nกรรดิ\nกรรดิก\nกรรดึก\nกรรตุ\nกรรไตร\nกรรทบ\nกรรแทก\nกรรบิด\nกรรบูร\nกรรภิรมย์\nกรรม\nกรรม์\nกรรม์ภิรมย์\nกรรมชวาต\nกรรมัชวาต\nกรรมาชีพ\nกรรมาธิการ\nกรรมาร\nกรรษก\nกรรสะ\nกรรแสง\nกรวด\nกรวบ\nกรวม\nกร้วม\nกรวย\nกรวิก\nกรสาปน์\nกรสุทธิ์\nกรอ\nกร้อ\nกรอก\nกร็อกกร๋อย\nกรอกแกรก\nกรอง\nกรองกรอย\nกรอด\nกร่อน\nกรอบ\nกรอม\nกร่อย\nกระ\nกระกร\nกระกรุ่น\nกระกลับกลอก\nกระกี้\nกระเกรอก\nกระเกริก\nกระเกริ่น\nกระคน\nกระคาย\nกระงกกระเงิ่น\nกระง่องกระแง่ง\nกระง่อนกระแง่น\nกระเง้ากระงอด\nกระโงก\nกระจก\nกระจง\nกระจร\nกระจอก\nกระจองหง่อง\nกระจ๋องหง่อง\nกระจองอแง\nกระจ้อน\nกระจอนหู\nกระจ้อย\nกระจ๋อหวอ\nกระจะ\nกระจัก\nกระจัง\nกระจัด\nกระจับ\nกระจ่า\nกระจ่าง\nกระจาด\nกระจาน\nกระจาบ\nกระจาม\nกระจาย\nกระจาว\nกระจิก\nกระจิ๋ง\nกระจิด\nกระจิบ\nกระจิ๋ม\nกระจิริด\nกระจิ๋ว\nกระจี้\nกระจี๋\nกระจุก\nกระจุ๋งกระจิ๋ง\nกระจุบ\nกระจุ๊บ\nกระจุ๋มกระจิ๋ม\nกระจุย\nกระจู้\nกระจู๋กระจี๋\nกระจูด\nกระเจอะกระเจิง\nกระเจา\nกระเจ่า\nกระเจ้า\nกระเจาะ\nกระเจิง\nกระเจิดกระเจิง\nกระเจี้ยง\nกระเจี๊ยบ\nกระเจียว\nกระเจี๊ยว\nกระแจะ\nกระโจน\nกระโจม\nกระฉอก\nกระฉ่อน\nกระฉับกระเฉง\nกระฉิ่ง\nกระฉีก\nกระฉูด\nกระเฉก\nกระเฉด\nกระแฉก\nกระโฉกกระเฉก\nกระโฉม\nกระชดกระช้อย\nกระชอน\nกระชอมดอก\nกระช้อย\nกระชัง\nกระชั้น\nกระชับ\nกระชาก\nกระชาย\nกระชิง\nกระชิด\nกระชุ\nกระชุก\nกระชุ่มกระชวย\nกระเชอ\nกระเชา\nกระเช้า\nกระเชียง\nกระแชง\nกระแชะ\nกระโชก\nกระซ่องกระแซ่ง\nกระซับ\nกระซาบ\nกระซิก\nกระซิบ\nกระซี้\nกระซุง\nกระซุบกระซิบ\nกระซุ้ม\nกระซู่\nกระเซ็น\nกระเซอ\nกระเซอะกระเซอ\nกระเซอะกระเซิง\nกระเซ้า\nกระเซิง\nกระแซ\nกระแซะ\nกระโซกระเซ\nกระฎี\nกระฎุมพี\nกระดก\nกระด้ง\nกระดนโด่\nกระดวง\nกระดวน\nกระด้วมกระเดี้ยม\nกระดอ\nกระดอง\nกระดองหาย\nกระดอน\nกระดอม\nกระดักกระเดี้ย\nกระดังงัว\nกระดังงา\nกระดาก\nกระด้าง\nกระดางลาง\nกระดาด\nกระดาดขาว\nกระดาน\nกระดานพน\nกระดาษ\nกระดำกระด่าง\nกระดิก\nกระดิ่ง\nกระดิ้ง\nกระดิบ\nกระดี่\nกระดี้กระเดียม\nกระดึง\nกระดืบ\nกระดุ\nกระดุกกระดิก\nกระดุ้งกระดิ้ง\nกระดุบ\nกระดุบกระดิบ\nกระดุม\nกระดูก\nกระเดก\nกระเด้ง\nกระเด็น\nกระเด้า\nกระเดาะ\nกระเดิด\nกระเดี้ย\nกระเดียด\nกระเดือก\nกระเดื่อง\nกระแด็ก\nกระแด้ง\nกระแด้แร่\nกระแด่ว\nกระแดะ\nกระโดก\nกระโดง\nกระโดด\nกระโดน\nกระได\nกระตรับ\nกระตราก\nกระตรุด\nกระตรุม\nกระต้วมกระเตี้ยม\nกระต้อ\nกระต่องกระแต่ง\nกระต๊อบ\nกระต้อยตีวิด\nกระตัก\nกระตั้ว\nกระต่าย\nกระติก\nกระติ๊ด\nกระติบ\nกระตือรือร้น\nกระตุก\nกระตุ้งกระติ้ง\nกระตุ่น\nกระตุ้น\nกระตูบ\nกระเตง\nกระเต็น\nกระเตอะ\nกระเตาะ\nกระเตาะกระแตะ\nกระเตื้อง\nกระแต\nกระแตแต้แว้ด\nกระโตกกระตาก\nกระโตน\nกระถด\nกระถอบ\nกระถั่ว\nกระถาง\nกระถิก\nกระถิน\nกระเถิบ\nกระโถน\nกระทก\nกระทง\nกระทบ\nกระทรวง\nกระทอก\nกระท้อน\nกระท่อนกระแท่น\nกระท่อม\nกระท้อมกระแท้ม\nกระทะ\nกระทั่ง\nกระทั้น\nกระทา\nกระทาย\nกระทาสี\nกระทาหอง\nกระทำ\nกระทิกกระทวย\nกระทิง\nกระทึง\nกระทืบ\nกระทุ\nกระทุง\nกระทุ้ง\nกระทุ่ม\nกระทู้\nกระเท่\nกระเทียบ\nกระเทียม\nกระเทือน\nกระเทื้อม\nกระแทก\nกระแท่น\nกระแทะ\nกระไทชาย\nกระน่อง\nกระนั้น\nกระนี้\nกระแนะกระแหน\nกระโน้น\nกระไน\nกระบก\nกระบม\nกระบวน\nกระบวย\nกระบวร\nกระบอก\nกระบอง\nกระบะ\nกระบัด\nกระบั้วกระเบี้ย\nกระบ่า\nกระบ้า\nกระบาก\nกระบาย\nกระบาล\nกระบิ\nกระบิ้ง\nกระบิด\nกระบิล\nกระบี่\nกระบือ\nกระบุง\nกระบุ่มกระบ่าม\nกระบู้กระบี้\nกระบูน\nกระบูร\nกระเบง\nกระเบญ\nกระเบ็ดกระบวน\nกระเบน\nกระเบา\nกระเบิก\nกระเบียด\nกระเบียน\nกระเบื้อง\nกระแบก\nกระแบะ\nกระโบม\nกระปมกระปำ\nกระปมกระเปา\nกระปรอก\nกระปรอกว่าว\nกระปรี้กระเปร่า\nกระปอก\nกระป้อกระแป้\nกระป่อง\nกระป๋อง\nกระปอดกระแปด\nกระป๋อหลอ\nกระปั้วกระเปี้ย\nกระป่ำ\nกระปุก\nกระปุ๊กลุก\nกระปุ่ม\nกระปุ่มกระป่ำ\nกระปุ่มกระปิ่ม\nกระเป๋า\nกระเปาะ\nกระโปก\nกระโปรง\nกระผม\nกระผลีกระผลาม\nกระผาน\nกระผีก\nกระพรวน\nกระพริ้ม\nกระพอก\nกระพอง\nกระพ้อม\nกระพัก\nกระพัง\nกระพังเหิร\nกระพังโหม\nกระพัด\nกระพัตร\nกระพัน\nกระพั่น\nกระพา\nกระพาก\nกระพี้\nกระพือ\nกระพุ้ง\nกระพุ่ม\nกระเพาะ\nกระเพิง\nกระเพื่อม\nกระแพ้ง\nกระฟัดกระเฟียด\nกระฟูมกระฟาย\nกระมล\nกระมอบ\nกระมอมกระแมม\nกระมัง\nกระมัน\nกระมิดกระเมี้ยน\nกระมุท\nกระเมาะ\nกระย่อง\nกระย่องกระแย่ง\nกระย่อน\nกระย่อม\nกระยา\nกระยาง\nกระยาจก\nกระยาหงัน\nกระยิก\nกระยิ้มกระย่อง\nกระยึกกระยือ\nกระยืดกระยาด\nกระเย้อกระแหย่ง\nกระรอก\nกระเรียน\nกระโรกน้ำข้าว\nกระโรกใหญ่\nกระไร\nกระลด\nกระลบ\nกระลอก\nกระลอม\nกระละหล่ำ\nกระลัด\nกระลับ\nกระลัมพร\nกระลา\nกระลำ\nกระลำพัก\nกระลำพุก\nกระลิง\nกระลี\nกระลุมพาง\nกระลุมพุก\nกระลุมพู\nกระลูน\nกระลู่น์\nกระเล็น\nกระเลียด\nกระเลือก\nกระโลง\nกระวน\nกระวัด\nกระวาด\nกระวาน\nกระวาย\nกระวิน\nกระวี\nกระวีกระวาด\nกระวูดกระวาด\nกระเวน\nกระเวยกระวาย\nกระแวน\nกระโวยกระวาย\nกระษัย\nกระษาปณ์\nกระสง\nกระสบ\nกระสม\nกระสรวล\nกระสร้อย\nกระสวน\nกระสวย\nกระสอบ\nกระสะ\nกระสัง\nกระสัน\nกระสับกระส่าย\nกระสา\nกระสานติ์\nกระสาบ\nกระสาย\nกระสือ\nกระสุงกระสิง\nกระส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ทิง\nกากะเยีย\nกากี\nกาง\nก้าง\nกางเกง\nกางเขน\nก๊าซ\nกาซะลอง\nกาญจนา\nกาฐ\nกาด\nก๊าด\nกาน\nก่าน\nก้าน\nก๊าน\nกานดา\nกานต์\nกานน\nก้านพร้าว\nกานพลู\nกาน้า\nกาบ\nก้าบ\nกาบู\nกาพย์\nกาเฟอีน\nกาแฟ\nกาม\nก้าม\nกามารมณ์\nกามินี\nกาเมสุมิจฉาจาร\nกาย\nก่าย\nกาเยน\nการ\nการณ์\nการ์ด\nการ์ตูน\nการบูร\nการย์\nการวิก\nการเวก\nการะเกด\nการะบุหนิง\nการัณย์\nการันต์\nการางหัวขวาน\nการิตการก\nการิตวาจก\nการุญ\nการุณย์\nกาเรการ่อน\nกาล\nกาลกรรณี\nกาลกิณี\nกาลจักร\nกาลัญญุตา\nกาลัญญู\nกาลัด\nกาลานุกาล\nกาลิก\nกาลี\nกาแล\nกาแล็กซี\nกาแล็กโทส\nกาว\nก้าว\nกาววาว\nกาวาง\nกาแวน\nกาศิก\nกาษฐะ\nกาษา\nกาสร\nกาสะ\nกาสา\nกาสาร\nกาสาวะ\nกาสิโน\nกาหล\nกาหลง\nกาหลา\nกาเหว่า\nกาไหล่\nกาฬ\nกาฬาวก\nกาฮัง\nกำ\nก่ำ\nกำกวม\nกำกัด\nกำกับ\nก้ำกึ่ง\nกำกูน\nก้ำเกิน\nกำเกียง\nกำคูน\nกำจร\nกำจัด\nกำจาย\nกำชับ\nกำชำ\nกำซาบ\nกำซำ\nกำด้น\nกำดัด\nกำดาล\nกำเดา\nกำธร\nกำนล\nกำนัน\nกำนัล\nกำเนิด\nกำบัง\nก่ำบึ้ง\nกำเบ้อ\nกำปอ\nกำปั่น\nกำผลา\nกำพง\nกำพด\nกำพต\nกำพร้า\nกำพราก\nกำพวด\nกำพอง\nกำพืด\nกำพุด\nกำพู\nกำเพลิง\nกำแพง\nกำภู\nกำมลาศน์\nกำมเลศ\nกำมะถัน\nกำมะลอ\nกำมะหยี่\nกำมะหริด\nกำมังละการ\nกำมังวิลิต\nกำมัชพล\nกำยาน\nกำยำ\nกำรอ\nกำราบ\nกำราล\nกำเริบ\nกำไร\nกำลัง\nกำลุง\nกำเลา\nกำไล\nกำสรด\nกำสรวล\nกำหนด\nกำหนัด\nกำเหน็จ\nกำแหง\nกิก\nกิ๊ก\nกิ่ง\nกิ้งก่า\nกิ้งกือ\nกิ้งโครง\nกิจ\nกิจจะ\nกิจจา\nกิดาการ\nกิดาหยัน\nกิตติ\nกิตติมศักดิ์\nกิน\nกินนร\nกินปลี\nกินเปี้ยว\nกินริน\nกินรี\nกิ๊บ\nกิมตึ๋ง\nกิมิชาติ\nกิมิวิทยา\nกิโมโน\nกิโยตีน\nกิระ\nกิริณี\nกิรินท\nกิริเนศวร\nกิริยา\nกิเลน\nกิเลส\nกิโล\nกิโลมกะ\nกิ่ว\nกิ๋ว\nกี\nกี่\nกี้\nกี๊\nกี๋\nกีฏวิทยา\nกีด\nกีตาร์\nกีบ\nกีรติ\nกีฬา\nกึก\nกึง\nกึ่ง\nกึ๋น\nกุ\nกุก\nกุ๊ก\nกุกกุฏ\nกุกกุร\nกุกรรม\nกุ้ง\nกุงอน\nกุงาน\nกุโงก\nกุจี\nกุญแจ\nกุญชร\nกุฎ\nกุฎา\nกุฎี\nกุฎุมพี\nกุฏฐัง\nกุฏิ\nกุณฑ์\nกุณฑล\nกุณฑี\nกุณโฑ\nกุณาล\nกุณี\nกุด\nกุดัง\nกุดั่น\nกุดา\nกุทัณฑ์\nกุน\nกุ๊น\nกุนเชียง\nกุนที\nกุโนกามอ\nกุบ\nกุบกับ\nกุม\nกุ่ม\nกุมฝอย\nกุมภ์\nกุมภนิยา\nกุมภัณฑ์\nกุมภา\nกุมภิล\nกุมภีล์\nกุมเหง\nกุมาร\nกุมารา\nกุมารี\nกุมุท\nกุย\nกุ๊ย\nกุ๋ย\nกุยช่าย\nกุยเฮง\nกุรระ\nกุรุพินท์\nกุเรา\nกุล\nกุลา\nกุลาหล\nกุลี\nกุลีกุจอ\nกุเลา\nกุแล\nกุเวร\nกุศราช\nกุศล\nกุศโลบาย\nกุสุม\nกุสุมภ์\nกุสุมา\nกุสุมาลย์\nกุสุมิตลดาเวลลิตา\nกุหนี\nกุหนุง\nกุหร่า\nกุหล่า\nกุหลาบ\nกุแหละ\nกู\nกู่\nกู้\nกู๊ก\nกูฏ\nกูฏา\nกูณฑ์\nกูด\nกูบ\nกูปรี\nกูรมะ\nกูรมาวตาร\nเก\nเก้\nเก๊\nเก๋\nเกก\nเก๊ก\nเกกมะเหรก\nเก๊กฮวย\nเก้กัง\nเก็ง\nเก่ง\nเก้ง\nเก๋ง\nเกงกอย\nเก่งกาจ\nเกงเขง\nเก๋งเคง\nเก็จ\nเกจิอาจารย์\nเกชา\nเกณฑ์\nเกด\nเก็ด\nเกตุ\nเกน\nเก็บ\nเกม\nเกย\nเกยูร\nเกรง\nเกร็ง\nเกร็ด\nเกรน\nเกร่อ\nเกรอะ\nเกราะ\nเกริก\nเกริน\nเกริ่น\nเกรียก\nเกรียง\nเกรียด\nเกรียน\nเกรียบ\nเกรียม\nเกรียว\nเกรี้ยว\nเกเร\nเกล็ด\nเกลศ\nเกลอ\nเกลา\nเกล้า\nเกลาะ\nเกลี่ย\nเกลี้ย\nเกลียง\nเกลี้ยง\nเกลียด\nเกลียว\nเกลือ\nเกลื้อ\nเกลือก\nเกลื่อน\nเกลื้อน\nเกวัฏ\nเกวียน\nเกศ\nเกศว\nเกศวะ\nเกศา\nเกศินี\nเกศี\nเกษตร\nเกษม\nเกษียณ\nเกษียน\nเกษียร\nเกส\nเกสร\nเกสรี\nเกสา\nเกสี\nเก้อ\nเกอิชา\nเกะ\nเกะกะ\nเกา\nเก่า\nเก้า\nเก๋า\nเกาต์\nเกาทัณฑ์\nเกาบิล\nเกาลัด\nเกาลิน\nเกาไศย\nเกาหลี\nเกาเหลา\nเกาเหลียง\nเก้าอี้\nเกาะ\nเกิ้ง\nเกิด\nเกิน\nเกิบ\nเกีย\nเกียกกาย\nเกียง\nเกี่ยง\nเกี๋ยง\nเกียจ\nเกียด\nเกียน\nเกี้ยมไฉ่\nเกี้ยมอี๋\nเกียร์\nเกียรติ\nเกียรติ์\nเกี่ยว\nเกี้ยว\nเกี๊ยว\nเกี๊ยะ\nเกื้อ\nเกือก\nเกื้อกูล\nเกือบ\nแก\nแก่\nแก้\nแกง\nแก่ง\nแก้ง\nแก๊ง\nแกงได\nแกงแนง\nแกโดลิเนียม\nแกน\nแก่น\nแก๊ป\nแกม\nแก้ม\nแกมมา\nแกรก\nแกร่ง\nแกร็น\nแกรนิต\nแกรไฟต์\nแกร่ว\nแกระ\nแกล\nแกล้ง\nแกลน\nแกลบ\nแกล้ม\nแกลลอน\nแกลเลียม\nแกล้ว\nแกละ\nแกแล\nแกว\nแก้ว\nแกว่ง\nแก๊ส\nแกะ\nโก\nโก่\nโก้\nโก๋\nโกก\nโกกนุท\nโกกิลา\nโกโก้\nโกง\nโก่ง\nโกงกาง\nโก้งเก้ง\nโกงโก้\nโก้งโค้ง\nโกเชาว์\nโกญจนาท\nโกญจา\nโกฏิ\nโกฐ\nโกฐาส\nโกณะ\nโกดัง\nโกทัณฑ์\nโกน\nโก่น\nโก๋น\nโกมล\nโกมุท\nโกเมน\nโกเมศ\nโกย\nโกรก\nโกรกกราก\nโกรง\nโกร่ง\nโกร่งกร่าง\nโกรงเกรง\nโกร๋งเกร๋ง\nโกรญจ\nโกรต๋น\nโกรธ\nโกรธา\nโกร๋น\nโกรม\nโกรย\nโกรศ\nโกโรโกเต\nโกโรโกโรก\nโกโรโกโส\nโกลน\nโกลาหล\nโกไล\nโกวิท\nโกศ\nโกศล\nโกษม\nโกสน\nโกสัช\nโกสินทร์\nโกสีย์\nโกสุม\nโกไสย\nโกหก\nใกล้\nไก\nไก่\nไก๊\nไก๋\nไก่กอม\nไกพัล\nไกร\nไกรพ\nไกรลาส\nไกรศร\nไกรศรี\nไกรสร\nไกรสรี\nไกรสิทธิ\nไกล\nไกล่\nไกลาส\nไกว\nไกวัล\nขงจื๊อ\nขจร\nขจรจบ\nขจัด\nขจ่าง\nขจาย\nขจาว\nขจิต\nขจี\nขจุย\nขเจา\nขณะ\nขด\nขน\nข้น\nขนง\nขนด\nขนบ\nขนม\nขนอง\nขนอน\nขนอบ\nขนัด\nขนัน\nขนาก\nขนาง\nขนาด\nขนาน\nขนาบ\nขนาย\nขนำ\nขนิษฐ\nขนิษฐา\nขนุน\nขนุนนก\nขบ\nขบถ\nขบวน\nขบวร\nขม\nข่ม\nขมงโกรย\nขมวด\nขมวน\nขมอง\nขม่อม\nขมัง\nขมับ\nขมา\nขม้ำ\nขมิ้น\nขมิบ\nขมีขมัน\nขมึง\nขมึงทึง\nขมุ\nขมุกขมัว\nขมุบ\nขโมย\nขยด\nขยม\nขย่ม\nขยอก\nขยอง\nขย่อน\nขย้อน\nขยะ\nขยัก\nขยัน\nขยั้น\nขยับ\nขยาด\nขยาย\nขยำ\nขย้ำ\nขยิก\nขยิบ\nขยิ่ม\nขยี้\nขยุกขยิก\nขยุกขยุย\nขยุบ\nขยุบขยิบ\nขยุม\nขยุ้ม\nขยุย\nขรม\nขรรค์\nขรัว\nขริบ\nขรี\nขรึม\nขรุขระ\nขลบ\nขล้อ\nขลัง\nขลับ\nขลาด\nขลาย\nขลิบ\nขลุก\nขลุกขลัก\nขลุกขลิก\nขลุบ\nขลุม\nขลุ่ย\nขลู\nขลู่\nขวง\nข่วง\nขวด\nข่วน\nขวนขวาย\nขวบ\nขวย\nขวักไขว่\nขวัญ\nขวั้น\nขวับ\nขวับเขวียว\nขวา\nขวาก\nขวาง\nขว้าง\nขวาด\nขวาน\nขวายขวน\nขวาว\nขว้าว\nขวิด\nขอ\nข่อ\nข้อ\nของ\nข้อง\nขอด\nขอน\nข้อน\nขอบ\nขอม\nข่อย\nข้อย\nข่อยหยอง\nขะแจะ\nขะเน็ด\nขะมอมขะแมม\nขะมักเขม้น\nขะมุกขะมอม\nขะยิก\nขะยุก\nขะเย้อแขย่ง\nขัค\nขัง\nขังขอก\nขัช\nขัณฑสกร\nขัณฑสีมา\nขัด\nขัดมอน\nขัตติยมานะ\nขัน\nขั้น\nขันติ\nขันตี\nขันโตก\nขันที\nขันธ์\nขันธาวาร\nขับ\nขัว\nขั้ว\nขา\nข่า\nข้า\nขาก\nขาก๊วย\nขาง\nข่าง\nข้าง\nขาณุ\nขาด\nขาทนียะ\nขาน\nขาบ\nข้าพเจ้า\nขาม\nข่าม\nข้าม\nขาย\nข่าย\nขาล\nขาว\nข่าว\nข้าว\nข้าวอังกุลี\nขำ\nขิก\nขิง\nขิงแกลง\nขิงแครง\nขิด\nขิปสัทโท\nขิม\nขี่\nขี้\nขี้เข็บ\nขีณาสพ\nขีด\nขี้ตังนี\nขีปนาวุธ\nขี้ยอก\nขีระ\nขึง\nขึ้ง\nขึ้น\nขึ้นฉ่าย\nขืน\nขื่น\nขื่อ\nขุก\nขุด\nขุน\nขุ่น\nขุนเพ็ด\nขุม\nขุย\nขู่\nขูด\nเข\nเข้\nเขก\nเข็ง\nเข่ง\nเขจร\nเข็ญ\nเข็ด\nเขดา\nเขต\nเขน\nเข็น\nเข่น\nเขนง\nเขน็ด\nเขนย\nเขบ็จขบวน\nเขบ็ต\nเขม\nเข็ม\nเข้ม\nเข้มขาบ\nเขม็ง\nเขม็ดแขม่\nเขม่น\nเขม้น\nเขม้นขะมัก\nเขมร\nเขมา\nเขม่า\nเขมือบ\nเขย\nเขยก\nเขย่ง\nเขย้อแขย่ง\nเขย่า\nเขยิน\nเขยิบ\nเขยื้อน\nเขรอะ\nเขลง\nเขลอะ\nเขละ\nเขลา\nเขลาะ\nเขว\nเขษม\nเขฬะ\nเขะขะ\nเขา\nเข่า\nเข้า\nเขิง\nเขิน\nเขิบ\nเขี่ย\nเขียง\nเขียด\nเขียดตะปาด\nเขียน\nเขี่ยน\nเขียม\nเขียว\nเขี้ยว\nเขียะ\nเขือ\nเขือง\nเขื่อง\nเขื่อน\nเขือม\nแข\nแข้\nแขก\nแข็ง\nแข่ง\nแข้ง\nแขน\nแข่น\nแข้น\nแขนง\nแขม\nแขม็บ\nแขม่ว\nแขยง\nแขย่ง\nแขวก\nแขวง\nแขวน\nแขวะ\nโข\nโขก\nโขง\nโข่ง\nโขด\nโขดง\nโขน\nโขนง\nโขม\nโขมง\nโขมด\nโขยก\nโขยง\nโขย่ง\nโขยด\nโขลก\nโขลง\nโขลน\nโขษม\nไข\nไข่\nไข้\nไขว่\nไขว้\nคคนะ\nคคนัมพร\nคคนางค์\nคคนานต์\nคง\nคงคา\nคงไคย\nคช\nคชาชาติ\nคชาชีพ\nคชาธาร\nคชาภรณ์\nคณนา\nคณบดี\nคณะ\nคณาจารย์\nคณาธิการ\nคณาธิปไตย\nคณานับ\nคณิกา\nคณิต\nคเณศ\nคด\nคดี\nคติ\nคทา\nคน\nค้น\nคนทา\nคนทิสอ\nคนที\nคนโท\nคนธ์\nคันธ์\nคนธรรพ์\nคเนจร\nคบ\nคม\nคมน์\nคมนาการ\nคมนาคม\nคมิกภัต\nครก\nครบ\nครรชิต\nครรภ\nครรภ์\nครรลอง\nครรโลง\nครรไล\nครวญ\nครวี\nครหา\nครอก\nครอง\nครองแครง\nคร่อเงาะ\nคร่อเทียน\nครอบ\nคร่อม\nคระเมิม\nคระแลง\nคระไล\nคระแวง\nคระหน\nคระหวน\nคระหาย\nคระโหย\nครั่ง\nครั้ง\nครัดเคร่ง\nครัน\nครั่น\nครั้น\nครับ\nครัว\nครา\nคร่า\nคราก\nคราง\nคราญ\nคราด\nคร้าน\nคราบ\nคราม\nคร้าม\nครามครัน\nคราว\nคร่าว\nคราส\nครำ\nคร่ำ\nคร่ำเคร่ง\nคริปทอน\nคริสต์\nครีบ\nครีม\nครีษมายัน\nครึ\nครึกครื้น\nครึกโครม\nครึ่ง\nครึ่ด\nครึน\nครึ้ม\nครืด\nครืน\nครื้น\nครืนครั่น\nครื้นครั่น\nครื้นครึก\nครื้นเครง\nครือ\nครุ\nครุคระ\nครุฑ\nครุ่น\nครุมเครือ\nครุย\nครุวนา\nครู\nครู่\nครูด\nคฤโฆษ\nคฤนถ์\nคฤหบดี\nคฤหัสถ์\nคฤหาสน์\nคลวง\nคลอ\nคล้อ\nคลอก\nคลอง\nคล่อง\nคล้อง\nคลอด\nคลอน\nคล้อย\nคลอรีน\nคลอโรฟอร์ม\nคลอโรฟีลล์\nคละ\nคละคลุ้ง\nคลัก\nคลั่ก\nคลัง\nคลั่ง\nคลัตช์\nคลับคล้าย\nคลับคลา\nคลา\nคล้า\nคลางแคลง\nคลาด\nคลาน\nคลาย\nคล้าย\nคล้ายคลึง\nคล่าว\nคลำ\nคล่ำ\nคล้ำ\nคลิ้งโคลง\nคลิด\nคลินิก\nคลี\nคลี่\nคลึง\nคลื่น\nคลุก\nคลุ้ง\nคลุบ\nคลุม\nคลุ่ม\nคลุ้ม\nควง\nควณ\nควน\nควบ\nควย\nควร\nควัก\nควั่ก\nควั่งคว้าง\nควัน\nควั่น\nคว้า\nควาก\nคว้าง\nควาญ\nควาน\nคว้าน\nความ\nควาย\nคว่าว\nคว่ำ\nควินิน\nควิวคว่าง\nคหกรรม\nคหกรรมศาสตร์\nคหบดี\nคหัฐ\nคอ\nค้อ\nคอก\nค็อกคัส\nค็อกเทล\nคอเคซอยด์\nค่องอ้อย\nคอด\nคอแดง\nคอน\nค่อน\nค้อน\nคอนกรีต\nคอนเดนเซอร์\nคอนแวนต์\nคอนเสิร์ต\nคอม\nค่อม\nค้อม\nคอมพิวเตอร์\nคอมมานโด\nคอมมิวนิสต์\nคอย\nค่อย\nค้อย\nคอยล์\nคอร์ด\nคอแลน\nคอสติกโซดา\nคะ\nค่ะ\nคะไขว่\nคะค้อย\nคะคาน\nคะนน\nคะนอง\nคะน้า\nคะนึง\nคะเน\nคะเนงร้าย\nคะเน็ด\nคะแนน\nคะมำ\nคะยั้นคะยอ\nคะเยอ\nคัก\nคั่ก\nคัคนะ\nคัคนัมพร\nคัคนางค์\nคัคนานต์\nคั่ง\nคังไคย\nคัจฉ\nคัณฑมาลา\nคัณฑสูตร\nคัด\nคัดเค้า\nคัดมอน\nคัดเม็ง\nคัทลียา\nคัน\nคั่น\nคั้น\nคันถรจนาจารย์\nคันธกุฎี\nคันธมาทน์\nคันธารราษฎร์\nคับ\nคับค้อน\nคับคา\nคับแค\nคัพภ์\nคัมภีร์\nคัมภีรภาพ\nคัล\nคั่ว\nคา\nค่า\nค้า\nค่าคบ\nคาง\nค่าง\nค้าง\nคางคก\nค้างคาว\nคาด\nคาถา\nคาทอลิก\nคาน\nค้าน\nคาบ\nคาพยุต\nคาม\nคามวาสี\nคามณีย์\nคามภีร์\nคาย\nค่าย\nคาร์บอน\nคาร์บอเนต\nคาร์บอลิก\nคาร์บูเรเตอร์\nคาร์โบรันดัม\nคาร์โบไฮเดรต\nคารม\nคารวะ\nคาราเต้\nคาราวาน\nคาว\nค่าว\nค้าว\nคาวตอง\nคาวี\nคาวุต\nคาส\nคำ\nค่ำ\nค้ำ\nคำนวณ\nคำนวร\nคำนับ\nคำนัล\nคำนึง\nคำนูณ\nคำฝอย\nคำเพลิง\nคำรน\nคำรบ\nคำราม\nคำแสด\nคำแหง\nคำโอง\nคิก\nคิง\nคิด\nคิมหันต์\nคิรี\nคิลาน\nคิลานะ\nคิว\nคิ้ว\nคี่\nคีต\nคีบ\nคีม\nคีรี\nคีรีบูน\nคึก\nคึ่ก\nคึกคัก\nคืน\nคืบ\nคือ\nคุ\nคุก\nคุกกี้\nคุกคาม\nคุกพาทย์\nคุ้ง\nคุณ\nคุด\nคุดทะราด\nคุต\nคุตติ\nคุ่น\nคุ้น\nคุป\nคุปต์\nคุปติ\nคุม\nคุ่ม\nคุ้ม\nคุย\nคุ้ย\nคุยหฐาน\nคุยหประเทศ\nคุรุ\nคุลา\nคุลิก่า\nคุลีการ\nคุหา\nคู\nคู่\nคู้\nคูณ\nคูถ\nคูน\nคูปอง\nคูเรียม\nคูหา\nเค้ก\nเค้เก้\nเค้ง\nเคณฑะ\nเคด\nเค็ด\nเคน\nเค้น\nเคเบิล\nเค็ม\nเคมี\nเคย\nเครง\nเคร่ง\nเครงครา\nเครงครำ\nเครดิต\nเครน\nเครา\nเคร่า\nเคราหณี\nเคราะห์\nเครียด\nเครียว\nเครือ\nเครื่อง\nเคล้ง\nเคล็ด\nเคล้น\nเคล้า\nเคล่าคล่อง\nเคลิบเคลิ้ม\nเคลิ้ม\nเคลีย\nเคลื่อน\nเคลือบ\nเคว้ง\nเคหะ\nเคหา\nเคอะ\nเค้า\nเคาน์เตอร์\nเคารพ\nเคาะ\nเคาะแคะ\nเคียง\nเคียด\nเคียน\nเคียม\nเคี่ยม\nเคียร\nเคียว\nเคี่ยว\nเคี้ยว\nเคือง\nแค\nแค่\nแค้\nแคแล\nแคดเมียม\nแค็ตตาล็อก\nแคแตร\nแคโทด\nแคน\nแค่น\nแค้น\nแคบ\nแคบหมู\nแคปซูล\nแคม\nแคร่\nแครก\nแครง\nแคระ\nแคลคูลัส\nแคลง\nแคลเซียม\nแคลน\nแคล้ว\nแคล่วคล่อง\nแคลอรี\nแคลิฟอร์เนียม\nแคว\nแควก\nแคว้น\nแคแสด\nแคะ\nโค\nโคก\nโคเคน\nโค่ง\nโค้ง\nโคจร\nโคเซแคนต์\nโคไซน์\nโคตร\nโคแทนเจนต์\nโคธา\nโคน\nโค่น\nโคบอลต์\nโคปผกะ\nโคม\nโคม่า\nโครก\nโครกคราก\nโครง\nโคร่ง\nโคร่งคร่าง\nโครม\nโครเมียม\nโครโมโซม\nโคราช\nโครำ\nโคล\nโคลง\nโคลน\nโควตา\nโคออร์ดิเนต\nใคร\nใคร่\nใคร่ครวญ\nไค\nไค้\nไคร้\nไคร้เครือ\nไคล\nไคล้\nฆนะ\nฆราวาส\nฆ้อง\nฆ่า\nฆาต\nฆาน\nฆานินทรีย์\nเฆี่ยน\nโฆรวิส\nโฆษก\nโฆษณา\nโฆษะ\nโฆษ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nเฉ่ง\nเฉด\nเฉท\nเฉนียน\nเฉพาะ\nเฉย\nเฉลย\nเฉลว\nเฉลา\nเฉลิม\nเฉลี่ย\nเฉลียง\nเฉลี่ยง\nเฉลียบ\nเฉลียว\nเฉวียง\nเฉวียน\nเฉอะแฉะ\nเฉา\nเฉาก๊วย\nเฉาฮื้อ\nเฉาะ\nเฉิด\nเฉิบ\nเฉียง\nเฉียงพร้านางแอ\nเฉียด\nเฉียบ\nเฉียว\nเฉี่ยว\nเฉือน\nเฉื่อย\nแฉ\nแฉ่\nแฉก\nแฉง\nแฉ่ง\nแฉลบ\nแฉล้ม\nแฉะ\nโฉ\nโฉ่\nโฉเก\nโฉ่งฉ่าง\nโฉงเฉง\nโฉด\nโฉนด\nโฉบ\nโฉเบ๊\nโฉม\nโฉลก\nไฉน\nไฉไล\nชก\nชคัตตรัย\nชง\nชงโค\nชงฆ์\nชงฆา\nชงโลง\nชฎา\nชฎามังษี\nชฎามังสี\nชฎิล\nชด\nชน\nชนก\nชนนี\nชนม์\nชนวน\nชนะ\nชนัก\nชนา\nชนาง\nชนิด\nชเนตตี\nชบา\nชม\nชมดชม้อย\nชมนาด\nชมพู\nชมพู่\nชมรม\nชม้อย\nชม้าย\nชไม\nชยา\nชโย\nชรทึง\nชรริน\nชรอุ่ม\nชระล้ำ\nชระลุ\nชระอาบ\nชระเอม\nชรัด\nชรา\nชล\nชโลง\nชโลม\nช่วง\nชวด\nชวน\nชวย\nช่วย\nชวร\nชวลิต\nชวา\nชวาล\nชวาลา\nช่อ\nชอก\nช็อก\nช็อกโกเลต\nช็อกโกแลต\nชอง\nช่อง\nช้อง\nชองระอา\nชอน\nช่อน\nช้อน\nชอบ\nชอม\nช้อย\nชอล์ก\nชอ่ำ\nชอุ่ม\nชะ\nชะคราม\nชะงอก\nชะง่อน\nชะงัก\nชะงัด\nชะง้ำ\nชะงุ้ม\nชะเง้อ\nชะเงื้อม\nชะแง้\nชะโงก\nชะฉ่า\nชะช่อง\nชะชะ\nชะช้า\nชะโด\nชะตา\nชะต้า\nชะนี\nชะเนาะ\nชะเนียง\nชะพลู\nชะเพลิง\nชะมด\nชะมบ\nชะมวง\nชะมัง\nชะมัด\nชะแม่\nชะรอย\nชะลอ\nชะลอม\nชะล่า\nชะลาน\nชะลิน\nชะลูด\nชะเลง\nชะเลย\nชะแล็ก\nชะแลง\nชะวาก\nชะวาด\nชะเวิกชะวาก\nชะแวง\nชะอม\nชะอ้อน\nชะเอม\nชะโอน\nชัก\nชักคราม\nชักช้า\nชัง\nชั่ง\nชังคา\nชังฆ\nชัชวาล\nชัฏ\nชัด\nชัดช้า\nชัน\nชั้น\nชันกาด\nชันชี\nชันตุ\nชันนะตุ\nชันนุ\nชันโรง\nชันษา\nชันสูตร\nชัปนะ\nชัพ\nชัมพูนท\nชัย\nชัยพฤกษ์\nชัยภูมิ\nชัลลุกา\nชั่ว\nชั้ว\nชัวชม\nชา\nช้า\nชาคระ\nชาคริต\nชาคริยานุโยค\nช่าง\nช้าง\nช้าช่อน\nชาญ\nชาด\nชาดก\nชาต\nชาตบุษย์\nชาตรี\nชาตะ\nชาตา\nชาติ\nชาน\nชานุ\nช้าปี่\nชาปีไหน\nช้าแป้น\nช้าพลู\nชาม\nชามพูนท\nชามาดร\nชามาดา\nชามาตุ\nชาย\nชายา\nชาล\nชาลา\nชาลินี\nช้าเลือด\nชาว\nชาวี\nชำ\nช่ำ\nช้ำ\nชำงัด\nชำงาย\nช่ำชอง\nชำนะ\nชำนัญ\nชำนัน\nชำนาญ\nชำนิ\nชำเนียร\nชำมะนาด\nชำมะเลียง\nชำร่วย\nชำระ\nช้ำรั่ว\nชำรุด\nชำเรา\nชำเราะ\nชำแรก\nชำแระ\nชำเลือง\nชำแหละ\nชิ\nชิง\nชิ่ง\nชิงชัน\nชิงช้า\nชิงช้าชาลี\nชิงชี่\nชิงฮื้อ\nชิชะ\nชิชิ\nชิณณะ\nชิด\nชิเดนทรีย์\nชิต\nชิตินทรีย์\nชิน\nชิ้น\nชินโต\nชิโนรส\nชิม\nชิมแปนซี\nชิยา\nชิรณะ\nชิระ\nชิวหา\nชิสา\nชี\nชี่\nชี้\nชีปะขาว\nชีผะขาว\nชีผ้าขาว\nชีพ\nชีฟอง\nชีรณ\nชีระ\nชีวเคมี\nชีวประวัติ\nชีวภาพ\nชีววิทยา\nชีวะ\nชีวัน\nชีวา\nชีวาตม์\nชีวาลัย\nชีวิต\nชีวิตักษัย\nชีวิน\nชีวี\nชืด\nชื่น\nชื้น\nชื่อ\nชุก\nชุกชี\nชุ้ง\nชุณห\nชุด\nชุติ\nชุน\nชุบ\nชุม\nชุ่ม\nชุมนุม\nชุมพร\nชุมพา\nชุมแพรก\nชุมรุม\nชุมแสง\nชุมเห็ด\nชุ่ย\nชุลมุน\nชุลี\nชุษณะ\nชู\nชู้\nเช็ค\nเช้ง\nเช้งวับ\nเชงเลง\nเช็ด\nเชน\nเช่น\nเชย\nเชลง\nเชลย\nเชลแล็ก\nเชลียง\nเชวง\nเชษฐะ\nเชษฐา\nเชอ\nเช่า\nเช้า\nเชาว์\nเชาวน์\nเชิง\nเชิญ\nเชิด\nเชิ้ต\nเชียง\nเชี่ยน\nเชียบ\nเชี่ยม\nเชียร\nเชียร์\nเชียว\nเชี่ยว\nเชื่อ\nเชื้อ\nเชือก\nเชื่อง\nเชือด\nเชือน\nเชื่อม\nแช\nแช่\nแช่ง\nแชงมา\nแชบ๊วย\nแช่ม\nแชร์\nแชล่ม\nแชสซี\nแชะ\nโชก\nโชค\nโชงโลง\nโชดก\nโชดึก\nโชต\nโชตก\nโชติ\nโชติก\nโชน\nโชมโรม\nโชย\nโชยงการ\nโชยชาย\nโชยติส\nโชว์\nใช่\nใช้\nไช\nไชนะ\nไชย\nไชโย\nซก\nซ่ก\nซงดำ\nซ่งฮื้อ\nซด\nซน\nซ้น\nซบ\nซม\nซวดเซ\nซวน\nซวย\nซอ\nซอก\nซอง\nซ่อง\nซ้อง\nซองแมว\nซ้องแมว\nซอน\nซ่อน\nซ้อน\nซอม\nซ่อม\nซ้อม\nซอมซ่อ\nซอย\nซอส\nซัก\nซักส้าว\nซัง\nซั้ง\nซัด\nซับ\nซัลฟา\nซั้ว\nซา\nซ่า\nซาก\nซาง\nซ่าง\nซาด\nซาน\nซ่าน\nซาบซ่าน\nซาบซึ้ง\nซ่าโบะ\nซาแมเรียม\nซ้าย\nซาลาเปา\nซาว\nซ่าหริ่ม\nซำ\nซ้ำ\nซิ\nซี\nซิก\nซิกข์\nซิกซี้\nซิกแซ็ก\nซิการ์\nซิงโคนา\nซิ่น\nซินนามิก\nซินแส\nซิบ\nซิป\nซิฟิลิส\nซิลิคอน\nซิว\nซี่\nซีก\nซีเซียม\nซีด\nซี้ด\nซีนอน\nซีป่าย\nซีเมนต์\nซีเรียม\nซีลีเนียม\nซีอิ๊ว\nซึก\nซึง\nซึ่ง\nซึ้ง\nซึม\nซื่อ\nซื้อ\nซุก\nซุง\nซุน\nซุบ\nซุป\nซุ่ม\nซุ้ม\nซุ่มซ่าม\nซุย\nซู่\nซูโครส\nซูด\nซู้ด\nซูดซาด\nซูบ\nเซ\nเซ็ก\nเซแคนต์\nเซ็ง\nเซ่ง\nเซ้ง\nเซ็งแซ่\nเซต\nเซน\nเซ็น\nเซ่น\nเซนติกรัม\nเซนติเกรด\nเซนติเมตร\nเซนติลิตร\nเซปักตะกร้อ\nเซราะ\nเซรุ่ม\nเซลเซียส\nเซลล์\nเซลลูลอยด์\nเซลลูโลส\nเซ่อ\nเซอร์โคเนียม\nเซอะ\nเซา\nเซ้าซี้\nเซาะ\nเซิง\nเซิ้ง\nเซียน\nเซียบ\nเซียมซี\nเซียว\nเซี่ยว\nเซี่ยวกาง\nเซื่อง\nแซ\nแซ่\nแซ็กคาริน\nแซง\nแซงแซว\nแซด\nแซบ\nแซม\nแซยิด\nแซ่ว\nแซะ\nโซ\nโซ่\nโซก\nโซ่ง\nโซงโขดง\nโซเซ\nโซดา\nโซเดียม\nโซม\nโซรม\nโซลา\nไซ\nไซ้\nไซเกิล\nไซโคลน\nไซน์\nไซยาไนด์\nไซร้\nไซเรน\nไซโล\nฌาน\nฌาปน\nฌาปนกิจ\nฌาปนสถาน\nเฌอ\nเฌอเอม\nญวน\nญัตติ\nญาณ\nญาติ\nญานาซะฮ์\nญิบ\nญี่ปุ่น\nเญยธรรม\nไญยธรรม\nฎีกา\nฐกัด\nฐากูร\nฐาน\nฐานะ\nฐานันดร\nฐานานุกรม\nฐานานุรูป\nฐานานุศักดิ์\nฐานียะ\nฐาปน\nฐาปนา\nฐายี\nฐิต\nฐิติ\nฑาหก\nฑาหะ\nเฒ่า\nณรงค์\nเณร\nดก\nดง\nด้ง\nด้น\nดนโด่\nดนตรี\nดนัย\nดนุ\nดนู\nดบัสวิน\nดบัสวี\nดม\nดรงค์\nดรณี\nดรรชนี\nดราฟต์\nดรุณ\nดรุณี\nดล\nดวง\nด้วง\nดวด\nด่วน\nด้วน\nด้วย\nดอก\nดอง\nด่อง\nด้อง\nดองฉาย\nดองดึง\nดอด\nดอน\nด่อน\nดอม\nด้อม\nดอย\nด้อย\nดอลลาร์\nดะ\nดะโต๊ะ\nดะหมัง\nดัก\nดักดาน\nดักแด้\nดัง\nดั่ง\nดั้ง\nดัชนี\nดัด\nดัตช์\nดัน\nดั้น\nดับ\nดัมพ์\nดั้วเดี้ย\nดัสกร\nดา\nด่า\nดาก\nด่าง\nด้าง\nดาด\nดาน\nด่าน\nด้าน\nดาบ\nดาบส\nดาม\nด้าม\nด้ามจิ้ว\nดามพ์\nดาย\nด้าย\nดารกะ\nดารณี\nดารดาษ\nดาระ\nดารา\nดาล\nดาลัด\nดาว\nด่าว\nด้าว\nดาวดึงส์\nดาวบส\nดาษ\nดาษดา\nดำ\nด่ำ\nด้ำ\nดำกล\nดำเกิง\nดำแคง\nดำดง\nดำนาณ\nดำเนิน\nดำบล\nดำรง\nดำรวจ\nดำรัส\nดำริ\nดำรี\nดำรู\nดำฤษณา\nดำเลิง\nดิก\nดิ่ง\nดิฉัน\nดิฐ\nดิตถ์\nดิถี\nดิน\nดิ้น\nดิบ\nดิรัจฉาน\nดิลก\nดิ่ว\nดิ้ว\nดิ้วเดี้ยว\nดิษฐ์\nดิสโพรเซียม\nดี\nดีเซล\nดีด\nดีดีที\nดีบุก\nดีปลี\nดีเปรสชัน\nดีหมี\nดีหลี\nดึก\nดึง\nดึ่ง\nดึ่ม\nดื่น\nดื่ม\nดือ\nดื้อ\nดุ\nดุก\nดุกดิก\nดุกทะเล\nดุ้ง\nดุ้งดิ้ง\nดุจ\nดุด\nดุน\nดุ้น\nดุบ\nดุม\nดุ่ม\nดุ่ย\nดุรงค์\nดุริยะ\nดุริยางค์\nดุริยางคศาสตร์\nดุริยางคศิลป์\nดุล\nดุษฎี\nดุษณี\nดุษณีภาพ\nดุษิต\nดุสิต\nดุเหว่า\nดู\nดูกค่าง\nดูกร\nดูด\nดูรา\nดูแล\nเด\nเด่\nเดก\nเด็ก\nเดกซ์โทรส\nเดคากรัม\nเดคาเมตร\nเดคาลิตร\nเด้ง\nเด็จ\nเดช\nเดชน์\nเดชนะ\nเดชะ\nเดโช\nเดซิกรัม\nเดซิเมตร\nเดซิลิตร\nเด็ด\nเดน\nเด่น\nเดนมาร์ก\nเดรัจฉาน\nเด๋อ\nเด๋อด๋า\nเดา\nเด้า\nเดาะ\nเดิน\nเดิ่น\nเดิม\nเดียง\nเดียด\nเดียรดาษ\nเดียรถีย์\nเดียรัจฉาน\nเดียว\nเดี่ยว\nเดี๋ยว\nเดียะ\nเดื่อ\nเดือก\nเดื่อง\nเดือด\nเดือน\nเดือย\nแด\nแด่\nแดก\nแด็ก\nแดกงา\nแดกแด้\nแดง\nแดด\nแดน\nแด่น\nแด่ว\nแดะ\nแดะแด๋\nโด\nโด่\nโดกเดก\nโด่ง\nโดด\nโดน\nโดม\nโดมร\nโดย\nโดรณ\nใด\nได\nได้\nไดแซ็กคาไรด์\nไดนาโม\nไดนาไมต์\nไดโนเสาร์\nไดเรกตริกซ์\nตก\nต๊กโต\nตง\nต๋ง\nตงฉิน\nตงิด\nตงุ่น\nตด\nตติย\nตถาคต\nตน\nต้น\nตนัย\nตนุ\nตบ\nตบะ\nตปนียะ\nตม\nต้ม\nตมูก\nตยาคี\nตรง\nตรณี\nตรม\nตรรก\nตรรกะ\nตรลบ\nตรลอด\nตรลาด\nตรวจ\nตรวน\nตรอก\nตรอง\nตรอมใจ\nตรอมตรม\nตระ\nตระกล\nตระกวน\nตระกอง\nตระการ\nตระกูล\nตระคัร\nตระเตรียม\nตระนาว\nตระบก\nตระบอก\nตระบอง\nตระบัด\nตระบัน\nตระเบ็ง\nตระแบก\nตระแบง\nตระโบม\nตระพอง\nตระพัง\nตระลาการ\nตระวัน\nตระเว็ด\nตระเวน\nตระสัก\nตระหง่าน\nตระหนก\nตระหนัก\nตระหน่ำ\nตระหนี่\nตรัง\nตรังค์\nตรับ\nตรับฟัง\nตรัย\nตรัยตรึงศ์\nตรัส\nตรัสสา\nตรา\nตรากตรำ\nตราชู\nตราบ\nตราสัง\nตรำ\nตริ\nตริว\nตรี\nตรีปวาย\nตรีพิธพรรณ\nตรียัมปวาย\nตรึก\nตรึง\nตรุ\nตรุณ\nตรุณะ\nตรุษ\nตรู\nตรู่\nตฤณ\nตฤตีย\nตฤษณา\nตลก\nตลบ\nตลอด\nตลับ\nตลาด\nตลิ่ง\nตลึง\nตวง\nต่วน\nต้วมเตี้ยม\nตวัก\nตวัด\nตวาด\nตอ\nตอม่อ\nต่อ\nต้อ\nตอก\nต๊อก\nต๊อกต๋อย\nตอง\nต้อง\nตองกราย\nต้องเต\nตองแตก\nต่องแต่ง\nตองเหลือง\nตอด\nตอน\nต้อน\nตอบ\nตอเบา\nตอม\nต่อม\nต๋อม\nต่อย\nต้อย\nต้อยตริ่ง\nต้อยติ่ง\nต้อยตีวิด\nตอแย\nตอร์ปิโด\nต่อไส้\nตอแหล\nตะ\nตะกรน\nตะกร้อ\nตะกรัน\nตะกรับ\nตะกร้า\nตะกราม\nตะกรุด\nตะกรุม\nตะกรุมตะกราม\nตะกละ\nตะกลาม\nตะกวด\nตะกอ\nตะกอน\nตะกัง\nตะกั่ว\nตะกาง\nตะกาด\nตะกาย\nตะกาว\nตะกุกตะกัก\nตะกุย\nตะกู\nตะกูด\nตะเกียกตะกาย\nตะเกียง\nตะเกียบ\nตะแก\nตะแก่\nตะแกรง\nตะโก\nตะโก้\nตะโกก\nตะโกน\nตะโกรง\nตะโกรม\nตะไกร\nตะขบ\nตะขอ\nตะขาบ\nตะขิดตะขวง\nตะเข้\nตะเข็บ\nตะโขง\nตะคร้อ\nตะครอง\nตะครั่นตะครอ\nตะคร้ำ\nตะคริว\nตะคิว\nตะครุบ\nตะคอก\nตะคัน\nตะค้า\nตะคาก\nตะค้าน\nตะคุ่ม\nตะเครียว\nตะเคียว\nตะเคียน\nตะแคง\nตะไคร่\nตะไคร้\nตะเฆ่\nตะนอย\nตะนาว\nตะบม\nตะบอง\nตะบอย\nตะบัน\nตะบิ้ง\nตะบิด\nตะบิดตะบอย\nตะบี้ตะบัน\nตะบึง\nตะบูน\nตะเบ็ง\nตะเบ็งมาน\nตะเบ๊ะ\nตะแบก\nตะแบง\nตะโบม\nตะไบ\nตะปบ\nตะปลิง\nตะปิ้ง\nตะปุ่มตะป่ำ\nตะปู\nตะพง\nตะพด\nตะพอง\nตะพัก\nตะพัง\nตะพัด\nตะพั้น\nตะพาก\nตะพาน\nตะพาบ\nตะพาย\nตะพึด\nตะพึดตะพือ\nตะพุ่น\nตะเพรา\nตะเพิง\nตะเพิด\nตะเพียน\nตะโพก\nตะโพง\nตะโพน\nตะเภา\nตะใภ้\nตะม่อ\nตะมอย\nตะรังกะนู\nตะรังตังกวาง\nตะรังตังช้าง\nตะราง\nตะลอง\nตะลอน\nตะล่อม\nตะละ\nตะลาน\nตะลิงปลิง\nตะลิบ\nตะลีตะลาน\nตะลึง\nตะลึงพรึงเพริด\nตะลุง\nตะลุ่ม\nตะลุ่มนก\nตะลุมบอน\nตะลุ่มโปง\nตะลุมพอ\nตะลุมพุก\nตะลุย\nตะเลง\nตะแลงแกง\nตะไล\nตะวัน\nตะเวน\nตะหลิว\nตะหลุก\nตะหลุง\nตะแหง่ว\nตะแหมะแขะ\nตะโหงก\nตัก\nตักกะ\nตักเตือน\nตั๊กแตน\nตักษัย\nตัง\nตั่ง\nตั้ง\nตังเก\nตังฉ่าย\nตังเม\nตังวาย\nตังโอ๋\nตัจฉก\nตัจฉนี\nตัณฑุล\nตัณหา\nตัด\nตัน\nตันตระ\nตันติ\nตันหยง\nตับ\nตับปิ้ง\nตัว\nตั๋ว\nตัวจี๊ด\nตัวตืด\nตั้วโผ\nตั้วเหี่ย\nตา\nตาก\nตากวาง\nต่าง\nตาด\nตาน\nต่าน\nต้าน\nตานนกกด\nตานี\nตาบ\nตาม\nตามะแน\nตามิน\nตาย\nตาราไต\nตาล\nตาลุ\nต๋าว\nตาเสือ\nตาหนู\nตาฬ\nตำ\nต่ำ\nตำนาน\nตำบล\nตำแบ\nตำแย\nตำรวจ\nตำรับ\nตำรา\nตำรุ\nตำลึง\nตำเสา\nตำหนัก\nตำหนิ\nตำแหน่ง\nติ\nติก\nติ๊ก\nติกะ\nติกาหรัง\nติง\nติ่ง\nติ๋ง\nติ่งตั่ง\nติ๋งต่าง\nติงส\nติงสติ\nติณ\nติด\nติตติกะ\nติตติร\nติตถ\nติตถะ\nติถี\nติมิงคละ\nติรัจฉาน\nติลก\nติละ\nติ้ว\nตี\nตี่\nตีน\nตีบ\nตีรถะ\nตีระ\nตึ\nตึก\nตึ้ก\nตึ้กตั้ก\nตึง\nตึดตื๋อ\nตึ๊ดตื๋อ\nตืด\nตื่น\nตื้น\nตื้อ\nตื๊อ\nตื๋อ\nตุ\nตุ๊\nตุ๊กแก\nตุ๊กตา\nตุ๊กต่ำ\nตุกติก\nตุ๊กติ๊ก\nตุ๊กตุ่น\nตุ๊กตุ๋ย\nตุง\nตุ้งก่า\nตุ้งติ้ง\nตุ๊ดตู่\nตุน\nตุ่น\nตุ๋น\nตุนาหงัน\nตุบ\nตุ้บ\nตุ๊บป่อง\nตุปัดตุป่อง\nตุปัดตุเป๋\nตุ่ม\nตุ้ม\nตุ๋ม\nตุ้มกว้าว\nตุมกา\nตุ้มแซะ\nตุมตัง\nตุ้มเต๋น\nตุ้มปี่\nตุมพะ\nตุ่ย\nตุ้ย\nตุ๊ย\nตุ๋ยตุ่ย\nตุรคะ\nตุรงค์\nตุล\nตุลา\nตุหรัดตุเหร่\nตู\nตู่\nตู้\nตูก\nตูด\nตูบ\nตูม\nเต๊ก\nเต็ง\nเต่ง\nเตช\nเตโช\nเต้น\nเต็นท์\nเต็ม\nเตย\nเตร่\nเตร็ด\nเตรตา\nเตรียม\nเตรียมตรม\nเตละ\nเตลิด\nเตว็ด\nเต่อ\nเตอะ\nเตะ\nเตา\nเต่า\nเต้า\nเต๋า\nเต่าเกียด\nเต้าเจี้ยว\nเต้าทึง\nเต้าหู้\nเต้าฮวย\nเต๊าะ\nเตาะแตะ\nเติ่ง\nเติบ\nเติม\nเตี้ย\nเตียง\nเตียน\nเตียบ\nเตี๋ยม\nเตียรถ์\nเตียว\nเตี่ยว\nเตือน\nแต่\nแต้\nแตก\nแตง\nแต่ง\nแตงเม\nแต้จิ๋ว\nแตด\nแต๊ดแต๋\nแตน\nแต้ม\nแตร\nแตระ\nแต้ว\nแต้วแร้ว\nแต้วแล้ว\nแต่ว่า\nแต้แว้ด\nแตะ\nโต\nโต้\nโตก\nโต่ง\nโต้ง\nโตงเตง\nโตฎก\nโต๊ด\nโตน\nโตนด\nโต้โผ\nโตมร\nโตย\nโตรก\nโต๊ะ\nใต้\nไต\nไต่\nไต้\nไต๋\nไตร\nไตรกิศยา\nไตรดายุค\nไตร่ตรอง\nไตรย\nไต้หวัน\nถก\nถกล\nถงาด\nถด\nถนน\nถนอม\nถนัด\nถนัน\nถนำ\nถนิม\nถม\nถ่ม\nถมอ\nถมึงทึง\nถลก\nถลกบาตร\nถลน\nถล่ม\nถลอก\nถลัน\nถลา\nถลาก\nถลาย\nถลำ\nถลึงตา\nถลุง\nถ่วง\nถ้วน\nถ้วย\nถวัล\nถวัลย์\nถวาย\nถวิน\nถวิล\nถ่อ\nถ้อ\nถอก\nถอง\nถ่อง\nถ้อง\nถอด\nถอน\nถอบ\nถอบแถบ\nถ่อม\nถอย\nถ่อย\nถ้อย\nถะ\nถะถั่น\nถะมัดถะแมง\nถัก\nถัง\nถั่ง\nถัด\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นยา\nบิลเลียด\nบิวเรตต์\nบิสมัท\nบี้\nบีฑา\nบีตา\nบีบ\nบีเยศ\nบึก\nบึกบึน\nบึง\nบึ่ง\nบึ้ง\nบุ\nบุก\nบุคคล\nบุคลากร\nบุคลาธิษฐาน\nบุคลิก\nบุง\nบุ่ง\nบุ้ง\nบุ้งกี๋\nบุญ\nบุญญาธิการ\nบุญญานุภาพ\nบุญญาภินิหาร\nบุญญาภิสังขาร\nบุณฑริก\nบุณมี\nบุณย์\nบุตร\nบุตรี\nบุถุชน\nบุทคล\nบุนนาค\nบุบ\nบุบบิบ\nบุปผชาติ\nบุพกรรม\nบุพการี\nบุพกิจ\nบุพชาติ\nบุพทักษิณ\nบุพนิมิต\nบุพบท\nบุพพาจารย์\nบุพเพสันนิวาส\nบุพโพ\nบุ๋ม\nบุ่มบ่าม\nบุ้ย\nบุรณะ\nบุรพทิศ\nบุรพบท\nบุรพาจารย์\nบูรพาจารย์\nบุระ\nบุราณ\nบุรินทร์\nบุริมทิศ\nบุริมพรรษา\nบุริมสิทธิ\nบุรี\nบุรุษ\nบุโรทั่ง\nบุษกร\nบุษบก\nบุษบง\nบุษบัน\nบุษบา\nบุษบามินตรา\nบุษปราค\nบุษปะ\nบุษย์\nบุษย์น้ำทอง\nบุษยมาส\nบุษยะ\nบุษราคัม\nบุหงัน\nบุหงา\nบุหรง\nบุหรี่\nบุหลัน\nบู่\nบู้\nบูชนียสถาน\nบูชา\nบูชิต\nบูด\nบูดู\nบูร\nบูรณ์\nบูรณภาพ\nบูรณมี\nบูรณะ\nบูรณาการ\nบูรพ์\nบูรพะ\nบูรพา\nเบ้\nเบ่ง\nเบ๊จี๋\nเบญกานี\nเบญจกัลยาณี\nเบญจกามคุณ\nเบญจขันธ์\nเบญจดุริยางค์\nเบญจธรรม\nเบญจบรรพต\nเบญจพรรณ\nเบญจเพส\nเบญจมาศ\nเบญจรงค์\nเบญจศก\nเบญจศีล\nเบญจะ\nเบญจา\nเบญจางค์\nเบญจางคประดิษฐ์\nเบญญา\nเบญพาด\nเบ็ด\nเบ็ดเตล็ด\nเบ็ดเสร็จ\nเบน\nเบนซิน\nเบรก\nเบริลเลียม\nเบส\nเบ้อ\nเบอร์\nเบอร์คีเลียม\nเบ้อเร่อ\nเบ้อเร่อเท่อ\nเบ้อเริ่ม\nเบ้อเริ่มเทิ่ม\nเบอะ\nเบอะบะ\nเบะ\nเบา\nเบ้า\nเบาราณ\nเบาะ\nเบิก\nเบิ่ง\nเบี้ย\nเบี่ยง\nเบียด\nเบียน\nเบียร์\nเบี้ยว\nเบือ\nเบื่อ\nเบื้อ\nเบื้อง\nเบือน\nแบ\nแบ้\nแบก\nแบคทีเรีย\nแบ่ง\nแบงก์\nแบดมินตัน\nแบตเตอรี่\nแบน\nแบนโจ\nแบบ\nแบ็บ\nแบเรียม\nแบหลา\nแบะ\nโบ\nโบ้\nโบ๋\nโบก\nโบกขรณี\nโบกขรพรรษ\nโบชุก\nโบต\nโบนัส\nโบ๊เบ๊\nโบย\nโบรมีน\nโบรอน\nโบราณ\nโบสถ์\nใบ\nใบ้\nไบ่\nปก\nปกติ\nปกรณ์\nปกรณัม\nปกิณกะ\nปกีรณัม\nปโกฏิ\nปง\nป่ง\nปงช้าง\nปฎล\nปฏัก\nปฏิกรณ์\nปฏิกรรม\nปฏิการะ\nปฏิกิริยา\nปฏิกูล\nปฏิคม\nปฏิคหิต\nปฏิคาหก\nปฏิฆะ\nปฏิชีวนะ\nปฏิญญา\nปฏิญาณ\nปฏิทิน\nปฏิบถ\nปฏิบัติ\nปฏิปทา\nปฏิปักษ์\nปฏิปัน\nปฏิปุจฉาพยากรณ์\nปฏิปุจฉาวาที\nปฏิพัทธ์\nปฏิพากย์\nปฏิภาค\nปฏิภาณ\nปฏิมา\nปฏิมากร\nปฏิยุทธ์\nปฏิรพ\nปฏิรูป\nปฏิโลม\nปฏิวัติ\nปฏิวาต\nปฏิวาท\nปฏิเวธ\nปฏิสนธิ\nปฏิสวะ\nปฏิสังขรณ์\nปฏิสันถาร\nปฏิสัมภิทา\nปฏิเสธ\nปฐพี\nปฐม\nปฐวี\nปณต\nปณาม\nปณิธาน\nปณิธิ\nปณีต\nปด\nปดิวรัดา\nปติ\nปถพี\nปถมัง\nปถวี\nปทัฏฐาน\nปทัสถาน\nปทานุกรม\nปทีป\nปทุม\nปน\nป่น\nปนัดดา\nปปัญจะ\nปม\nปรนัย\nปรปักษ์\nปรโลก\nปรวาที\nปรก\nปรกติ\nปรง\nปรตยักษ์\nปรน\nปรนนิบัติ\nปรนิมมิตวสวัตดี\nปรบ\nปรปักษ์\nปรมัตถ์\nปรมาจารย์\nปรมาณู\nปรมาภิไธย\nปรมาภิเษก\nปรมินทร์\nบรเมนทร์\nปรเมศวร์\nปรเมษฐ์\nปรวด\nปรวนแปร\nปรศุ\nปรสิต\nปร๋อ\nปรองดอง\nปรอด\nปรอท\nปรอย\nประ\nประกบ\nประกฤต\nประกฤติ\nประกล\nประกวด\nประกวดประขัน\nประกอบ\nประกัน\nประกับ\nประกาย\nประกายพรึก\nประการ\nประกาศ\nประกาศนียบัตร\nประกาศิต\nประกำ\nประกิด\nประกิต\nประคด\nประคนธรรพ\nประคนธรรพ์\nประคบ\nประคบประหงม\nประคอง\nประคับประคอง\nประคัลภ์\nประคำ\nประคิ่น\nประคุณ\nประเคน\nประเคราะห์\nประโคน\nประโคนธรรพ\nประโคนธรรพ์\nประโคม\nประจง\nประจญ\nประจบ\nประจบประแจง\nประจวบ\nประจ๋อประแจ๋\nประจักษ์\nประจักษนิยม\nประจัญ\nประจัน\nประจาก\nประจาค\nประจาน\nประจำ\nประจิม\nประจิ้มประเจ๋อ\nประจุ\nประจุคมน์\nประจุบัน\nประเจก\nประเจิด\nประเจิดประเจ้อ\nประเจียด\nประแจ\nประชด\nประชน\nประชวม\nประชวร\nประชัน\nประชา\nประชาธิปไตย\nประชิด\nประชี\nประชุม\nประเชิญ\nประณต\nประณม\nประณาม\nประณิธาน\nประณิธิ\nประณีต\nประณุท\nประดง\nประดน\nประดวน\nประดอน\nประดอย\nประดัก\nประดักประเดิด\nประดัง\nประดับ\nประดา\nประดาก\nประดาป\nประดาษ\nประดิชญา\nประดิดประดอย\nประดิทิน\nประดิษฐ์\nประดิษฐกรรม\nประดิษฐาน\nประดุง\nประดุจ\nประดู่\nประเด\nประเด็น\nประเดิม\nประเดียง\nประเดี๋ยว\nประเดี๋ยวประด๋าว\nประแดง\nประแดะ\nประโดง\nประโดย\nประตง\nประตัก\nประตาป\nประติชญา\nประติญาณ\nประติทิน\nประติมากร\nประติมากรรม\nประติรพ\nประตู\nประถม\nประถมจินดา\nประทม\nประท้วง\nประทวน\nประทักษ์\nประทักษิณ\nประทัง\nประทัด\nประทับ\nประทาน\nประทาย\nประทาศี\nประทิน\nประทิ่น\nประทีป\nประทุฐ\nประทุน\nประทุษ\nประทุษฐ์\nประเทศ\nประเทา\nประเทียด\nประเทียบ\nประเทือง\nประธาน\nประธานาธิบดี\nประนม\nประนอ\nประนอม\nประนัง\nประนัปดา\nประนีประนอม\nประปราน\nประปราย\nประปา\nประเปรี้ยง\nประเปรียว\nประพจน์\nประพนธ์\nประพรม\nประพฤติ\nประพฤทธิ์\nประพัด\nประพัทธ์\nประพันธ์\nประพาต\nประพาส\nประพาสมหรณพ\nประพาฬ\nประพิณ\nประพิมพ์ประพาย\nประพุทธ์\nประเพณี\nประโพธ\nประไพ\nประไพร\nประภพ\nประภัสสร\nประภา\nประภาคาร\nประภาพ\nประภาษ\nประภาส\nประเภท\nประมง\nประมวล\nประมาณ\nประมาท\nประมุข\nประมุท\nประมูล\nประเมิน\nประโมง\nประโมทย์\nประยงค์\nประยุกต์\nประยุทธ์\nประยุร\nประยูร\nประโยค\nประโยชน์\nประโรหิต\nประลมพ์\nประลอง\nประลัย\nประลาต\nประลาย\nประลุ\nประเล่ห์\nประเล้าประโลม\nประโลม\nประวรรต\nประวรรตน์\nประวัติ\nประวาล\nประวาลปัทม์\nประวาส\nประวิง\nประวิช\nประวิตร\nประวิน\nประวีณ\nประเวณี\nประเวศ\nประเวศน์\nประศม\nประศาสน์\nประศุ\nประสก\nประสงค์\nประสบ\nประสพ\nประสม\nประสะ\nประสัก\nประสันนาการ\nประสัยห์\nประสา\nประสาท\nประสาธน์\nประสาน\nประสาร\nประสิทธิ์\nประสิทธิผล\nประสิทธิภาพ\nประสีประสา\nประสูต\nประสูติ\nประเสบัน\nประเสบันอากง\nประเสริฐ\nประหนึ่ง\nประหม่า\nประหยัด\nประหลาด\nประหล่ำ\nประหวัด\nประหวั่น\nประหัตประหาร\nประหาณ\nประหาร\nประเหล\nประเหส\nประไหมสุหรี\nประอบ\nประอร\nปรัก\nปรักปรำ\nปรักมะ\nปรัง\nปรัชญา\nปรัตถจริยา\nปรัตยุบัน\nปรัน\nปรับ\nปรัมปรา\nปรัศจิม\nปรัศนา\nปรัศนี\nปรัศว์\nปรัสสบท\nปร่า\nปรากฏ\nปรากรม\nปรากฤต\nปราการ\nปราง\nปรางค์\nปราจีน\nปราชญ์\nปราชญา\nปราชัย\nปราณ\nปราณี\nปราด\nปราน\nปรานี\nปราบ\nปราบดาภิเษก\nปราปต์\nปราม\nปรามาส\nปราโมช\nปราโมทย์\nปราย\nปรารถนา\nปรารภ\nปรารมภ์\nปราศ\nปราศจาก\nปราศรัย\nปราษณี\nปราษาณ\nปราสัย\nปราสาท\nปรำ\nปริ\nปริก\nปริกขาร\nปริกรรม\nปริกัป\nปริคณห์\nปริจาค\nปริจาริกา\nปริเฉท\nปริชน\nปริซึม\nปริญญา\nปริณาม\nปริณายก\nปริต\nปริตตะ\nปริตโตทก\nปริตร\nปริทรรศน์\nปริทัยหัคคี\nปริทัศน์\nปริเทพ\nปริเทวะ\nปรินิพพาน\nปริบ\nปริบท\nปริปันถ์\nปริพนธ์\nปริพัตร\nปริพันธ์\nปริพาชก\nปริภัณฑ์\nปริภาษ\nปริภูมิ\nปริโภค\nปริ่ม\nปริมณฑล\nปริมาณ\nปริมาตร\nปริยัติ\nปริยานุช\nปริยาย\nปริเยศ\nปริโยสาน\nปริวรรต\nปริวัตร\nปริวาร\nปริวาส\nปริวิตก\nปริเวณ\nปริศนา\nปริษัท\nปริสัญญู\nปริสุทธิ\nปริหาน\nปริหาร\nปรี่\nปรีชญา\nปรีชา\nปรี๊ด\nปรีดา\nปรีดิ\nปรีดิ์\nปรีดี\nปรีติ\nปรียะ\nปรียา\nปรึก\nปรึกษา\nปรึง\nปรือ\nปรื๋อ\nปรุ\nปรุง\nปรู\nปรู๋\nปรูด\nปรู๊ด\nปรู๊ดปร๊าด\nปรู๊ฟ\nปฤงคพ\nปฤจฉา\nปฤษฎางค์\nปฤษฐ\nปลก\nปลกเปลี้ย\nปลง\nปล่ง\nปลด\nปล้น\nปลวก\nปลอก\nปล่อง\nปล้อง\nปลอด\nปล้อน\nปลอบ\nปลอม\nปล่อย\nปละ\nปลัก\nปลั๊ก\nปลัง\nปลั่ง\nปลัด\nปลัดขิก\nปลา\nปลาต\nปลาบ\nปลาย\nปลาสเตอร์\nปลาสนาการ\nปล้ำ\nปลิง\nปลิด\nปลิ้น\nปลิโพธ\nปลิม\nปลิ่ม\nปลิว\nปลี\nปลีก\nปลื้ม\nปลุก\nปลูก\nปวกเปียก\nปวง\nป่วง\nปวด\nป่วน\nป้วน\nป้วนเปี้ยน\nป่วย\nปวัตน์\nปวารณา\nปวาล\nปวาส\nปวาฬ\nปวิช\nปวิตร\nปวิธ\nปวิเวก\nปวีณ\nปวุติ\nปเวณี\nปเวส\nปเวสน์\nปศุ\nปสันนะ\nปสันนาการ\nปสาท\nปสาน\nปสาสน์\nปสุ\nปสุต\nปสูติ\nปหังสนะ\nปหาน\nปหาร\nปหาส\nปอ\nป้อ\nป๋อ\nปอก\nปอง\nป่อง\nป้อง\nปอด\nปอน\nป้อน\nปอนด์\nปอเนาะ\nปอบ\nป้อแป้\nปอม\nป้อม\nป๋อม\nปอย\nป้อย\nป้อยอ\nปะ\nปะกน\nปะกัง\nปะการัง\nปะกำ\nปะขาว\nปะงาบ\nปะตาปา\nปะตาระกาหลา\nปะติดปะต่อ\nปะติยาน\nปะทะ\nปะทะปะทัง\nปะทุ\nปะทุน\nปะปน\nปะมง\nปะราลี\nปะรำ\nปะไร\nปะลอม\nปะเลง\nปะแล่ม\nปะโลง\nปะวะหล่ำ\nปะหงับ\nปะหนัน\nปะหัง\nปะเหลาะ\nปัก\nปักข์\nปักเป้า\nปักษ์\nปักษา\nปักษิน\nปักษี\nปัง\nปั๋ง\nปังสุ์\nปังสุกุล\nปัจจัตตะ\nปัจจันต์\nปัจจันตคาม\nปัจจันตชนบท\nปัจจันตประเทศ\nปัจจัย\nปัจจามิตร\nปัจจุคมน์\nปัจจุทธรณ์\nปัจจุบัน\nปัจจุสมัย\nปัจเจก\nปัจโจปการกิจ\nปัจฉา\nปัจฉิม\nปัจถรณ์\nปัจนึก\nปัจยาการ\nปัจเวกขณ์\nปัชชุน\nปัญจนที\nปัญจวัคคีย์\nปัญจก\nปัญจกะ\nปัญจมี\nปัญจวีสติ\nปัญญัติ\nปัญญา\nปัญหา\nปัฏ\nปัฏนะ\nปัฐยาวัต\nปัณฑรหัตถี\nปัณณะ\nปัณณาส\nปัณณาสก์\nปัณรสี\nปัณหิ\nปัด\nปัตคาด\nปัตตะ\nปัตตานึก\nปัตตานุโมทนา\nปัตตาเวีย\nปัตติ\nปัตติก\nปัตถร\nปัตถะ\nปัตนิ\nปัตนี\nปัตหล่า\nปัถพี\nปัถวี\nปัทม์\nปัทมะ\nปัทมาสน์\nปัน\nปั่น\nปั้น\nปั้นจั่น\nปันจุเหร็จ\nปั้นลม\nปั้นหยา\nปั้นเหน่ง\nปับ\nปั๊บ\nปัปผาสะ\nปัพพาชนียกรรม\nปัพภาระ\nปั๊ม\nปัยกา\nปัยยิกา\nปัวเปีย\nปัศจิม\nปัศตัน\nปัสสาวะ\nปัสสาสะ\nปา\nป่า\nป้า\nปาก\nปาง\nป้าง\nปาจรีย์\nปาจิตตีย์\nปาจีน\nปาฏลิ\nปาฏิบท\nปาฏิบุคลิก\nปาฏิโภค\nปาฏิหาริย์\nปาฐก\nปาฐกถา\nปาฐะ\nปาณกชาติ\nปาณะ\nปาณาติบาต\nปาณิ\nปาณี\nปาด\nปาติโมกข์\nปาตี\nปาเต๊ะ\nปาท่องโก๋\nปาทังกา\nปาทาน\nปาทุกา\nปาน\nป่าน\nป้าน\nปานะ\nปานียะ\nป้าบ\nป๊าบ\nปาพจน์\nปาม\nปาโมกข์\nป่าย\nป้าย\nปายาส\nปาร์เกต์\nปารมี\nปารเมศ\nปาราชิก\nปาริฉัตร\nปาริชาต\nปารุสกวัน\nปาล\nปาล์ม\nปาลิไลยก์\nปาลี\nปาว\nป่าว\nป๊าว\nปาวาร\nปาษาณ\nปาส\nปาสาณ\nปาสาทิกะ\nปาหนัน\nปาหี่\nปำ\nป้ำ\nป้ำเป๋อ\nปิกนิก\nปิ้ง\nปิงคละ\nปิงปอง\nปิฎก\nปิฏฐะ\nปิฐิ\nปิณฑะ\nปิด\nปิตตะ\nปิตา\nปิตามหัยกา\nปิตามหัยยิกา\nปิตุ\nปิตุจฉา\nปิตุภูมิ\nปิตุลา\nปิโตรเลียม\nปิ่น\nปิ่นแก้ว\nปิ่นโต\nปิปผลี\nปิ่ม\nปิ้ม\nปิยะ\nปิยังคุ\nปิโยรส\nปิลันธน์\nปิ๋ว\nปิศาจ\nปิหกะ\nปี\nปี่\nปี้\nปี๋\nปีก\nปีฐะ\nปี๊ด\nปีติ\nปีน\nปีบ\nปี๊บ\nปีศาจ\nปีฬกะ\nปึก\nปึง\nปึ่ง\nปึ๋ง\nปึ้ด\nปึมปื้อ\nปืน\nปื้น\nปือ\nปื้อ\nปื๋อ\nปุ\nปุ๊\nปุก\nปุกปุย\nปุคละ\nปุ้งกี๋\nปุงควะ\nปุงลิงค์\nปุงลึงค์\nปุจฉา\nปุฏะ\nปุณฑริก\nปุด\nปุตตะ\nปุถุชน\nปุนนาค\nปุนภพ\nปุนัพสุ\nปุบ\nปุ๊บ\nปุปผะ\nปุปะ\nปุพพะ\nปุ่ม\nปุ่มป่ำ\nปุ้ม\nปุ๋ม\nปุย\nปุ้ย\nปุ๋ย\nปุรณะ\nปุระ\nปุราณ\nปุราณะ\nปุริมพรรษา\nปุเรจาริก\nปุโรหิต\nปุลลิงค์\nปุลลึงค์\nปุลินท์\nปุโลปุเล\nปุษยะ\nปุสสะ\nปู\nปู่\nปูชกะ\nปูชนียบุคคล\nปูชนียวัตถุ\nปูชนียะ\nปูชา\nปูชิต\nปูด\nปูน\nปูม\nปู้ยี่ปู้ยำ\nปูระ\nปูลู\nเป้\nเป๋\nเปก\nเป๊ก\nเป่ง\nเป้ง\nเป๋ง\nเป็ด\nเปตพลี\nเปตอง\nเป็น\nเปยยาล\nเปร็ง\nเปรต\nเปรม\nเปรย\nเปรอ\nเปรอะ\nเปราะ\nเปรียง\nเปรี้ยง\nเปรี้ยงปร้าง\nเปรียญ\nเปรียบ\nเปรี่ยม\nเปรียว\nเปรี้ยว\nเปรียะ\nเปรี๊ยะ\nเปรื่อง\nเปรื้อย\nเปล\nเปล่ง\nเปลว\nเปลา\nเปล่า\nเปล้า\nเปลาะ\nเปลี้ย\nเปลี่ยน\nเปลี่ยม\nเปลี่ยว\nเปลือก\nเปลือง\nเปลื้อง\nเปลือย\nเปศะ\nเปศัส\nเปสการ\nเปสละ\nเปสุญวาท\nเป๋อ\nเป้อเย้อ\nเปอร์\nเปอร์เซ็นต์\nเปะ\nเปา\nเป่า\nเป้า\nเป๊า\nเป๋า\nเป๋าฮื้อ\nเปาะ\nเป๊าะ\nเปาะเปี๊ยะ\nเปาะแปะ\nเปิก\nเปิง\nเปิงมาง\nเปิด\nเปิ่น\nเปิบ\nเปิ๊บ\nเปีย\nเปียก\nเปี๊ยก\nเปี๊ยบ\nเปี่ยม\nเปี้ยว\nเปี๊ยว\nเปียะ\nเปี๊ยะ\nเปือก\nเปื้อน\nเปื่อย\nแป\nแป้ง\nแป๋ง\nแปด\nแป๊ด\nแปทู\nแป้น\nแป๊น\nแปบ\nแป๊บ\nแปม\nแปร\nแปร๋\nแปรก\nแปรง\nแปร่ง\nแปร๊ด\nแปร้น\nแปร๋น\nแปรปรวน\nแประ\nแปล\nแปล้\nแปลก\nแปลง\nแปลน\nแปลบ\nแปล๊บ\nแป้ว\nแป๊ว\nแปะ\nแป๊ะ\nแป๊ะซะ\nโป\nโป่\nโป้\nโป๊\nโปก\nโป๊ก\nโป๊กเกอร์\nโปกขรณี\nโปกขรพรรษ\nโปเก\nโปง\nโป่ง\nโป้ง\nโป่งข่าม\nโปงลาง\nโป่งวิด\nโปฐบท\nโปฐปทมาส\nโปดก\nโปตถกะ\nโปน\nโป๊ป\nโป๊ยเซียน\nโปรแกรม\nโปรง\nโปร่ง\nโปรด\nโปรตอน\nโปรตีน\nโปรเตสแตนต์\nโปรแทรกเตอร์\nโปรย\nโปล่ง\nโปลิโอ\nโปโล\nโปสก\nโปสต์การ์ด\nโปะ\nโป๊ะ\nโป๊ะจ้าย\nไป\nไป่\nไป๋\nไปยาล\nไปรษณีย์\nไปรษณียบัตร\nไปรษณียภัณฑ์\nไปรษณียากร\nไปล่\nไปศาจ\nผก\nผกา\nผกาย\nผคม\nผง\nผงก\nผงม\nผงะ\nผงาด\nผง่าน\nผจง\nผจญ\nผจัญ\nผจาน\nผชุม\nผณิน\nผณินทร\nผณิศวร\nผด\nผดุง\nผเดิน\nผทม\nผนวก\nผนวช\nผนัง\nผนิด\nผนึก\nผม\nผยอง\nผรณาปีติ\nผรสุ\nผริต\nผรุสวาท\nผล\nผลคุน\nผลคุนี\nผล็อย\nผละ\nผลัก\nผลัด\nผลับ\nผลัวะ\nผลา\nผลาญ\nผลานิสงส์\nผลาผล\nผลาหาร\nผลิ\nผลิกะ\nผลิต\nผลิน\nผลี\nผลีผลาม\nผลึก\nผลึ่ง\nผลือ\nผลุ\nผลุง\nผลุด\nผลุน\nผลุนผลัน\nผลุบ\nผลุบผลับ\nผลุย\nผลู\nผวน\nผวย\nผวา\nผสม\nผสาน\nผอง\nผ่อง\nผ่อน\nผอบ\nผอม\nผ็อย\nผอูน\nผะ\nผะดา\nผะสา\nผัก\nผัคคุณ\nผัคคุณี\nผัง\nผัด\nผัน\nผับ\nผัว\nผัวะ\nผัสสะ\nผัสสาหาร\nผา\nผ่า\nผ้า\nผาก\nผาง\nผ่าง\nผาณิต\nผาด\nผาติ\nผ่าน\nผาม\nผาย\nผ่ายผอม\nผาล\nผาลคุน\nผาลา\nผ่าว\nผาสุก\nผ้าฮาด\nผำ\nผ้ำ\nผิ\nผิง\nผิด\nผิตะ\nผิน\nผิว\nผี\nผี้ว์\nผึง\nผึ่ง\nผึ้ง\nผึ้งรวง\nผืน\nผื่น\nผุ\nผุด\nผุยผง\nผุสราคา\nผู้\nผูก\nเผ\nเผง\nเผชิญ\nเผ็ด\nเผด็จ\nเผดิม\nเผดียง\nเผ่น\nเผนิก\nเผย\nเผยอ\nเผยิบ\nเผยิบผยาบ\nเผล\nเผล่\nเผล็ด\nเผลอ\nเผลอไผล\nเผละ\nเผลาะ\nเผลาะแผละ\nเผลียง\nเผอเรอ\nเผอิญ\nเผอิล\nเผะ\nเผา\nเผ่า\nเผ้า\nเผาะ\nเผิ้ง\nเผิน\nเผียน\nเผือ\nเผื่อ\nเผือก\nเผือด\nเผือน\nเผื่อน\nแผ่\nแผก\nแผง\nแผด\nแผน\nแผ่น\nแผนก\nแผล\nแผลง\nแผล็บ\nแผล็ว\nแผละ\nแผ่ว\nแผ้ว\nโผ\nโผง\nโผฏฐัพพะ\nโผน\nโผเผ\nโผย\nโผล่\nโผลกเผลก\nโผละ\nโผอน\nโผะ\nไผ\nไผ่\nไผท\nฝน\nฝรั่ง\nฝรั่งเศส\nฝ่อ\nฝอย\nฝัก\nฝัง\nฝั่ง\nฝัด\nฝัน\nฝา\nฝ่า\nฝ้า\nฝาก\nฝาง\nฝาด\nฝาน\nฝาย\nฝ่าย\nฝ้าย\nฝิ่น\nฝี\nฝี่\nฝีก\nฝึก\nฝืด\nฝืน\nฝุ่น\nฝูง\nเฝ้า\nเฝือ\nเฝือก\nเฝือง\nเฝื่อน\nแฝก\nแฝง\nแฝด\nใฝ่\nไฝ\nพก\nพกุล\nพง\nพงศ์\nพงศกร\nพงศธร\nพงศา\nพงศาวดาร\nพจน์\nพจนา\nพจนานุกรม\nพจนารถ\nพจนีย์\nพจมาน\nพจี\nพชระ\nพญา\nพญาลอ\nพณิช\nพณิชย์\nพดด้วง\nพธู\nพนันดร\nพนาดร\nพนาดอน\nพนาราม\nพนาลัย\nพนาลี\nพนาวาส\nพนาเวศ\nพนาศรม\nพนาสณฑ์\nพนาสัณฑ์\nพเนจร\nพ่น\nพ้น\nพนม\nพนอง\nพนอม\nพนัก\nพนักงาน\nพนัง\nพนัน\nพนัส\nพนา\nพนาย\nพนิดา\nพนิต\nพบ\nพม่า\nพยนต์\nพยศ\nพยัก\nพยักพเยิด\nพยัคฆ์\nพยัคฆา\nพยัคฆิน\nพยัคฆี\nพยัชน์\nพยัญชนะ\nพยัต\nพยับ\nพยากรณ์\nพยาฆร์\nพยางค์\nพยาธิ\nพยาน\nพยาบาท\nพยาบาล\nพยาม\nพยามะ\nพยายาม\nพยุ\nพยุง\nพยุหยาตรา\nพยุหโยธา\nพยุหเสนา\nพยุหะ\nพยู่ห์\nพเยีย\nพร\nพรต\nพรม\nพรรค\nพรรค์\nพรรคานต์\nพรรณ\nพรรณนา\nพรรดึก\nพรรลาย\nพรรษ\nพรรษา\nพรรเอิญ\nพรวด\nพรวน\nพรหม\nพรหมจรรย์\nพรหมจาริณี\nพรหมจารี\nพรหมา\nพรหมาสตร์\nพรหมินทร์\nพรอก\nพร่อง\nพร้อง\nพรอด\nพร้อม\nพร้อมพรัก\nพร่อย\nพร้อย\nพระ\nพระนอม\nพระนาด\nพระฮาม\nพรักพร้อม\nพรั่ง\nพรัด\nพรั่น\nพรับ\nพร่า\nพร้า\nพราก\nพราง\nพร่าง\nพราด\nพราน\nพราย\nพราว\nพราหมณ์\nพราหมณะ\nพราหมณี\nพราหมี\nพรำ\nพร่ำ\nพริก\nพริ้ง\nพริบ\nพริ้ม\nพรึง\nพรึน\nพรึบ\nพรึ่บ\nพรืด\nพรุ\nพรุ่ง\nพรุน\nพรู\nพรูด\nพฤกษ์\nพฤกษชาติ\nพฤกษเทวดา\nพฤกษราช\nพฤกษศาสตร์\nพฤกษา\nพฤฒ\nพฤฒา\nพฤฒาจารย์\nพฤฒิ\nพฤต\nพฤติ\nพฤทธ์\nพฤทธิ์\nพฤนต์\nพฤนท์\nพฤศจิก\nพฤศจิกายน\nพฤษภ\nพฤษภาคม\nพฤหัสบดี\nพล\nพละ\nพลากร\nพลาดิศัย\nพลาธิการ\nพลานามัย\nพลบ\nพลวก\nพลวง\nพลวัต\nพลศาสตร์\nพลอ\nพล้อ\nพลอง\nพลอด\nพลอน\nพลอมแพลม\nพลอย\nพล่อย\nพลั่ก\nพลัง\nพลั่ง\nพลั้ง\nพลัด\nพลัน\nพลับ\nพลับพลา\nพลับพลึง\nพลั่ว\nพล่า\nพลาง\nพลาญ\nพลาด\nพล่าน\nพลาม\nพล่าม\nพลาย\nพลาสติก\nพลาสมา\nพลาหก\nพลำ\nพล้ำ\nพลำภัง\nพลิก\nพลิพัท\nพลิ้ว\nพลี\nพลุ\nพลุก\nพลุ่ก\nพลุกพล่าน\nพลุ่ง\nพลุ้ย\nพลู\nพลูโต\nพลูโทเนียม\nพวก\nพวง\nพ่วง\nพวน\nพวย\nพสก\nพสุ\nพสุธา\nพสุสงกรานต์\nพหล\nพหุ\nพหุล\nพหู\nพอ\nพ่อ\nพ้อ\nพอก\nพอง\nพ้อง\nพอน\nพ้อม\nพอโลเนียม\nพะ\nพะงา\nพะงาบ\nพะจง\nพะทำมะรง\nพะนอ\nพะเน้าพะนอ\nพะเนิน\nพะเนียง\nพะแนง\nพะพาน\nพะพิง\nพะเพิง\nพะยอม\nพ่ะย่ะค่ะ\nพะยูง\nพะยูน\nพะเยิบ\nพะเยิบพะยาบ\nพะรุงพะรัง\nพะโล้\nพะไล\nพะวง\nพะวักพะวน\nพะวา\nพะว้าพะวัง\nพะอง\nพะอากพะอำ\nพะอืดพะอม\nพัก\nพักตร์\nพักตรา\nพักร\nพัง\nพังกา\nพังงา\nพังผืด\nพังพวย\nพังพอน\nพังพาน\nพังพาบ\nพังเพย\nพัช\nพัชนี\nพัชระ\nพัญจน์\nพัฒนะ\nพัฒนา\nพัฒนากร\nพัฒนาการ\nพัด\nพัดชา\nพัดดึงส์\nพัตร\nพัทธ์\nพัทธยา\nพัทธสีมา\nพัทร\nพัน\nพันตู\nพันทาง\nพันธ์\nพันธะ\nพันธกรณี\nพันธบัตร\nพันธมิตร\nพันธนะ\nพันธนาคาร\nพันธนาการ\nพันธุ์\nพันธุกรรม\nพันลึก\nพันลือ\nพันเลิศ\nพันเอิญ\nพับ\nพัลลภ\nพัลวัน\nพัว\nพัวะ\nพัศดี\nพัสดุ\nพัสตร์\nพัสถาน\nพา\nพาก\nพากเพียร\nพากย์\nพาง\nพ่าง\nพาชี\nพาณิช\nพาณิชย์\nพาณิชยกรรม\nพาณิชยการ\nพาณิชยศาสตร์\nพาณิชยศิลป์\nพาณินี\nพาณี\nพาณีนี\nพาด\nพาท\nพาทย์\nพาธ\nพาธา\nพาน\nพ่าน\nพานร\nพานรินทร์\nพาม\nพาย\nพ่าย\nพายม้า\nพายัพ\nพายุ\nพาร์เซก\nพารณ\nพารา\nพาราฟิน\nพาล\nพาลา\nพาลี\nพาลุก\nพาโล\nพาไล\nพาส\nพาสน์\nพาสนา\nพาสุกรี\nพ่าห์\nพาหนะ\nพาหะ\nพาหา\nพาหิรกะ\nพาหิระ\nพาหุ\nพาหุรัด\nพาหุสัจจะ\nพาเหียร\nพาฬ\nพำ\nพำนัก\nพำพึม\nพำลา\nพิกล\nพิกสิต\nพิกัด\nพิกัติ\nพิกัน\nพิการ\nพิกุล\nพิเคราะห์\nพิฆน์\nพิฆเนศ\nพิฆเนศวร\nพิฆาต\nพิง\nพิจัย\nพิจาร\nพิจารณ์\nพิจารณา\nพิจิก\nพิจิต\nพิจิตร\nพิชญ์\nพิชัย\nพิชาน\nพิชิต\nพิเชฐ\nพิเชียร\nพิฑูรย์\nพิณ\nพิดทูล\nพิดาน\nพิโดร\nพิตร\nพิถี\nพิถีพิถัน\nพิทย\nพิทย์\nพิทยา\nพิทยาคม\nพิทยาคาร\nพิทยาธร\nพิทยาลัย\nพิทักษ์\nพิทูร\nพิเทศ\nพิธาน\nพิธี\nพิธุ\nพินทุ\nพินอบพิเทา\nพินัย\nพินาศ\nพินิจ\nพินิต\nพินิศ\nพินิศจัย\nพิเนต\nพิบัติ\nพิบุล\nพิบูล\nพิปริต\nพิปลาส\nพิพรรธ\nพิพรรธน์\nพิพักพิพ่วน\nพิพัฒ\nพิพัฒน์\nพิพากษ์\nพิพากษา\nพิพาท\nพิพิธ\nพิพิธภัณฑ์\nพิพิธภัณฑสถาน\nพิภพ\nพิภัช\nพิภาค\nพิภูษณะ\nพิเภก\nพิมปะการัง\nพิมพ์\nพิมพการัง\nพิมพา\nพิมพาภรณ์\nพิมล\nพิมเสน\nพิมาน\nพิมุข\nพิโมกข์\nพิโมกษ์\nพิโยกพิเกน\nพิโยค\nพิรอด\nพิระ\nพิรากล\nพิราบ\nพิราม\nพิราลัย\nพิริยะ\nพิรี้พิไร\nพิรุณ\nพิรุธ\nพิรุฬห์\nพิเรนทร์\nพิเราะ\nพิโรธ\nพิไร\nพิลังกาสา\nพิลาป\nพิลาส\nพิลิปดา\nพิลึก\nพิลึกกึกกือ\nพิลึกพิลั่น\nพิโลน\nพิไล\nพิศ\nพิศวง\nพิศวาส\nพิศาล\nพิศุทธ์\nพิศุทธิ์\nพิเศษ\nพิษ\nพิษฐาน\nพิษนาศน์\nพิสดาร\nพิสมร\nพิสมัย\nพิสัง\nพิสัช\nพิสัย\nพิสิฐ\nพิสุทธิ์\nพิสูจน์\nพิหค\nพิหาร\nพิฬาร\nพี\nพี่\nพี้\nพีชคณิต\nพีระมิด\nพึง\nพึ่ง\nพึ่บ\nพึ่บพั่บ\nพึม\nพึมพำ\nพืช\nพืด\nพื้น\nพุ\nพุก\nพุกาม\nพุง\nพุ่ง\nพุงดอ\nพุฒ\nพุฒิ\nพุด\nพุดตาน\nพุทธ\nพุทธะ\nพุทธังกูร\nพุทธางกูร\nพุทธันดร\nพุทธาภิเษก\nพุทธาวาส\nพุทธิ\nพุทโธ่\nพุทรา\nพุธ\nพุ่ม\nพุมเรียง\nพุ้ย\nพู\nพูพอน\nพู่\nพูด\nพูน\nพู้น\nพู่ระหง\nเพ\nเพ็ก\nเพกา\nเพคะ\nเพ็ง\nเพ่ง\nเพ็จ\nเพชฉลูกรรม\nเพชฌฆาต\nเพชร\nเพชรดา\nเพชรปาณี\nเพชรฤกษ์\nเพชรายุธ\nเพชรกลับ\nเพชรสังฆาต\nเพชรหลีก\nเพชรหึง\nเพ็ญ\nเพฑูริย์\nเพณี\nเพ็ดทูล\nเพดาน\nเพท\nเพทนา\nเพทาย\nเพทุบาย\nเพโทบาย\nเพ่นพ่าน\nเพนียด\nเพไนย\nเพ้ย\nเพรง\nเพรซีโอดิเมียม\nเพรา\nเพราะ\nเพริด\nเพริศ\nเพรียก\nเพรียง\nเพรียบ\nเพรี้ยม\nเพรียว\nเพรื่อ\nเพรือง\nเพล\nเพลง\nเพล็ด\nเพล้โพล้\nเพลา\nเพลาะ\nเพลิง\nเพลิดเพลิน\nเพลิน\nเพลีย\nเพลี้ย\nเพลี่ยง\nเพศ\nเพส\nเพสลาด\nเพ่อ\nเพ้อ\nเพ้อเจ้อ\nเพอิญ\nเพะ\nเพา\nเพาะ\nเพิก\nเพิง\nเพิ่ง\nเพิดเพ้ย\nเพิ่ม\nเพี้ย\nเพียง\nเพี้ยง\nเพียงออ\nเพี้ยน\nเพียบ\nเพียร\nเพื่อ\nเพื่อน\nแพ\nแพ้\nแพง\nแพ่ง\nแพงพวย\nแพทย์\nแพทยศาสตร์\nแพน\nแพ่น\nแพนก\nแพนงเชิง\nแพร\nแพร่\nแพรก\nแพร่ง\nแพรว\nแพร้ว\nแพลง\nแพลทินัม\nแพล็บ\nแพลม\nแพลเลเดียม\nแพละ\nแพละโลม\nแพว\nแพ้ว\nแพศย์\nแพศยา\nแพะ\nโพ\nโพก\nโพกพาย\nโพง\nโพงพาง\nโพชฌงค์\nโพซิตรอน\nโพด\nโพทะเล\nโพแทสเซียม\nโพธ\nโพธิ\nโพธิ์\nโพน\nโพ้น\nโพนทะนา\nโพบาย\nโพย\nโพยก๊วน\nโพยม\nโพรก\nโพรง\nโพรโทแอกทิเนียม\nโพรมีเทียม\nโพระดก\nโพล่\nโพลง\nโพล่ง\nโพล้ง\nโพลน\nโพล้เพล้\nโพละ\nโพสพ\nไพ\nไพ่\nไพจิตร\nไพชน\nไพชยนต์\nไพฑูรย์\nไพที\nไพบูลย์\nไพพรรณ\nไพร\nไพร่\nไพรจิตร\nไพรชน\nไพรชยนต์\nไพรฑูรย์\nไพรที\nไพรบูลย์\nไพรเราะ\nไพรัช\nไพรำ\nไพริน\nไพรินทร์\nไพรี\nไพเราะ\nไพโรจน์\nไพล\nไพล่\nไพศาขะ\nไพศาล\nไพเศษ\nไพสพ\nไพสิฐ\nไพหาร\nฟก\nฟ้ง\nฟรักโทส\nฟรี\nฟลูออรีน\nฟ่อ\nฟ้อ\nฟอก\nฟอง\nฟ่อง\nฟ้อง\nฟอด\nฟอน\nฟ่อน\nฟ้อน\nฟ้อแฟ้\nฟอร์มาลดีไฮด์\nฟอร์มาลิน\nฟอสฟอรัส\nฟอสเฟต\nฟัก\nฟักฟุ้น\nฟัง\nฟังก์ชัน\nฟัด\nฟัน\nฟั่น\nฟั้น\nฟ้า\nฟาก\nฟาง\nฟ่าง\nฟาด\nฟาทอม\nฟาน\nฟ่าม\nฟาย\nฟาร์ม\nฟาสซิสต์\nฟิด\nฟิต\nฟิบ\nฟิล์ม\nฟิวส์\nฟิสิกส์\nฟี่\nฟี้\nฟืดฟาด\nฟืน\nฟื้น\nฟืม\nฟุ\nฟุ้ง\nฟุต\nฟุน\nฟุบ\nฟุ่บ\nฟุ่มเฟือย\nฟุลสแก๊ป\nฟู\nฟู่\nฟูก\nฟูด\nฟูม\nเฟ็ด\nเฟ้น\nเฟลด์สปาร์\nเฟ้อ\nเฟอร์เมียม\nเฟอะ\nเฟอะฟะ\nเฟะ\nเฟะฟะ\nเฟิน\nเฟี้ยม\nเฟี้ยว\nเฟือ\nเฟื้อ\nเฟือง\nเฟื่อง\nเฟื้อง\nเฟือน\nเฟือย\nเฟื้อย\nแฟ่\nแฟง\nแฟชั่น\nแฟน\nแฟบ\nแฟ้ม\nแฟรนเซียม\nแฟลกซ์\nแฟลต\nแฟะ\nโฟกัส\nไฟ\nภควดี\nภควัต\nภควันต์\nภควัม\nภควา\nภควาน\nภคะ\nภคันทลา\nภคินี\nภณะ\nภณิดา\nภพ\nภมร\nภมริน\nภมรี\nภมุกา\nภยันตราย\nภยาคติ\nภระ\nภรณี\nภรต\nภรรดร\nภรรดา\nภรรยา\nภระมร\nภระมรี\nภราดร\nภราดรภาพ\nภราดา\nภริยา\nภฤศ\nภวะ\nภวตัณหา\nภวนะ\nภวังค์\nภวังคจิต\nภักดี\nภักตะ\nภักติ\nภักษ์\nภักษา\nภักษาหาร\nภัค\nภัคน์\nภังคะ\nภังคี\nภัจ\nภัณฑ์\nภัณฑาคาร\nภัณฑาคาริก\nภัณฑารักษ์\nภัณฑนะ\nภัณฑู\nภัต\nภัตตาคาร\nภัตตาหาร\nภัตร\nภัทระ\nภัทรกัป\nภัพ\nภัย\nภัสดา\nภัสตรา\nภัสมะ\nภัสสร\nภา\nภาค\nภาคย์\nภาคยานุวัติ\nภาคินี\nภาคิไนย\nภาคี\nภาคียะ\nภาชนะ\nภาชี\nภาณ\nภาณวาร\nภาณกะ\nภาณี\nภาณุ\nภาดร\nภาดา\nภาตระ\nภาตา\nภาตุ\nภาติกะ\nภาติยะ\nภาพ\nภาพย์\nภาม\nภาย\nภาร\nภาระ\nภารดี\nภารต\nภารตี\nภารยทรัพย์\nภารยา\nภารา\nภาวนา\nภาวะ\nภาษ\nภาษณ์\nภาษา\nภาษิต\nภาษี\nภาส\nภาสน์\nภาสวร\nภาสา\nภาสุระ\nภิกขา\nภิกขาจาร\nภิกขุ\nภิกขุนี\nภิกษา\nภิกษาจาร\nภิกษาหาร\nภิกษุ\nภิกษุณี\nภิงคาร\nภิญโญ\nภิตติ\nภินท์\nภินทนาการ\nภิยโย\nภิรมย์\nภิรมย์สุรางค์\nภิษัช\nภิสัก\nภีตะ\nภีมะ\nภีรุ\nภุกต์\nภุขัน\nภุช\nภุชงค์\nภุต\nภุมมะ\nภุมรัตน์\nภุมวาร\nภุมรา\nภุมริน\nภุมรี\nภุมเรศ\nภู\nภู่\nภูต\nภูติ\nภูม\nภูมิ\nภูมี\nภูริ\nภูรี\nภูวดล\nภูวนาถ\nภูวเนตร\nภูวไนย\nภูษา\nภูษิต\nเภกะ\nเภตรา\nเภท\nเภทุบาย\nเภรี\nเภสัช\nโภค\nโภคะ\nโภคิน\nโภคี\nโภไคย\nโภไคศวรรย์\nโภช\nโภชย์\nโภชก\nโภชนะ\nโภชนา\nโภชนาหาร\nโภชนียะ\nไภริน\nไภรี\nไภษัชคุรุ\nไภษัชย์\nมกร\nมกราคม\nมกุฎ\nมคธ\nมฆวัน\nมฆะ\nมฆา\nม่ง\nมงกุฎ\nมงโกรย\nมงคล\nมงคลวาร\nมณฑ์\nมณฑก\nมณฑนะ\nมณฑป\nมณฑล\nมณฑา\nมณฑารพ\nมณฑิระ\nมณเฑียร\nมณี\nมด\nมตะ\nมตกภัต\nมติ\nมทนะ\nมทะ\nมธุ\nมธุกร\nมธุการี\nมธุลีห์\nมธุระ\nมธุรพจน์\nมน\nมนินทรีย์\nม่น\nมนต์\nมนตร์\nมนตรี\nมนท์\nมนทิราลัย\nมนเทียร\nมนสิการ\nมนัส\nมนัสวี\nมนินทรีย์\nมนิมนา\nมนิลา\nมนุญ\nมนุษย์\nมนุษยชาติ\nมนุษยธรรม\nมนุษย์มนา\nมนุษยโลก\nมนุษยศาสตร์\nมนุษยสัมพันธ์\nมนุสาร\nมนู\nมนูสาร\nมโน\nมโนช\nมโนชญ์\nมโนราห์\nมโนสาเร่\nมโนห์รา\nมมังการ\nมยุรฉัตร\nมยุระ\nมยุรา\nมยุรี\nมยุเรศ\nมยูร\nมรกต\nมรคา\nมรฑป\nมรณ์\nมรณะ\nมรณกรรม\nมรณบัตร\nมรณภัย\nมรณภาพ\nมรดก\nมรรค\nมรรคา\nมรรตัย\nมรรยาท\nมรรษ\nมรสุม\nมริจ\nมริยาท\nมรีจิ\nมรุต\nมฤค\nมฤคย์\nมฤคศิระ\nมฤคศิรมาส\nมฤคเศียร\nมฤคินทร์\nมฤเคนทร์\nมฤดก\nมฤต\nมฤตยู\nมฤทุ\nมล\nมละ\nมลัก\nมลังเมลือง\nมล้าง\nมลาย\nมลายู\nมวก\nม่วง\nมวน\nม่วน\nม้วน\nม้วนต้วน\nมวย\nม้วย\nมวล\nมหกรรม\nมหรณพ\nมหรรณพ\nมหรสพ\nมหัจฉริยะ\nมหัต\nมหัทธนะ\nมหันต์\nมหันตโทษ\nมหัพภาค\nมหัศจรรย์\nมหา\nมหากฐิน\nมหากาฬ\nมหาขันธกะ\nมหาจักร\nมหาชน\nมหาชัย\nมหาชาติ\nมหาโชตรัต\nมหาดไทย\nมหาดเล็ก\nมหาตมะ\nมหาไถ่\nมหาเทพ\nมหาเทพี\nมหาเทวี\nมหาธาตุ\nมหานิกาย\nมหานิล\nมหาบพิตร\nมหาบัณฑิต\nมหาพน\nมหาพรหม\nมหาภารตะ\nมหาภิเนษกรมณ์\nมหาภูต\nมหาเมฆ\nมหายาน\nมหายุค\nมหาราช\nมหาฤกษ์\nมหาละลวย\nมหาละลาย\nมหาวงศ์\nมหาวรรค\nมหาวิทยาลัย\nมหาศักราช\nมหาศาล\nมหาสงกรานต์\nมหาสดมภ์\nมหาสดำ\nมหาสมุทร\nมหาสาวก\nมหาหงส์\nมหาหิงคุ์\nมหาอำนาจ\nมหาอุจ\nมหาอุด\nมหาอุปรากร\nมหาอุปราช\nมหิ\nมหิดล\nมหิธร\nมหิป\nมหิงส์\nมหิทธิ\nมหินท์\nมหิมา\nมหิศร\nมหิศวร\nมหิษ\nมหิษี\nมหึมา\nมเหยงค์\nมเหศ\nมเหศวร\nมเหศักดิ์\nมเหสักข์\nมเหสิ\nมเหสี\nมเหาฬาร\nมโหรสพ\nมโหระทึก\nมโหรี\nมโหฬาร\nมไหศวรรย์\nมอ\nมอง\nมองโกลอยด์\nมองโกเลีย\nมองคร่อ\nมอญ\nมอด\nม่อต้อ\nมอเตอร์\nมอเตอร์ไซค์\nมอน\nม่อน\nมอบ\nมอม\nมอมแมม\nม่อย\nมอร์ฟีน\nมอระกู่\nมอลโทส\nม่อลอกม่อแลก\nม่อห้อม\nม่อฮ่อม\nมะ\nมะกรูด\nมะกล่ำ\nมะกอก\nมะก่อง\nมะกะโรนี\nมะกา\nมะเกลือ\nมะเกี๋ยง\nมะข่วง\nมะขวิด\nมะขาม\nมะเขือ\nมะแข่น\nมะคังแดง\nมะค่า\nมะคำไก่\nมะคำดีควาย\nมะงั่ว\nมะงุมมะงาหรา\nมะซัก\nมะซาง\nมะดัน\nมะดีหวี\nมะดูก\nมะเดหวี\nมะเดื่อ\nมะต้อง\nมะตะบะ\nมะตาด\nมะตาหะรี\nมะตึ่ง\nมะตื๋น\nมะตูม\nมะแตก\nมะโต\nมะนาว\nมะปราง\nมะปริง\nมะฝ่อ\nมะพร้าว\nมะพลับ\nมะพูด\nมะแพน\nมะแพร้ว\nมะเฟือง\nมะแฟน\nมะไฟ\nมะม่วง\nมะม่าว\nมะมี่\nมะมื่น\nมะมุด\nมะเมอ\nมะเมีย\nมะเมื่อย\nมะแม\nมะยง\nมะยม\nมะระ\nมะริด\nมะรืน\nมะรุม\nมะรุมมะตุ้ม\nมะเร็ง\nมะเรื่อง\nมะโรง\nมะลอกมะแลก\nมะละกอ\nมะลิ\nมะลื่น\nมะลืมดำ\nมะลุลี\nมะแว้ง\nมะสัง\nมะเส็ง\nมะหวด\nมะหะหมัด\nมะหาด\nมะหิ่ง\nมะเหงก\nมะอึก\nมะฮอกกานี\nมัก\nมักกะโรนี\nมักกะลีผล\nมักกะสัน\nมักขะ\nมั่กขั้ก\nมักขิกา\nมัค\nมัคคะ\nมัคคุเทศก์\nมัคนายก\nมัฆวาน\nมั่ง\nมังกง\nมังกร\nมังกุ\nมังคละ\nมังค่า\nมังคุด\nมังตาน\nมังสวิรัติ\nมังสะ\nมังสี\nมัจจะ\nมัจจุ\nมัจฉริยะ\nมัจฉรี\nมัจฉะ\nมัจฉา\nมัชชะ\nมัชวิรัติ\nมัชชาระ\nมัชฌันติกสมัย\nมัชฌิม\nมัชฌิมา\nมัญจา\nมัญชิษฐา\nมัญชุ\nมัญชุสา\nมัญชูสา\nมัญเชฏฐะ\nมัฏฐะ\nมัณฑนศิลป์\nมัณฑนา\nมัด\nมัตตะ\nมัตตัญญู\nมัตตา\nมัตติกา\nมัตถกะ\nมัตถลุงค์\nมัตสยะ\nมัตสยา\nมัตสระ\nมัตสริน\nมัททวะ\nมัทนะ\nมัทยะ\nมัธยฐาน\nมัธยม\nมัธยันห์\nมัธยัสถ์\nมัน\nมั่น\nมันตา\nมันถะ\nมันทิระ\nมันทิราลัย\nมับ\nมั้ม\nมัมมี่\nมัย\nมัลละ\nมัลลิกา\nมัว\nมัวซัว\nมั่ว\nมัศยา\nมัสตุ\nมัสตาร์ด\nมัสมั่น\nมัสยิด\nมัสรู่\nมัสลิน\nมัสสุ\nมา\nม้า\nมาก\nมาคสิระ\nมาฆบูชา\nมาฆะ\nม้าง\nมางสะ\nมาณพ\nมาณวิกา\nมาด\nมาดา\nมาตงค์\nมาตร\nมาตรา\nมาตฤ\nมาตังคะ\nมาตา\nมาตามหัยกะ\nมาตามหัยกา\nมาตามหัยยิกา\nมาติกะ\nมาติกา\nมาตุ\nมาตุจฉา\nมาตุรงค์\nมาตุเรศ\nมาตุละ\nมาตุลา\nมาตุลานี\nมาทะ\nมาธยมิก\nมาธยมิกะ\nมาธุระ\nมาธุสร\nมาธูระ\nมาน\nม่าน\nม้าน\nมานพ\nมานะ\nมานัต\nมานัส\nมานิต\nมานี\nมานุษ\nมานุษยวิทยา\nมาโนชญ์\nมาบ\nมาภา\nม้าม\nม่าย\nมายา\nมาร\nมาราธิราช\nมารค\nมารดร\nมารดา\nมารยา\nมารยาท\nมารศรี\nมารษา\nมาริต\nมารุต\nมาลย์\nมาลัย\nมาลา\nมาลาตี\nมาลาเรีย\nมาลินี\nมาลี\nมาลุต\nมาศ\nมาส\nมาสก\nมาห์\nม่าห์\nมาหิส\nม่าเหมี่ยว\nมาฬก\nมิ\nมิค\nมิคสัญญี\nมิ่ง\nมิจฉา\nมิด\nมิตร\nมิติ\nมิเตอร์\nมิถยา\nมิถุน\nมิถุนายน\nมิทธะ\nมินตรา\nมินตา\nมินหม้อ\nมิ่ม\nมิ้ม\nมิไย\nมิรันตี\nมิลลิกรัม\nมิลลิบาร์\nมิลลิเมตร\nมิลลิลิตร\nมิลักขะ\nมิลักขู\nมิส\nมิสกรี\nมิสกวัน\nมิสซา\nมี\nมี่\nมีด\nมีเทน\nมีน\nมีนาคม\nมี่สั้ว\nมึง\nมึน\nมืด\nมืน\nมื่น\nมือ\nมื้อ\nมุ\nมุก\nมุกดา\nมุกดาหาร\nมุกุระ\nมุข\nมุขเด็จ\nมุขยประโยค\nมุโขโลกนะ\nมุคคะ\nมุง\nมุ่ง\nมุ้ง\nมุจฉา\nมุจนะ\nมุจลินท์\nมุญจนะ\nมุญชะ\nมุฐิ\nมุณฑกะ\nมุณฑะ\nมุด\nมุตกิด\nมุตฆาต\nมุตตะ\nมุตตา\nมุตติ\nมุตะ\nมุติ\nมุททา\nมุทธชะ\nมุทธา\nมุทธาภิเษก\nมุทรา\nมุทริกา\nมุทะลุ\nมุทา\nมุทิกา\nมุทิงค์\nมุทิตา\nมุทุ\nมุทุตา\nมุ่น\nมุนิ\nมุนินทร์\nมุนี\nมุบ\nมุบมิบ\nมุม\nมุ้ม\nมุ่ย\nมุรธา\nมุรธาภิเษก\nมุสละ\nมุสลิม\nมุสา\nมุสิก\nมุหงิด\nมุหน่าย\nมุหุต\nมุฮัมมัด\nมูก\nมูเซอ\nมูตร\nมู่ทู่\nมูน\nมูมมาม\nมูรติ\nมูรธา\nมูรธาภิเษก\nมูล\nมูละ\nมูลา\nมูลิกากร\nมู่ลี่\nมู่เล่\nมูสัง\nมูสิก\nมูสิกะ\nมูสิกทันต์\nเม\nเม็ก\nเมกะเฮิรตซ์\nเมขลา\nเมฆ\nเมฆา\nเมฆินทร์\nเมฆี\nเม็ง\nเม็ด\nเมตตา\nเมตไตรย\nเมตร\nเมตริก\nเมตริกตัน\nเมถุน\nเมท\nเมโท\nเมทนี\nเมทินี\nเมทนีดล\nเมทานอล\nเมทิลแอลกอฮอล์\nเมธ\nเมธา\nเมธาวี\nเมธี\nเมน\nเม่น\nเม้น\nเมนเดลีเวียม\nเมนทอล\nเม้ม\nเมรัย\nเมริเดียน\nเมรุ\nเมล์\nเมล็ด\nเมลือง\nเมษ\nเมษายน\nเมห์\nเมหนะ\nเมหะ\nเมะ\nเมา\nเม่า\nเม้า\nเมารี\nเมาลี\nเมาฬี\nเมาะ\nเมิง\nเมิน\nเมิล\nเมีย\nเมียง\nเมี่ยง\nเมี้ยน\nเมือ\nเมื้อ\nเมื่อ\nเมือก\nเมือง\nเมือบ\nเมื่อย\nแม่\nแม้\nแมก\nแมกนีเซียม\nแมง\nแมงกะพรุน\nแมงกานิน\nแมงกานีส\nแมงคา\nแมงคาเรือง\nแมงช้าง\nแมงดา\nแมงลัก\nแม่ตะงาว\nแมน\nแม่น\nแม้น\nแมลง\nแมลบ\nแมว\nแม้ว\nแมะ\nโม\nโม่\nโม้\nโมก\nโมกข์\nโมกษะ\nโมฆกรรม\nโมฆสัญญา\nโมฆะ\nโมฆียกรรม\nโมฆียะ\nโมง\nโม่ง\nโมงครุ่ม\nโมทนา\nโมโนแซ็กคาไรด์\nโมไนย\nโมเม\nโมเมนต์\nโมเย\nโมรา\nโมรี\nโมเรส\nโมลิบดีนัม\nโมลี\nโมเลกุล\nโมเสก\nโมเสส\nโม่ห์\nโมหะ\nโมหันธ์\nโมหาคติ\nโมโห\nไม่\nไม้\nไมกา\nไมครอน\nไมโครกรัม\nไมโครฟิล์ม\nไมโครโฟน\nไมโครมิเตอร์\nไมโครเมตร\nไมโครลิตร\nไมโครเวฟ\nไมตรี\nไมยราบ\nไมล์\nยก\nยกกระบัตร\nยกนะ\nยง\nยงโย่\nยชุรเวท\nยติ\nยติภังค์\nยถากรรม\nยถาภูตญาณ\nย่น\nยนต์\nยนตร์\nยม\nยมก\nยมโดย\nยมนา\nยมล\nยมะ\nยรรยง\nยล\nยวง\nยวด\nยวน\nยวบ\nย้วย\nยวรยาตร\nยศ\nยโส\nยอ\nย่อ\nยอก\nย็อกแย็ก\nยอง\nย่อง\nย้อง\nยอด\nยอน\nย้อน\nยอบ\nยอม\nย่อม\nย้อม\nย่อย\nย้อย\nย้อแย้\nยะ\nย่ะ\nยะยอบ\nยะยับ\nยัก\nยักข์\nยักขินี\nยักษ์\nยักษา\nยักษิณี\nยักษี\nยัง\nยั้ง\nยั่งยืน\nยัชโญปวีต\nยัญ\nยัญญะ\nยัด\nยัติภังค์\nยัน\nยั่น\nยันต์\nยันตร\nยันตร์\nยันตรกรรม\nยั่นตะนี\nยับ\nยั่ว\nยั้ว\nยั้วเยี้ย\nยัวรยาตร\nยัวะ\nยัษฏิ\nยา\nย่า\nยาก\nยาคุ\nยาคู\nยาง\nย่าง\nยางพารา\nยาจก\nยาจนา\nยาไฉน\nยาด\nยาดา\nยาตร\nยาตรา\nยาน\nย่าน\nย่านพาโหม\nยานมาศ\nยานุมาศ\nยานี\nยาม\nย่าม\nยามะ\nยามักการ\nยามา\nยาย\nย้าย\nยายี\nยาว\nย้าว\nยาวกาลิก\nยาวชีวิก\nยาสูบ\nย่าหยา\nยาหยี\nยำ\nย่ำ\nย้ำ\nยำเยีย\nยิก\nยิง\nยิ่ง\nยิฏฐะ\nยิน\nยิบ\nยิบหยี\nยิปซัม\nยิปซี\nยิ้ม\nยิมนาสติก\nยิหวา\nยี\nยี่\nยี้\nยี่ก่า\nยี่เก\nยี่เข่ง\nยี่โถ\nยีน\nยี่โป้\nยี่ภู่\nยีราฟ\nยี่สก\nยี่สง\nยี่สน\nยี่สาน\nยี่สุ่น\nยี่หระ\nยี่หร่า\nยี่ห้อ\nยี่หุบ\nยึกยัก\nยึกยือ\nยึด\nยืด\nยืน\nยื่น\nยืม\nยื้อ\nยุ\nยุกกระบัตร\nยุกดิ\nยุกติ\nยุกติธรรม\nยุกต์\nยุค\nยุคนธร\nยุคล\nยุคันต์\nยุคันธร\nยุคุนธร\nยุง\nยุ่ง\nยุ้ง\nยุด\nยุต\nยุติ\nยุทธ\nยุทธ์\nยุทธนา\nยุทโธปกรณ์\nยุบ\nยุ่บ\nยุ่บยั่บ\nยุบล\nยุพดี\nยุพเรศ\nยุพา\nยุพาน\nยุพาพาล\nยุพาพิน\nยุ่มย่าม\nยุ่ย\nยุ้ย\nยุรยาตร\nยูรยาตร\nยุวชน\nยุวดี\nยุวราช\nยุวา\nยุวาน\nยู\nยู่\nยูง\nยูโด\nยูถะ\nยูถิกา\nยูริก\nยูเรนัส\nยูเรเนียม\nยูโรเพียม\nเย\nเย้\nเยง\nเยซู\nเย็ด\nเย็น\nเย็นตาโฟ\nเย็นเตาโฟ\nเย็บ\nเย้ย\nเยอ\nเย่อ\nเยอรมัน\nเยอว\nเย่อหยิ่ง\nเยอะ\nเยอะแยะ\nเยา\nเย้า\nเยาว์\nเยาวชน\nเยาวมาลย์\nเยาวยอด\nเยาวราช\nเยาวเรศ\nเยาวลักษณ์\nเยาวพา\nเยาวพาณี\nเยาวพาน\nเยาะ\nเยิง\nเยิน\nเยิ่น\nเยิ่นเย้อ\nเยินยอ\nเยิบ\nเยิบยาบ\nเยิ้ม\nเยีย\nเยี่ยง\nเยี่ยงอย่าง\nเยียงผา\nเยียดยัด\nเยียน\nเยียบ\nเยี่ยม\nเยียรบับ\nเยียรยง\nเยียว\nเยี่ยว\nเยียวยา\nเยือ\nเยื่อ\nเยื้อ\nเยือก\nเยือง\nเยื่อง\nเยื้อง\nเยือน\nเยื้อน\nแย่\nแย้\nแยก\nแยง\nแย่ง\nแย้ง\nแยงแย่\nแยงแย้\nแยบ\nแย็บ\nแยม\nแย้ม\nแยแส\nแยะ\nโย\nโย้\nโยก\nโยกเยก\nโยคาพจร\nโยคาวจร\nโยคเกณฑ์\nโยคยะ\nโยคะ\nโยคิน\nโยคี\nโยง\nโย่ง\nโย่งเย่ง\nโยงโย่\nโยชน์\nโยชนา\nโยถิกะ\nโยทะกา\nโยธวาทิต\nโยธา\nโยธิน\nโยน\nโยนก\nโยนิโส\nโยนี\nโยม\nโยโส\nใย\nไย\nไย่\nไยดี\nไยไพ\nรก\nรง\nรงค์\nรงควัตถุ\nรงรอง\nรจนา\nรจเรข\nรจเลข\nรจิต\nรชตะ\nรชนิ\nรชนี\nรชะ\nรณรงค์\nรด\nรดี\nรตนะ\nรตะ\nรติ\nรถ\nรน\nร่น\nรบ\nรบาญ\nรพี\nรม\nร่ม\nรมณี\nรมณีย์\nรมณียสถาน\nรมย์\nรมเยศ\nรยางค์\nรวก\nรวง\nร่วง\nรวด\nรวน\nรวนเร\nร่วน\nรวบ\nรวม\nร่วม\nรวย\nรวิ\nรวิวาร\nรวี\nรศนา\nรส\nรสนา\nรสสุคนธ์\nรสายนเวท\nรสิก\nรหัท\nรหัส\nรโห\nรโหฐาน\nรอ\nร่อ\nรอก\nรอง\nร่อง\nร้อง\nรองเง็ง\nร่องแร่ง\nรอด\nรอน\nร่อน\nร้อน\nรอบ\nรอบคอบ\nรอม\nรอมชอม\nรอมร่อ\nรอย\nร่อย\nร้อย\nร่อแร่\nระ\nระกะ\nระกา\nระกำ\nระเกะระกะ\nระคน\nระคาง\nระคาย\nระแคะ\nระฆัง\nระงม\nระงับ\nระแง้\nระโงกหิน\nระชวย\nระดม\nระดะ\nระดับ\nระดา\nระด่าว\nระดู\nระเด่น\nระเดียง\nระแด\nระตู\nระทก\nระทด\nระทม\nระทวย\nระทา\nระทึก\nระแทะ\nระนาด\nระนาบ\nระนาม\nระนาว\nระเนน\nระเนระนาด\nระเนียด\nระแนง\nระแนะ\nระบบ\nระบม\nระบอบ\nระบัด\nระบับ\nระบาด\nระบาย\nระบำ\nระบิล\nระบือ\nระบุ\nระเบง\nระเบ็ง\nระเบิด\nระเบียง\nระเบียน\nระเบียบ\nระแบบ\nระมัดระวัง\nระมาด\nระเมียร\nระย่อ\nระย่อม\nระยะ\nระยั้ง\nระยับ\nระย้า\nระยาบ\nระยำ\nระยิบระยับ\nระโยง\nระโยงระยาง\nระรวย\nระรอง\nระร่อน\nระรัว\nระราน\nระร่าย\nระริก\nระรี่\nระรึง\nระรื่น\nระรื้น\nระเร้ง\nระเริง\nระเรียง\nระเรื่อย\nระแรง\nระลวง\nระลอก\nระลึก\nระวัง\nระวาง\nระวาย\nระวิง\nระแวง\nระแวดระวัง\nระไว\nระส่ำระสาย\nระหกระเหิน\nระหง\nระหวย\nระหว่าง\nระหองระแหง\nระหัด\nระหาย\nระเห็จ\nระเหย\nระเหระหน\nระเหหน\nระเหิด\nระเหินระหก\nระแหง\nระโหย\nระอา\nระอิดระอา\nระอุ\nรัก\nรักข์\nรักขิต\nรักตะ\nรักบี้\nรักเร่\nรักแร้\nรักษ์\nรักษา\nรัง\nรั้ง\nรังเกียจ\nรังแก\nรังค์\nรังควาน\nรังแค\nรังรอง\nรังวัด\nรังสิ\nรังสี\nรังสิมันตุ์\nรังสิมา\nรัจฉา\nรัช\nรัชชูปการ\nรัชมังคลาภิเษก\nรัชชุ\nรัชฎาภิเษก\nรัชดาภิเษก\nรัชนะ\nรัชนี\nรัญจวน\nรัฏฐาภิปาลโนบาย\nรัฐ\nรัฐประศาสโนบาย\nรัฐประศาสนศาสตร์\nรัด\nรัต\nรัตกัมพล\nรัตมณี\nรัตคน\nรัตจันทน์\nรัตตัญญู\nรัตติ\nรัตน์\nรัตนะ\nรัตนโกสินทร์\nรัตนโกสินทรศก\nรัตนชาติ\nรัตนตรัย\nรัตนบัลลังก์\nรัตนวราภรณ์\nรัตนสิงหาสน์\nรัตนา\nรัตนากร\nรัตนาภรณ์\nรัตนาวลี\nรัตมา\nรัถ\nรัถยา\nรัทเทอร์ฟอร์เดียม\nรัน\nรั้น\nรันทด\nรันทวย\nรับ\nรัมณียสถาน\nรัมภา\nรัมมี่\nรัมย์\nรัย\nรัว\nรั่ว\nรั้ว\nรัศมิมัต\nรัศมิมาน\nรัศมี\nรัษฎากร\nรัสเซีย\nรัสสะ\nรัสสระ\nรา\nร่า\nร้า\nราก\nรากษส\nรากสาด\nราคะ\nราคจริต\nราคา\nราคิน\nราคี\nราง\nร่าง\nร้าง\nรางจืด\nรางชาง\nรางวัล\nราช\nราชกิจจานุเบกษา\nราชนิกุล\nราชวโรงการ\nราชญี\nราชดัด\nราชพฤกษ์\nราชมาณพ\nราชมาษ\nราชมาส\nราชย์\nราชสีห์\nราชะ\nราชัน\nราชันย์\nราชัย\nราชา\nราชาธิปไตย\nราชาธิราช\nราชาภิเษก\nราชายตนะ\nราชาวดี\nราชี\nราชินิกุล\nราชินีกุล\nราชินี\nราชินูปถัมภ์\nราชูปถัมภ์\nราชูปโภค\nราเชน\nราเชนทร์\nราเชนทรยาน\nราโชวาท\nราไชศวรรย์\nราญ\nราญรอน\nราด\nราต\nราตร\nราตรี\nราน\nร่าน\nร้าน\nราบ\nราพณ์\nราพณาสูร\nราม\nรามเกียรติ์\nรามสูร\nรามัญ\nรามา\nราย\nร่าย\nร้าย\nราว\nร้าว\nราวี\nราศี\nราษฎร\nราษฎร์\nราษตรี\nราษราตรี\nราหุ\nราหู\nรำ\nร่ำ\nรำคาญ\nรำงับ\nรำจวน\nรำบาญ\nรำพัน\nรำพาย\nรำพึง\nรำเพย\nรำไพ\nรำมะนา\nรำมะนาด\nรำมะร่อ\nร่ำรวย\nร่ำร่ำ\nรำไร\nรำลึก\nรำหัด\nรำหัส\nริ\nริก\nริดสีดวง\nริน\nริ้น\nริบ\nริบบิ้น\nริบรี่\nริบหรี่\nริปุ\nริปู\nริม\nริ้ว\nริษยา\nรี\nรี่\nรี้พล\nรีด\nรีดักชัน\nรีต\nรีเนียม\nรีบ\nรีม\nรีรอ\nรี้ริก\nรึง\nรึ้ง\nรื่น\nรื้น\nรื้อ\nรุ\nรุก\nรุกข์\nรุกขชาติ\nรุกขเทวดา\nรุกขมูล\nรุกขา\nรุกรุย\nรุ่ง\nรุ้ง\nรุงรัง\nรุ่งริ่ง\nรุจ\nรุจา\nรุจนะ\nรุจิ\nรุจี\nรุจิระ\nรุจิรา\nรุด\nรุต\nรุทธ์\nรุทระ\nรุธิร\nรุธิระ\nรุเธียร\nรุน\nรุ่น\nรุบรู่\nรุม\nรุ่ม\nรุ่มร่าม\nรุย\nรุ่ย\nรุรุ\nรุหะ\nรู\nรู่\nรู้\nรูจี\nรูด\nรูทีเนียม\nรูบิเดียม\nรูป\nรูปิยะ\nรูปี\nรูเล็ตต์\nเร่\nเรข\nเรขา\nเรขาคณิต\nเร็ง\nเร่ง\nเร้ง\nเรณุ\nเรณู\nเรดอน\nเรดาร์\nเรเดียม\nเร้น\nเรรวน\nเรไร\nเร็ว\nเร่ว\nเรวดี\nเรอ\nเร่อ\nเรา\nเร่า\nเร้า\nเราะ\nเริง\nเริด\nเริม\nเริ่ม\nเริ้ม\nเริศร้าง\nเรี่ย\nเรี้ย\nเรียก\nเรียง\nเรียด\nเรียน\nเรียบ\nเรียม\nเรี่ยม\nเรียว\nเรี่ยว\nเรี้ยวรก\nเรือ\nเรื่อ\nเรื้อ\nเรือก\nเรือง\nเรื่อง\nเรื้อง\nเรืองรอง\nเรือด\nเรือน\nเรื้อน\nเรื่อย\nแร\nแร่\nแรก\nแร็กเกต\nแรง\nแร่ง\nแร้ง\nแรด\nแร้นแค้น\nแรม\nแร้ว\nแระ\nโร\nโร่\nโรค\nโรคา\nโรคาพาธ\nโรง\nโรจ\nโรจน์\nโรเดียม\nโรตี\nโรท\nโรธ\nโรม\nโรมัน\nโรเมอร์\nโรย\nโรเร\nโรหิณี\nโรหิต\nไร\nไร่\nไร้\nไรย์\nฤกษ์\nฤกษณะ\nฤคเวท\nฤชา\nฤชุ\nฤณ\nฤดี\nฤดียา\nฤดู\nฤต\nฤติยา\nฤตุ\nฤทธา\nฤทธิ์\nฤทัย\nฤษภ\nฤษยา\nฤษี\nฤๅ\nฤๅดี\nฤๅทัย\nฤๅษี\nฤๅสาย\nลก\nล่ก\nลฆุ\nลง\nล่ง\nลงกา\nล้งเล้ง\nลด\nลดา\nลดาวัลย์\nลน\nล้น\nลบ\nลบอง\nลพ\nลพุช\nลม\nล่ม\nล้ม\nลมาด\nลรรลุง\nลลนา\nลลิต\nลวก\nลวง\nล่วง\nล้วง\nลวณะ\nลวด\nล้วน\nลวนลาม\nลวนะ\nล่วม\nลวะ\nลวิตร\nลหุ\nลหุกาบัติ\nล่อ\nล้อ\nลอก\nล็อก\nล็อกเกต\nลอกแลก\nลอการิทึม\nลอง\nล่อง\nลองกอง\nลองจิจูด\nลองไน\nลอด\nลอตเตอรี่\nลอน\nล่อน\nลอบ\nลอม\nล้อม\nลอมชอม\nลอมพอก\nลอย\nล่อย\nล่อแล่\nลอว์เรนเซียม\nลออ\nละ\nล่ะ\nละคร\nละติจูด\nละบม\nละบอง\nละบือ\nละเบ็ง\nละโบม\nละม่อม\nละมั่ง\nละมาน\nละม้าย\nละมุ\nละมุด\nละมุน\nละเมอ\nละเมาะ\nละเมิด\nละเมียด\nละแมะ\nละโมก\nละโมบ\nละไม\nละลวย\nละลอก\nละล้า\nละล้าละลัง\nละลาน\nละลาบละล้วง\nละลาย\nละล้าว\nละล่ำละลัก\nละลิบ\nละลุม\nละเลง\nละเล้า\nละเลาะ\nละเลิง\nละเลียด\nละเลียบ\nละไล้\nละว้า\nละวาด\nละเวง\nละแวก\nละโว้\nละหมาด\nละห้อย\nละหาน\nละหาร\nละหุ่ง\nละเหย\nละเหี่ย\nละอง\nละออง\nละอาย\nละเอียด\nละแอน\nลัก\nลักขณะ\nลักขณา\nลักขะ\nลักขี\nลักจั่น\nลักปิดลักเปิด\nลักษณ์\nลักษณนาม\nลักษณะ\nลักษณาการ\nลักษมณ์\nลักษมาณา\nลักษมี\nลักษะ\nลัคคะ\nลัคน์\nลัคนา\nลัง\nลั่ง\nลังกา\nลังคี\nลังถึง\nลังลอง\nลังเล\nลังสาด\nลัชชา\nลัชชี\nลัญจ์\nลัญจกร\nลัญฉกร\nลัญฉน์\nลัฐิ\nลัฐิกา\nลัด\nลัดา\nลัทธ์\nลัทธิ\nลัน\nลั่น\nลันเต\nลันเตา\nลันไต\nลั่นทม\nลันโทม\nลับ\nลัพธ์\nลัพธิ\nลัภ\nลัภนะ\nลัภย์\nลัมพ์\nลัย\nลา\nล่า\nล้า\nลาก\nลาง\nล่าง\nล้าง\nลางลิง\nลางสาด\nลาช\nลาชะ\nลาชา\nลาญ\nลาด\nลาดเลา\nล้าต้า\nล่าเตียง\nลาน\nล่าน\nล้าน\nลาบ\nลาพอน\nลาภ\nลาม\nล่าม\nลามก\nลาย\nล้าย\nลายสือ\nลาลา\nลาว\nลาวัณย์\nลาวา\nลำ\nล่ำ\nล้ำ\nลำเข็ญ\nลำแข\nลำเค็ญ\nลำเจียก\nลำดวน\nลำดับ\nลำเนา\nลำบอง\nลำบาก\nลำปำ\nลำพวน\nลำพอง\nลำพัง\nลำพู\nลำเพ็ญ\nลำเพา\nลำแพน\nลำโพง\nลำไพ่\nลำภุขัน\nลำมะลอก\nลำยอง\nลำไย\nลำลอง\nล่ำลา\nลำลาบ\nลำลึก\nลำเลาะ\nลำเลิก\nลำเลียง\nลำเวียง\nลำเอียก\nลำเอียง\nลิ\nลิกขา\nลิกไนต์\nลิกู\nลิเก\nลิขนะ\nลิขสิทธิ์\nลิขิต\nลิง\nลิงค์\nลิด\nลิต\nลิตมัส\nลิตร\nลิเทียม\nลิ่น\nลิ้น\nลินจง\nลิ้นจี่\nลินลา\nลินสีด\nลิ่นฮื้อ\nลินิน\nลิบ\nลิปดา\nลิปสติก\nลิปิ\nลิฟต์\nลิเภา\nลิ่ม\nลิ้ม\nลิมป์\nลิมปนะ\nลิลิต\nลิว\nลิ่ว\nลิสง\nลี\nลี่\nลี้\nลีซอ\nลีบ\nลีลา\nลีลาศ\nลีฬหา\nลึก\nลึงค์\nลืด\nลื่น\nลื้น\nลืบ\nลืม\nลือ\nลื่อ\nลื้อ\nลุ\nลุก\nลุง\nลุ้ง\nลุ่น\nลุ้น\nลุพธ์\nลุ่ม\nลุมพี\nลุมพู\nลุย\nลุ่ย\nลุ้ย\nลู่\nลูก\nลูกระมาศ\nลูกเอ็น\nลูขะ\nลูทีเชียม\nลูบ\nเลก\nเล็ก\nเลข\nเลขา\nเลขาธิการ\nเลขานุการ\nเล็ง\nเล้ง\nเล่งฮื้อ\nเลเซอร์\nเลฑฑุ\nเลณฑุ\nเลณะ\nเล็ด\nเลน\nเล็น\nเล่น\nเลนส์\nเล็บ\nเลบง\nเลปกร\nเลปน์\nเลเป\nเลเพ\nเล็ม\nเล่ม\nเลย\nเลว\nเลวง\nเลวูโลส\nเลศ\nเลษฏุ\nเล่ห์\nเล่ห์กระเท่ห์\nเลหลัง\nเลหะ\nเลอ\nเล่อ\nเลอะ\nเลอะเทอะ\nเละ\nเละเทะ\nเลา\nเล่า\nเล้า\nเลากัย\nเล้าโลม\nเลาะ\nเลิก\nเลิ่กลั่ก\nเลิง\nเลิ้ง\nเลินเล่อ\nเลิศ\nเลีย\nเลียง\nเลี่ยง\nเลี้ยง\nเลียงผา\nเลียงฝ้าย\nเลียงมัน\nเลียน\nเลี่ยน\nเลียนไฟ\nเลียบ\nเลี่ยม\nเลียว\nเลี้ยว\nเลือก\nเลือง\nเลื่อง\nเลือด\nเลือน\nเลื่อน\nเลื่อม\nเลื่อย\nเลื้อย\nเลื่อยล้า\nแล\nแล่\nแล้\nแลก\nแล็กเกอร์\nแล็กโทส\nแลง\nแล่ง\nแล้ง\nแลน\nแล่น\nแลนทานัม\nแลบ\nแล้ว\nและ\nโล่\nโล้\nโลก\nโลกเชษฐ์\nโลกธรรม\nโลกธาตุ\nโลกนาถ\nโลกบาล\nโลกย์\nโลกัย\nโลกวัชชะ\nโลกวิทู\nโลกัตถจริยา\nโลกันตร์\nโลกา\nโลกาธิบดี\nโลกาธิปไตย\nโลกานุวัตร\nโลกาภิวัตน์\nโลกามิส\nโลกายัต\nโลกาวินาศ\nโลกิยะ\nโลกีย์\nโลกียวัตร\nโลกียวิสัย\nโลกียสุข\nโลกุตระ\nโลกุตรธรรม\nโลกุตรภูมิ\nโลง\nโล่ง\nโล้ง\nโล่งโจ้ง\nโล่งโต้ง\nโล้งโต้ง\nโลจนะ\nโลณะ\nโลด\nโล่ติ๊น\nโลโต\nโลท\nโลน\nโล้น\nโลภ\nโลม\nโลมเล้า\nโลมะ\nโลมา\nโลลุป\nโลเล\nโลโล\nโลโล้\nโลหะ\nโลหกุมภี\nโลหัช\nโลหิต\nไล่\nไล้\nไลย\nไลลา\nไล่เลี่ย\nฦๅ\nฦๅชา\nฦๅสาย\nวก\nวง\nวงก์\nวงกต\nวงศ์\nวงศกร\nวงศา\nวงษ์\nวจนะ\nวจี\nวชิระ\nวชิรปาณี\nวชิรหัตถ์\nวชิราวุธ\nวฏะ\nวฏาการ\nวณิช\nวณิชชา\nวณิชย์\nวณิชยา\nวณิพก\nวดี\nวทนะ\nวทัญญุตา\nวทัญญู\nวธุกา\nวธู\nวน\nวนศาสตร์\nวนสณฑ์\nวนสัณฑ์\nวนอุทยาน\nวนัส\nวนัสบดี\nวนา\nวนาดร\nวนาดอน\nวนานต์\nวนาลัย\nวนาลี\nวนาวาส\nวนาศรม\nวนาสณฑ์\nวนาสัณฑ์\nวนิดา\nวนิพก\nวเนจร\nวโนทยาน\nวยัคฆ์\nวยากรณ์\nวรดนู\nวรทาน\nวรมหาวิหาร\nวรงค์\nวรณะ\nวรรค\nวรรคย์\nวรรช\nวรรชย์\nวรรณะ\nวรรณกรรม\nวรรณคดี\nวรรณยุกต์\nวรรณยุต\nวรรณศิลป์\nวรรณนา\nวรรณพฤติ\nวรรณึก\nวรรธกะ\nวรรธนะ\nวรรษ\nวรรษา\nวรวิหาร\nวรัญญู\nวรางคณา\nวรางคนา\nวราห์\nวราหะ\nวรุณ\nวโรดม\nวฤก\nวลัช\nวลัญช์\nวลัญชน์\nวลัย\nวลาหก\nวลี\nวศค\nวศะ\nวศิน\nวสนะ\nวสภะ\nวสละ\nวสวัดดี\nวสวัตตี\nวสะ\nวสันต์\nวสันตดิลก\nวสันตฤดู\nวสันตวิษุวัต\nวสา\nวสี\nวสุ\nวสุธา\nวสุนธรา\nวสุมดี\nวหะ\nวอ\nวอก\nวอกแวก\nว่องไว\nวอด\nวอน\nว่อน\nว็อบ\nวอมแวม\nวอลเลย์บอล\nวอแว\nวะ\nวัก\nวักกะ\nวัคคีย์\nวัคคุ\nวัคซีน\nวัง\nวังก์\nวังชา\nวังเวง\nวังศะ\nวังสะ\nวัจจะ\nวัจกุฎี\nวัจฉละ\nวัจน์\nวัช\nวัชชะ\nวัชพืช\nวัชฌ์\nวัชระ\nวัชรปาณี\nวัชรยาน\nวัชรอาสน์\nวัชราสน์\nวัชรินทร์\nวัชรี\nวัชเรนทร์\nวัฏ\nวัฏฏะ\nวัฏจักร\nวัฏทุกข์\nวัฏสงสาร\nวัฏกะ\nวัฏฏิ\nวัฒกะ\nวัฒกี\nวัฒนธรรม\nวัฒนะ\nวัฒนา\nวัณ\nวัณโรค\nวัณฏ์\nวัณณะ\nวัณนา\nวัด\nวัต\nวัตต์\nวัตตา\nวัตถ์\nวัตถาภรณ์\nวัตถาลังการ\nวัตถุ\nวัตนะ\nวัตร\nวัตสดร\nวัตสะ\nวัติ\nวัทน์\nวัน\nวันต์\nวันทนา\nวันทนาการ\nวันทนีย์\nวันทยหัตถ์\nวันทยาวุธ\nวันทา\nวันทิ\nวับ\nวับวาบ\nวับวาม\nวับแวบ\nวับแวม\nวัปปะ\nวัมมิกะ\nวัย\nวัลก์\nวัลคุ\nวัลย์\nวัลลภ\nวัลลี\nวัว\nวัสสะ\nวัสโสทก\nวัสดุ\nวัสตร์\nวัสน์\nวัสนะ\nวัสสานะ\nวัสสานฤดู\nวา\nว่า\nว้า\nว้าเหว่\nวาก\nว้าก\nวากยสัมพันธ์\nวากยะ\nวาง\nว่าง\nว้าง\nวาจก\nวาจา\nวาจาไปยะ\nวาจาล\nวาชเปยะ\nวาณิช\nวาณิชกะ\nวาณิชย์\nวาณี\nวาด\nวาต\nวาตะ\nวาตภัย\nวาท\nวาทศาสตร์\nวาทศิลป์\nวาทกะ\nวาทนะ\nวาทย์\nวาทยกร\nวาทิต\nวาทิน\nวาที\nวาน\nวานซืน\nว่าน\nวานร\nวานรินทร์\nวาเนเดียม\nวาบ\nวาปี\nวาม\nวามน\nวามนาวตาร\nวามะ\nวาย\nว่าย\nว้าย\nวายะ\nวาโย\nวายามะ\nวายุ\nวายุกูล\nวาร\nวาระ\nวารสาร\nวารสารศาสตร์\nวาริ\nวารี\nวาริช\nวารีช\nวาริท\nวาริธร\nวารุณ\nวารุณี\nวาล\nวาลวีชนี\nวาล์ว\nวาลิกา\nวาลุกา\nวาว\nว่าว\nว้าว่อน\nว้าวุ่น\nวาสนะ\nวาสนา\nวาสพ\nวาสะ\nวาสิน\nวาสี\nวาสุกรี\nวาสุกี\nวาสุเทพ\nวาหนะ\nวาหะ\nวาหินี\nวาฬ\nวิกขัมภ์\nวิกขัมภนะ\nวิกเขป\nวิกรม\nวิกรัย\nวิกรานต์\nวิกฤต\nวิกฤติ\nวิกล\nวิกสิต\nวิกัต\nวิกัติ\nวิกัติการก\nวิกัป\nวิกัย\nวิการ\nวิกาล\nวิกาลโภชน์\nวิคหะ\nวิเคราะห์\nวิฆเนศ\nวิฆเนศวร\nวิฆาต\nวิง\nวิ่ง\nวิ่งเปี้ยว\nวิงวอน\nวิจฉิกะ\nวิจล\nวิจักขณ์\nวิจักษ์\nวิจักษณ์\nวิจัย\nวิจาร\nวิจารณ์\nวิจารณญาณ\nวิจิ\nวิจิกิจฉา\nวิจิต\nวิจิตร\nวิจิน\nวิจุณ\nวิจุรณ\nวิชชา\nวิชชุ\nวิชชุดา\nวิชชุตา\nวิชชุลดา\nวิชญะ\nวิชน\nวิชนี\nวิชย\nวิชัย\nวิชา\nวิชานนะ\nวิชิต\nวิเชียร\nวิญญัตติ\nวิญญาณ\nวิญญาณกทรัพย์\nวิญญู\nวิฑูรย์\nวิด\nวิตก\nวิตถาร\nวิตามิน\nวิถี\nวิทธะ\nวิทยฐานะ\nวิทยา\nวิทยาคม\nวิทยาคาร\nวิทยาลัย\nวิทยุ\nวิทยุต\nวิทวัส\nวิทัตถิ\nวิทัศน์\nวิทารณ์\nวิทิต\nวิทู\nวิทูร\nวิเทศ\nวิเทโศบาย\nวิธ\nวิธวา\nวิธาน\nวิธี\nวิธุระ\nวิธู\nวิธูปนะ\nวิ่น\nวินตกะ\nวินัย\nวินาที\nวินายก\nวินาศ\nวินิจ\nวินิจฉัย\nวินิต\nวินิบาต\nวินิปาติก\nวิเนต\nวิบัติ\nวิบาก\nวิบุล\nวิบุลย์\nวิบูล\nวิบูลย์\nวิปการ\nวิปฏิสาร\nวิปโยค\nวิประโยค\nวิปริต\nวิปลาส\nวิปวาส\nวิปักษ์\nวิปัสสก\nวิปัสสนา\nวิปัสสนายานิก\nวิพากษ์\nวิพิธทัศนา\nวิพุธ\nวิภว\nวิภวตัณหา\nวิภังค์\nวิภัช\nวิภัตติ\nวิภา\nวิภาค\nวิภาช\nวิภาดา\nวิภาวี\nวิภาษ\nวิภาส\nวิภู\nวิภูษณะ\nวิภูษา\nวิภูษิต\nวิมน\nวิมล\nวิมลัก\nวิมังสา\nวิมัติ\nวิมาน\nวิมุข\nวิมุต\nวิมุตติ\nวิเมลือง\nวิโมกข์\nวิโยค\nวิระ\nวิรงรอง\nวิรังรอง\nวิรัช\nวิรัต\nวิรัติ\nวิราคะ\nวิราม\nวิริยภาพ\nวิริยะ\nวิรุธ\nวิรุฬห์\nวิรุฬหก\nวิรูป\nวิรูปักษ์\nวิเรนทร์\nวิโรจ\nวิโรจน์\nวิโรฒ\nวิโรธ\nวิลันดา\nวิลัย\nวิลาด\nวิลาศ\nวิลาป\nวิลาวัณย์\nวิลาส\nวิลาสินี\nวิลิปดา\nวิลิศมาหรา\nวิเลป\nวิเลปนะ\nวิโลกนะ\nวิโลม\nวิไล\nวิไลวรรณ\nวิวรณ์\nวิวรรธน์\nวิวัฏ\nวิวัฒน์\nวิวัฒนาการ\nวิวัน\nวิวาท\nวิวาห์\nวิวาหมงคล\nวิวาหะ\nวิวิต\nวิวิธ\nวิเวก\nวิศรุต\nวิศว\nวิศวกร\nวิศวกรรม\nวิศวกรรมศาสตร์\nวิศัลย์\nวิศาขบูชา\nวิศาขา\nวิศาล\nวิศิษฏ์\nวิศุทธ์\nวิศุทธิ์\nวิเศษ\nวิเศษณ์\nวิษณุ\nวิษณุกรรม\nวิษธร\nวิษัย\nวิษาณ\nวิษุวัต\nวิสกี้\nวิสรรชนีย์\nวิสฤต\nวิสสุกรรม\nวิสัชนา\nวิสัญญี\nวิสัย\nวิสัยทัศน์\nวิสาขบูชา\nวิสาขะ\nวิสาขา\nวิสามัญ\nวิสามานยนาม\nวิสาร\nวิสารทะ\nวิสาล\nวิสาสะ\nวิสาหกิจ\nวิสิฐ\nวิสุงคามสีมา\nวิสุทธ์\nวิสุทธิ์\nวิสูตร\nวิเสท\nวิหค\nวิหลั่น\nวิหาร\nวิหิงสา\nวิเหสา\nวิฬาร\nวิฬาร์\nวี\nวีจิ\nวีชนี\nวีณา\nวี้ด\nวีรกรรม\nวีรชน\nวีรบุรุษ\nวีรสตรี\nวี่วัน\nวี่แวว\nวีสะ\nวุ้ง\nวุฐิ\nวุฒ\nวุฒิ\nวุด\nวุ่น\nวุ้น\nวุบ\nวุ้ย\nวุลแฟรม\nวู้\nวูดวาด\nวูบ\nวู่วาม\nเว้\nเวค\nเวคิน\nเวคี\nเวจ\nเวช\nเวชยันต์\nเวฐน์\nเวณิ\nเวณิก\nเวณุ\nเวตน์\nเวตร\nเวตาล\nเวท\nเวทคู\nเวทนา\nเวทย์\nเวทัลละ\nเวทางค์\nเวทางคศาสตร์\nเวทานต์\nเวทานตะ\nเวทิ\nเวที\nเวธะ\nเวน\nเว้น\nเวนไตย\nเวไนย\nเวมัต\nเว้ย\nเวยยากรณะ\nเวร\nเวรมณี\nเวรี\nเวโรจน์\nเวลา\nเวเลนซี\nเวศม์\nเวศย์\nเวศยา\nเวสน์\nเวสภู\nเวสม์\nเวสวัณ\nเวสสะ\nเวสสันดร\nเวสสุกรรม\nเวสสุวัณ\nเวสารัช\nเวสิยา\nเวหน\nเวหะ\nเวหา\nเวหาส\nเวฬุ\nเวฬุริยะ\nเว่อ\nเว้า\nเวิก\nเวิ้ง\nเวี่ย\nเวียง\nเวียด\nเวียดนาม\nเวียน\nเวียร\nเวี่ยว\nแว้\nแวง\nแว้ง\nแวด\nแว้ด\nแวน\nแว่น\nแวนดา\nแวบ\nแว็บ\nแวม\nแว็ม\nแวว\nแว่ว\nแวะ\nโว\nโว่\nโวการ\nโว่ง\nโวทาน\nโวย\nโว้ย\nโว้เว้\nโวหาร\nไว\nไว้\nไวกูณฐ์\nไวฑูรย์\nไวทย์\nไวน์\nไวพจน์\nไวยากรณ์\nไวยาวัจกร\nไวยาวัจมัย\nไวรัส\nไววรรณ\nไวษณพ\nไวโอลิน\nศก\nศกุน\nศกุนต์\nศกุนิ\nศกุนี\nศจี\nศตะ\nศตภิษัช\nศตวรรษ\nศตพรรษ\nศตกะ\nศนิ\nศพ\nศมนะ\nศมะ\nศยาม\nศยามล\nศร\nศรายุธ\nศราวรณ์\nศรรกรา\nศรวณะ\nศรวณีย์\nศรวิษฐา\nศรัณย์\nศรัณยู\nศรัท\nศรัทธา\nศรัย\nศราทธ์\nศราทธพรต\nศราพก\nศราวก\nศราวณะ\nศรี\nศรีตรัง\nศรุติ\nศฤคาล\nศฤงค์\nศฤงคาร\nศฤงคาริน\nศฤงคารี\nศลิษฏ์\nศลิษา\nศวะ\nศวัส\nศวา\nศวาน\nศศะ\nศศธร\nศศพินทุ์\nศศลักษณ์\nศศิ\nศศิน\nศศี\nศศิขัณฑ์\nศศิธร\nศศิมณฑล\nศศิวิมล\nศอ\nศอก\nศักดา\nศักดิ\nศักดิ์\nศักดินา\nศักติ\nศักย\nศักยภาพ\nศักย์\nศักยะ\nศักร\nศักรินทร์\nศักเรนทร์\nศักราช\nศังกร\nศัตรู\nศันสนะ\nศันสนีย์\nศัพท์\nศัยยา\nศัล\nศัลย์\nศัลยกรรม\nศัลยแพทย์\nศัลยศาสตร์\nศัสดร\nศัสตร\nศัสตรศาสตร์\nศัสตรา\nศัสตราวุธ\nศากตะ\nศากย\nศากยะ\nศากยพุทธ\nศากยมุนี\nศาฎก\nศาณ\nศานต์\nศานติ\nศาป\nศารท\nศารทูล\nศาริกา\nศาล\nศาลา\nศาศวัต\nศาสดา\nศาสตร์\nศาสตรา\nศาสตราจารย์\nศาสนา\nศาสนกิจ\nศาสนจักร\nศาสนธรรม\nศาสนบุคคล\nศาสนพิธี\nศาสนวัตถุ\nศาสนศาสตร์\nศาสนสถาน\nศาสนสมบัติ\nศาสนิกชน\nศาสนีย์\nศาสนูปถัมภก\nศาสน์\nศิกษก\nศิการ\nศิขร\nศิขริน\nศิขรี\nศิขัณฑ์\nศิคาล\nศิงขร\nศิงขริน\nศิตะ\nศิถี\nศิพิระ\nศิระ\nศิรประภา\nศิราภรณ์\nศิโรรัตน์\nศิโรเวฐน์\nศิรา\nศิรามพุช\nศิโรราบ\nศิลป\nศิลป์\nศิลปะ\nศิลปกร\nศิลปกรรม\nศิลปกิจ\nศิลปวัตถุ\nศิลปวิทยา\nศิลปศาสตร์\nศิลปศึกษา\nศิลปหัตถกรรม\nศิลปิน\nศิลปี\nศิลา\nศิวะ\nศิวโมกข์\nศิวลึงค์\nศิวเวท\nศิวาลัย\nศิศีระ\nศิษฎิ\nศิษฏ์\nศิษย์\nศิษยานุศิษย์\nศีขร\nศีต\nศีตกาล\nศีรษะ\nศีล\nศึก\nศึกษา\nศึกษาธิการ\nศึกษานิเทศก์\nศุกร์\nศุกรวรรณ\nศุกรวาร\nศุกระ\nศุกล\nศุกลปักษ์\nศุจิ\nศุทธะ\nศุทธิ\nศุนะ\nศุนิ\nศุภกร\nศุภเคราะห์\nศุภนิมิต\nศุภมัสดุ\nศุภมาตรา\nศุภมาส\nศุภอักษร\nศุภางค์\nศูกร\nศุลกากร\nศุลการักษ์\nศุลี\nศุษิร\nศูทร\nศูนย์\nศูนยวาท\nศูละ\nศูลิน\nเศรณี\nเศรษฐ\nเศรษฐ์\nเศรษฐกิจ\nเศรษฐศาสตร์\nเศรษฐี\nเศร้า\nเศลษ\nเศวต\nเศวตร\nเศวตัมพร\nเศษ\nเศาจ\nเศาร์\nเศารยะ\nเศิก\nเศียร\nโศก\nโศกา\nโศกาดูร\nโศกาลัย\nโศกี\nโศจิ\nโศธนะ\nโศภน\nโศภะ\nโศภา\nโศภิต\nโศภิน\nโศภิษฐ์\nโศภี\nโศรดา\nโศรตร\nโศลก\nไศล\nไศวะ\nษมา\nษัฏ\nษัฑ\nษัณ\nษัษ\nษัษฐะ\nษัษฐี\nโษฑศัน\nสก\nสกวาที\nสกฏะ\nสกทาคามิผล\nสกิทาคามิผล\nสกทาคามิมรรค\nสกิทาคามิมรรค\nสกทาคามี\nสกิทาคามี\nสกนธ์\nสกปรก\nสกรณีย์\nสกรรจ์\nสกรรมกริยา\nสกล\nสกลมหาสังฆปริณายก\nสกัด\nสกา\nสกาว\nสกี\nสกุณ\nสกุณา\nสกุณี\nสกุน\nสกุนต์\nสกุล\nสเกต\nสแกนเดียม\nสขะ\nสง\nส่ง\nสงกร\nสงกรานต์\nสงกา\nสงค์\nสงคร\nสงคราม\nสงเคราะห์\nสงฆ์\nสงบ\nสงวน\nส่งสการ\nสงสัย\nสงสาร\nสงสารวัฏ\nสงัด\nสง่า\nสฐะ\nสณฑ์\nสด\nสดมภ์\nสดับ\nสดับปกรณ์\nสดำ\nสดุดี\nสตะ\nสตน\nสตภิสชะ\nสตรอนเชียม\nสตริกนิน\nสตรี\nสตัฟฟ์\nสตัมภ์\nสตางค์\nสติ\nสติปัฏฐาน\nสตี\nสตู\nสตูป\nสเต๊ก\nสถบดี\nสถล\nสถวีระ\nสถาน\nสถานะ\nสถานี\nสถาบัน\nสถาปนา\nสถาปนิก\nสถาปัตยกรรม\nสถาปัตยกรรมศาสตร์\nสถาปัตยเรขา\nสถาปัตยเวท\nสถาพร\nสถาวร\nสถิต\nสถิตยศาสตร์\nสถิติ\nสถิร\nสถีรวาท\nสถุล\nสถูป\nสทิง\nสทึง\nสทุม\nสธนะ\nสาธุสะ\nสน\nส้น\nสนทนา\nสนทรรศ\nสนทรรศน์\nสนเทศ\nสนเท่ห์\nสนธยา\nสนธิ\nสนน\nสนม\nสนวน\nสนอง\nสนอบ\nสนอม\nสนะ\nสนัด\nสนั่น\nสนับ\nสนับทึบ\nสนับสนุน\nสนาน\nสนาม\nสนายุ\nสนิกะ\nสนิท\nสนิธ\nสนิม\nสนุก\nสนุกเกอร์\nสนุข\nสนุต\nสนุ่น\nสบ\nสบง\nสบถ\nสบัน\nสบาย\nสบู่\nสไบ\nสปริง\nสปอร์\nสปาเกตตี\nสเปกตรัม\nสเปกโทรสโกป\nสไปริลลัม\nสพาบ\nสภา\nสภาพ\nสภาวการณ์\nสภาวะ\nสม\nสมการ\nสมจารี\nสมดุล\nสมมูล\nส้ม\nสมญา\nสมณะ\nสมณบริขาร\nสมณศักดิ์\nสมณสารูป\nสมเด็จ\nสมถะ\nสมถยานิก\nสมถวิปัสสนา\nสมนาคุณ\nสมบัติ\nสมบุกสมบัน\nสมบูรณ์\nสมบูรณาญาสิทธิราชย์\nสมประดี\nสมปฤดี\nสมปฤๅดี\nส้มป่อย\nสมปัก\nสมผุส\nสมพง\nสมพงศ์\nสมพล\nสมพัตสร\nสมพาส\nสมเพช\nสมโพธน์\nสมโพธิ\nสมภพ\nสมภาร\nสมโภค\nสมโภช\nสมมต\nสมมติ\nสมมุติ\nสมมาตร\nส้มมือ\nสมโมท\nสมโยค\nสมร\nสมรด\nสมรรถ\nสมรรถนะ\nสมรรถภาพ\nสมรส\nสมฤดี\nสมฤติ\nสมวายะ\nสมเสร็จ\nสมอ\nสมอง\nสมะ\nสมัคร\nสมังคี\nสมัช\nสมัชชา\nสมัญญา\nสมัต\nสมัน\nสมันต์\nสมัย\nสมา\nสมาคม\nสมาจาร\nสมาชิก\nสมาทาน\nสมาธิ\nสมาน\nสมานฉันท์\nสมาบัติ\nสมาพันธรัฐ\nสมาส\nสม่ำเสมอ\nสมิง\nสมิต\nสมิติ\nสมิทธ์\nสมิทธิ\nสมี\nสมุก\nสมุจจัย\nสมุจเฉท\nสมุฏฐาน\nสมุด\nสมุทร\nสมุทรโคดม\nสมุทัย\nสมุน\nสมุนไพร\nสมุลแว้ง\nสมุห\nสมุห์\nสมุหกลาโหม\nสมุหเทศาภิบาล\nสมุหนาม\nสมุหนายก\nสโมธาน\nสโมสร\nสยด\nสยนะ\nสยบ\nสยมพร\nสยมภู\nสยอง\nสยอน\nสยัมวรา\nสยาม\nสยามานุสติ\nสยามินทร์\nสยาย\nสยิว\nสยิ้ว\nสยุมพร\nสยุมภู\nสร\nสรง\nสร่ง\nสรณะ\nสรณคมน์\nสรณาคมน์\nสรณตรัย\nสรตะ\nสรทะ\nสรนุก\nสรเนาะ\nสรไน\nสรเพชญ\nสรภะ\nสรภัญญะ\nสรภู\nสรม\nสรร\nสรรค์\nสรรพ\nสรรพคุณ\nสรรพนาม\nสรรพสามิต\nสรรพัชญ\nสรรพากร\nสรรพางค์\nสรรเพชญ\nสรรเพชุดา\nสรรเสริญ\nสรลอน\nสรเลข\nสรวง\nสรวม\nสรวล\nสรเสริญ\nสร้อย\nสระ\nสระกอ\nสระท้อน\nสระพรั่ง\nสระอาด\nสรั่ง\nสรัสวดี\nสร่าง\nสร้าง\nสราญ\nสรี้\nสรีระ\nสรีรกิจ\nสรีรธาตุ\nสรีรวิทยา\nสรีรศาสตร์\nสรีรังคาร\nสรีรางคาร\nสรุป\nสโรช\nสโรชะ\nสฤก\nสฤต\nสฤษฎิ\nสฤษฎี\nสฤษฏ์\nสฤษดิ์\nสลด\nสลบ\nสลวน\nสลวย\nสลอด\nสลอน\nสลอย\nสละ\nสลัก\nสลัด\nสลัดได\nสลับ\nสลัว\nสลา\nสลาก\nสลาง\nสล้าง\nสลาด\nสลาตัน\nสลาบ\nสลาย\nสลิด\nสลิล\nสลึก\nสลึง\nสลุต\nสลุบ\nสลุมพร\nสแลง\nสวการย์\nสวภาพ\nสวราชย์\nสวก\nส้วง\nสวด\nสวน\nสวนะ\nสวนาการ\nส่วน\nสวนิต\nสวบ\nสวม\nส้วม\nสวย\nส่วย\nส้วย\nสวยม\nสวรรค\nสวรรค์\nสวรรคต\nสวรรคาลัย\nสวรรยา\nสวระ\nสวะ\nสวัสดิ\nสวัสดิ์\nสวัสดิการ\nสวัสดิภาพ\nสวัสดิมงคล\nสวัสดี\nสวัสติ\nสวาตี\nสวัสติกะ\nสวา\nสวาปาม\nสวาคตะ\nสวาง\nสว่าง\nสวาด\nสวาดิ\nสวาท\nสว่าน\nสว้าน\nสวาบ\nสวามิ\nสวามี\nสวามินี\nสวาย\nสวาสดิ์\nสวาหะ\nสวิง\nสวิญญาณกทรัพย์\nสวิตช์\nสสาร\nสสุระ\nสสุรี\nสหกรณ์\nสหการ\nสหจร\nสหชาต\nสหชาติ\nสหธรรม\nสหธรรมิก\nสหประชาชาติ\nสหพันธ์\nสหพันธรัฐ\nสหภาพ\nสหศึกษา\nสหัช\nสหัมบดี\nสหัส\nสหัสสะ\nสหัสธารา\nสหัสนัยน์\nสหัสเนตร\nสหัสรังสี\nสหัสา\nสหาย\nสอ\nส่อ\nสอง\nส่อง\nส้อง\nสอด\nสอน\nส่อน\nสอบ\nสอพลอ\nส้อม\nสอย\nสะ\nสะกด\nสะกอ\nสะกาง\nสะการะ\nสะกิด\nสะกิดสะเกา\nสะเก็ด\nสะแก\nสะคร้อ\nสะคราญ\nสะค้าน\nสะเงาะสะแงะ\nสะดม\nสะดวก\nสะดิ้ง\nสะดึง\nสะดือ\nสะดุ้ง\nสะดุด\nสะเด็ด\nสะเดา\nสะเดาะ\nสะตอ\nสะตาหมัน\nสะตึ\nสะตือ\nสะตุ\nสะเต๊ะ\nสะโตก\nสะทก\nสะท้อน\nสะท้าน\nสะทึก\nสะเทิน\nสะเทิ้น\nสะเทือน\nสะเทื้อน\nสะบะ\nสะบัก\nสะบักสะบอม\nสะบัด\nสะบัดสะบิ้ง\nสะบั้น\nสะบันงา\nสะบ้า\nสะบู\nสะแบง\nสะเปะสะปะ\nสะพรั่ง\nสะพรึงกลัว\nสะพรึบ\nสะพรึ่บ\nสะพัก\nสะพัง\nสะพัด\nสะพั้น\nสะพาน\nสะพาย\nสะเพร่า\nสะโพก\nสะเภา\nสะใภ้\nสะโมง\nสะระตะ\nสะระแหน่\nสะลาง\nสะลาบ\nสะลึมสะลือ\nสะวี้ดสะว้าด\nสะสม\nสะสวย\nสะสาง\nสะเหล่อ\nสะอาง\nสะอาด\nสะอ้าน\nสะอิ้ง\nสะอิดสะเอียน\nสะอึก\nสะอื้น\nสะเอ้ง\nสะเอว\nสะเออะ\nสะโอดสะอง\nสะไอ\nสัก\nสักกะ\nสักยะ\nสักกัจจะ\nสักกายทิฐิ\nสักการ\nสักการะ\nสักขี\nสักวา\nสักหลาด\nสัค\nสัคคะ\nสั่ง\nสังกร\nสังกรณี\nสังกรประโยค\nสังกะตัง\nสังกะวัง\nสังกะวาด\nสังกะสี\nสังกัด\nสังกัปปะ\nสังกา\nสังการ\nสังกาศ\nสังกิเลส\nสังเกต\nสังข์\nสังขกร\nสังขตธรรม\nสังขตะ\nสังขยา\nสังขลิก\nสังขลิกา\nสังขาร\nสังขารา\nสังเขป\nสังค์\nสังคญาติ\nสังคม\nสังคหะ\nสังคัง\nสังคายนา\nสังคายนาย\nสังคีต\nสังคีติ\nสังเค็ด\nสังเคราะห์\nสังฆกรรม\nสังฆการี\nสังฆเถระ\nสังฆทาน\nสังฆนายก\nสังฆปาโมกข์\nสังฆภัต\nสังฆเภท\nสังฆมณฑล\nสังฆมนตรี\nสังฆราช\nสังฆสภา\nสังฆาณัติ\nสังฆาฏิ\nสังฆาทิเสส\nสังฆาธิการ\nสังฆานุสติ\nสังฆาวาส\nสังยุตนิกาย\nสังโยค\nสังโยชน์\nสังวร\nสังวัจฉระ\nสังวัธยาย\nสังวาล\nสังวาส\nสังเวคะ\nสังเวช\nสังเวชนียสถาน\nสังเวย\nสังเวียน\nสังสกฤต\nสังสการ\nสังสนทนา\nสั่งสนทนา\nสังสรรค์\nสังสารวัฏ\nสังสิทธิ\nสังสุทธ์\nสังสุทธิ\nสังหร\nสังหรณ์\nสังหาร\nสังหาริมทรัพย์\nสังหาริมะ\nสังหิต\nสัจ\nสัจกิริยา\nสัจจะ\nสัจญาณ\nสัจธรรม\nสัจนิยม\nสัจพจน์\nสัชฌะ\nสัชฌุ\nสัญจร\nสัญเจตนา\nสัญชาตญาณ\nสัญชาติ\nสัญฌา\nสัญญา\nสัญญาณ\nสัญญี\nสัญโญชน์\nสัญนิยม\nสัญประกาศ\nสัญลักษณ์\nสัฐิ\nสัณฐาน\nสัณฐิติ\nสัณฑ์\nสัณห์\nสัด\nสัดจอง\nสัต\nสัตตะ\nสัตตาหกรณียะ\nสัตตาหกาลิก\nสัตมวาร\nสัตสดก\nสัตตบงกช\nสัตตบรรณ\nสัตตบุษย์\nสัตตู\nสัตถันดร\nสัตถา\nสัตถิ\nสัตถุ\nสัตถุศาสนา\nสัตบรรณ\nสัตย์\nสัตยพรต\nสัตยวาที\nสัตยาเคราะห์\nสัตยาธิษฐาน\nสัตยาบัน\nสัตว์\nสัตวชาติ\nสัตวบาล\nสัตวแพทย์\nสัตววิทยา\nสัตวา\nสัทธรรม\nสัทธา\nสัทธาจริต\nสัทธาธิกะ\nสัทธินทรีย์\nสัทธิงวิหาริก\nสัทธิวิหาริก\nสัทวิทยา\nสัทศาสตร์\nสัทอักษร\nสัน\nสั่น\nสั้น\nสันดาน\nสันดาป\nสันโดษ\nสันต์\nสันตติ\nสันตะปาปา\nสันตะวา\nสันติ\nสันตุฏฐี\nสันถวไมตรี\nสันถวะ\nสันถัต\nสันถาร\nสันทนะ\nสันทะ\nสันทัด\nสันทัสนะ\nสันทาน\nสันทิฐิก\nสันทิส\nสันเทหะ\nสันธาน\nสันนิธิ\nสันนิบาต\nสันนิวาส\nสันนิษฐาน\nสันสกฤต\nสับ\nสับปลับ\nสับปลี้\nสับปะรด\nสัปคับ\nสัปดาห์\nสัปดาหะ\nสัปดน\nสัปตศก\nสัปทน\nสัปปะ\nสัปปิ\nสัปปุริส\nสัปปุรุษ\nสัประยุทธ์\nสัปหงก\nสัปเหร่อ\nสัพ\nสัพพะ\nสัพพัญญู\nสัพเพเหระ\nสัพยอก\nสัมบูรณ์\nสัมปชัญญะ\nสัมปทา\nสัมปทาน\nสัมปยุต\nสัมปโยค\nสัมประสิทธิ์\nสัมประหาร\nสัมปรายภพ\nสัมปรายิกภพ\nสัมปัตติ\nสัมผัปลาป\nสัมผัปลาปะ\nสัมผัส\nสัมพล\nสัมพหุลา\nสัมพัจฉรฉินท์\nสัมพัตสร\nสัมพัทธ์\nสัมพันธ์\nสัมพันธน์\nสัมพันธภาพ\nสัมพันธมิตร\nสัมพันธไมตรี\nสัมพาหะ\nสัมพุทธ\nสัมพุทธะ\nสัมโพธิ\nสัมภวะ\nสัมภเวสี\nสัมภัต\nสัมภัตตะ\nสัมภาระ\nสัมภาษณ์\nสัมโภคกาย\nสัมมนา\nสัมมัปธาน\nสัมมา\nสัมโมทนียกถา\nสัมฤทธิ\nสัมฤทธิ์\nสัมฤทธิศก\nสัยน์\nสัลเลข\nสัสดี\nสัสตทิฐิ\nสัสสะ\nสัสสุ\nสัสสู\nสา\nส่า\nสาก\nสากรรจ์\nสากล\nสากัจฉา\nสากัลย์\nสากิยะ\nสาเก\nสาขา\nสาคร\nสาคเรศ\nสาคู\nสาง\nส้าง\nสาชล\nสาฎก\nสาฏิก\nสาณี\nสาด\nสาไถย\nสาทร\nสาทิส\nสาทุ\nสาโท\nสาธก\nสาธยะ\nสาธยาย\nสาธารณะ\nสาธารณชน\nสาธารณประโยชน์\nสาธารณภัย\nสาธารณรัฐ\nสาธารณสถาน\nสาธารณสมบัติ\nสาธารณสุข\nสาธารณูปการ\nสาธารณูปโภค\nสาธารณ์\nสาธิต\nสาธุ\nสาน\nส่าน\nสานุ\nสานู\nสานุศิษย์\nสาบ\nสาบสูญ\nสาบาน\nสาป\nสาปไตย\nสาม\nสามชุก\nสามเณร\nสามเณรี\nสามนต์\nสามนตราช\nสามยทรัพย์\nสามล\nสามหาว\nสามะ\nสามัคคี\nสามัญ\nสามัตถิยะ\nสามานย์\nสามานยนาม\nสามารถ\nสามิต\nสามินี\nสามิภักดิ์\nสามี\nสามีจิกรรม\nสาย\nส่าย\nส้าย\nสายชู\nสายัณห์\nสายาห์\nสาร\nสารคดี\nสารธรรม\nสารนิเทศ\nสารบบ\nสารบรรณ\nสารบัญ\nสารบาญ\nสารบาญชี\nสารประโยชน์\nสารสนเทศ\nสารทุกข์\nสารถี\nสารท\nสารพัด\nสารพัน\nสารพางค์\nสารภาพ\nสารภี\nสารวัตร\nสาระ\nสาระแน\nสาระพา\nสาระยำ\nสาระวารี\nสาระสะมา\nสารัตถประโยชน์\nสารัตถศึกษา\nสารัตถะ\nสารัทธ์\nสารัมภ์\nสาราณียกร\nสาราณียธรรม\nสาราณียะ\nสารานุกรม\nสารีริกธาตุ\nสารูป\nสาโรช\nสาละ\nสาละวน\nสาลิ\nสาลิกา\nสาลินี\nสาลี\nสาลี่\nสาลู\nสาโลหิต\nสาว\nสาวก\nสาวิกา\nสาวิตร\nสาวิตรี\nสาสน\nสาสน์\nสาส์น\nสาสนา\nสาสม\nสาหร่าย\nสาหรี\nส่าหรี\nสาหัส\nสาเหตุ\nสาแหรก\nสำ\nสำส่อน\nส่ำ\nสำคัญ\nสำซ่าง\nสำแดง\nสำทับ\nสำนวน\nสำนอง\nสำนัก\nสำนาน\nสำนึก\nสำนึง\nสำเนา\nสำเนียง\nสำบัด\nสำปะลอ\nสำปะหลัง\nสำปั้น\nสำปันนี\nสำเภา\nสำมะงา\nสำมะโน\nสำมะลอ\nสำมะเลเทเมา\nสำมะหา\nสำรด\nสำรวจ\nสำรวม\nสำรวย\nสำรวล\nสำรอก\nสำรอง\nสำรับ\nสำราก\nสำราญ\nสำริด\nสำเร็จ\nสำเรา\nสำเริง\nสำโรง\nสำลัก\nสำลาน\nสำลี\nสำแลง\nสำหรวด\nสำหรับ\nสำหา\nสำเหนียก\nสำเหร่\nสำออย\nสำอาง\nสิ\nสิกข์\nสิข\nสิกขมานา\nสิกขา\nสิขร\nสิขรี\nสิขเรศ\nสิขา\nสิขานล\nสิขี\nสิคาล\nสิง\nสิ่ง\nสิงขร\nสิงค์\nสิงคลิ้ง\nสิงคลี\nสิงคาร\nสิงคาล\nสิงคี\nสิงโต\nสิงห์\nสิงหนาท\nสิงหบัญชร\nสิงหรา\nสิงหราช\nสิงหาคม\nสิงหาสน์\nสิงหล\nสิญจน์\nสิตะ\nสิตางศุ์\nสิถิล\nสิทธ์\nสิทธัตถะ\nสิทธา\nสิทธาจารย์\nสิทธารถ\nสิทธิ\nสิทธิ์\nสิทธิการิยะ\nสิธยะ\nสิน\nสิ้น\nสินเทา\nสินธพ\nสินธุ\nสินธุ์\nสินธุระ\nสินธู\nสินเธาว์\nสินาด\nสินิทธ์\nสินี\nสิเนรุ\nสิเนหก\nสิเนหะ\nสิเนหา\nสิเน่หา\nสิบ\nสิปปะ\nสิมพลี\nสิระ\nสิโรดม\nสิโรตม์\nสิริ\nสิรี\nสิลา\nสิว\nสิ่ว\nสิวะ\nสิวาลัย\nสิวิกา\nสี\nสี่\nสี้\nสีกา\nสีกุน\nสีข้าง\nสีด\nสีดอ\nสีดา\nสีตลรัศมี\nสีตโลทก\nสีโตทก\nสีทันดร\nสีมันต์\nสีมา\nสีละมัน\nสีวิกา\nสีสอ\nสีสะ\nสีสา\nสีสุก\nสีเสียด\nสีห์\nสีหนาท\nสีหบัญชร\nสีหราช\nสีหไสยา\nสีหไสยาสน์\nสีหะ\nสึก\nสึง\nสืบ\nสื่อ\nสุ\nสุก\nสุกข์\nสุกร\nสุกรม\nสุกำศพ\nสุกียากี้\nสุข\nสุขา\nสุขาภิบาล\nสุขารมณ์\nสุขาวดี\nสุขิน\nสุขี\nสุขุม\nสุขุมาล\nสุโข\nสุคต\nสุคติ\nสุคนธ\nสุคนธ์\nสุคนธชาติ\nสุคนธรส\nสุคันธ์\nสุคันธรส\nสุงกะ\nสุงกากร\nสุงสิง\nสุงสุมาร\nสุจริต\nสุจหนี่\nสุจิ\nสุจิต\nสุจิตร\nสุชน\nสุชัมบดี\nสุชา\nสุชาดา\nสุญ\nสุญญากาศ\nสุญตา\nสุญนิยม\nสุณ\nสุณิสา\nสุด\nสุดา\nสุต\nสุตตนิบาต\nสุตตะ\nสุตตันตปิฎก\nสุตตันตะ\nสุติ\nสุทธ\nสุทธ์\nสุทธาวาส\nสุทธิ\nสุทรรศน์\nสุทัศน์\nสุธา\nสุธาโภชน์\nสุธารส\nสุธาสินี\nสุธาสี\nสุธี\nสุนทร\nสุนทรี\nสุนทรียภาพ\nสุนทรียศาสตร์\nสุนทรียะ\nสุนัข\nสุนันท์\nสุโนก\nสุบดี\nสุบรรณ\nสุบิน\nสุปรีดิ์\nสุปรีย์\nสุปาณี\nสุพพัต\nสุพรรณ\nสุพรรณบัฏ\nสุพรรณภาชน์\nสุพรรณราช\nสุพรรณศรี\nสุพรรณถัน\nสุพรรณิการ์\nสุภร\nสุภัค\nสุภา\nสุภาพ\nสุภาษิต\nสุม\nสุ่ม\nสุมทุม\nสุมน\nสุมนะ\nสุมนัส\nสุมนา\nสุ้มเสียง\nสุมะ\nสุมาลี\nสุเมธ\nสุเมรุ\nสุรคต\nสุรเชษฐ์\nสุรบดี\nสุรภาพ\nสุรโลก\nสุรสีหนาท\nสุรเสียง\nสุรงค์\nสุรังค์\nสุรภี\nสุรัติ\nสุรัสวดี\nสุรา\nสุรางค์จำเรียง\nสุรางคนา\nสุรางคนางค์\nสุรารักษ์\nสุราลัย\nสุรินทร์\nสุรินทราหู\nสุริยะ\nสุริยกันต์\nสุริยกานต์\nสุริยการ\nสุริยกาล\nสุริยคติ\nสุริยคราส\nสุริยมณฑล\nสุริยวงศ์\nสุริยง\nสุริยา\nสุริเยนทร์\nสุริเยศ\nสุริโย\nสุริยน\nสุริยัน\nสุริยุปราคา\nสุรีย์\nสุรุ่ยสุร่าย\nสุลต่าน\nสุวคนธ์\nสุวภาพ\nสุวรรณ\nสุวรรณภูมิ\nสุวะ\nสุวาน\nสุวินัย\nสุวิมล\nสุษิระ\nสุสาน\nสุหนัต\nสุหร่ง\nสุหร่าย\nสุหฤท\nสุหัท\nสุเหร่า\nสู\nสู่\nสู้\nสูง\nสูจิ\nสูจิบัตร\nสูญ\nสูด\nสูต\nสูตร\nสูติ\nสูติกรรม\nสูตินรีเวช\nสูติบัตร\nสูติแพทย์\nสูติศาสตร์\nสูท\nสูทกรรม\nสูทศาสตร์\nสูบ\nสูปะ\nสูร\nสูรย์\nสูรยกานต์\nสูริ\nสูสี\nเส\nเสก\nเสกขบุคคล\nเสกขะ\nเสขบุคคล\nเสขะ\nเส็ง\nเส้ง\nเส็งเคร็ง\nเสงี่ยม\nเสฏฐี\nเสณี\nเสด\nเสด็จ\nเสตุ\nเสถียร\nเสทะ\nเสโท\nเสน\nเส้น\nเสนง\nเสน่ง\nเสน่ห์\nเสนหา\nเสน่หา\nเสนอ\nเสนะ\nเสนา\nเสนาธิการ\nเสนาบดี\nเสน่า\nเสนากุฎ\nเสนางค์\nเสนางคนิกร\nเสนานี\nเสนาสนะ\nเสนาะ\nเสนี\nเสนีย์\nเสนียะ\nเสนียด\nเสบย\nเสบียง\nเสพ\nเสพย์\nเสเพล\nเสภา\nเสม็ด\nเสมหะ\nเสมอ\nเสมา\nเสมียน\nเสมือน\nเสย\nเสร็จ\nเสริด\nเสริม\nเสรี\nเสลด\nเสลบรรพต\nเสลา\nเสลี่ยง\nเสลือกสลน\nเสโล\nเสวก\nเสวกามาตย์\nเสวนะ\nเสวนา\nเสวย\nเสวียน\nเสสรวง\nเสสรวล\nเสา\nเส้า\nเสาร์\nเสารภย์\nเสารี\nเสาวคนธ์\nเสาวธาร\nเสาวภา\nเสาวภาคย์\nเสาวภาพ\nเสาวรภย์\nเสาวรส\nเสาวลักษณ์\nเสาวณิต\nเสาวนะ\nเสาวนา\nเสาวนีย์\nเสาหฤท\nเสาะ\nเสาะแสะ\nเสิร์จ\nเสิร์ฟ\nเสีย\nเสียง\nเสี่ยง\nเสียด\nเสี้ยน\nเสียบ\nเสียม\nเสี่ยม\nเสี้ยม\nเสียว\nเสี่ยว\nเสี้ยว\nเสือ\nเสื่อ\nเสื้อ\nเสือก\nเสื่อม\nแส\nแส่\nแส้\nแสก\nแสง\nแสด\nแสดง\nแสตมป์\nแสน\nแสนย์\nแสนยากร\nแสนยานุภาพ\nแสบ\nแสม\nแสยก\nแสยง\nแสยะ\nแสรก\nแสร้ง\nแสลง\nแสล้ม\nแสวง\nแสะ\nโสก\nโสกโดก\nโสกันต์\nโสโครก\nโสณฑ์\nโสณิ\nโสณี\nโสด\nโสดก\nโสดม\nโสดา\nโสดาบัน\nโสดาปัตติผล\nโสดาปัตติมรรค\nโสต\nโสตทัศนวัสดุ\nโสตทัศนอุปกรณ์\nโสตทัศนูปกรณ์\nโสตินทรีย์\nโสตถิ\nโสทก\nโสทร\nโสธก\nโสธนะ\nโสน\nโสภณ\nโสภา\nโสภี\nโสภิณี\nโสเภณี\nโสม\nโสมนัส\nโสมม\nโสมย์\nโสร่ง\nโสรจ\nโสรวาร\nโสโร\nโสวรรณ\nโสหุ้ย\nโสฬส\nใส\nใส่\nไส\nไส้\nไสย\nไสยา\nไสยาสน์\nไสร้\nไสว\nหก\nหกคะเมน\nหง\nหงก\nหงส์\nหงสบาท\nหงสรถ\nหงอ\nหงอก\nหง่อง\nหงองแหงง\nหงอด\nหงอน\nหง่อม\nหงอย\nหง่อย\nหงัก\nหงับ\nหง่าง\nหงาย\nหง่าว\nหงำ\nหงิก\nหงิง\nหงิม\nหงึก\nหงุงหงิง\nหงุดหงิด\nหงุบ\nหงุ่ย\nหญ้า\nหญ้าฝรั่น\nหญ้ายายเภา\nหญิง\nหญิบ\nหด\nหตะ\nหทัย\nหน\nหนวก\nหน่วง\nหนวด\nหน่วย\nหน่วยกิต\nหนอ\nหน่อ\nหนอก\nหนอง\nหนอน\nหนอนตายหยาก\nหน่อย\nหน็อยแน่\nหนัก\nหนัง\nหนังสติ๊ก\nหนังสือ\nหนั่น\nหนับ\nหนา\nหน้า\nหน่าง\nหนาด\nหนาน\nหนาม\nหน่าย\nหนาว\nหนำ\nหนำเลี้ยบ\nหนี\nหนี้\nหนีบ\nหนึก\nหนึ่ง\nหนึบ\nหนืด\nหนุ\nหนุน\nหนุบ\nหนุ่ม\nหนุ่ย\nหนู\nห่ม\nหมก\nหมด\nหม่น\nหมวก\nหมวด\nหมวน\nหมอ\nหม่อ\nหม้อ\nหมอก\nหมอง\nหม่อง\nหมอน\nหม่อน\nหมอบ\nหม่อม\nหมอย\nหม้อห้อม\nหมัก\nหมักหมม\nหมัด\nหมัน\nหมั่น\nหมั้น\nหมับ\nหมา\nหม่า\nหมาก\nหมากฮอส\nหมาง\nหมาด\nหมามุ่ย\nหมามุ้ย\nหมาย\nหม้าย\nหมาร่า\nหม่ำ\nหม้ำ\nหมิ่น\nหมี\nหมี่\nหมึก\nหมืน\nหมื่น\nหมุด\nหมุน\nหมุบ\nหมุบหมับ\nหมุบหมิบ\nหมุ่ย\nหมุยขาว\nหมู\nหมู่\nหมูหริ่ง\nหยก\nหย่ง\nหยด\nหยวก\nหยวบ\nหยอก\nหยอกเอิน\nหย็อกหย็อย\nหยอง\nหย็อง\nหย่อง\nหย็องกรอด\nหย็องแหย็ง\nหยอด\nหยอน\nหย่อน\nหย่อม\nหย็อมแหย็ม\nหย็อย\nหย่อย\nหยัก\nหยักไย่\nหยักเหยา\nหยัง\nหยั่ง\nหยังหยัง\nหยัด\nหยัน\nหยับ\nหยั่วเมือง\nหย่า\nหยากเยื่อ\nหยากไย่\nหยาด\nหยาบ\nหยาม\nหยาว\nหย้าว\nหยำเป\nหยำเหยอะ\nหยำแหยะ\nหยิก\nหยิ่ง\nหยิบ\nหยิม\nหยี\nหยี่\nหยุกหยิก\nหยุด\nหยุ่น\nหยุบ\nหยุมหยิม\nหยูกยา\nหโยดม\nหรคุณ\nหรณะ\nหรดาล\nหรดี\nหรรษ์\nหรรษา\nหรอ\nหรอก\nหร็อมแหร็ม\nหรอย\nหระ\nหรับ\nหรา\nหริ\nหริ่ง\nหริณะ\nหริต\nหริตกี\nหรีตกี\nหรี่\nหรีด\nหรือ\nหรุบ\nหรุบรู่\nหรุบหรู่\nหรุ่ม\nหรู\nหรูหรา\nหฤทัย\nหฤทย์\nหฤษฎ์\nหฤษฎี\nหฤหรรษ์\nหฤโหด\nหลง\nหลงใหล\nหลงจู๊\nหลด\nหลน\nหล่น\nหลบ\nหล่ม\nหลวง\nหลวม\nหลอ\nหล่อ\nหลอก\nหลอด\nหลอน\nหล็อน\nหล่อน\nหลอม\nหละ\nหละหลวม\nหลัก\nหลัง\nหลั่ง\nหลัด\nหลั่น\nหลับ\nหลัว\nหลา\nหล้า\nหลาก\nหลาน\nหลาบ\nหลาม\nหลาย\nหลาว\nหลิ่ง\nหลิท\nหลิน\nหลิม\nหลิว\nหลิ่ว\nหลี\nหลีก\nหลีโก\nหลีบ\nหลีฮื้อ\nหลืบ\nหลุกหลิก\nหลุด\nหลุน\nหลุบ\nหลุม\nหลุมพอ\nหลุมพี\nหลู่\nหวง\nห่วง\nห้วง\nหวด\nหวน\nห้วน\nหวย\nห้วย\nหวอ\nหวอด\nหวะ\nหวัง\nหวัด\nหวั่น\nหวันยิหวา\nหวัว\nหวัวร่อ\nหวัวเราะ\nหวา\nหว่า\nหว้า\nหวาก\nหว่าง\nหวาด\nหวาน\nหว่าน\nหวาม\nหวาย\nหวำ\nหวิด\nหวิว\nหวี\nหวี่\nหวีด\nหวือ\nหวุดหวิด\nหวูด\nหอ\nห่อ\nห้อ\nหอก\nหอง\nห้อง\nหอน\nห่อน\nหอบ\nหอม\nห้อม\nหอย\nห้อย\nหะ\nหะยี\nหะหาย\nหัก\nหัจญ์\nหัจญี\nหัช\nหัฏฐะ\nหัด\nหัต\nหัตถ์\nหัตถกรรม\nหัตถการ\nหัตถกิจ\nหัตถบาส\nหัตถพันธ์\nหัตถาภรณ์\nหัตถศาสตร์\nหัตถศิลป์\nหัตถศึกษา\nหัตถาจารย์\nหัตถินี\nหัตถี\nหัน\nหั่น\nหั้น\nหันตรา\nหับ\nหัย\nหัว\nหัวร่อ\nหัวเราะ\nหัส\nหัสดิน\nหัสดี\nหัสต์\nหัสตะ\nหา\nห่า\nห้า\nหาก\nหาง\nห่าง\nห้าง\nหาญ\nหาด\nห่าน\nหาบ\nหาม\nห่าม\nห้าม\nหาย\nหายใจ\nหายนะ\nหาร\nหารือ\nหาว\nห้าว\nหาสะ\nหำ\nห้ำ\nหิ้ง\nหิงคุ\nหิงสา\nหิงห้อย\nหิ่งห้อย\nหิ่งหาย\nหิด\nหิต\nหิตานุหิตประโยชน์\nหิน\nหิมพาน\nหิมพานต์\nหิมวัต\nหิมวันต์\nหิมวา\nหิมะ\nหิมาลัย\nหิรัญ\nหิรัญญิการ์\nหิรัญบัฏ\nหิรัณย์\nหิรัณยรัศมี\nหิริ\nหิว\nหิ้ว\nหี\nหีด\nหีนยาน\nหีบ\nหึ\nหึง\nหึ่ง\nหึงสา\nหืด\nหืน\nหื่น\nหือ\nหื้อ\nหุง\nหุน\nหุ่น\nหุ้น\nหุนหัน\nหุบ\nหุ้ม\nหุยฮา\nหู\nหู่\nหูก\nหูด\nเห\nเห่\nเหง\nเหง่ง\nเหงา\nเหง้า\nเหงื่อ\nเหงือก\nเห็จ\nเห็ด\nเหติ\nเหตุ\nเห็น\nเหน่ง\nเหนงนายพราน\nเหน็ดเหนื่อย\nเหน็บ\nเหน่อ\nเห็นอ้ม\nเหนอะ\nเหนอะหนะ\nเหน้า\nเหนาะ\nเหนียง\nเหนี่ยง\nเหนี่ยน\nเหนียม\nเหนียว\nเหนี่ยว\nเหนือ\nเหนื่อย\nเห็บ\nเหม\nเหม่\nเหม็ง\nเหม่ง\nเหม็น\nเหมวดี\nเหม่อ\nเหมันต์\nเหมันตฤดู\nเหมา\nเหมายัน\nเหมาะ\nเหมียว\nเหมี่ยว\nเหมือง\nเหมือด\nเหมือน\nเหมื่อย\nเหย\nเหยง\nเหย่อย\nเหยา\nเหย่า\nเหย้า\nเหยาะ\nเหยาะแหยะ\nเหยิง\nเหยิบ\nเหยียด\nเหยียบ\nเหยี่ยว\nเหยื่อ\nเหยือก\nเหรอ\nเหรอะ\nเหรัญญิก\nเหรา\nเหราะ\nเหรียญ\nเหล่\nเหล็ก\nเหลน\nเหลว\nเหลอ\nเหลา\nเหล่า\nเหล้า\nเหลาะแหละ\nเหลิง\nเหลิงเจิ้ง\nเหลียน\nเหลี่ยม\nเหลียว\nเหลือ\nเหลือก\nเหลือง\nเหลือบ\nเหลือม\nเหลื่อม\nเหว\nเหว่\nเหวง\nเหวย\nเหวอะ\nเหวอะหวะ\nเหวี่ยง\nเห่อ\nเหอะ\nเหะ\nเหะหะ\nเหา\nเห่า\nเหาะ\nเหิน\nเหิม\nเหี้ย\nเหียง\nเหียน\nเหี้ยน\nเหี้ยม\nเหี่ยว\nเหื่อ\nเหือด\nแห\nแห่\nแห้\nแหก\nแหง\nแหง่\nแห่ง\nแห้ง\nแหงแก๋\nแหง่ง\nแหงน\nแหน\nแห้น\nแหนง\nแหนบ\nแหนม\nแหบ\nแหม\nแหม่\nแหม่ม\nแหมะ\nแหย\nแหย่\nแหยง\nแหย่ง\nแหยม\nแหย็ม\nแหยะ\nแหล่\nแหลก\nแหล่ง\nแหลน\nแหลม\nแหละ\nแหว\nแห้ว\nแหวก\nแหว่ง\nแหวด\nแหวน\nแหวะ\nแหะ\nโห่\nโหง\nโหด\nโหน\nโหนก\nโหน่ง\nโหม\nโหม่ง\nโหมด\nโหย\nโหยกเหยก\nโหยง\nโหย่ง\nโหร\nโหรง\nโหรงเหรง\nโหรดาจารย์\nโหระพา\nโหรา\nโหราจารย์\nโหราศาสตร์\nโหล\nโหล่\nโหลงโจ้ง\nโหว\nโหว่\nโหว้\nโหวกเหวก\nโหวง\nโหวด\nโหวต\nให้\nใหญ่\nใหม่\nไห\nไห่\nไห้\nไหน\nไหม\nไหม้\nไหรณย์\nไหล\nไหล่\nไหว\nไหว้\nไหหลำ\nอก\nอกตเวทิตา\nอกตเวที\nอกตัญญุตา\nอกตัญญู\nอกนิษฐ์\nอกรณีย์\nอกรรมกริยา\nอกัปปิยวัตถุ\nอกัปปิยะ\nอกุศล\nอคติ\nอคาธ\nอโฆษะ\nองก์\nองค์\nองคชาต\nองคมนตรี\nองครักษ์\nองคาพยพ\nองคุลี\nองศ์\nองศา\nองอาจ\nองุ่น\nอจลา\nอจินตา\nอจินไตย\nอจิระ\nอเจลก\nอเจละ\nอชะ\nอชิน\nอชินี\nอชิระ\nอฏวี\nอณิ\nอณู\nอโณทัย\nอด\nอดิถี\nอดิเทพ\nอดิเรก\nอดิศร\nอดิศวร\nอดิศัย\nอดีต\nอดุล\nอดุลย์\nอติ\nอติชาต\nอติมานะ\nอติราช\nอติเรก\nอติสาร\nอถรรพเวท\nอาถรรพเวท\nอทระ\nอทินนาทาน\nอธรรม\nอธิ\nอธิกมาส\nอธิกรณ์\nอธิกวาร\nอธิกสุรทิน\nอธิการ\nอธิคม\nอธิฏฐาน\nอธิบดี\nอธิบาย\nอธิป\nอธิปไตย\nอธิมาตร\nอธิมุตติ\nอธิโมกข์\nอธิราช\nอธิวาส\nอธิวาสนะ\nอธิศีล\nอธิษฐาน\nอธึก\nอ้น\nอนงค์\nอนงคณะ\nอนงคเลขา\nอนธการ\nอนนต์\nอนยะ\nอนรรฆ\nอนรรถ\nอนล\nอนวัช\nอนัญ\nอนัตตา\nอนันต์\nอนันตริยกรรม\nอนัม\nอนาคต\nอนาคามิผล\nอนาคามิมรรค\nอนาคามี\nอนาจาร\nอนาถ\nอนาถา\nอนาทร\nอนาธิปไตย\nอนามัย\nอนามิกา\nอนารยชน\nอนารยธรรม\nอนารยะ\nอนาลัย\nอนำ\nอนิจ\nอนิจจัง\nอนิจจา\nอนิฏฐารมณ์\nอนิยต\nอนิยม\nอนิล\nอนิวรรต\nอนิวรรตน์\nอนีกะ\nอนีจะ\nอนึก\nอนึ่ง\nอนุ\nอนุกร\nอนุกรม\nอนุกรรมการ\nอนุกระเบียด\nอนุกาชาด\nอนุการ\nอนุกูล\nอนุคามิก\nอนุเคราะห์\nอนุจร\nอนุช\nอนุชน\nอนุชา\nอนุชาต\nอนุชิต\nอนุญาต\nอนุญาโตตุลาการ\nอนุตร\nอนุเถระ\nอนุทิน\nอนุบท\nอนุบาล\nอนุประโยค\nอนุปริญญา\nอนุปสัมบัน\nอนุปัสนา\nอนุพงศ์\nอนุพัทธ์\nอนุพันธ์\nอนุโพธ\nอนุภรรยา\nอนุภริยา\nอนุภาค\nอนุภาษ\nอนุมัติ\nอนุมาตรา\nอนุมาน\nอนุมูล\nอนุโมทนา\nอนุโยค\nอนุรักษ์\nอนุรักษนิยม\nอนุราช\nอนุราธ\nอนุราธะ\nอนุราธา\nอนุรูป\nอนุโลม\nอนุวงศ์\nอนุวรรตน์\nอนุวัต\nอนุวัตน์\nอนุวัตร\nอนุวัติ\nอนุวาต\nอนุศาสก\nอนุศาสน์\nอนุศาสนาจารย์\nอนุศิษฏ์\nอนุสติ\nอนุสนธิ\nอนุสร\nอนุสรณ์\nอนุสัญญา\nอนุสัย\nอนุสาวรีย์\nอนุสาสนี\nอเนก\nอเนกคุณ\nอเนกรรถประโยค\nอเนจอนาถ\nอโนชา\nอโนดาต\nอบ\nอบเชย\nอบาย\nอปจายนธรรม\nอปจายนมัย\nอปมงคล\nอปยศ\nอประไมย\nอปรัณณชาติ\nอปรา\nอปราชัย\nอปราชิต\nอปริมาณ\nอปลักษณ์\nอปโลกน์\nอปวาท\nอเปหิ\nอพพะ\nอพยพ\nอภัพ\nอภัย\nอภิ\nอภิฆาต\nอภิชฌา\nอภิชน\nอภิชนาธิปไตย\nอภิชัย\nอภิชาต\nอภิชิต\nอภิญญา\nอภิญญาณ\nอภิธรรม\nอภิธาน\nอภิไธย\nอภินันท์\nอภินันทนาการ\nอภินัย\nอภินิหาร\nอภิเนษกรมณ์\nอภิบาล\nอภิปรัชญา\nอภิปราย\nอภิมหาอำนาจ\nอภิมานะ\nอภิมุข\nอภิรดี\nอภิรติ\nอภิรมย์\nอภิรักษ์\nอภิราม\nอภิรุต\nอภิรุม\nอภิรูป\nอภิลักขิต\nอภิลักขิตสมัย\nอภิเลปน์\nอภิวันท์\nอภิวาท\nอภิวาทน์\nอภิเษก\nอภิสมโพธิ\nอภิสมัย\nอภิสมาจาร\nอภิสัมโพธิ\nอภิสัมโพธิญาณ\nอภิสิต\nอภิสิทธิ์\nอภูตะ\nอม\nอมพะนำ\nอ้ม\nอมตธรรม\nอมตบท\nอมตะ\nอมนุษย์\nอมร\nอมรา\nอมราวดี\nอมรินทร์\nอมเรนทร์\nอมเรศ\nอมฤต\nอมัตร\nอมาตย์\nอมาวสี\nอมาวสุ\nอมาวาสี\nอมิตร\nอเมริกัน\nอย่า\nอยาก\nอย่าง\nอยุทธ์\nอยู่\nอร\nอรชร\nอรชุน\nอรดี\nอรติ\nอรทัย\nอรไท\nอรนุช\nอรพินท์\nอรพิม\nอรรค\nอรรฆ\nอรรฆย์\nอรรจน์\nอรรณพ\nอรรถ\nอรรถกถา\nอรรถกถาจารย์\nอรรถาธิบาย\nอรรธ\nอรสุม\nอรหะ\nอรหัง\nอรหัต\nอรหัตผล\nอรหัตมรรค\nอรหัน\nอรหันต์\nอรหันตฆาต\nอร่อย\nอรัญ\nอรัญญิก\nอรัญวาส\nอรัญวาสี\nอรัณย์\nอราดี\nอร่าม\nอริ\nอรินทร์\nอริน\nอริยกะ\nอริยทรัพย์\nอริยบุคคล\nอริยผล\nอริยมรรค\nอริยสั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nอำพล\nอำพะนำ\nอำพัน\nอำไพ\nอำเภอ\nอำมร\nอำมฤคโชค\nอำมฤต\nอำมหิต\nอำมาตย์\nอำมาตยาธิปไตย\nอำยวน\nอำรุง\nอำลา\nอำอวม\nอ้ำอึ้ง\nอิก\nอิง\nอิงค์\nอิงอร\nอิจฉา\nอิฉัน\nอิชยา\nอิฏฐารมณ์\nอิฐ\nอิฐผล\nอิด\nอิตถี\nอิตเทรียม\nอิตเทอร์เบียม\nอิติวุตตกะ\nอิทธิ\nอิน\nอินซูลิน\nอินเดีย\nอินเดียนแดง\nอินเดียม\nอินท์\nอินทขีล\nอินทนิล\nอินทผลัม\nอินทร์\nอินทรธนู\nอินทรวงศ์\nอินทรวิเชียร\nอินทรศักดิ์\nอินทราณี\nอินทราภิเษก\nอินทรายุธ\nอินทรี\nอินทรีย์\nอินทรียสังวร\nอินทีวร\nอินทุ\nอินฟราเรด\nอินัง\nอิ่ม\nอิมัลชัน\nอิริเดียม\nอิริยา\nอิริยาบถ\nอิรุพเพท\nอิเล็กตรอน\nอิเล็กทรอนิกส์\nอิเล็กโทน\nอิศร\nอิศวร\nอิษฏ์\nอิษฏี\nอิส\nอิสตรี\nอิสัตรี\nอิสรภาพ\nอิสระ\nอิสริยยศ\nอิสริยะ\nอิสริยาภรณ์\nอิสลาม\nอิสสา\nอิสิ\nอิสี\nอิหม่าม\nอิหลักอิเหลื่อ\nอี\nอี่\nอี้\nอี๊\nอี๋\nอี๋อ๋อ\nอีก\nอีก้อ\nอีก๋อย\nอีโก้ง\nอีจู้\nอี๊ด\nอีเต้อ\nอีโต้\nอีทุบ\nอีเทอร์\nอีนุงตุงนัง\nอีนูน\nอีโน\nอีแปะ\nอีโปง\nอีเพา\nอีมู\nอีรม\nอีลุ้ม\nอีลุ่ยฉุยแฉก\nอีเลิ้ง\nอีศ\nอีศวร\nอีส\nอีสาน\nอีสุกอีใส\nอีหรอบ\nอีหลักอีเหลื่อ\nอีหลี\nอีหลุกขลุกขลัก\nอีหลุกขลุกขลุ่ย\nอีเห็น\nอีเหน็บ\nอีเหนียว\nอีเหละเขละขละ\nอีเหละเขะขะ\nอีโหน่อีเหน่\nอีโหลกโขลกเขลก\nอีแอ่น\nอึ\nอึก\nอึ้ก\nอึ๊ก\nอึกทึก\nอึกอัก\nอึง\nอึ่ง\nอึ้ง\nอึด\nอึดตะปือ\nอึ้ดทึ่ด\nอึน\nอืด\nอื่น\nอื้น\nอือ\nอื้อ\nอื้อฮือ\nอุ\nอุก\nอุกกา\nอุกกาบาต\nอุกฤษฏ์\nอุกลาบาต\nอุค\nอุคระ\nอุคหนิมิต\nอุโฆษ\nอุ้ง\nอุจ\nอุจจาระ\nอุจฉุ\nอุจเฉท\nอุจเฉททิฐิ\nอุจาด\nอุชุ\nอุฏฐาการ\nอุณหภูมิ\nอุณหะ\nอุณหาหาร\nอุณหิส\nอุณา\nอุณาโลม\nอุด\nอุดเตา\nอุดม\nอุดมการณ์\nอุดมคติ\nอุดมศึกษา\nอุดร\nอุดหนุน\nอุตดม\nอุตตมะ\nอุตมภาพ\nอุตมางค์\nอุตดร\nอุตรกุรุทวีป\nอุตตรายัน\nอุตรนิกาย\nอุตรผลคุนี\nอุตตรผลคุนี\nอุตรภัทรบท\nอุตตรภัทรบท\nอุตตรภัททะ\nอุตราภิมุข\nอุตราวรรต\nอุตราวัฏ\nอุตราษาฒ\nอุตตราสาฬหะ\nอุตราสงค์\nอุตตานภาพ\nอุตพิด\nอุตรา\nอุตริ\nอุตริมนุสธรรม\nอุตลุด\nอุตส่าห์\nอุตสาหกรรม\nอุตสาหะ\nอุตุ\nอุตุนิยม\nอุตุนิยมวิทยา\nอุทก\nอุทกธาร\nอุทกธารา\nอุทกภัย\nอุทกวิทยา\nอุทกศาสตร์\nอุทธรณ์\nอุทธัจ\nอุทยาน\nอุทร\nอุทริยะ\nอุทลุม\nอุทัช\nอุทัย\nอุทาน\nอุทาร\nอุทาหรณ์\nอุทิศ\nอุทุมพร\nอุเทศ\nอุเทสิกเจดีย์\nอุธัจ\nอุ่น\nอุบ\nอุบล\nอุบะ\nอุบ๊ะ\nอุบัติ\nอุบาท\nอุบาทว์\nอุบาย\nอุบาสก\nอุบาสิกา\nอุเบกขา\nอุโบสถ\nอุปกรณ์\nอุปกรม\nอุปการ\nอุปการะ\nอุปการี\nอุปกิเลส\nอุปจาร\nอุปถัมภ์\nอุปถัมภก\nอุปทม\nอุปทูต\nอุปเทศ\nอุปเท่ห์\nอุปธิ\nอุปนัย\nอุปนิกขิต\nอุปนิษัท\nอุปนิสัย\nอุปบัติ\nอุปปาติกะ\nอุปพัทธ์\nอุปพันธ์\nอุปโภค\nอุปมา\nอุปมาน\nอุปไมย\nอุปยุวราช\nอุปรากร\nอุปราคา\nอุปราช\nอุปริ\nอุปริมปริยาย\nอุปโลกน์\nอุปเวท\nอุปสมบท\nอุปสมบัน\nอุปสัมบัน\nอุปสรรค\nอุปสัมปทา\nอุปฮาด\nอุปัชฌาย์\nอุปัชฌายวัตร\nอุปัชฌายะ\nอุปัฏฐาก\nอุปัฏฐานะ\nอุปัทวะ\nอุปัทวันตราย\nอุปาทาน\nอุปาหนา\nอุภัย\nอุ้ม\nอุมงค์\nอุโมงค์\nอุย\nอุ่ย\nอุ้ย\nอุ๊ย\nอุยยาน\nอุยยาม\nอุรณะ\nอุรพี\nอุระ\nอุรังอุตัง\nอุรัจฉัท\nอุรัจฉทะ\nอุรา\nอุรุ\nอุไร\nอุลกมณี\nอุลโลจ\nอุลามก\nอุลิด\nอุโลก\nอุแว้\nอุษณกร\nอุษณกาล\nอุษณรัศมี\nอุษณรุจี\nอุษณาการ\nอุษณีษ์\nอุษมะ\nอุษมัน\nอุษา\nอุษาโยค\nอุสภ\nอุสส่าห์\nอุสสาหะ\nอุสา\nอุสุ\nอุสุภ\nอุสุภราช\nอุสุม\nอุหรับ\nอุหลบ\nอุเหม่\nอุฬาร\nอู\nอู่\nอู้\nอูฐ\nอูด\nอูม\nอูย\nอูรุ\nอู๋อี๋\nเอ\nเอ้\nเอ๊\nเอก\nเอกเขนก\nเอกซเรย์\nเอกรรถประโยค\nเอกัคตา\nเอกังสพยากรณ์\nเอกังสวาที\nเอกา\nเอ้กา\nเอกาธิปไตย\nเอเคอร์\nเอง\nเอ็ง\nเอ๋ง\nเอ็ด\nเอ็ดตะโร\nเอดส์\nเอตทัคคะ\nเอ้เต\nเอทิล\nเอน\nเอ็น\nเอนไซม์\nเอ็นดู\nเอ็นอ่อน\nเอม\nเอ็มบริโอ\nเอย\nเอ่ย\nเอ๊ย\nเอ๋ย\nเอร็ดอร่อย\nเอราวัณ\nเอว\nเอ๊ว\nเอวัง\nเอฬกะ\nเอฬา\nเออ\nเอ่อ\nเออร์เบียม\nเอ้อระเหย\nเอ้อเร้อ\nเอ้อเฮอ\nเอ๊ะ\nเอะใจ\nเอะอะ\nเอะอะมะเทิ่ง\nเอา\nเอาทาร\nเอาทารย์\nเอารส\nเอาฬาร\nเอาะลาย\nเอิก\nเอิกเกริก\nเอิ้น\nเอิบ\nเอียง\nเอี้ยง\nเอียด\nเอี๊ยด\nเอียน\nเอี่ยน\nเอี่ยม\nเอี๊ยม\nเอี้ยมจุ๊น\nเอี้ยมเฟี้ยม\nเอี่ยว\nเอี้ยว\nเอื้อ\nเอื๊อก\nเอื้อง\nเอือด\nเอือน\nเอื้อน\nเอือม\nเอื้อม\nเอื่อย\nเอื้อย\nแอ\nแอ้\nแอ๋\nแอก\nแอกทิเนียม\nแอ่ง\nแอ้งแม้ง\nแอด\nแอ้ด\nแอ๊ด\nแอ่น\nแอนติเจน\nแอนติบอดี\nแอนติอิเล็กตรอน\nแอโนด\nแอบ\nแอม\nแอ้ม\nแอมแปร์\nแอมมิเตอร์\nแอมโมเนีย\nแอร่ม\nแอลกอฮอล์\nแอลฟา\nแอว\nแอ่ว\nแอ้วแซ่ว\nแอสทาทีน\nแอสไพริน\nแอสฟัลต์\nแอหนัง\nแออัด\nโอ\nโอ่\nโอ้\nโอ๋\nโอก\nโอ้ก\nโอ้กอ้าก\nโอ๊ก\nโอกาส\nโอฆชล\nโอฆสงสาร\nโอฆะ\nโอ่ง\nโองการ\nโองโขดง\nโอชะ\nโอชา\nโอโซน\nโอฐ\nโอด\nโอ๊ต\nโอตตัปปะ\nโอทนะ\nโอน\nโอบ\nโอปปาติกะ\nโอภา\nโอภาส\nโอม\nโอย\nโอ๊ย\nโอรส\nโอละพ่อ\nโอลิมปิก\nโอวาท\nโอษฐ์\nโอษฐชะ\nโอษฐภัย\nโอสถ\nโอห์ม\nโอหัง\nโอฬาร\nโอฬาริก\nโอฬารึก\nโอ้เอ้\nโอเอซิส\nโอ้โฮ\nไอ\nไอ้\nไอโซโทป\nไอน์สไตเนียม\nไอยรา\nไอยเรศ\nไอราพต\nไอราวัณ\nไอราวัต\nไอศกรีม\nไอศวรรย์\nไอศุริยสมบัติ\nไอศูรย์\nไอออน\nไอโอดีน\nฮกเกี้ยน\nฮด\nฮวงซุ้ย\nฮวน\nฮ้วนหมู\nฮวบ\nฮ่อ\nฮ้อ\nฮอกกี้\nฮอด\nฮ่อม\nฮ่อยจ๊อ\nฮอร์โมน\nฮอลแลนด์\nฮอลันดา\nฮะ\nฮะเบส\nฮะเรีย\nฮัก\nฮังเล\nฮัจญ์\nฮัจญะฮ์\nฮัจญี\nฮั่น\nฮั้ว\nฮา\nฮ้า\nฮ่างหลวง\nฮาจญ์\nฮาม\nฮาเร็ม\nฮาห์เนียม\nฮิจเราะห์\nฮินดู\nฮิปโปโปเตมัส\nฮิสทีเรีย\nฮีเลียม\nฮึ\nฮึก\nฮึด\nฮึดฮัด\nฮึ่ม\nฮึย\nฮึ่ย\nฮืดฮาด\nฮือ\nฮื่อ\nฮื้อ\nฮื้อฉี่\nฮุด\nฮุบ\nฮุยเลฮุย\nฮู้\nฮูก\nฮูม\nเฮ\nเฮฮา\nเฮกตาร์\nเฮกโตกรัม\nเฮกโตเมตร\nเฮกโตลิตร\nเฮง\nเฮ็ด\nเฮโมโกลบิน\nเฮย\nเฮ่ย\nเฮ้ย\nเฮโรอีน\nเฮลิคอปเตอร์\nเฮโล\nเฮละโล\nเฮ้ว\nเฮอ\nเฮ่อ\nเฮ้อ\nเฮอริเคน\nเฮิรตซ์\nเฮี้ยน\nเฮี้ยบ\nเฮี้ยว\nเฮือก\nเฮือน\nแฮ\nแฮ่\nแฮก\nแฮ่กึ๊น\nแฮนด์บอล\nแฮฟเนียม\nแฮม\nแฮะ\nโฮ\nโฮก\nโฮ่ง\nโฮ้ง\nโฮเต็ล\nโฮลเมียม\nโฮะ\nไฮ้\nไฮโกรมิเตอร์\nไฮดรา\nไฮโดร\nไฮโดรคาร์บอน\nไฮโดรเจน\nไฮโดรมิเตอร์\nไฮไฟ\nไฮโล\nไฮฮี\n"
               .split(/[\r\n]+/)
               .filter(function (w) {
                 return w.length > 1;
diff --git a/assets/javascripts/workers/search.2a1c317c.min.js.map b/assets/javascripts/workers/search.2a1c317c.min.js.map
deleted file mode 100644
index 06d4330..0000000
--- a/assets/javascripts/workers/search.2a1c317c.min.js.map
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-  "version": 3,
-  "sources": ["node_modules/lunr/lunr.js", "node_modules/escape-html/index.js", "src/assets/javascripts/integrations/search/worker/main/index.ts", "src/assets/javascripts/polyfills/index.ts", "src/assets/javascripts/integrations/search/document/index.ts", "src/assets/javascripts/integrations/search/highlighter/index.ts", "src/assets/javascripts/integrations/search/query/_/index.ts", "src/assets/javascripts/integrations/search/_/index.ts"],
-  "sourceRoot": "../../../..",
-  "sourcesContent": ["/**\n * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 2.3.9\n * Copyright (C) 2020 Oliver Nightingale\n * @license MIT\n */\n\n;(function(){\n\n/**\n * A convenience function for configuring and constructing\n * a new lunr Index.\n *\n * A lunr.Builder instance is created and the pipeline setup\n * with a trimmer, stop word filter and stemmer.\n *\n * This builder object is yielded to the configuration function\n * that is passed as a parameter, allowing the list of fields\n * and other builder parameters to be customised.\n *\n * All documents _must_ be added within the passed config function.\n *\n * @example\n * var idx = lunr(function () {\n *   this.field('title')\n *   this.field('body')\n *   this.ref('id')\n *\n *   documents.forEach(function (doc) {\n *     this.add(doc)\n *   }, this)\n * })\n *\n * @see {@link lunr.Builder}\n * @see {@link lunr.Pipeline}\n * @see {@link lunr.trimmer}\n * @see {@link lunr.stopWordFilter}\n * @see {@link lunr.stemmer}\n * @namespace {function} lunr\n */\nvar lunr = function (config) {\n  var builder = new lunr.Builder\n\n  builder.pipeline.add(\n    lunr.trimmer,\n    lunr.stopWordFilter,\n    lunr.stemmer\n  )\n\n  builder.searchPipeline.add(\n    lunr.stemmer\n  )\n\n  config.call(builder, builder)\n  return builder.build()\n}\n\nlunr.version = \"2.3.9\"\n/*!\n * lunr.utils\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A namespace containing utils for the rest of the lunr library\n * @namespace lunr.utils\n */\nlunr.utils = {}\n\n/**\n * Print a warning message to the console.\n *\n * @param {String} message The message to be printed.\n * @memberOf lunr.utils\n * @function\n */\nlunr.utils.warn = (function (global) {\n  /* eslint-disable no-console */\n  return function (message) {\n    if (global.console && console.warn) {\n      console.warn(message)\n    }\n  }\n  /* eslint-enable no-console */\n})(this)\n\n/**\n * Convert an object to a string.\n *\n * In the case of `null` and `undefined` the function returns\n * the empty string, in all other cases the result of calling\n * `toString` on the passed object is returned.\n *\n * @param {Any} obj The object to convert to a string.\n * @return {String} string representation of the passed object.\n * @memberOf lunr.utils\n */\nlunr.utils.asString = function (obj) {\n  if (obj === void 0 || obj === null) {\n    return \"\"\n  } else {\n    return obj.toString()\n  }\n}\n\n/**\n * Clones an object.\n *\n * Will create a copy of an existing object such that any mutations\n * on the copy cannot affect the original.\n *\n * Only shallow objects are supported, passing a nested object to this\n * function will cause a TypeError.\n *\n * Objects with primitives, and arrays of primitives are supported.\n *\n * @param {Object} obj The object to clone.\n * @return {Object} a clone of the passed object.\n * @throws {TypeError} when a nested object is passed.\n * @memberOf Utils\n */\nlunr.utils.clone = function (obj) {\n  if (obj === null || obj === undefined) {\n    return obj\n  }\n\n  var clone = Object.create(null),\n      keys = Object.keys(obj)\n\n  for (var i = 0; i < keys.length; i++) {\n    var key = keys[i],\n        val = obj[key]\n\n    if (Array.isArray(val)) {\n      clone[key] = val.slice()\n      continue\n    }\n\n    if (typeof val === 'string' ||\n        typeof val === 'number' ||\n        typeof val === 'boolean') {\n      clone[key] = val\n      continue\n    }\n\n    throw new TypeError(\"clone is not deep and does not support nested objects\")\n  }\n\n  return clone\n}\nlunr.FieldRef = function (docRef, fieldName, stringValue) {\n  this.docRef = docRef\n  this.fieldName = fieldName\n  this._stringValue = stringValue\n}\n\nlunr.FieldRef.joiner = \"/\"\n\nlunr.FieldRef.fromString = function (s) {\n  var n = s.indexOf(lunr.FieldRef.joiner)\n\n  if (n === -1) {\n    throw \"malformed field ref string\"\n  }\n\n  var fieldRef = s.slice(0, n),\n      docRef = s.slice(n + 1)\n\n  return new lunr.FieldRef (docRef, fieldRef, s)\n}\n\nlunr.FieldRef.prototype.toString = function () {\n  if (this._stringValue == undefined) {\n    this._stringValue = this.fieldName + lunr.FieldRef.joiner + this.docRef\n  }\n\n  return this._stringValue\n}\n/*!\n * lunr.Set\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A lunr set.\n *\n * @constructor\n */\nlunr.Set = function (elements) {\n  this.elements = Object.create(null)\n\n  if (elements) {\n    this.length = elements.length\n\n    for (var i = 0; i < this.length; i++) {\n      this.elements[elements[i]] = true\n    }\n  } else {\n    this.length = 0\n  }\n}\n\n/**\n * A complete set that contains all elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.complete = {\n  intersect: function (other) {\n    return other\n  },\n\n  union: function () {\n    return this\n  },\n\n  contains: function () {\n    return true\n  }\n}\n\n/**\n * An empty set that contains no elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.empty = {\n  intersect: function () {\n    return this\n  },\n\n  union: function (other) {\n    return other\n  },\n\n  contains: function () {\n    return false\n  }\n}\n\n/**\n * Returns true if this set contains the specified object.\n *\n * @param {object} object - Object whose presence in this set is to be tested.\n * @returns {boolean} - True if this set contains the specified object.\n */\nlunr.Set.prototype.contains = function (object) {\n  return !!this.elements[object]\n}\n\n/**\n * Returns a new set containing only the elements that are present in both\n * this set and the specified set.\n *\n * @param {lunr.Set} other - set to intersect with this set.\n * @returns {lunr.Set} a new set that is the intersection of this and the specified set.\n */\n\nlunr.Set.prototype.intersect = function (other) {\n  var a, b, elements, intersection = []\n\n  if (other === lunr.Set.complete) {\n    return this\n  }\n\n  if (other === lunr.Set.empty) {\n    return other\n  }\n\n  if (this.length < other.length) {\n    a = this\n    b = other\n  } else {\n    a = other\n    b = this\n  }\n\n  elements = Object.keys(a.elements)\n\n  for (var i = 0; i < elements.length; i++) {\n    var element = elements[i]\n    if (element in b.elements) {\n      intersection.push(element)\n    }\n  }\n\n  return new lunr.Set (intersection)\n}\n\n/**\n * Returns a new set combining the elements of this and the specified set.\n *\n * @param {lunr.Set} other - set to union with this set.\n * @return {lunr.Set} a new set that is the union of this and the specified set.\n */\n\nlunr.Set.prototype.union = function (other) {\n  if (other === lunr.Set.complete) {\n    return lunr.Set.complete\n  }\n\n  if (other === lunr.Set.empty) {\n    return this\n  }\n\n  return new lunr.Set(Object.keys(this.elements).concat(Object.keys(other.elements)))\n}\n/**\n * A function to calculate the inverse document frequency for\n * a posting. This is shared between the builder and the index\n *\n * @private\n * @param {object} posting - The posting for a given term\n * @param {number} documentCount - The total number of documents.\n */\nlunr.idf = function (posting, documentCount) {\n  var documentsWithTerm = 0\n\n  for (var fieldName in posting) {\n    if (fieldName == '_index') continue // Ignore the term index, its not a field\n    documentsWithTerm += Object.keys(posting[fieldName]).length\n  }\n\n  var x = (documentCount - documentsWithTerm + 0.5) / (documentsWithTerm + 0.5)\n\n  return Math.log(1 + Math.abs(x))\n}\n\n/**\n * A token wraps a string representation of a token\n * as it is passed through the text processing pipeline.\n *\n * @constructor\n * @param {string} [str=''] - The string token being wrapped.\n * @param {object} [metadata={}] - Metadata associated with this token.\n */\nlunr.Token = function (str, metadata) {\n  this.str = str || \"\"\n  this.metadata = metadata || {}\n}\n\n/**\n * Returns the token string that is being wrapped by this object.\n *\n * @returns {string}\n */\nlunr.Token.prototype.toString = function () {\n  return this.str\n}\n\n/**\n * A token update function is used when updating or optionally\n * when cloning a token.\n *\n * @callback lunr.Token~updateFunction\n * @param {string} str - The string representation of the token.\n * @param {Object} metadata - All metadata associated with this token.\n */\n\n/**\n * Applies the given function to the wrapped string token.\n *\n * @example\n * token.update(function (str, metadata) {\n *   return str.toUpperCase()\n * })\n *\n * @param {lunr.Token~updateFunction} fn - A function to apply to the token string.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.update = function (fn) {\n  this.str = fn(this.str, this.metadata)\n  return this\n}\n\n/**\n * Creates a clone of this token. Optionally a function can be\n * applied to the cloned token.\n *\n * @param {lunr.Token~updateFunction} [fn] - An optional function to apply to the cloned token.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.clone = function (fn) {\n  fn = fn || function (s) { return s }\n  return new lunr.Token (fn(this.str, this.metadata), this.metadata)\n}\n/*!\n * lunr.tokenizer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A function for splitting a string into tokens ready to be inserted into\n * the search index. Uses `lunr.tokenizer.separator` to split strings, change\n * the value of this property to change how strings are split into tokens.\n *\n * This tokenizer will convert its parameter to a string by calling `toString` and\n * then will split this string on the character in `lunr.tokenizer.separator`.\n * Arrays will have their elements converted to strings and wrapped in a lunr.Token.\n *\n * Optional metadata can be passed to the tokenizer, this metadata will be cloned and\n * added as metadata to every token that is created from the object to be tokenized.\n *\n * @static\n * @param {?(string|object|object[])} obj - The object to convert into tokens\n * @param {?object} metadata - Optional metadata to associate with every token\n * @returns {lunr.Token[]}\n * @see {@link lunr.Pipeline}\n */\nlunr.tokenizer = function (obj, metadata) {\n  if (obj == null || obj == undefined) {\n    return []\n  }\n\n  if (Array.isArray(obj)) {\n    return obj.map(function (t) {\n      return new lunr.Token(\n        lunr.utils.asString(t).toLowerCase(),\n        lunr.utils.clone(metadata)\n      )\n    })\n  }\n\n  var str = obj.toString().toLowerCase(),\n      len = str.length,\n      tokens = []\n\n  for (var sliceEnd = 0, sliceStart = 0; sliceEnd <= len; sliceEnd++) {\n    var char = str.charAt(sliceEnd),\n        sliceLength = sliceEnd - sliceStart\n\n    if ((char.match(lunr.tokenizer.separator) || sliceEnd == len)) {\n\n      if (sliceLength > 0) {\n        var tokenMetadata = lunr.utils.clone(metadata) || {}\n        tokenMetadata[\"position\"] = [sliceStart, sliceLength]\n        tokenMetadata[\"index\"] = tokens.length\n\n        tokens.push(\n          new lunr.Token (\n            str.slice(sliceStart, sliceEnd),\n            tokenMetadata\n          )\n        )\n      }\n\n      sliceStart = sliceEnd + 1\n    }\n\n  }\n\n  return tokens\n}\n\n/**\n * The separator used to split a string into tokens. Override this property to change the behaviour of\n * `lunr.tokenizer` behaviour when tokenizing strings. By default this splits on whitespace and hyphens.\n *\n * @static\n * @see lunr.tokenizer\n */\nlunr.tokenizer.separator = /[\\s\\-]+/\n/*!\n * lunr.Pipeline\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Pipelines maintain an ordered list of functions to be applied to all\n * tokens in documents entering the search index and queries being ran against\n * the index.\n *\n * An instance of lunr.Index created with the lunr shortcut will contain a\n * pipeline with a stop word filter and an English language stemmer. Extra\n * functions can be added before or after either of these functions or these\n * default functions can be removed.\n *\n * When run the pipeline will call each function in turn, passing a token, the\n * index of that token in the original list of all tokens and finally a list of\n * all the original tokens.\n *\n * The output of functions in the pipeline will be passed to the next function\n * in the pipeline. To exclude a token from entering the index the function\n * should return undefined, the rest of the pipeline will not be called with\n * this token.\n *\n * For serialisation of pipelines to work, all functions used in an instance of\n * a pipeline should be registered with lunr.Pipeline. Registered functions can\n * then be loaded. If trying to load a serialised pipeline that uses functions\n * that are not registered an error will be thrown.\n *\n * If not planning on serialising the pipeline then registering pipeline functions\n * is not necessary.\n *\n * @constructor\n */\nlunr.Pipeline = function () {\n  this._stack = []\n}\n\nlunr.Pipeline.registeredFunctions = Object.create(null)\n\n/**\n * A pipeline function maps lunr.Token to lunr.Token. A lunr.Token contains the token\n * string as well as all known metadata. A pipeline function can mutate the token string\n * or mutate (or add) metadata for a given token.\n *\n * A pipeline function can indicate that the passed token should be discarded by returning\n * null, undefined or an empty string. This token will not be passed to any downstream pipeline\n * functions and will not be added to the index.\n *\n * Multiple tokens can be returned by returning an array of tokens. Each token will be passed\n * to any downstream pipeline functions and all will returned tokens will be added to the index.\n *\n * Any number of pipeline functions may be chained together using a lunr.Pipeline.\n *\n * @interface lunr.PipelineFunction\n * @param {lunr.Token} token - A token from the document being processed.\n * @param {number} i - The index of this token in the complete list of tokens for this document/field.\n * @param {lunr.Token[]} tokens - All tokens for this document/field.\n * @returns {(?lunr.Token|lunr.Token[])}\n */\n\n/**\n * Register a function with the pipeline.\n *\n * Functions that are used in the pipeline should be registered if the pipeline\n * needs to be serialised, or a serialised pipeline needs to be loaded.\n *\n * Registering a function does not add it to a pipeline, functions must still be\n * added to instances of the pipeline for them to be used when running a pipeline.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @param {String} label - The label to register this function with\n */\nlunr.Pipeline.registerFunction = function (fn, label) {\n  if (label in this.registeredFunctions) {\n    lunr.utils.warn('Overwriting existing registered function: ' + label)\n  }\n\n  fn.label = label\n  lunr.Pipeline.registeredFunctions[fn.label] = fn\n}\n\n/**\n * Warns if the function is not registered as a Pipeline function.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @private\n */\nlunr.Pipeline.warnIfFunctionNotRegistered = function (fn) {\n  var isRegistered = fn.label && (fn.label in this.registeredFunctions)\n\n  if (!isRegistered) {\n    lunr.utils.warn('Function is not registered with pipeline. This may cause problems when serialising the index.\\n', fn)\n  }\n}\n\n/**\n * Loads a previously serialised pipeline.\n *\n * All functions to be loaded must already be registered with lunr.Pipeline.\n * If any function from the serialised data has not been registered then an\n * error will be thrown.\n *\n * @param {Object} serialised - The serialised pipeline to load.\n * @returns {lunr.Pipeline}\n */\nlunr.Pipeline.load = function (serialised) {\n  var pipeline = new lunr.Pipeline\n\n  serialised.forEach(function (fnName) {\n    var fn = lunr.Pipeline.registeredFunctions[fnName]\n\n    if (fn) {\n      pipeline.add(fn)\n    } else {\n      throw new Error('Cannot load unregistered function: ' + fnName)\n    }\n  })\n\n  return pipeline\n}\n\n/**\n * Adds new functions to the end of the pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction[]} functions - Any number of functions to add to the pipeline.\n */\nlunr.Pipeline.prototype.add = function () {\n  var fns = Array.prototype.slice.call(arguments)\n\n  fns.forEach(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n    this._stack.push(fn)\n  }, this)\n}\n\n/**\n * Adds a single function after a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.after = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  pos = pos + 1\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Adds a single function before a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.before = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Removes a function from the pipeline.\n *\n * @param {lunr.PipelineFunction} fn The function to remove from the pipeline.\n */\nlunr.Pipeline.prototype.remove = function (fn) {\n  var pos = this._stack.indexOf(fn)\n  if (pos == -1) {\n    return\n  }\n\n  this._stack.splice(pos, 1)\n}\n\n/**\n * Runs the current list of functions that make up the pipeline against the\n * passed tokens.\n *\n * @param {Array} tokens The tokens to run through the pipeline.\n * @returns {Array}\n */\nlunr.Pipeline.prototype.run = function (tokens) {\n  var stackLength = this._stack.length\n\n  for (var i = 0; i < stackLength; i++) {\n    var fn = this._stack[i]\n    var memo = []\n\n    for (var j = 0; j < tokens.length; j++) {\n      var result = fn(tokens[j], j, tokens)\n\n      if (result === null || result === void 0 || result === '') continue\n\n      if (Array.isArray(result)) {\n        for (var k = 0; k < result.length; k++) {\n          memo.push(result[k])\n        }\n      } else {\n        memo.push(result)\n      }\n    }\n\n    tokens = memo\n  }\n\n  return tokens\n}\n\n/**\n * Convenience method for passing a string through a pipeline and getting\n * strings out. This method takes care of wrapping the passed string in a\n * token and mapping the resulting tokens back to strings.\n *\n * @param {string} str - The string to pass through the pipeline.\n * @param {?object} metadata - Optional metadata to associate with the token\n * passed to the pipeline.\n * @returns {string[]}\n */\nlunr.Pipeline.prototype.runString = function (str, metadata) {\n  var token = new lunr.Token (str, metadata)\n\n  return this.run([token]).map(function (t) {\n    return t.toString()\n  })\n}\n\n/**\n * Resets the pipeline by removing any existing processors.\n *\n */\nlunr.Pipeline.prototype.reset = function () {\n  this._stack = []\n}\n\n/**\n * Returns a representation of the pipeline ready for serialisation.\n *\n * Logs a warning if the function has not been registered.\n *\n * @returns {Array}\n */\nlunr.Pipeline.prototype.toJSON = function () {\n  return this._stack.map(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n\n    return fn.label\n  })\n}\n/*!\n * lunr.Vector\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A vector is used to construct the vector space of documents and queries. These\n * vectors support operations to determine the similarity between two documents or\n * a document and a query.\n *\n * Normally no parameters are required for initializing a vector, but in the case of\n * loading a previously dumped vector the raw elements can be provided to the constructor.\n *\n * For performance reasons vectors are implemented with a flat array, where an elements\n * index is immediately followed by its value. E.g. [index, value, index, value]. This\n * allows the underlying array to be as sparse as possible and still offer decent\n * performance when being used for vector calculations.\n *\n * @constructor\n * @param {Number[]} [elements] - The flat list of element index and element value pairs.\n */\nlunr.Vector = function (elements) {\n  this._magnitude = 0\n  this.elements = elements || []\n}\n\n\n/**\n * Calculates the position within the vector to insert a given index.\n *\n * This is used internally by insert and upsert. If there are duplicate indexes then\n * the position is returned as if the value for that index were to be updated, but it\n * is the callers responsibility to check whether there is a duplicate at that index\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @returns {Number}\n */\nlunr.Vector.prototype.positionForIndex = function (index) {\n  // For an empty vector the tuple can be inserted at the beginning\n  if (this.elements.length == 0) {\n    return 0\n  }\n\n  var start = 0,\n      end = this.elements.length / 2,\n      sliceLength = end - start,\n      pivotPoint = Math.floor(sliceLength / 2),\n      pivotIndex = this.elements[pivotPoint * 2]\n\n  while (sliceLength > 1) {\n    if (pivotIndex < index) {\n      start = pivotPoint\n    }\n\n    if (pivotIndex > index) {\n      end = pivotPoint\n    }\n\n    if (pivotIndex == index) {\n      break\n    }\n\n    sliceLength = end - start\n    pivotPoint = start + Math.floor(sliceLength / 2)\n    pivotIndex = this.elements[pivotPoint * 2]\n  }\n\n  if (pivotIndex == index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex > index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex < index) {\n    return (pivotPoint + 1) * 2\n  }\n}\n\n/**\n * Inserts an element at an index within the vector.\n *\n * Does not allow duplicates, will throw an error if there is already an entry\n * for this index.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n */\nlunr.Vector.prototype.insert = function (insertIdx, val) {\n  this.upsert(insertIdx, val, function () {\n    throw \"duplicate index\"\n  })\n}\n\n/**\n * Inserts or updates an existing index within the vector.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n * @param {function} fn - A function that is called for updates, the existing value and the\n * requested value are passed as arguments\n */\nlunr.Vector.prototype.upsert = function (insertIdx, val, fn) {\n  this._magnitude = 0\n  var position = this.positionForIndex(insertIdx)\n\n  if (this.elements[position] == insertIdx) {\n    this.elements[position + 1] = fn(this.elements[position + 1], val)\n  } else {\n    this.elements.splice(position, 0, insertIdx, val)\n  }\n}\n\n/**\n * Calculates the magnitude of this vector.\n *\n * @returns {Number}\n */\nlunr.Vector.prototype.magnitude = function () {\n  if (this._magnitude) return this._magnitude\n\n  var sumOfSquares = 0,\n      elementsLength = this.elements.length\n\n  for (var i = 1; i < elementsLength; i += 2) {\n    var val = this.elements[i]\n    sumOfSquares += val * val\n  }\n\n  return this._magnitude = Math.sqrt(sumOfSquares)\n}\n\n/**\n * Calculates the dot product of this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The vector to compute the dot product with.\n * @returns {Number}\n */\nlunr.Vector.prototype.dot = function (otherVector) {\n  var dotProduct = 0,\n      a = this.elements, b = otherVector.elements,\n      aLen = a.length, bLen = b.length,\n      aVal = 0, bVal = 0,\n      i = 0, j = 0\n\n  while (i < aLen && j < bLen) {\n    aVal = a[i], bVal = b[j]\n    if (aVal < bVal) {\n      i += 2\n    } else if (aVal > bVal) {\n      j += 2\n    } else if (aVal == bVal) {\n      dotProduct += a[i + 1] * b[j + 1]\n      i += 2\n      j += 2\n    }\n  }\n\n  return dotProduct\n}\n\n/**\n * Calculates the similarity between this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The other vector to calculate the\n * similarity with.\n * @returns {Number}\n */\nlunr.Vector.prototype.similarity = function (otherVector) {\n  return this.dot(otherVector) / this.magnitude() || 0\n}\n\n/**\n * Converts the vector to an array of the elements within the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toArray = function () {\n  var output = new Array (this.elements.length / 2)\n\n  for (var i = 1, j = 0; i < this.elements.length; i += 2, j++) {\n    output[j] = this.elements[i]\n  }\n\n  return output\n}\n\n/**\n * A JSON serializable representation of the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toJSON = function () {\n  return this.elements\n}\n/* eslint-disable */\n/*!\n * lunr.stemmer\n * Copyright (C) 2020 Oliver Nightingale\n * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt\n */\n\n/**\n * lunr.stemmer is an english language stemmer, this is a JavaScript\n * implementation of the PorterStemmer taken from http://tartarus.org/~martin\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token - The string to stem\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n * @function\n */\nlunr.stemmer = (function(){\n  var step2list = {\n      \"ational\" : \"ate\",\n      \"tional\" : \"tion\",\n      \"enci\" : \"ence\",\n      \"anci\" : \"ance\",\n      \"izer\" : \"ize\",\n      \"bli\" : \"ble\",\n      \"alli\" : \"al\",\n      \"entli\" : \"ent\",\n      \"eli\" : \"e\",\n      \"ousli\" : \"ous\",\n      \"ization\" : \"ize\",\n      \"ation\" : \"ate\",\n      \"ator\" : \"ate\",\n      \"alism\" : \"al\",\n      \"iveness\" : \"ive\",\n      \"fulness\" : \"ful\",\n      \"ousness\" : \"ous\",\n      \"aliti\" : \"al\",\n      \"iviti\" : \"ive\",\n      \"biliti\" : \"ble\",\n      \"logi\" : \"log\"\n    },\n\n    step3list = {\n      \"icate\" : \"ic\",\n      \"ative\" : \"\",\n      \"alize\" : \"al\",\n      \"iciti\" : \"ic\",\n      \"ical\" : \"ic\",\n      \"ful\" : \"\",\n      \"ness\" : \"\"\n    },\n\n    c = \"[^aeiou]\",          // consonant\n    v = \"[aeiouy]\",          // vowel\n    C = c + \"[^aeiouy]*\",    // consonant sequence\n    V = v + \"[aeiou]*\",      // vowel sequence\n\n    mgr0 = \"^(\" + C + \")?\" + V + C,               // [C]VC... is m>0\n    meq1 = \"^(\" + C + \")?\" + V + C + \"(\" + V + \")?$\",  // [C]VC[V] is m=1\n    mgr1 = \"^(\" + C + \")?\" + V + C + V + C,       // [C]VCVC... is m>1\n    s_v = \"^(\" + C + \")?\" + v;                   // vowel in stem\n\n  var re_mgr0 = new RegExp(mgr0);\n  var re_mgr1 = new RegExp(mgr1);\n  var re_meq1 = new RegExp(meq1);\n  var re_s_v = new RegExp(s_v);\n\n  var re_1a = /^(.+?)(ss|i)es$/;\n  var re2_1a = /^(.+?)([^s])s$/;\n  var re_1b = /^(.+?)eed$/;\n  var re2_1b = /^(.+?)(ed|ing)$/;\n  var re_1b_2 = /.$/;\n  var re2_1b_2 = /(at|bl|iz)$/;\n  var re3_1b_2 = new RegExp(\"([^aeiouylsz])\\\\1$\");\n  var re4_1b_2 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var re_1c = /^(.+?[^aeiou])y$/;\n  var re_2 = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;\n\n  var re_3 = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;\n\n  var re_4 = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;\n  var re2_4 = /^(.+?)(s|t)(ion)$/;\n\n  var re_5 = /^(.+?)e$/;\n  var re_5_1 = /ll$/;\n  var re3_5 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var porterStemmer = function porterStemmer(w) {\n    var stem,\n      suffix,\n      firstch,\n      re,\n      re2,\n      re3,\n      re4;\n\n    if (w.length < 3) { return w; }\n\n    firstch = w.substr(0,1);\n    if (firstch == \"y\") {\n      w = firstch.toUpperCase() + w.substr(1);\n    }\n\n    // Step 1a\n    re = re_1a\n    re2 = re2_1a;\n\n    if (re.test(w)) { w = w.replace(re,\"$1$2\"); }\n    else if (re2.test(w)) { w = w.replace(re2,\"$1$2\"); }\n\n    // Step 1b\n    re = re_1b;\n    re2 = re2_1b;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      re = re_mgr0;\n      if (re.test(fp[1])) {\n        re = re_1b_2;\n        w = w.replace(re,\"\");\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1];\n      re2 = re_s_v;\n      if (re2.test(stem)) {\n        w = stem;\n        re2 = re2_1b_2;\n        re3 = re3_1b_2;\n        re4 = re4_1b_2;\n        if (re2.test(w)) { w = w + \"e\"; }\n        else if (re3.test(w)) { re = re_1b_2; w = w.replace(re,\"\"); }\n        else if (re4.test(w)) { w = w + \"e\"; }\n      }\n    }\n\n    // Step 1c - replace suffix y or Y by i if preceded by a non-vowel which is not the first letter of the word (so cry -> cri, by -> by, say -> say)\n    re = re_1c;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      w = stem + \"i\";\n    }\n\n    // Step 2\n    re = re_2;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step2list[suffix];\n      }\n    }\n\n    // Step 3\n    re = re_3;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step3list[suffix];\n      }\n    }\n\n    // Step 4\n    re = re_4;\n    re2 = re2_4;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      if (re.test(stem)) {\n        w = stem;\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1] + fp[2];\n      re2 = re_mgr1;\n      if (re2.test(stem)) {\n        w = stem;\n      }\n    }\n\n    // Step 5\n    re = re_5;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      re2 = re_meq1;\n      re3 = re3_5;\n      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) {\n        w = stem;\n      }\n    }\n\n    re = re_5_1;\n    re2 = re_mgr1;\n    if (re.test(w) && re2.test(w)) {\n      re = re_1b_2;\n      w = w.replace(re,\"\");\n    }\n\n    // and turn initial Y back to y\n\n    if (firstch == \"y\") {\n      w = firstch.toLowerCase() + w.substr(1);\n    }\n\n    return w;\n  };\n\n  return function (token) {\n    return token.update(porterStemmer);\n  }\n})();\n\nlunr.Pipeline.registerFunction(lunr.stemmer, 'stemmer')\n/*!\n * lunr.stopWordFilter\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.generateStopWordFilter builds a stopWordFilter function from the provided\n * list of stop words.\n *\n * The built in lunr.stopWordFilter is built using this generator and can be used\n * to generate custom stopWordFilters for applications or non English languages.\n *\n * @function\n * @param {Array} token The token to pass through the filter\n * @returns {lunr.PipelineFunction}\n * @see lunr.Pipeline\n * @see lunr.stopWordFilter\n */\nlunr.generateStopWordFilter = function (stopWords) {\n  var words = stopWords.reduce(function (memo, stopWord) {\n    memo[stopWord] = stopWord\n    return memo\n  }, {})\n\n  return function (token) {\n    if (token && words[token.toString()] !== token.toString()) return token\n  }\n}\n\n/**\n * lunr.stopWordFilter is an English language stop word list filter, any words\n * contained in the list will not be passed through the filter.\n *\n * This is intended to be used in the Pipeline. If the token does not pass the\n * filter then undefined will be returned.\n *\n * @function\n * @implements {lunr.PipelineFunction}\n * @params {lunr.Token} token - A token to check for being a stop word.\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n */\nlunr.stopWordFilter = lunr.generateStopWordFilter([\n  'a',\n  'able',\n  'about',\n  'across',\n  'after',\n  'all',\n  'almost',\n  'also',\n  'am',\n  'among',\n  'an',\n  'and',\n  'any',\n  'are',\n  'as',\n  'at',\n  'be',\n  'because',\n  'been',\n  'but',\n  'by',\n  'can',\n  'cannot',\n  'could',\n  'dear',\n  'did',\n  'do',\n  'does',\n  'either',\n  'else',\n  'ever',\n  'every',\n  'for',\n  'from',\n  'get',\n  'got',\n  'had',\n  'has',\n  'have',\n  'he',\n  'her',\n  'hers',\n  'him',\n  'his',\n  'how',\n  'however',\n  'i',\n  'if',\n  'in',\n  'into',\n  'is',\n  'it',\n  'its',\n  'just',\n  'least',\n  'let',\n  'like',\n  'likely',\n  'may',\n  'me',\n  'might',\n  'most',\n  'must',\n  'my',\n  'neither',\n  'no',\n  'nor',\n  'not',\n  'of',\n  'off',\n  'often',\n  'on',\n  'only',\n  'or',\n  'other',\n  'our',\n  'own',\n  'rather',\n  'said',\n  'say',\n  'says',\n  'she',\n  'should',\n  'since',\n  'so',\n  'some',\n  'than',\n  'that',\n  'the',\n  'their',\n  'them',\n  'then',\n  'there',\n  'these',\n  'they',\n  'this',\n  'tis',\n  'to',\n  'too',\n  'twas',\n  'us',\n  'wants',\n  'was',\n  'we',\n  'were',\n  'what',\n  'when',\n  'where',\n  'which',\n  'while',\n  'who',\n  'whom',\n  'why',\n  'will',\n  'with',\n  'would',\n  'yet',\n  'you',\n  'your'\n])\n\nlunr.Pipeline.registerFunction(lunr.stopWordFilter, 'stopWordFilter')\n/*!\n * lunr.trimmer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.trimmer is a pipeline function for trimming non word\n * characters from the beginning and end of tokens before they\n * enter the index.\n *\n * This implementation may not work correctly for non latin\n * characters and should either be removed or adapted for use\n * with languages with non-latin characters.\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token The token to pass through the filter\n * @returns {lunr.Token}\n * @see lunr.Pipeline\n */\nlunr.trimmer = function (token) {\n  return token.update(function (s) {\n    return s.replace(/^\\W+/, '').replace(/\\W+$/, '')\n  })\n}\n\nlunr.Pipeline.registerFunction(lunr.trimmer, 'trimmer')\n/*!\n * lunr.TokenSet\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A token set is used to store the unique list of all tokens\n * within an index. Token sets are also used to represent an\n * incoming query to the index, this query token set and index\n * token set are then intersected to find which tokens to look\n * up in the inverted index.\n *\n * A token set can hold multiple tokens, as in the case of the\n * index token set, or it can hold a single token as in the\n * case of a simple query token set.\n *\n * Additionally token sets are used to perform wildcard matching.\n * Leading, contained and trailing wildcards are supported, and\n * from this edit distance matching can also be provided.\n *\n * Token sets are implemented as a minimal finite state automata,\n * where both common prefixes and suffixes are shared between tokens.\n * This helps to reduce the space used for storing the token set.\n *\n * @constructor\n */\nlunr.TokenSet = function () {\n  this.final = false\n  this.edges = {}\n  this.id = lunr.TokenSet._nextId\n  lunr.TokenSet._nextId += 1\n}\n\n/**\n * Keeps track of the next, auto increment, identifier to assign\n * to a new tokenSet.\n *\n * TokenSets require a unique identifier to be correctly minimised.\n *\n * @private\n */\nlunr.TokenSet._nextId = 1\n\n/**\n * Creates a TokenSet instance from the given sorted array of words.\n *\n * @param {String[]} arr - A sorted array of strings to create the set from.\n * @returns {lunr.TokenSet}\n * @throws Will throw an error if the input array is not sorted.\n */\nlunr.TokenSet.fromArray = function (arr) {\n  var builder = new lunr.TokenSet.Builder\n\n  for (var i = 0, len = arr.length; i < len; i++) {\n    builder.insert(arr[i])\n  }\n\n  builder.finish()\n  return builder.root\n}\n\n/**\n * Creates a token set from a query clause.\n *\n * @private\n * @param {Object} clause - A single clause from lunr.Query.\n * @param {string} clause.term - The query clause term.\n * @param {number} [clause.editDistance] - The optional edit distance for the term.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromClause = function (clause) {\n  if ('editDistance' in clause) {\n    return lunr.TokenSet.fromFuzzyString(clause.term, clause.editDistance)\n  } else {\n    return lunr.TokenSet.fromString(clause.term)\n  }\n}\n\n/**\n * Creates a token set representing a single string with a specified\n * edit distance.\n *\n * Insertions, deletions, substitutions and transpositions are each\n * treated as an edit distance of 1.\n *\n * Increasing the allowed edit distance will have a dramatic impact\n * on the performance of both creating and intersecting these TokenSets.\n * It is advised to keep the edit distance less than 3.\n *\n * @param {string} str - The string to create the token set from.\n * @param {number} editDistance - The allowed edit distance to match.\n * @returns {lunr.Vector}\n */\nlunr.TokenSet.fromFuzzyString = function (str, editDistance) {\n  var root = new lunr.TokenSet\n\n  var stack = [{\n    node: root,\n    editsRemaining: editDistance,\n    str: str\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop()\n\n    // no edit\n    if (frame.str.length > 0) {\n      var char = frame.str.charAt(0),\n          noEditNode\n\n      if (char in frame.node.edges) {\n        noEditNode = frame.node.edges[char]\n      } else {\n        noEditNode = new lunr.TokenSet\n        frame.node.edges[char] = noEditNode\n      }\n\n      if (frame.str.length == 1) {\n        noEditNode.final = true\n      }\n\n      stack.push({\n        node: noEditNode,\n        editsRemaining: frame.editsRemaining,\n        str: frame.str.slice(1)\n      })\n    }\n\n    if (frame.editsRemaining == 0) {\n      continue\n    }\n\n    // insertion\n    if (\"*\" in frame.node.edges) {\n      var insertionNode = frame.node.edges[\"*\"]\n    } else {\n      var insertionNode = new lunr.TokenSet\n      frame.node.edges[\"*\"] = insertionNode\n    }\n\n    if (frame.str.length == 0) {\n      insertionNode.final = true\n    }\n\n    stack.push({\n      node: insertionNode,\n      editsRemaining: frame.editsRemaining - 1,\n      str: frame.str\n    })\n\n    // deletion\n    // can only do a deletion if we have enough edits remaining\n    // and if there are characters left to delete in the string\n    if (frame.str.length > 1) {\n      stack.push({\n        node: frame.node,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // deletion\n    // just removing the last character from the str\n    if (frame.str.length == 1) {\n      frame.node.final = true\n    }\n\n    // substitution\n    // can only do a substitution if we have enough edits remaining\n    // and if there are characters left to substitute\n    if (frame.str.length >= 1) {\n      if (\"*\" in frame.node.edges) {\n        var substitutionNode = frame.node.edges[\"*\"]\n      } else {\n        var substitutionNode = new lunr.TokenSet\n        frame.node.edges[\"*\"] = substitutionNode\n      }\n\n      if (frame.str.length == 1) {\n        substitutionNode.final = true\n      }\n\n      stack.push({\n        node: substitutionNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // transposition\n    // can only do a transposition if there are edits remaining\n    // and there are enough characters to transpose\n    if (frame.str.length > 1) {\n      var charA = frame.str.charAt(0),\n          charB = frame.str.charAt(1),\n          transposeNode\n\n      if (charB in frame.node.edges) {\n        transposeNode = frame.node.edges[charB]\n      } else {\n        transposeNode = new lunr.TokenSet\n        frame.node.edges[charB] = transposeNode\n      }\n\n      if (frame.str.length == 1) {\n        transposeNode.final = true\n      }\n\n      stack.push({\n        node: transposeNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: charA + frame.str.slice(2)\n      })\n    }\n  }\n\n  return root\n}\n\n/**\n * Creates a TokenSet from a string.\n *\n * The string may contain one or more wildcard characters (*)\n * that will allow wildcard matching when intersecting with\n * another TokenSet.\n *\n * @param {string} str - The string to create a TokenSet from.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromString = function (str) {\n  var node = new lunr.TokenSet,\n      root = node\n\n  /*\n   * Iterates through all characters within the passed string\n   * appending a node for each character.\n   *\n   * When a wildcard character is found then a self\n   * referencing edge is introduced to continually match\n   * any number of any characters.\n   */\n  for (var i = 0, len = str.length; i < len; i++) {\n    var char = str[i],\n        final = (i == len - 1)\n\n    if (char == \"*\") {\n      node.edges[char] = node\n      node.final = final\n\n    } else {\n      var next = new lunr.TokenSet\n      next.final = final\n\n      node.edges[char] = next\n      node = next\n    }\n  }\n\n  return root\n}\n\n/**\n * Converts this TokenSet into an array of strings\n * contained within the TokenSet.\n *\n * This is not intended to be used on a TokenSet that\n * contains wildcards, in these cases the results are\n * undefined and are likely to cause an infinite loop.\n *\n * @returns {string[]}\n */\nlunr.TokenSet.prototype.toArray = function () {\n  var words = []\n\n  var stack = [{\n    prefix: \"\",\n    node: this\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop(),\n        edges = Object.keys(frame.node.edges),\n        len = edges.length\n\n    if (frame.node.final) {\n      /* In Safari, at this point the prefix is sometimes corrupted, see:\n       * https://github.com/olivernn/lunr.js/issues/279 Calling any\n       * String.prototype method forces Safari to \"cast\" this string to what\n       * it's supposed to be, fixing the bug. */\n      frame.prefix.charAt(0)\n      words.push(frame.prefix)\n    }\n\n    for (var i = 0; i < len; i++) {\n      var edge = edges[i]\n\n      stack.push({\n        prefix: frame.prefix.concat(edge),\n        node: frame.node.edges[edge]\n      })\n    }\n  }\n\n  return words\n}\n\n/**\n * Generates a string representation of a TokenSet.\n *\n * This is intended to allow TokenSets to be used as keys\n * in objects, largely to aid the construction and minimisation\n * of a TokenSet. As such it is not designed to be a human\n * friendly representation of the TokenSet.\n *\n * @returns {string}\n */\nlunr.TokenSet.prototype.toString = function () {\n  // NOTE: Using Object.keys here as this.edges is very likely\n  // to enter 'hash-mode' with many keys being added\n  //\n  // avoiding a for-in loop here as it leads to the function\n  // being de-optimised (at least in V8). From some simple\n  // benchmarks the performance is comparable, but allowing\n  // V8 to optimize may mean easy performance wins in the future.\n\n  if (this._str) {\n    return this._str\n  }\n\n  var str = this.final ? '1' : '0',\n      labels = Object.keys(this.edges).sort(),\n      len = labels.length\n\n  for (var i = 0; i < len; i++) {\n    var label = labels[i],\n        node = this.edges[label]\n\n    str = str + label + node.id\n  }\n\n  return str\n}\n\n/**\n * Returns a new TokenSet that is the intersection of\n * this TokenSet and the passed TokenSet.\n *\n * This intersection will take into account any wildcards\n * contained within the TokenSet.\n *\n * @param {lunr.TokenSet} b - An other TokenSet to intersect with.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.prototype.intersect = function (b) {\n  var output = new lunr.TokenSet,\n      frame = undefined\n\n  var stack = [{\n    qNode: b,\n    output: output,\n    node: this\n  }]\n\n  while (stack.length) {\n    frame = stack.pop()\n\n    // NOTE: As with the #toString method, we are using\n    // Object.keys and a for loop instead of a for-in loop\n    // as both of these objects enter 'hash' mode, causing\n    // the function to be de-optimised in V8\n    var qEdges = Object.keys(frame.qNode.edges),\n        qLen = qEdges.length,\n        nEdges = Object.keys(frame.node.edges),\n        nLen = nEdges.length\n\n    for (var q = 0; q < qLen; q++) {\n      var qEdge = qEdges[q]\n\n      for (var n = 0; n < nLen; n++) {\n        var nEdge = nEdges[n]\n\n        if (nEdge == qEdge || qEdge == '*') {\n          var node = frame.node.edges[nEdge],\n              qNode = frame.qNode.edges[qEdge],\n              final = node.final && qNode.final,\n              next = undefined\n\n          if (nEdge in frame.output.edges) {\n            // an edge already exists for this character\n            // no need to create a new node, just set the finality\n            // bit unless this node is already final\n            next = frame.output.edges[nEdge]\n            next.final = next.final || final\n\n          } else {\n            // no edge exists yet, must create one\n            // set the finality bit and insert it\n            // into the output\n            next = new lunr.TokenSet\n            next.final = final\n            frame.output.edges[nEdge] = next\n          }\n\n          stack.push({\n            qNode: qNode,\n            output: next,\n            node: node\n          })\n        }\n      }\n    }\n  }\n\n  return output\n}\nlunr.TokenSet.Builder = function () {\n  this.previousWord = \"\"\n  this.root = new lunr.TokenSet\n  this.uncheckedNodes = []\n  this.minimizedNodes = {}\n}\n\nlunr.TokenSet.Builder.prototype.insert = function (word) {\n  var node,\n      commonPrefix = 0\n\n  if (word < this.previousWord) {\n    throw new Error (\"Out of order word insertion\")\n  }\n\n  for (var i = 0; i < word.length && i < this.previousWord.length; i++) {\n    if (word[i] != this.previousWord[i]) break\n    commonPrefix++\n  }\n\n  this.minimize(commonPrefix)\n\n  if (this.uncheckedNodes.length == 0) {\n    node = this.root\n  } else {\n    node = this.uncheckedNodes[this.uncheckedNodes.length - 1].child\n  }\n\n  for (var i = commonPrefix; i < word.length; i++) {\n    var nextNode = new lunr.TokenSet,\n        char = word[i]\n\n    node.edges[char] = nextNode\n\n    this.uncheckedNodes.push({\n      parent: node,\n      char: char,\n      child: nextNode\n    })\n\n    node = nextNode\n  }\n\n  node.final = true\n  this.previousWord = word\n}\n\nlunr.TokenSet.Builder.prototype.finish = function () {\n  this.minimize(0)\n}\n\nlunr.TokenSet.Builder.prototype.minimize = function (downTo) {\n  for (var i = this.uncheckedNodes.length - 1; i >= downTo; i--) {\n    var node = this.uncheckedNodes[i],\n        childKey = node.child.toString()\n\n    if (childKey in this.minimizedNodes) {\n      node.parent.edges[node.char] = this.minimizedNodes[childKey]\n    } else {\n      // Cache the key for this node since\n      // we know it can't change anymore\n      node.child._str = childKey\n\n      this.minimizedNodes[childKey] = node.child\n    }\n\n    this.uncheckedNodes.pop()\n  }\n}\n/*!\n * lunr.Index\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * An index contains the built index of all documents and provides a query interface\n * to the index.\n *\n * Usually instances of lunr.Index will not be created using this constructor, instead\n * lunr.Builder should be used to construct new indexes, or lunr.Index.load should be\n * used to load previously built and serialized indexes.\n *\n * @constructor\n * @param {Object} attrs - The attributes of the built search index.\n * @param {Object} attrs.invertedIndex - An index of term/field to document reference.\n * @param {Object<string, lunr.Vector>} attrs.fieldVectors - Field vectors\n * @param {lunr.TokenSet} attrs.tokenSet - An set of all corpus tokens.\n * @param {string[]} attrs.fields - The names of indexed document fields.\n * @param {lunr.Pipeline} attrs.pipeline - The pipeline to use for search terms.\n */\nlunr.Index = function (attrs) {\n  this.invertedIndex = attrs.invertedIndex\n  this.fieldVectors = attrs.fieldVectors\n  this.tokenSet = attrs.tokenSet\n  this.fields = attrs.fields\n  this.pipeline = attrs.pipeline\n}\n\n/**\n * A result contains details of a document matching a search query.\n * @typedef {Object} lunr.Index~Result\n * @property {string} ref - The reference of the document this result represents.\n * @property {number} score - A number between 0 and 1 representing how similar this document is to the query.\n * @property {lunr.MatchData} matchData - Contains metadata about this match including which term(s) caused the match.\n */\n\n/**\n * Although lunr provides the ability to create queries using lunr.Query, it also provides a simple\n * query language which itself is parsed into an instance of lunr.Query.\n *\n * For programmatically building queries it is advised to directly use lunr.Query, the query language\n * is best used for human entered text rather than program generated text.\n *\n * At its simplest queries can just be a single term, e.g. `hello`, multiple terms are also supported\n * and will be combined with OR, e.g `hello world` will match documents that contain either 'hello'\n * or 'world', though those that contain both will rank higher in the results.\n *\n * Wildcards can be included in terms to match one or more unspecified characters, these wildcards can\n * be inserted anywhere within the term, and more than one wildcard can exist in a single term. Adding\n * wildcards will increase the number of documents that will be found but can also have a negative\n * impact on query performance, especially with wildcards at the beginning of a term.\n *\n * Terms can be restricted to specific fields, e.g. `title:hello`, only documents with the term\n * hello in the title field will match this query. Using a field not present in the index will lead\n * to an error being thrown.\n *\n * Modifiers can also be added to terms, lunr supports edit distance and boost modifiers on terms. A term\n * boost will make documents matching that term score higher, e.g. `foo^5`. Edit distance is also supported\n * to provide fuzzy matching, e.g. 'hello~2' will match documents with hello with an edit distance of 2.\n * Avoid large values for edit distance to improve query performance.\n *\n * Each term also supports a presence modifier. By default a term's presence in document is optional, however\n * this can be changed to either required or prohibited. For a term's presence to be required in a document the\n * term should be prefixed with a '+', e.g. `+foo bar` is a search for documents that must contain 'foo' and\n * optionally contain 'bar'. Conversely a leading '-' sets the terms presence to prohibited, i.e. it must not\n * appear in a document, e.g. `-foo bar` is a search for documents that do not contain 'foo' but may contain 'bar'.\n *\n * To escape special characters the backslash character '\\' can be used, this allows searches to include\n * characters that would normally be considered modifiers, e.g. `foo\\~2` will search for a term \"foo~2\" instead\n * of attempting to apply a boost of 2 to the search term \"foo\".\n *\n * @typedef {string} lunr.Index~QueryString\n * @example <caption>Simple single term query</caption>\n * hello\n * @example <caption>Multiple term query</caption>\n * hello world\n * @example <caption>term scoped to a field</caption>\n * title:hello\n * @example <caption>term with a boost of 10</caption>\n * hello^10\n * @example <caption>term with an edit distance of 2</caption>\n * hello~2\n * @example <caption>terms with presence modifiers</caption>\n * -foo +bar baz\n */\n\n/**\n * Performs a search against the index using lunr query syntax.\n *\n * Results will be returned sorted by their score, the most relevant results\n * will be returned first.  For details on how the score is calculated, please see\n * the {@link https://lunrjs.com/guides/searching.html#scoring|guide}.\n *\n * For more programmatic querying use lunr.Index#query.\n *\n * @param {lunr.Index~QueryString} queryString - A string containing a lunr query.\n * @throws {lunr.QueryParseError} If the passed query string cannot be parsed.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.search = function (queryString) {\n  return this.query(function (query) {\n    var parser = new lunr.QueryParser(queryString, query)\n    parser.parse()\n  })\n}\n\n/**\n * A query builder callback provides a query object to be used to express\n * the query to perform on the index.\n *\n * @callback lunr.Index~queryBuilder\n * @param {lunr.Query} query - The query object to build up.\n * @this lunr.Query\n */\n\n/**\n * Performs a query against the index using the yielded lunr.Query object.\n *\n * If performing programmatic queries against the index, this method is preferred\n * over lunr.Index#search so as to avoid the additional query parsing overhead.\n *\n * A query object is yielded to the supplied function which should be used to\n * express the query to be run against the index.\n *\n * Note that although this function takes a callback parameter it is _not_ an\n * asynchronous operation, the callback is just yielded a query object to be\n * customized.\n *\n * @param {lunr.Index~queryBuilder} fn - A function that is used to build the query.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.query = function (fn) {\n  // for each query clause\n  // * process terms\n  // * expand terms from token set\n  // * find matching documents and metadata\n  // * get document vectors\n  // * score documents\n\n  var query = new lunr.Query(this.fields),\n      matchingFields = Object.create(null),\n      queryVectors = Object.create(null),\n      termFieldCache = Object.create(null),\n      requiredMatches = Object.create(null),\n      prohibitedMatches = Object.create(null)\n\n  /*\n   * To support field level boosts a query vector is created per\n   * field. An empty vector is eagerly created to support negated\n   * queries.\n   */\n  for (var i = 0; i < this.fields.length; i++) {\n    queryVectors[this.fields[i]] = new lunr.Vector\n  }\n\n  fn.call(query, query)\n\n  for (var i = 0; i < query.clauses.length; i++) {\n    /*\n     * Unless the pipeline has been disabled for this term, which is\n     * the case for terms with wildcards, we need to pass the clause\n     * term through the search pipeline. A pipeline returns an array\n     * of processed terms. Pipeline functions may expand the passed\n     * term, which means we may end up performing multiple index lookups\n     * for a single query term.\n     */\n    var clause = query.clauses[i],\n        terms = null,\n        clauseMatches = lunr.Set.empty\n\n    if (clause.usePipeline) {\n      terms = this.pipeline.runString(clause.term, {\n        fields: clause.fields\n      })\n    } else {\n      terms = [clause.term]\n    }\n\n    for (var m = 0; m < terms.length; m++) {\n      var term = terms[m]\n\n      /*\n       * Each term returned from the pipeline needs to use the same query\n       * clause object, e.g. the same boost and or edit distance. The\n       * simplest way to do this is to re-use the clause object but mutate\n       * its term property.\n       */\n      clause.term = term\n\n      /*\n       * From the term in the clause we create a token set which will then\n       * be used to intersect the indexes token set to get a list of terms\n       * to lookup in the inverted index\n       */\n      var termTokenSet = lunr.TokenSet.fromClause(clause),\n          expandedTerms = this.tokenSet.intersect(termTokenSet).toArray()\n\n      /*\n       * If a term marked as required does not exist in the tokenSet it is\n       * impossible for the search to return any matches. We set all the field\n       * scoped required matches set to empty and stop examining any further\n       * clauses.\n       */\n      if (expandedTerms.length === 0 && clause.presence === lunr.Query.presence.REQUIRED) {\n        for (var k = 0; k < clause.fields.length; k++) {\n          var field = clause.fields[k]\n          requiredMatches[field] = lunr.Set.empty\n        }\n\n        break\n      }\n\n      for (var j = 0; j < expandedTerms.length; j++) {\n        /*\n         * For each term get the posting and termIndex, this is required for\n         * building the query vector.\n         */\n        var expandedTerm = expandedTerms[j],\n            posting = this.invertedIndex[expandedTerm],\n            termIndex = posting._index\n\n        for (var k = 0; k < clause.fields.length; k++) {\n          /*\n           * For each field that this query term is scoped by (by default\n           * all fields are in scope) we need to get all the document refs\n           * that have this term in that field.\n           *\n           * The posting is the entry in the invertedIndex for the matching\n           * term from above.\n           */\n          var field = clause.fields[k],\n              fieldPosting = posting[field],\n              matchingDocumentRefs = Object.keys(fieldPosting),\n              termField = expandedTerm + \"/\" + field,\n              matchingDocumentsSet = new lunr.Set(matchingDocumentRefs)\n\n          /*\n           * if the presence of this term is required ensure that the matching\n           * documents are added to the set of required matches for this clause.\n           *\n           */\n          if (clause.presence == lunr.Query.presence.REQUIRED) {\n            clauseMatches = clauseMatches.union(matchingDocumentsSet)\n\n            if (requiredMatches[field] === undefined) {\n              requiredMatches[field] = lunr.Set.complete\n            }\n          }\n\n          /*\n           * if the presence of this term is prohibited ensure that the matching\n           * documents are added to the set of prohibited matches for this field,\n           * creating that set if it does not yet exist.\n           */\n          if (clause.presence == lunr.Query.presence.PROHIBITED) {\n            if (prohibitedMatches[field] === undefined) {\n              prohibitedMatches[field] = lunr.Set.empty\n            }\n\n            prohibitedMatches[field] = prohibitedMatches[field].union(matchingDocumentsSet)\n\n            /*\n             * Prohibited matches should not be part of the query vector used for\n             * similarity scoring and no metadata should be extracted so we continue\n             * to the next field\n             */\n            continue\n          }\n\n          /*\n           * The query field vector is populated using the termIndex found for\n           * the term and a unit value with the appropriate boost applied.\n           * Using upsert because there could already be an entry in the vector\n           * for the term we are working with. In that case we just add the scores\n           * together.\n           */\n          queryVectors[field].upsert(termIndex, clause.boost, function (a, b) { return a + b })\n\n          /**\n           * If we've already seen this term, field combo then we've already collected\n           * the matching documents and metadata, no need to go through all that again\n           */\n          if (termFieldCache[termField]) {\n            continue\n          }\n\n          for (var l = 0; l < matchingDocumentRefs.length; l++) {\n            /*\n             * All metadata for this term/field/document triple\n             * are then extracted and collected into an instance\n             * of lunr.MatchData ready to be returned in the query\n             * results\n             */\n            var matchingDocumentRef = matchingDocumentRefs[l],\n                matchingFieldRef = new lunr.FieldRef (matchingDocumentRef, field),\n                metadata = fieldPosting[matchingDocumentRef],\n                fieldMatch\n\n            if ((fieldMatch = matchingFields[matchingFieldRef]) === undefined) {\n              matchingFields[matchingFieldRef] = new lunr.MatchData (expandedTerm, field, metadata)\n            } else {\n              fieldMatch.add(expandedTerm, field, metadata)\n            }\n\n          }\n\n          termFieldCache[termField] = true\n        }\n      }\n    }\n\n    /**\n     * If the presence was required we need to update the requiredMatches field sets.\n     * We do this after all fields for the term have collected their matches because\n     * the clause terms presence is required in _any_ of the fields not _all_ of the\n     * fields.\n     */\n    if (clause.presence === lunr.Query.presence.REQUIRED) {\n      for (var k = 0; k < clause.fields.length; k++) {\n        var field = clause.fields[k]\n        requiredMatches[field] = requiredMatches[field].intersect(clauseMatches)\n      }\n    }\n  }\n\n  /**\n   * Need to combine the field scoped required and prohibited\n   * matching documents into a global set of required and prohibited\n   * matches\n   */\n  var allRequiredMatches = lunr.Set.complete,\n      allProhibitedMatches = lunr.Set.empty\n\n  for (var i = 0; i < this.fields.length; i++) {\n    var field = this.fields[i]\n\n    if (requiredMatches[field]) {\n      allRequiredMatches = allRequiredMatches.intersect(requiredMatches[field])\n    }\n\n    if (prohibitedMatches[field]) {\n      allProhibitedMatches = allProhibitedMatches.union(prohibitedMatches[field])\n    }\n  }\n\n  var matchingFieldRefs = Object.keys(matchingFields),\n      results = [],\n      matches = Object.create(null)\n\n  /*\n   * If the query is negated (contains only prohibited terms)\n   * we need to get _all_ fieldRefs currently existing in the\n   * index. This is only done when we know that the query is\n   * entirely prohibited terms to avoid any cost of getting all\n   * fieldRefs unnecessarily.\n   *\n   * Additionally, blank MatchData must be created to correctly\n   * populate the results.\n   */\n  if (query.isNegated()) {\n    matchingFieldRefs = Object.keys(this.fieldVectors)\n\n    for (var i = 0; i < matchingFieldRefs.length; i++) {\n      var matchingFieldRef = matchingFieldRefs[i]\n      var fieldRef = lunr.FieldRef.fromString(matchingFieldRef)\n      matchingFields[matchingFieldRef] = new lunr.MatchData\n    }\n  }\n\n  for (var i = 0; i < matchingFieldRefs.length; i++) {\n    /*\n     * Currently we have document fields that match the query, but we\n     * need to return documents. The matchData and scores are combined\n     * from multiple fields belonging to the same document.\n     *\n     * Scores are calculated by field, using the query vectors created\n     * above, and combined into a final document score using addition.\n     */\n    var fieldRef = lunr.FieldRef.fromString(matchingFieldRefs[i]),\n        docRef = fieldRef.docRef\n\n    if (!allRequiredMatches.contains(docRef)) {\n      continue\n    }\n\n    if (allProhibitedMatches.contains(docRef)) {\n      continue\n    }\n\n    var fieldVector = this.fieldVectors[fieldRef],\n        score = queryVectors[fieldRef.fieldName].similarity(fieldVector),\n        docMatch\n\n    if ((docMatch = matches[docRef]) !== undefined) {\n      docMatch.score += score\n      docMatch.matchData.combine(matchingFields[fieldRef])\n    } else {\n      var match = {\n        ref: docRef,\n        score: score,\n        matchData: matchingFields[fieldRef]\n      }\n      matches[docRef] = match\n      results.push(match)\n    }\n  }\n\n  /*\n   * Sort the results objects by score, highest first.\n   */\n  return results.sort(function (a, b) {\n    return b.score - a.score\n  })\n}\n\n/**\n * Prepares the index for JSON serialization.\n *\n * The schema for this JSON blob will be described in a\n * separate JSON schema file.\n *\n * @returns {Object}\n */\nlunr.Index.prototype.toJSON = function () {\n  var invertedIndex = Object.keys(this.invertedIndex)\n    .sort()\n    .map(function (term) {\n      return [term, this.invertedIndex[term]]\n    }, this)\n\n  var fieldVectors = Object.keys(this.fieldVectors)\n    .map(function (ref) {\n      return [ref, this.fieldVectors[ref].toJSON()]\n    }, this)\n\n  return {\n    version: lunr.version,\n    fields: this.fields,\n    fieldVectors: fieldVectors,\n    invertedIndex: invertedIndex,\n    pipeline: this.pipeline.toJSON()\n  }\n}\n\n/**\n * Loads a previously serialized lunr.Index\n *\n * @param {Object} serializedIndex - A previously serialized lunr.Index\n * @returns {lunr.Index}\n */\nlunr.Index.load = function (serializedIndex) {\n  var attrs = {},\n      fieldVectors = {},\n      serializedVectors = serializedIndex.fieldVectors,\n      invertedIndex = Object.create(null),\n      serializedInvertedIndex = serializedIndex.invertedIndex,\n      tokenSetBuilder = new lunr.TokenSet.Builder,\n      pipeline = lunr.Pipeline.load(serializedIndex.pipeline)\n\n  if (serializedIndex.version != lunr.version) {\n    lunr.utils.warn(\"Version mismatch when loading serialised index. Current version of lunr '\" + lunr.version + \"' does not match serialized index '\" + serializedIndex.version + \"'\")\n  }\n\n  for (var i = 0; i < serializedVectors.length; i++) {\n    var tuple = serializedVectors[i],\n        ref = tuple[0],\n        elements = tuple[1]\n\n    fieldVectors[ref] = new lunr.Vector(elements)\n  }\n\n  for (var i = 0; i < serializedInvertedIndex.length; i++) {\n    var tuple = serializedInvertedIndex[i],\n        term = tuple[0],\n        posting = tuple[1]\n\n    tokenSetBuilder.insert(term)\n    invertedIndex[term] = posting\n  }\n\n  tokenSetBuilder.finish()\n\n  attrs.fields = serializedIndex.fields\n\n  attrs.fieldVectors = fieldVectors\n  attrs.invertedIndex = invertedIndex\n  attrs.tokenSet = tokenSetBuilder.root\n  attrs.pipeline = pipeline\n\n  return new lunr.Index(attrs)\n}\n/*!\n * lunr.Builder\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Builder performs indexing on a set of documents and\n * returns instances of lunr.Index ready for querying.\n *\n * All configuration of the index is done via the builder, the\n * fields to index, the document reference, the text processing\n * pipeline and document scoring parameters are all set on the\n * builder before indexing.\n *\n * @constructor\n * @property {string} _ref - Internal reference to the document reference field.\n * @property {string[]} _fields - Internal reference to the document fields to index.\n * @property {object} invertedIndex - The inverted index maps terms to document fields.\n * @property {object} documentTermFrequencies - Keeps track of document term frequencies.\n * @property {object} documentLengths - Keeps track of the length of documents added to the index.\n * @property {lunr.tokenizer} tokenizer - Function for splitting strings into tokens for indexing.\n * @property {lunr.Pipeline} pipeline - The pipeline performs text processing on tokens before indexing.\n * @property {lunr.Pipeline} searchPipeline - A pipeline for processing search terms before querying the index.\n * @property {number} documentCount - Keeps track of the total number of documents indexed.\n * @property {number} _b - A parameter to control field length normalization, setting this to 0 disabled normalization, 1 fully normalizes field lengths, the default value is 0.75.\n * @property {number} _k1 - A parameter to control how quickly an increase in term frequency results in term frequency saturation, the default value is 1.2.\n * @property {number} termIndex - A counter incremented for each unique term, used to identify a terms position in the vector space.\n * @property {array} metadataWhitelist - A list of metadata keys that have been whitelisted for entry in the index.\n */\nlunr.Builder = function () {\n  this._ref = \"id\"\n  this._fields = Object.create(null)\n  this._documents = Object.create(null)\n  this.invertedIndex = Object.create(null)\n  this.fieldTermFrequencies = {}\n  this.fieldLengths = {}\n  this.tokenizer = lunr.tokenizer\n  this.pipeline = new lunr.Pipeline\n  this.searchPipeline = new lunr.Pipeline\n  this.documentCount = 0\n  this._b = 0.75\n  this._k1 = 1.2\n  this.termIndex = 0\n  this.metadataWhitelist = []\n}\n\n/**\n * Sets the document field used as the document reference. Every document must have this field.\n * The type of this field in the document should be a string, if it is not a string it will be\n * coerced into a string by calling toString.\n *\n * The default ref is 'id'.\n *\n * The ref should _not_ be changed during indexing, it should be set before any documents are\n * added to the index. Changing it during indexing can lead to inconsistent results.\n *\n * @param {string} ref - The name of the reference field in the document.\n */\nlunr.Builder.prototype.ref = function (ref) {\n  this._ref = ref\n}\n\n/**\n * A function that is used to extract a field from a document.\n *\n * Lunr expects a field to be at the top level of a document, if however the field\n * is deeply nested within a document an extractor function can be used to extract\n * the right field for indexing.\n *\n * @callback fieldExtractor\n * @param {object} doc - The document being added to the index.\n * @returns {?(string|object|object[])} obj - The object that will be indexed for this field.\n * @example <caption>Extracting a nested field</caption>\n * function (doc) { return doc.nested.field }\n */\n\n/**\n * Adds a field to the list of document fields that will be indexed. Every document being\n * indexed should have this field. Null values for this field in indexed documents will\n * not cause errors but will limit the chance of that document being retrieved by searches.\n *\n * All fields should be added before adding documents to the index. Adding fields after\n * a document has been indexed will have no effect on already indexed documents.\n *\n * Fields can be boosted at build time. This allows terms within that field to have more\n * importance when ranking search results. Use a field boost to specify that matches within\n * one field are more important than other fields.\n *\n * @param {string} fieldName - The name of a field to index in all documents.\n * @param {object} attributes - Optional attributes associated with this field.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this field.\n * @param {fieldExtractor} [attributes.extractor] - Function to extract a field from a document.\n * @throws {RangeError} fieldName cannot contain unsupported characters '/'\n */\nlunr.Builder.prototype.field = function (fieldName, attributes) {\n  if (/\\//.test(fieldName)) {\n    throw new RangeError (\"Field '\" + fieldName + \"' contains illegal character '/'\")\n  }\n\n  this._fields[fieldName] = attributes || {}\n}\n\n/**\n * A parameter to tune the amount of field length normalisation that is applied when\n * calculating relevance scores. A value of 0 will completely disable any normalisation\n * and a value of 1 will fully normalise field lengths. The default is 0.75. Values of b\n * will be clamped to the range 0 - 1.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.b = function (number) {\n  if (number < 0) {\n    this._b = 0\n  } else if (number > 1) {\n    this._b = 1\n  } else {\n    this._b = number\n  }\n}\n\n/**\n * A parameter that controls the speed at which a rise in term frequency results in term\n * frequency saturation. The default value is 1.2. Setting this to a higher value will give\n * slower saturation levels, a lower value will result in quicker saturation.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.k1 = function (number) {\n  this._k1 = number\n}\n\n/**\n * Adds a document to the index.\n *\n * Before adding fields to the index the index should have been fully setup, with the document\n * ref and all fields to index already having been specified.\n *\n * The document must have a field name as specified by the ref (by default this is 'id') and\n * it should have all fields defined for indexing, though null or undefined values will not\n * cause errors.\n *\n * Entire documents can be boosted at build time. Applying a boost to a document indicates that\n * this document should rank higher in search results than other documents.\n *\n * @param {object} doc - The document to add to the index.\n * @param {object} attributes - Optional attributes associated with this document.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this document.\n */\nlunr.Builder.prototype.add = function (doc, attributes) {\n  var docRef = doc[this._ref],\n      fields = Object.keys(this._fields)\n\n  this._documents[docRef] = attributes || {}\n  this.documentCount += 1\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i],\n        extractor = this._fields[fieldName].extractor,\n        field = extractor ? extractor(doc) : doc[fieldName],\n        tokens = this.tokenizer(field, {\n          fields: [fieldName]\n        }),\n        terms = this.pipeline.run(tokens),\n        fieldRef = new lunr.FieldRef (docRef, fieldName),\n        fieldTerms = Object.create(null)\n\n    this.fieldTermFrequencies[fieldRef] = fieldTerms\n    this.fieldLengths[fieldRef] = 0\n\n    // store the length of this field for this document\n    this.fieldLengths[fieldRef] += terms.length\n\n    // calculate term frequencies for this field\n    for (var j = 0; j < terms.length; j++) {\n      var term = terms[j]\n\n      if (fieldTerms[term] == undefined) {\n        fieldTerms[term] = 0\n      }\n\n      fieldTerms[term] += 1\n\n      // add to inverted index\n      // create an initial posting if one doesn't exist\n      if (this.invertedIndex[term] == undefined) {\n        var posting = Object.create(null)\n        posting[\"_index\"] = this.termIndex\n        this.termIndex += 1\n\n        for (var k = 0; k < fields.length; k++) {\n          posting[fields[k]] = Object.create(null)\n        }\n\n        this.invertedIndex[term] = posting\n      }\n\n      // add an entry for this term/fieldName/docRef to the invertedIndex\n      if (this.invertedIndex[term][fieldName][docRef] == undefined) {\n        this.invertedIndex[term][fieldName][docRef] = Object.create(null)\n      }\n\n      // store all whitelisted metadata about this token in the\n      // inverted index\n      for (var l = 0; l < this.metadataWhitelist.length; l++) {\n        var metadataKey = this.metadataWhitelist[l],\n            metadata = term.metadata[metadataKey]\n\n        if (this.invertedIndex[term][fieldName][docRef][metadataKey] == undefined) {\n          this.invertedIndex[term][fieldName][docRef][metadataKey] = []\n        }\n\n        this.invertedIndex[term][fieldName][docRef][metadataKey].push(metadata)\n      }\n    }\n\n  }\n}\n\n/**\n * Calculates the average document length for this index\n *\n * @private\n */\nlunr.Builder.prototype.calculateAverageFieldLengths = function () {\n\n  var fieldRefs = Object.keys(this.fieldLengths),\n      numberOfFields = fieldRefs.length,\n      accumulator = {},\n      documentsWithField = {}\n\n  for (var i = 0; i < numberOfFields; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        field = fieldRef.fieldName\n\n    documentsWithField[field] || (documentsWithField[field] = 0)\n    documentsWithField[field] += 1\n\n    accumulator[field] || (accumulator[field] = 0)\n    accumulator[field] += this.fieldLengths[fieldRef]\n  }\n\n  var fields = Object.keys(this._fields)\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i]\n    accumulator[fieldName] = accumulator[fieldName] / documentsWithField[fieldName]\n  }\n\n  this.averageFieldLength = accumulator\n}\n\n/**\n * Builds a vector space model of every document using lunr.Vector\n *\n * @private\n */\nlunr.Builder.prototype.createFieldVectors = function () {\n  var fieldVectors = {},\n      fieldRefs = Object.keys(this.fieldTermFrequencies),\n      fieldRefsLength = fieldRefs.length,\n      termIdfCache = Object.create(null)\n\n  for (var i = 0; i < fieldRefsLength; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        fieldName = fieldRef.fieldName,\n        fieldLength = this.fieldLengths[fieldRef],\n        fieldVector = new lunr.Vector,\n        termFrequencies = this.fieldTermFrequencies[fieldRef],\n        terms = Object.keys(termFrequencies),\n        termsLength = terms.length\n\n\n    var fieldBoost = this._fields[fieldName].boost || 1,\n        docBoost = this._documents[fieldRef.docRef].boost || 1\n\n    for (var j = 0; j < termsLength; j++) {\n      var term = terms[j],\n          tf = termFrequencies[term],\n          termIndex = this.invertedIndex[term]._index,\n          idf, score, scoreWithPrecision\n\n      if (termIdfCache[term] === undefined) {\n        idf = lunr.idf(this.invertedIndex[term], this.documentCount)\n        termIdfCache[term] = idf\n      } else {\n        idf = termIdfCache[term]\n      }\n\n      score = idf * ((this._k1 + 1) * tf) / (this._k1 * (1 - this._b + this._b * (fieldLength / this.averageFieldLength[fieldName])) + tf)\n      score *= fieldBoost\n      score *= docBoost\n      scoreWithPrecision = Math.round(score * 1000) / 1000\n      // Converts 1.23456789 to 1.234.\n      // Reducing the precision so that the vectors take up less\n      // space when serialised. Doing it now so that they behave\n      // the same before and after serialisation. Also, this is\n      // the fastest approach to reducing a number's precision in\n      // JavaScript.\n\n      fieldVector.insert(termIndex, scoreWithPrecision)\n    }\n\n    fieldVectors[fieldRef] = fieldVector\n  }\n\n  this.fieldVectors = fieldVectors\n}\n\n/**\n * Creates a token set of all tokens in the index using lunr.TokenSet\n *\n * @private\n */\nlunr.Builder.prototype.createTokenSet = function () {\n  this.tokenSet = lunr.TokenSet.fromArray(\n    Object.keys(this.invertedIndex).sort()\n  )\n}\n\n/**\n * Builds the index, creating an instance of lunr.Index.\n *\n * This completes the indexing process and should only be called\n * once all documents have been added to the index.\n *\n * @returns {lunr.Index}\n */\nlunr.Builder.prototype.build = function () {\n  this.calculateAverageFieldLengths()\n  this.createFieldVectors()\n  this.createTokenSet()\n\n  return new lunr.Index({\n    invertedIndex: this.invertedIndex,\n    fieldVectors: this.fieldVectors,\n    tokenSet: this.tokenSet,\n    fields: Object.keys(this._fields),\n    pipeline: this.searchPipeline\n  })\n}\n\n/**\n * Applies a plugin to the index builder.\n *\n * A plugin is a function that is called with the index builder as its context.\n * Plugins can be used to customise or extend the behaviour of the index\n * in some way. A plugin is just a function, that encapsulated the custom\n * behaviour that should be applied when building the index.\n *\n * The plugin function will be called with the index builder as its argument, additional\n * arguments can also be passed when calling use. The function will be called\n * with the index builder as its context.\n *\n * @param {Function} plugin The plugin to apply.\n */\nlunr.Builder.prototype.use = function (fn) {\n  var args = Array.prototype.slice.call(arguments, 1)\n  args.unshift(this)\n  fn.apply(this, args)\n}\n/**\n * Contains and collects metadata about a matching document.\n * A single instance of lunr.MatchData is returned as part of every\n * lunr.Index~Result.\n *\n * @constructor\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n * @property {object} metadata - A cloned collection of metadata associated with this document.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData = function (term, field, metadata) {\n  var clonedMetadata = Object.create(null),\n      metadataKeys = Object.keys(metadata || {})\n\n  // Cloning the metadata to prevent the original\n  // being mutated during match data combination.\n  // Metadata is kept in an array within the inverted\n  // index so cloning the data can be done with\n  // Array#slice\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n    clonedMetadata[key] = metadata[key].slice()\n  }\n\n  this.metadata = Object.create(null)\n\n  if (term !== undefined) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = clonedMetadata\n  }\n}\n\n/**\n * An instance of lunr.MatchData will be created for every term that matches a\n * document. However only one instance is required in a lunr.Index~Result. This\n * method combines metadata from another instance of lunr.MatchData with this\n * objects metadata.\n *\n * @param {lunr.MatchData} otherMatchData - Another instance of match data to merge with this one.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData.prototype.combine = function (otherMatchData) {\n  var terms = Object.keys(otherMatchData.metadata)\n\n  for (var i = 0; i < terms.length; i++) {\n    var term = terms[i],\n        fields = Object.keys(otherMatchData.metadata[term])\n\n    if (this.metadata[term] == undefined) {\n      this.metadata[term] = Object.create(null)\n    }\n\n    for (var j = 0; j < fields.length; j++) {\n      var field = fields[j],\n          keys = Object.keys(otherMatchData.metadata[term][field])\n\n      if (this.metadata[term][field] == undefined) {\n        this.metadata[term][field] = Object.create(null)\n      }\n\n      for (var k = 0; k < keys.length; k++) {\n        var key = keys[k]\n\n        if (this.metadata[term][field][key] == undefined) {\n          this.metadata[term][field][key] = otherMatchData.metadata[term][field][key]\n        } else {\n          this.metadata[term][field][key] = this.metadata[term][field][key].concat(otherMatchData.metadata[term][field][key])\n        }\n\n      }\n    }\n  }\n}\n\n/**\n * Add metadata for a term/field pair to this instance of match data.\n *\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n */\nlunr.MatchData.prototype.add = function (term, field, metadata) {\n  if (!(term in this.metadata)) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  if (!(field in this.metadata[term])) {\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  var metadataKeys = Object.keys(metadata)\n\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n\n    if (key in this.metadata[term][field]) {\n      this.metadata[term][field][key] = this.metadata[term][field][key].concat(metadata[key])\n    } else {\n      this.metadata[term][field][key] = metadata[key]\n    }\n  }\n}\n/**\n * A lunr.Query provides a programmatic way of defining queries to be performed\n * against a {@link lunr.Index}.\n *\n * Prefer constructing a lunr.Query using the {@link lunr.Index#query} method\n * so the query object is pre-initialized with the right index fields.\n *\n * @constructor\n * @property {lunr.Query~Clause[]} clauses - An array of query clauses.\n * @property {string[]} allFields - An array of all available fields in a lunr.Index.\n */\nlunr.Query = function (allFields) {\n  this.clauses = []\n  this.allFields = allFields\n}\n\n/**\n * Constants for indicating what kind of automatic wildcard insertion will be used when constructing a query clause.\n *\n * This allows wildcards to be added to the beginning and end of a term without having to manually do any string\n * concatenation.\n *\n * The wildcard constants can be bitwise combined to select both leading and trailing wildcards.\n *\n * @constant\n * @default\n * @property {number} wildcard.NONE - The term will have no wildcards inserted, this is the default behaviour\n * @property {number} wildcard.LEADING - Prepend the term with a wildcard, unless a leading wildcard already exists\n * @property {number} wildcard.TRAILING - Append a wildcard to the term, unless a trailing wildcard already exists\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with trailing wildcard</caption>\n * query.term('foo', { wildcard: lunr.Query.wildcard.TRAILING })\n * @example <caption>query term with leading and trailing wildcard</caption>\n * query.term('foo', {\n *   wildcard: lunr.Query.wildcard.LEADING | lunr.Query.wildcard.TRAILING\n * })\n */\n\nlunr.Query.wildcard = new String (\"*\")\nlunr.Query.wildcard.NONE = 0\nlunr.Query.wildcard.LEADING = 1\nlunr.Query.wildcard.TRAILING = 2\n\n/**\n * Constants for indicating what kind of presence a term must have in matching documents.\n *\n * @constant\n * @enum {number}\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with required presence</caption>\n * query.term('foo', { presence: lunr.Query.presence.REQUIRED })\n */\nlunr.Query.presence = {\n  /**\n   * Term's presence in a document is optional, this is the default value.\n   */\n  OPTIONAL: 1,\n\n  /**\n   * Term's presence in a document is required, documents that do not contain\n   * this term will not be returned.\n   */\n  REQUIRED: 2,\n\n  /**\n   * Term's presence in a document is prohibited, documents that do contain\n   * this term will not be returned.\n   */\n  PROHIBITED: 3\n}\n\n/**\n * A single clause in a {@link lunr.Query} contains a term and details on how to\n * match that term against a {@link lunr.Index}.\n *\n * @typedef {Object} lunr.Query~Clause\n * @property {string[]} fields - The fields in an index this clause should be matched against.\n * @property {number} [boost=1] - Any boost that should be applied when matching this clause.\n * @property {number} [editDistance] - Whether the term should have fuzzy matching applied, and how fuzzy the match should be.\n * @property {boolean} [usePipeline] - Whether the term should be passed through the search pipeline.\n * @property {number} [wildcard=lunr.Query.wildcard.NONE] - Whether the term should have wildcards appended or prepended.\n * @property {number} [presence=lunr.Query.presence.OPTIONAL] - The terms presence in any matching documents.\n */\n\n/**\n * Adds a {@link lunr.Query~Clause} to this query.\n *\n * Unless the clause contains the fields to be matched all fields will be matched. In addition\n * a default boost of 1 is applied to the clause.\n *\n * @param {lunr.Query~Clause} clause - The clause to add to this query.\n * @see lunr.Query~Clause\n * @returns {lunr.Query}\n */\nlunr.Query.prototype.clause = function (clause) {\n  if (!('fields' in clause)) {\n    clause.fields = this.allFields\n  }\n\n  if (!('boost' in clause)) {\n    clause.boost = 1\n  }\n\n  if (!('usePipeline' in clause)) {\n    clause.usePipeline = true\n  }\n\n  if (!('wildcard' in clause)) {\n    clause.wildcard = lunr.Query.wildcard.NONE\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.LEADING) && (clause.term.charAt(0) != lunr.Query.wildcard)) {\n    clause.term = \"*\" + clause.term\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.TRAILING) && (clause.term.slice(-1) != lunr.Query.wildcard)) {\n    clause.term = \"\" + clause.term + \"*\"\n  }\n\n  if (!('presence' in clause)) {\n    clause.presence = lunr.Query.presence.OPTIONAL\n  }\n\n  this.clauses.push(clause)\n\n  return this\n}\n\n/**\n * A negated query is one in which every clause has a presence of\n * prohibited. These queries require some special processing to return\n * the expected results.\n *\n * @returns boolean\n */\nlunr.Query.prototype.isNegated = function () {\n  for (var i = 0; i < this.clauses.length; i++) {\n    if (this.clauses[i].presence != lunr.Query.presence.PROHIBITED) {\n      return false\n    }\n  }\n\n  return true\n}\n\n/**\n * Adds a term to the current query, under the covers this will create a {@link lunr.Query~Clause}\n * to the list of clauses that make up this query.\n *\n * The term is used as is, i.e. no tokenization will be performed by this method. Instead conversion\n * to a token or token-like string should be done before calling this method.\n *\n * The term will be converted to a string by calling `toString`. Multiple terms can be passed as an\n * array, each term in the array will share the same options.\n *\n * @param {object|object[]} term - The term(s) to add to the query.\n * @param {object} [options] - Any additional properties to add to the query clause.\n * @returns {lunr.Query}\n * @see lunr.Query#clause\n * @see lunr.Query~Clause\n * @example <caption>adding a single term to a query</caption>\n * query.term(\"foo\")\n * @example <caption>adding a single term to a query and specifying search fields, term boost and automatic trailing wildcard</caption>\n * query.term(\"foo\", {\n *   fields: [\"title\"],\n *   boost: 10,\n *   wildcard: lunr.Query.wildcard.TRAILING\n * })\n * @example <caption>using lunr.tokenizer to convert a string to tokens before using them as terms</caption>\n * query.term(lunr.tokenizer(\"foo bar\"))\n */\nlunr.Query.prototype.term = function (term, options) {\n  if (Array.isArray(term)) {\n    term.forEach(function (t) { this.term(t, lunr.utils.clone(options)) }, this)\n    return this\n  }\n\n  var clause = options || {}\n  clause.term = term.toString()\n\n  this.clause(clause)\n\n  return this\n}\nlunr.QueryParseError = function (message, start, end) {\n  this.name = \"QueryParseError\"\n  this.message = message\n  this.start = start\n  this.end = end\n}\n\nlunr.QueryParseError.prototype = new Error\nlunr.QueryLexer = function (str) {\n  this.lexemes = []\n  this.str = str\n  this.length = str.length\n  this.pos = 0\n  this.start = 0\n  this.escapeCharPositions = []\n}\n\nlunr.QueryLexer.prototype.run = function () {\n  var state = lunr.QueryLexer.lexText\n\n  while (state) {\n    state = state(this)\n  }\n}\n\nlunr.QueryLexer.prototype.sliceString = function () {\n  var subSlices = [],\n      sliceStart = this.start,\n      sliceEnd = this.pos\n\n  for (var i = 0; i < this.escapeCharPositions.length; i++) {\n    sliceEnd = this.escapeCharPositions[i]\n    subSlices.push(this.str.slice(sliceStart, sliceEnd))\n    sliceStart = sliceEnd + 1\n  }\n\n  subSlices.push(this.str.slice(sliceStart, this.pos))\n  this.escapeCharPositions.length = 0\n\n  return subSlices.join('')\n}\n\nlunr.QueryLexer.prototype.emit = function (type) {\n  this.lexemes.push({\n    type: type,\n    str: this.sliceString(),\n    start: this.start,\n    end: this.pos\n  })\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.escapeCharacter = function () {\n  this.escapeCharPositions.push(this.pos - 1)\n  this.pos += 1\n}\n\nlunr.QueryLexer.prototype.next = function () {\n  if (this.pos >= this.length) {\n    return lunr.QueryLexer.EOS\n  }\n\n  var char = this.str.charAt(this.pos)\n  this.pos += 1\n  return char\n}\n\nlunr.QueryLexer.prototype.width = function () {\n  return this.pos - this.start\n}\n\nlunr.QueryLexer.prototype.ignore = function () {\n  if (this.start == this.pos) {\n    this.pos += 1\n  }\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.backup = function () {\n  this.pos -= 1\n}\n\nlunr.QueryLexer.prototype.acceptDigitRun = function () {\n  var char, charCode\n\n  do {\n    char = this.next()\n    charCode = char.charCodeAt(0)\n  } while (charCode > 47 && charCode < 58)\n\n  if (char != lunr.QueryLexer.EOS) {\n    this.backup()\n  }\n}\n\nlunr.QueryLexer.prototype.more = function () {\n  return this.pos < this.length\n}\n\nlunr.QueryLexer.EOS = 'EOS'\nlunr.QueryLexer.FIELD = 'FIELD'\nlunr.QueryLexer.TERM = 'TERM'\nlunr.QueryLexer.EDIT_DISTANCE = 'EDIT_DISTANCE'\nlunr.QueryLexer.BOOST = 'BOOST'\nlunr.QueryLexer.PRESENCE = 'PRESENCE'\n\nlunr.QueryLexer.lexField = function (lexer) {\n  lexer.backup()\n  lexer.emit(lunr.QueryLexer.FIELD)\n  lexer.ignore()\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexTerm = function (lexer) {\n  if (lexer.width() > 1) {\n    lexer.backup()\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n\n  lexer.ignore()\n\n  if (lexer.more()) {\n    return lunr.QueryLexer.lexText\n  }\n}\n\nlunr.QueryLexer.lexEditDistance = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.EDIT_DISTANCE)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexBoost = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.BOOST)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexEOS = function (lexer) {\n  if (lexer.width() > 0) {\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n}\n\n// This matches the separator used when tokenising fields\n// within a document. These should match otherwise it is\n// not possible to search for some tokens within a document.\n//\n// It is possible for the user to change the separator on the\n// tokenizer so it _might_ clash with any other of the special\n// characters already used within the search string, e.g. :.\n//\n// This means that it is possible to change the separator in\n// such a way that makes some words unsearchable using a search\n// string.\nlunr.QueryLexer.termSeparator = lunr.tokenizer.separator\n\nlunr.QueryLexer.lexText = function (lexer) {\n  while (true) {\n    var char = lexer.next()\n\n    if (char == lunr.QueryLexer.EOS) {\n      return lunr.QueryLexer.lexEOS\n    }\n\n    // Escape character is '\\'\n    if (char.charCodeAt(0) == 92) {\n      lexer.escapeCharacter()\n      continue\n    }\n\n    if (char == \":\") {\n      return lunr.QueryLexer.lexField\n    }\n\n    if (char == \"~\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexEditDistance\n    }\n\n    if (char == \"^\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexBoost\n    }\n\n    // \"+\" indicates term presence is required\n    // checking for length to ensure that only\n    // leading \"+\" are considered\n    if (char == \"+\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    // \"-\" indicates term presence is prohibited\n    // checking for length to ensure that only\n    // leading \"-\" are considered\n    if (char == \"-\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    if (char.match(lunr.QueryLexer.termSeparator)) {\n      return lunr.QueryLexer.lexTerm\n    }\n  }\n}\n\nlunr.QueryParser = function (str, query) {\n  this.lexer = new lunr.QueryLexer (str)\n  this.query = query\n  this.currentClause = {}\n  this.lexemeIdx = 0\n}\n\nlunr.QueryParser.prototype.parse = function () {\n  this.lexer.run()\n  this.lexemes = this.lexer.lexemes\n\n  var state = lunr.QueryParser.parseClause\n\n  while (state) {\n    state = state(this)\n  }\n\n  return this.query\n}\n\nlunr.QueryParser.prototype.peekLexeme = function () {\n  return this.lexemes[this.lexemeIdx]\n}\n\nlunr.QueryParser.prototype.consumeLexeme = function () {\n  var lexeme = this.peekLexeme()\n  this.lexemeIdx += 1\n  return lexeme\n}\n\nlunr.QueryParser.prototype.nextClause = function () {\n  var completedClause = this.currentClause\n  this.query.clause(completedClause)\n  this.currentClause = {}\n}\n\nlunr.QueryParser.parseClause = function (parser) {\n  var lexeme = parser.peekLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.type) {\n    case lunr.QueryLexer.PRESENCE:\n      return lunr.QueryParser.parsePresence\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expected either a field or a term, found \" + lexeme.type\n\n      if (lexeme.str.length >= 1) {\n        errorMessage += \" with value '\" + lexeme.str + \"'\"\n      }\n\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n}\n\nlunr.QueryParser.parsePresence = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.str) {\n    case \"-\":\n      parser.currentClause.presence = lunr.Query.presence.PROHIBITED\n      break\n    case \"+\":\n      parser.currentClause.presence = lunr.Query.presence.REQUIRED\n      break\n    default:\n      var errorMessage = \"unrecognised presence operator'\" + lexeme.str + \"'\"\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term or field, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term or field, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseField = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  if (parser.query.allFields.indexOf(lexeme.str) == -1) {\n    var possibleFields = parser.query.allFields.map(function (f) { return \"'\" + f + \"'\" }).join(', '),\n        errorMessage = \"unrecognised field '\" + lexeme.str + \"', possible fields: \" + possibleFields\n\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.fields = [lexeme.str]\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseTerm = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  parser.currentClause.term = lexeme.str.toLowerCase()\n\n  if (lexeme.str.indexOf(\"*\") != -1) {\n    parser.currentClause.usePipeline = false\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseEditDistance = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var editDistance = parseInt(lexeme.str, 10)\n\n  if (isNaN(editDistance)) {\n    var errorMessage = \"edit distance must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.editDistance = editDistance\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseBoost = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var boost = parseInt(lexeme.str, 10)\n\n  if (isNaN(boost)) {\n    var errorMessage = \"boost must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.boost = boost\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\n  /**\n   * export the module via AMD, CommonJS or as a browser global\n   * Export code from https://github.com/umdjs/umd/blob/master/returnExports.js\n   */\n  ;(function (root, factory) {\n    if (typeof define === 'function' && define.amd) {\n      // AMD. Register as an anonymous module.\n      define(factory)\n    } else if (typeof exports === 'object') {\n      /**\n       * Node. Does not work with strict CommonJS, but\n       * only CommonJS-like enviroments that support module.exports,\n       * like Node.\n       */\n      module.exports = factory()\n    } else {\n      // Browser globals (root is window)\n      root.lunr = factory()\n    }\n  }(this, function () {\n    /**\n     * Just return a value to define the module export.\n     * This example returns an object, but the module\n     * can return a function as the exported value.\n     */\n    return lunr\n  }))\n})();\n", "/*!\n * escape-html\n * Copyright(c) 2012-2013 TJ Holowaychuk\n * Copyright(c) 2015 Andreas Lubbe\n * Copyright(c) 2015 Tiancheng \"Timothy\" Gu\n * MIT Licensed\n */\n\n'use strict';\n\n/**\n * Module variables.\n * @private\n */\n\nvar matchHtmlRegExp = /[\"'&<>]/;\n\n/**\n * Module exports.\n * @public\n */\n\nmodule.exports = escapeHtml;\n\n/**\n * Escape special characters in the given string of html.\n *\n * @param  {string} string The string to escape for inserting into HTML\n * @return {string}\n * @public\n */\n\nfunction escapeHtml(string) {\n  var str = '' + string;\n  var match = matchHtmlRegExp.exec(str);\n\n  if (!match) {\n    return str;\n  }\n\n  var escape;\n  var html = '';\n  var index = 0;\n  var lastIndex = 0;\n\n  for (index = match.index; index < str.length; index++) {\n    switch (str.charCodeAt(index)) {\n      case 34: // \"\n        escape = '&quot;';\n        break;\n      case 38: // &\n        escape = '&amp;';\n        break;\n      case 39: // '\n        escape = '&#39;';\n        break;\n      case 60: // <\n        escape = '&lt;';\n        break;\n      case 62: // >\n        escape = '&gt;';\n        break;\n      default:\n        continue;\n    }\n\n    if (lastIndex !== index) {\n      html += str.substring(lastIndex, index);\n    }\n\n    lastIndex = index + 1;\n    html += escape;\n  }\n\n  return lastIndex !== index\n    ? html + str.substring(lastIndex, index)\n    : html;\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport lunr from \"lunr\"\n\nimport \"~/polyfills\"\n\nimport { Search, SearchIndexConfig } from \"../../_\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Add support for usage with `iframe-worker` polyfill\n *\n * While `importScripts` is synchronous when executed inside of a web worker,\n * it's not possible to provide a synchronous polyfilled implementation. The\n * cool thing is that awaiting a non-Promise is a noop, so extending the type\n * definition to return a `Promise` shouldn't break anything.\n *\n * @see https://bit.ly/2PjDnXi - GitHub comment\n */\ndeclare global {\n  function importScripts(...urls: string[]): Promise<void> | void\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nlet index: Search\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch (= import) multi-language support through `lunr-languages`\n *\n * This function automatically imports the stemmers necessary to process the\n * languages, which are defined through the search index configuration.\n *\n * If the worker runs inside of an `iframe` (when using `iframe-worker` as\n * a shim), the base URL for the stemmers to be loaded must be determined by\n * searching for the first `script` element with a `src` attribute, which will\n * contain the contents of this script.\n *\n * @param config - Search index configuration\n *\n * @returns Promise resolving with no result\n */\nasync function setupSearchLanguages(\n  config: SearchIndexConfig\n): Promise<void> {\n  let base = \"../lunr\"\n\n  /* Detect `iframe-worker` and fix base URL */\n  if (typeof parent !== \"undefined\" && \"IFrameWorker\" in parent) {\n    const worker = document.querySelector<HTMLScriptElement>(\"script[src]\")!\n    const [path] = worker.src.split(\"/worker\")\n\n    /* Prefix base with path */\n    base = base.replace(\"..\", path)\n  }\n\n  /* Add scripts for languages */\n  const scripts = []\n  for (const lang of config.lang) {\n    switch (lang) {\n\n      /* Add segmenter for Japanese */\n      case \"ja\":\n        scripts.push(`${base}/tinyseg.js`)\n        break\n\n      /* Add segmenter for Hindi and Thai */\n      case \"hi\":\n      case \"th\":\n        scripts.push(`${base}/wordcut.js`)\n        break\n    }\n\n    /* Add language support */\n    if (lang !== \"en\")\n      scripts.push(`${base}/min/lunr.${lang}.min.js`)\n  }\n\n  /* Add multi-language support */\n  if (config.lang.length > 1)\n    scripts.push(`${base}/min/lunr.multi.min.js`)\n\n  /* Load scripts synchronously */\n  if (scripts.length)\n    await importScripts(\n      `${base}/min/lunr.stemmer.support.min.js`,\n      ...scripts\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Message handler\n *\n * @param message - Source message\n *\n * @returns Target message\n */\nexport async function handler(\n  message: SearchMessage\n): Promise<SearchMessage> {\n  switch (message.type) {\n\n    /* Search setup message */\n    case SearchMessageType.SETUP:\n      await setupSearchLanguages(message.data.config)\n      index = new Search(message.data)\n      return {\n        type: SearchMessageType.READY\n      }\n\n    /* Search query message */\n    case SearchMessageType.QUERY:\n      return {\n        type: SearchMessageType.RESULT,\n        data: index ? index.search(message.data) : { items: [] }\n      }\n\n    /* All other messages */\n    default:\n      throw new TypeError(\"Invalid message type\")\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Worker\n * ------------------------------------------------------------------------- */\n\n/* @ts-expect-error - expose Lunr.js in global scope, or stemmers won't work */\nself.lunr = lunr\n\n/* Handle messages */\naddEventListener(\"message\", async ev => {\n  postMessage(await handler(ev.data))\n})\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node !== \"object\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchIndexDocument } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search document\n */\nexport interface SearchDocument extends SearchIndexDocument {\n  parent?: SearchIndexDocument         /* Parent article */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search document mapping\n */\nexport type SearchDocumentMap = Map<string, SearchDocument>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search document mapping\n *\n * @param docs - Search index documents\n *\n * @returns Search document map\n */\nexport function setupSearchDocumentMap(\n  docs: SearchIndexDocument[]\n): SearchDocumentMap {\n  const documents = new Map<string, SearchDocument>()\n  const parents   = new Set<SearchDocument>()\n  for (const doc of docs) {\n    const [path, hash] = doc.location.split(\"#\")\n\n    /* Extract location, title and tags */\n    const location = doc.location\n    const title    = doc.title\n    const tags     = doc.tags\n\n    /* Escape and cleanup text */\n    const text = escapeHTML(doc.text)\n      .replace(/\\s+(?=[,.:;!?])/g, \"\")\n      .replace(/\\s+/g, \" \")\n\n    /* Handle section */\n    if (hash) {\n      const parent = documents.get(path)!\n\n      /* Ignore first section, override article */\n      if (!parents.has(parent)) {\n        parent.title = doc.title\n        parent.text  = text\n\n        /* Remember that we processed the article */\n        parents.add(parent)\n\n      /* Add subsequent section */\n      } else {\n        documents.set(location, {\n          location,\n          title,\n          text,\n          parent\n        })\n      }\n\n    /* Add article */\n    } else {\n      documents.set(location, {\n        location,\n        title,\n        text,\n        ...tags && { tags }\n      })\n    }\n  }\n  return documents\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport escapeHTML from \"escape-html\"\n\nimport { SearchIndexConfig } from \"../_\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search highlight function\n *\n * @param value - Value\n *\n * @returns Highlighted value\n */\nexport type SearchHighlightFn = (value: string) => string\n\n/**\n * Search highlight factory function\n *\n * @param query - Query value\n *\n * @returns Search highlight function\n */\nexport type SearchHighlightFactoryFn = (query: string) => SearchHighlightFn\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search highlighter\n *\n * @param config - Search index configuration\n * @param escape - Whether to escape HTML\n *\n * @returns Search highlight factory function\n */\nexport function setupSearchHighlighter(\n  config: SearchIndexConfig, escape: boolean\n): SearchHighlightFactoryFn {\n  const separator = new RegExp(config.separator, \"img\")\n  const highlight = (_: unknown, data: string, term: string) => {\n    return `${data}<mark data-md-highlight>${term}</mark>`\n  }\n\n  /* Return factory function */\n  return (query: string) => {\n    query = query\n      .replace(/[\\s*+\\-:~^]+/g, \" \")\n      .trim()\n\n    /* Create search term match expression */\n    const match = new RegExp(`(^|${config.separator})(${\n      query\n        .replace(/[|\\\\{}()[\\]^$+*?.-]/g, \"\\\\$&\")\n        .replace(separator, \"|\")\n    })`, \"img\")\n\n    /* Highlight string value */\n    return value => (\n      escape\n        ? escapeHTML(value)\n        : value\n      )\n        .replace(match, highlight)\n        .replace(/<\\/mark>(\\s+)<mark[^>]*>/img, \"$1\")\n  }\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query clause\n */\nexport interface SearchQueryClause {\n  presence: lunr.Query.presence        /* Clause presence */\n  term: string                         /* Clause term */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search query terms\n */\nexport type SearchQueryTerms = Record<string, boolean>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Parse a search query for analysis\n *\n * @param value - Query value\n *\n * @returns Search query clauses\n */\nexport function parseSearchQuery(\n  value: string\n): SearchQueryClause[] {\n  const query  = new (lunr as any).Query([\"title\", \"text\"])\n  const parser = new (lunr as any).QueryParser(value, query)\n\n  /* Parse and return query clauses */\n  parser.parse()\n  return query.clauses\n}\n\n/**\n * Analyze the search query clauses in regard to the search terms found\n *\n * @param query - Search query clauses\n * @param terms - Search terms\n *\n * @returns Search query terms\n */\nexport function getSearchQueryTerms(\n  query: SearchQueryClause[], terms: string[]\n): SearchQueryTerms {\n  const clauses = new Set<SearchQueryClause>(query)\n\n  /* Match query clauses against terms */\n  const result: SearchQueryTerms = {}\n  for (let t = 0; t < terms.length; t++)\n    for (const clause of clauses)\n      if (terms[t].startsWith(clause.term)) {\n        result[clause.term] = true\n        clauses.delete(clause)\n      }\n\n  /* Annotate unmatched non-stopword query clauses */\n  for (const clause of clauses)\n    if (lunr.stopWordFilter?.(clause.term as any))\n      result[clause.term] = false\n\n  /* Return query terms */\n  return result\n}\n", "/*\n * Copyright (c) 2016-2022 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  SearchDocument,\n  SearchDocumentMap,\n  setupSearchDocumentMap\n} from \"../document\"\nimport {\n  SearchHighlightFactoryFn,\n  setupSearchHighlighter\n} from \"../highlighter\"\nimport { SearchOptions } from \"../options\"\nimport {\n  SearchQueryTerms,\n  getSearchQueryTerms,\n  parseSearchQuery\n} from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index configuration\n */\nexport interface SearchIndexConfig {\n  lang: string[]                       /* Search languages */\n  separator: string                    /* Search separator */\n}\n\n/**\n * Search index document\n */\nexport interface SearchIndexDocument {\n  location: string                     /* Document location */\n  title: string                        /* Document title */\n  text: string                         /* Document text */\n  tags?: string[]                      /* Document tags */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search index\n *\n * This interfaces describes the format of the `search_index.json` file which\n * is automatically built by the MkDocs search plugin.\n */\nexport interface SearchIndex {\n  config: SearchIndexConfig            /* Search index configuration */\n  docs: SearchIndexDocument[]          /* Search index documents */\n  options: SearchOptions               /* Search options */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search metadata\n */\nexport interface SearchMetadata {\n  score: number                        /* Score (relevance) */\n  terms: SearchQueryTerms              /* Search query terms */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search result document\n */\nexport type SearchResultDocument = SearchDocument & SearchMetadata\n\n/**\n * Search result item\n */\nexport type SearchResultItem = SearchResultDocument[]\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search result\n */\nexport interface SearchResult {\n  items: SearchResultItem[]            /* Search result items */\n  suggestions?: string[]               /* Search suggestions */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Compute the difference of two lists of strings\n *\n * @param a - 1st list of strings\n * @param b - 2nd list of strings\n *\n * @returns Difference\n */\nfunction difference(a: string[], b: string[]): string[] {\n  const [x, y] = [new Set(a), new Set(b)]\n  return [\n    ...new Set([...x].filter(value => !y.has(value)))\n  ]\n}\n\n/* ----------------------------------------------------------------------------\n * Class\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport class Search {\n\n  /**\n   * Search document mapping\n   *\n   * A mapping of URLs (including hash fragments) to the actual articles and\n   * sections of the documentation. The search document mapping must be created\n   * regardless of whether the index was prebuilt or not, as Lunr.js itself\n   * only stores the actual index.\n   */\n  protected documents: SearchDocumentMap\n\n  /**\n   * Search highlight factory function\n   */\n  protected highlight: SearchHighlightFactoryFn\n\n  /**\n   * The underlying Lunr.js search index\n   */\n  protected index: lunr.Index\n\n  /**\n   * Search options\n   */\n  protected options: SearchOptions\n\n  /**\n   * Create the search integration\n   *\n   * @param data - Search index\n   */\n  public constructor({ config, docs, options }: SearchIndex) {\n    this.options = options\n\n    /* Set up document map and highlighter factory */\n    this.documents = setupSearchDocumentMap(docs)\n    this.highlight = setupSearchHighlighter(config, false)\n\n    /* Set separator for tokenizer */\n    lunr.tokenizer.separator = new RegExp(config.separator)\n\n    /* Create search index */\n    this.index = lunr(function () {\n\n      /* Set up multi-language support */\n      if (config.lang.length === 1 && config.lang[0] !== \"en\") {\n        this.use((lunr as any)[config.lang[0]])\n      } else if (config.lang.length > 1) {\n        this.use((lunr as any).multiLanguage(...config.lang))\n      }\n\n      /* Compute functions to be removed from the pipeline */\n      const fns = difference([\n        \"trimmer\", \"stopWordFilter\", \"stemmer\"\n      ], options.pipeline)\n\n      /* Remove functions from the pipeline for registered languages */\n      for (const lang of config.lang.map(language => (\n        language === \"en\" ? lunr : (lunr as any)[language]\n      ))) {\n        for (const fn of fns) {\n          this.pipeline.remove(lang[fn])\n          this.searchPipeline.remove(lang[fn])\n        }\n      }\n\n      /* Set up reference */\n      this.ref(\"location\")\n\n      /* Set up fields */\n      this.field(\"title\", { boost: 1e3 })\n      this.field(\"text\")\n      this.field(\"tags\", { boost: 1e6 })\n\n      /* Index documents */\n      for (const doc of docs)\n        this.add(doc)\n    })\n  }\n\n  /**\n   * Search for matching documents\n   *\n   * The search index which MkDocs provides is divided up into articles, which\n   * contain the whole content of the individual pages, and sections, which only\n   * contain the contents of the subsections obtained by breaking the individual\n   * pages up at `h1` ... `h6`. As there may be many sections on different pages\n   * with identical titles (for example within this very project, e.g. \"Usage\"\n   * or \"Installation\"), they need to be put into the context of the containing\n   * page. For this reason, section results are grouped within their respective\n   * articles which are the top-level results that are returned.\n   *\n   * @param query - Query value\n   *\n   * @returns Search results\n   */\n  public search(query: string): SearchResult {\n    if (query) {\n      try {\n        const highlight = this.highlight(query)\n\n        /* Parse query to extract clauses for analysis */\n        const clauses = parseSearchQuery(query)\n          .filter(clause => (\n            clause.presence !== lunr.Query.presence.PROHIBITED\n          ))\n\n        /* Perform search and post-process results */\n        const groups = this.index.search(`${query}*`)\n\n          /* Apply post-query boosts based on title and search query terms */\n          .reduce<SearchResultItem>((item, { ref, score, matchData }) => {\n            const document = this.documents.get(ref)\n            if (typeof document !== \"undefined\") {\n              const { location, title, text, tags, parent } = document\n\n              /* Compute and analyze search query terms */\n              const terms = getSearchQueryTerms(\n                clauses,\n                Object.keys(matchData.metadata)\n              )\n\n              /* Highlight title and text and apply post-query boosts */\n              const boost = +!parent + +Object.values(terms).every(t => t)\n              item.push({\n                location,\n                title: highlight(title),\n                text:  highlight(text),\n                ...tags && { tags: tags.map(highlight) },\n                score: score * (1 + boost),\n                terms\n              })\n            }\n            return item\n          }, [])\n\n          /* Sort search results again after applying boosts */\n          .sort((a, b) => b.score - a.score)\n\n          /* Group search results by page */\n          .reduce((items, result) => {\n            const document = this.documents.get(result.location)\n            if (typeof document !== \"undefined\") {\n              const ref = \"parent\" in document\n                ? document.parent!.location\n                : document.location\n              items.set(ref, [...items.get(ref) || [], result])\n            }\n            return items\n          }, new Map<string, SearchResultItem>())\n\n        /* Generate search suggestions, if desired */\n        let suggestions: string[] | undefined\n        if (this.options.suggestions) {\n          const titles = this.index.query(builder => {\n            for (const clause of clauses)\n              builder.term(clause.term, {\n                fields: [\"title\"],\n                presence: lunr.Query.presence.REQUIRED,\n                wildcard: lunr.Query.wildcard.TRAILING\n              })\n          })\n\n          /* Retrieve suggestions for best match */\n          suggestions = titles.length\n            ? Object.keys(titles[0].matchData.metadata)\n            : []\n        }\n\n        /* Return items and suggestions */\n        return {\n          items: [...groups.values()],\n          ...typeof suggestions !== \"undefined\" && { suggestions }\n        }\n\n      /* Log errors to console (for now) */\n      } catch {\n        console.warn(`Invalid query: ${query} \u2013 see https://bit.ly/2s3ChXG`)\n      }\n    }\n\n    /* Return nothing in case of error or empty query */\n    return { items: [] }\n  }\n}\n"],
-  "mappings": 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diff --git a/assets/javascripts/workers/search.2a1c317c.min.js b/assets/javascripts/workers/search.6ce7567c.min.js
similarity index 59%
rename from assets/javascripts/workers/search.2a1c317c.min.js
rename to assets/javascripts/workers/search.6ce7567c.min.js
index 59bf838..8e7e550 100644
--- a/assets/javascripts/workers/search.2a1c317c.min.js
+++ b/assets/javascripts/workers/search.6ce7567c.min.js
@@ -1,4 +1,4 @@
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  * Copyright (C) 2020 Oliver Nightingale
  * @license MIT
@@ -11,18 +11,18 @@
  */t.Set=function(e){if(this.elements=Object.create(null),e){this.length=e.length;for(var r=0;r<this.length;r++)this.elements[e[r]]=!0}else this.length=0},t.Set.complete={intersect:function(e){return e},union:function(){return this},contains:function(){return!0}},t.Set.empty={intersect:function(){return this},union:function(e){return e},contains:function(){return!1}},t.Set.prototype.contains=function(e){return!!this.elements[e]},t.Set.prototype.intersect=function(e){var r,n,i,s=[];if(e===t.Set.complete)return this;if(e===t.Set.empty)return e;this.length<e.length?(r=this,n=e):(r=e,n=this),i=Object.keys(r.elements);for(var o=0;o<i.length;o++){var a=i[o];a in n.elements&&s.push(a)}return new t.Set(s)},t.Set.prototype.union=function(e){return e===t.Set.complete?t.Set.complete:e===t.Set.empty?this:new t.Set(Object.keys(this.elements).concat(Object.keys(e.elements)))},t.idf=function(e,r){var n=0;for(var i in e)i!="_index"&&(n+=Object.keys(e[i]).length);var s=(r-n+.5)/(n+.5);return Math.log(1+Math.abs(s))},t.Token=function(e,r){this.str=e||"",this.metadata=r||{}},t.Token.prototype.toString=function(){return this.str},t.Token.prototype.update=function(e){return this.str=e(this.str,this.metadata),this},t.Token.prototype.clone=function(e){return e=e||function(r){return r},new t.Token(e(this.str,this.metadata),this.metadata)};/*!
  * lunr.tokenizer
  * Copyright (C) 2020 Oliver Nightingale
- */t.tokenizer=function(e,r){if(e==null||e==null)return[];if(Array.isArray(e))return e.map(function(y){return new t.Token(t.utils.asString(y).toLowerCase(),t.utils.clone(r))});for(var n=e.toString().toLowerCase(),i=n.length,s=[],o=0,a=0;o<=i;o++){var u=n.charAt(o),c=o-a;if(u.match(t.tokenizer.separator)||o==i){if(c>0){var h=t.utils.clone(r)||{};h.position=[a,c],h.index=s.length,s.push(new t.Token(n.slice(a,o),h))}a=o+1}}return s},t.tokenizer.separator=/[\s\-]+/;/*!
+ */t.tokenizer=function(e,r){if(e==null||e==null)return[];if(Array.isArray(e))return e.map(function(g){return new t.Token(t.utils.asString(g).toLowerCase(),t.utils.clone(r))});for(var n=e.toString().toLowerCase(),i=n.length,s=[],o=0,a=0;o<=i;o++){var u=n.charAt(o),c=o-a;if(u.match(t.tokenizer.separator)||o==i){if(c>0){var f=t.utils.clone(r)||{};f.position=[a,c],f.index=s.length,s.push(new t.Token(n.slice(a,o),f))}a=o+1}}return s},t.tokenizer.separator=/[\s\-]+/;/*!
  * lunr.Pipeline
  * Copyright (C) 2020 Oliver Nightingale
  */t.Pipeline=function(){this._stack=[]},t.Pipeline.registeredFunctions=Object.create(null),t.Pipeline.registerFunction=function(e,r){r in this.registeredFunctions&&t.utils.warn("Overwriting existing registered function: "+r),e.label=r,t.Pipeline.registeredFunctions[e.label]=e},t.Pipeline.warnIfFunctionNotRegistered=function(e){var r=e.label&&e.label in this.registeredFunctions;r||t.utils.warn(`Function is not registered with pipeline. This may cause problems when serialising the index.
 `,e)},t.Pipeline.load=function(e){var r=new t.Pipeline;return e.forEach(function(n){var i=t.Pipeline.registeredFunctions[n];if(i)r.add(i);else throw new Error("Cannot load unregistered function: "+n)}),r},t.Pipeline.prototype.add=function(){var e=Array.prototype.slice.call(arguments);e.forEach(function(r){t.Pipeline.warnIfFunctionNotRegistered(r),this._stack.push(r)},this)},t.Pipeline.prototype.after=function(e,r){t.Pipeline.warnIfFunctionNotRegistered(r);var n=this._stack.indexOf(e);if(n==-1)throw new Error("Cannot find existingFn");n=n+1,this._stack.splice(n,0,r)},t.Pipeline.prototype.before=function(e,r){t.Pipeline.warnIfFunctionNotRegistered(r);var n=this._stack.indexOf(e);if(n==-1)throw new Error("Cannot find existingFn");this._stack.splice(n,0,r)},t.Pipeline.prototype.remove=function(e){var r=this._stack.indexOf(e);r!=-1&&this._stack.splice(r,1)},t.Pipeline.prototype.run=function(e){for(var r=this._stack.length,n=0;n<r;n++){for(var i=this._stack[n],s=[],o=0;o<e.length;o++){var a=i(e[o],o,e);if(!(a==null||a===""))if(Array.isArray(a))for(var u=0;u<a.length;u++)s.push(a[u]);else s.push(a)}e=s}return e},t.Pipeline.prototype.runString=function(e,r){var n=new t.Token(e,r);return this.run([n]).map(function(i){return i.toString()})},t.Pipeline.prototype.reset=function(){this._stack=[]},t.Pipeline.prototype.toJSON=function(){return this._stack.map(function(e){return t.Pipeline.warnIfFunctionNotRegistered(e),e.label})};/*!
  * lunr.Vector
  * Copyright (C) 2020 Oliver Nightingale
- */t.Vector=function(e){this._magnitude=0,this.elements=e||[]},t.Vector.prototype.positionForIndex=function(e){if(this.elements.length==0)return 0;for(var r=0,n=this.elements.length/2,i=n-r,s=Math.floor(i/2),o=this.elements[s*2];i>1&&(o<e&&(r=s),o>e&&(n=s),o!=e);)i=n-r,s=r+Math.floor(i/2),o=this.elements[s*2];if(o==e||o>e)return s*2;if(o<e)return(s+1)*2},t.Vector.prototype.insert=function(e,r){this.upsert(e,r,function(){throw"duplicate index"})},t.Vector.prototype.upsert=function(e,r,n){this._magnitude=0;var i=this.positionForIndex(e);this.elements[i]==e?this.elements[i+1]=n(this.elements[i+1],r):this.elements.splice(i,0,e,r)},t.Vector.prototype.magnitude=function(){if(this._magnitude)return this._magnitude;for(var e=0,r=this.elements.length,n=1;n<r;n+=2){var i=this.elements[n];e+=i*i}return this._magnitude=Math.sqrt(e)},t.Vector.prototype.dot=function(e){for(var r=0,n=this.elements,i=e.elements,s=n.length,o=i.length,a=0,u=0,c=0,h=0;c<s&&h<o;)a=n[c],u=i[h],a<u?c+=2:a>u?h+=2:a==u&&(r+=n[c+1]*i[h+1],c+=2,h+=2);return r},t.Vector.prototype.similarity=function(e){return this.dot(e)/this.magnitude()||0},t.Vector.prototype.toArray=function(){for(var e=new Array(this.elements.length/2),r=1,n=0;r<this.elements.length;r+=2,n++)e[n]=this.elements[r];return e},t.Vector.prototype.toJSON=function(){return this.elements};/*!
+ */t.Vector=function(e){this._magnitude=0,this.elements=e||[]},t.Vector.prototype.positionForIndex=function(e){if(this.elements.length==0)return 0;for(var r=0,n=this.elements.length/2,i=n-r,s=Math.floor(i/2),o=this.elements[s*2];i>1&&(o<e&&(r=s),o>e&&(n=s),o!=e);)i=n-r,s=r+Math.floor(i/2),o=this.elements[s*2];if(o==e||o>e)return s*2;if(o<e)return(s+1)*2},t.Vector.prototype.insert=function(e,r){this.upsert(e,r,function(){throw"duplicate index"})},t.Vector.prototype.upsert=function(e,r,n){this._magnitude=0;var i=this.positionForIndex(e);this.elements[i]==e?this.elements[i+1]=n(this.elements[i+1],r):this.elements.splice(i,0,e,r)},t.Vector.prototype.magnitude=function(){if(this._magnitude)return this._magnitude;for(var e=0,r=this.elements.length,n=1;n<r;n+=2){var i=this.elements[n];e+=i*i}return this._magnitude=Math.sqrt(e)},t.Vector.prototype.dot=function(e){for(var r=0,n=this.elements,i=e.elements,s=n.length,o=i.length,a=0,u=0,c=0,f=0;c<s&&f<o;)a=n[c],u=i[f],a<u?c+=2:a>u?f+=2:a==u&&(r+=n[c+1]*i[f+1],c+=2,f+=2);return r},t.Vector.prototype.similarity=function(e){return this.dot(e)/this.magnitude()||0},t.Vector.prototype.toArray=function(){for(var e=new Array(this.elements.length/2),r=1,n=0;r<this.elements.length;r+=2,n++)e[n]=this.elements[r];return e},t.Vector.prototype.toJSON=function(){return this.elements};/*!
  * lunr.stemmer
  * Copyright (C) 2020 Oliver Nightingale
  * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt
- */t.stemmer=function(){var e={ational:"ate",tional:"tion",enci:"ence",anci:"ance",izer:"ize",bli:"ble",alli:"al",entli:"ent",eli:"e",ousli:"ous",ization:"ize",ation:"ate",ator:"ate",alism:"al",iveness:"ive",fulness:"ful",ousness:"ous",aliti:"al",iviti:"ive",biliti:"ble",logi:"log"},r={icate:"ic",ative:"",alize:"al",iciti:"ic",ical:"ic",ful:"",ness:""},n="[^aeiou]",i="[aeiouy]",s=n+"[^aeiouy]*",o=i+"[aeiou]*",a="^("+s+")?"+o+s,u="^("+s+")?"+o+s+"("+o+")?$",c="^("+s+")?"+o+s+o+s,h="^("+s+")?"+i,y=new RegExp(a),g=new RegExp(c),b=new RegExp(u),m=new RegExp(h),Q=/^(.+?)(ss|i)es$/,p=/^(.+?)([^s])s$/,d=/^(.+?)eed$/,w=/^(.+?)(ed|ing)$/,L=/.$/,k=/(at|bl|iz)$/,I=new RegExp("([^aeiouylsz])\\1$"),j=new RegExp("^"+s+i+"[^aeiouwxy]$"),F=/^(.+?[^aeiou])y$/,A=/^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/,N=/^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/,C=/^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/,$=/^(.+?)(s|t)(ion)$/,T=/^(.+?)e$/,V=/ll$/,B=new RegExp("^"+s+i+"[^aeiouwxy]$"),D=function(l){var v,P,E,f,x,R,_;if(l.length<3)return l;if(E=l.substr(0,1),E=="y"&&(l=E.toUpperCase()+l.substr(1)),f=Q,x=p,f.test(l)?l=l.replace(f,"$1$2"):x.test(l)&&(l=l.replace(x,"$1$2")),f=d,x=w,f.test(l)){var S=f.exec(l);f=y,f.test(S[1])&&(f=L,l=l.replace(f,""))}else if(x.test(l)){var S=x.exec(l);v=S[1],x=m,x.test(v)&&(l=v,x=k,R=I,_=j,x.test(l)?l=l+"e":R.test(l)?(f=L,l=l.replace(f,"")):_.test(l)&&(l=l+"e"))}if(f=F,f.test(l)){var S=f.exec(l);v=S[1],l=v+"i"}if(f=A,f.test(l)){var S=f.exec(l);v=S[1],P=S[2],f=y,f.test(v)&&(l=v+e[P])}if(f=N,f.test(l)){var S=f.exec(l);v=S[1],P=S[2],f=y,f.test(v)&&(l=v+r[P])}if(f=C,x=$,f.test(l)){var S=f.exec(l);v=S[1],f=g,f.test(v)&&(l=v)}else if(x.test(l)){var S=x.exec(l);v=S[1]+S[2],x=g,x.test(v)&&(l=v)}if(f=T,f.test(l)){var S=f.exec(l);v=S[1],f=g,x=b,R=B,(f.test(v)||x.test(v)&&!R.test(v))&&(l=v)}return f=V,x=g,f.test(l)&&x.test(l)&&(f=L,l=l.replace(f,"")),E=="y"&&(l=E.toLowerCase()+l.substr(1)),l};return function(O){return O.update(D)}}(),t.Pipeline.registerFunction(t.stemmer,"stemmer");/*!
+ */t.stemmer=function(){var e={ational:"ate",tional:"tion",enci:"ence",anci:"ance",izer:"ize",bli:"ble",alli:"al",entli:"ent",eli:"e",ousli:"ous",ization:"ize",ation:"ate",ator:"ate",alism:"al",iveness:"ive",fulness:"ful",ousness:"ous",aliti:"al",iviti:"ive",biliti:"ble",logi:"log"},r={icate:"ic",ative:"",alize:"al",iciti:"ic",ical:"ic",ful:"",ness:""},n="[^aeiou]",i="[aeiouy]",s=n+"[^aeiouy]*",o=i+"[aeiou]*",a="^("+s+")?"+o+s,u="^("+s+")?"+o+s+"("+o+")?$",c="^("+s+")?"+o+s+o+s,f="^("+s+")?"+i,g=new RegExp(a),l=new RegExp(c),m=new RegExp(u),x=new RegExp(f),v=/^(.+?)(ss|i)es$/,d=/^(.+?)([^s])s$/,y=/^(.+?)eed$/,b=/^(.+?)(ed|ing)$/,E=/.$/,w=/(at|bl|iz)$/,R=new RegExp("([^aeiouylsz])\\1$"),j=new RegExp("^"+s+i+"[^aeiouwxy]$"),_=/^(.+?[^aeiou])y$/,D=/^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/,N=/^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/,C=/^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/,V=/^(.+?)(s|t)(ion)$/,P=/^(.+?)e$/,z=/ll$/,$=new RegExp("^"+s+i+"[^aeiouwxy]$"),M=function(h){var S,k,L,p,T,O,F;if(h.length<3)return h;if(L=h.substr(0,1),L=="y"&&(h=L.toUpperCase()+h.substr(1)),p=v,T=d,p.test(h)?h=h.replace(p,"$1$2"):T.test(h)&&(h=h.replace(T,"$1$2")),p=y,T=b,p.test(h)){var Q=p.exec(h);p=g,p.test(Q[1])&&(p=E,h=h.replace(p,""))}else if(T.test(h)){var Q=T.exec(h);S=Q[1],T=x,T.test(S)&&(h=S,T=w,O=R,F=j,T.test(h)?h=h+"e":O.test(h)?(p=E,h=h.replace(p,"")):F.test(h)&&(h=h+"e"))}if(p=_,p.test(h)){var Q=p.exec(h);S=Q[1],h=S+"i"}if(p=D,p.test(h)){var Q=p.exec(h);S=Q[1],k=Q[2],p=g,p.test(S)&&(h=S+e[k])}if(p=N,p.test(h)){var Q=p.exec(h);S=Q[1],k=Q[2],p=g,p.test(S)&&(h=S+r[k])}if(p=C,T=V,p.test(h)){var Q=p.exec(h);S=Q[1],p=l,p.test(S)&&(h=S)}else if(T.test(h)){var Q=T.exec(h);S=Q[1]+Q[2],T=l,T.test(S)&&(h=S)}if(p=P,p.test(h)){var Q=p.exec(h);S=Q[1],p=l,T=m,O=$,(p.test(S)||T.test(S)&&!O.test(S))&&(h=S)}return p=z,T=l,p.test(h)&&T.test(h)&&(p=E,h=h.replace(p,"")),L=="y"&&(h=L.toLowerCase()+h.substr(1)),h};return function(I){return I.update(M)}}(),t.Pipeline.registerFunction(t.stemmer,"stemmer");/*!
  * lunr.stopWordFilter
  * Copyright (C) 2020 Oliver Nightingale
  */t.generateStopWordFilter=function(e){var r=e.reduce(function(n,i){return n[i]=i,n},{});return function(n){if(n&&r[n.toString()]!==n.toString())return n}},t.stopWordFilter=t.generateStopWordFilter(["a","able","about","across","after","all","almost","also","am","among","an","and","any","are","as","at","be","because","been","but","by","can","cannot","could","dear","did","do","does","either","else","ever","every","for","from","get","got","had","has","have","he","her","hers","him","his","how","however","i","if","in","into","is","it","its","just","least","let","like","likely","may","me","might","most","must","my","neither","no","nor","not","of","off","often","on","only","or","other","our","own","rather","said","say","says","she","should","since","so","some","than","that","the","their","them","then","there","these","they","this","tis","to","too","twas","us","wants","was","we","were","what","when","where","which","while","who","whom","why","will","with","would","yet","you","your"]),t.Pipeline.registerFunction(t.stopWordFilter,"stopWordFilter");/*!
@@ -31,18 +31,12 @@
  */t.trimmer=function(e){return e.update(function(r){return r.replace(/^\W+/,"").replace(/\W+$/,"")})},t.Pipeline.registerFunction(t.trimmer,"trimmer");/*!
  * lunr.TokenSet
  * Copyright (C) 2020 Oliver Nightingale
- */t.TokenSet=function(){this.final=!1,this.edges={},this.id=t.TokenSet._nextId,t.TokenSet._nextId+=1},t.TokenSet._nextId=1,t.TokenSet.fromArray=function(e){for(var r=new t.TokenSet.Builder,n=0,i=e.length;n<i;n++)r.insert(e[n]);return r.finish(),r.root},t.TokenSet.fromClause=function(e){return"editDistance"in e?t.TokenSet.fromFuzzyString(e.term,e.editDistance):t.TokenSet.fromString(e.term)},t.TokenSet.fromFuzzyString=function(e,r){for(var n=new t.TokenSet,i=[{node:n,editsRemaining:r,str:e}];i.length;){var s=i.pop();if(s.str.length>0){var o=s.str.charAt(0),a;o in s.node.edges?a=s.node.edges[o]:(a=new t.TokenSet,s.node.edges[o]=a),s.str.length==1&&(a.final=!0),i.push({node:a,editsRemaining:s.editsRemaining,str:s.str.slice(1)})}if(s.editsRemaining!=0){if("*"in s.node.edges)var u=s.node.edges["*"];else{var u=new t.TokenSet;s.node.edges["*"]=u}if(s.str.length==0&&(u.final=!0),i.push({node:u,editsRemaining:s.editsRemaining-1,str:s.str}),s.str.length>1&&i.push({node:s.node,editsRemaining:s.editsRemaining-1,str:s.str.slice(1)}),s.str.length==1&&(s.node.final=!0),s.str.length>=1){if("*"in s.node.edges)var c=s.node.edges["*"];else{var c=new t.TokenSet;s.node.edges["*"]=c}s.str.length==1&&(c.final=!0),i.push({node:c,editsRemaining:s.editsRemaining-1,str:s.str.slice(1)})}if(s.str.length>1){var h=s.str.charAt(0),y=s.str.charAt(1),g;y in s.node.edges?g=s.node.edges[y]:(g=new t.TokenSet,s.node.edges[y]=g),s.str.length==1&&(g.final=!0),i.push({node:g,editsRemaining:s.editsRemaining-1,str:h+s.str.slice(2)})}}}return n},t.TokenSet.fromString=function(e){for(var r=new t.TokenSet,n=r,i=0,s=e.length;i<s;i++){var o=e[i],a=i==s-1;if(o=="*")r.edges[o]=r,r.final=a;else{var u=new t.TokenSet;u.final=a,r.edges[o]=u,r=u}}return n},t.TokenSet.prototype.toArray=function(){for(var e=[],r=[{prefix:"",node:this}];r.length;){var n=r.pop(),i=Object.keys(n.node.edges),s=i.length;n.node.final&&(n.prefix.charAt(0),e.push(n.prefix));for(var o=0;o<s;o++){var a=i[o];r.push({prefix:n.prefix.concat(a),node:n.node.edges[a]})}}return e},t.TokenSet.prototype.toString=function(){if(this._str)return this._str;for(var e=this.final?"1":"0",r=Object.keys(this.edges).sort(),n=r.length,i=0;i<n;i++){var s=r[i],o=this.edges[s];e=e+s+o.id}return e},t.TokenSet.prototype.intersect=function(e){for(var r=new t.TokenSet,n=void 0,i=[{qNode:e,output:r,node:this}];i.length;){n=i.pop();for(var s=Object.keys(n.qNode.edges),o=s.length,a=Object.keys(n.node.edges),u=a.length,c=0;c<o;c++)for(var h=s[c],y=0;y<u;y++){var g=a[y];if(g==h||h=="*"){var b=n.node.edges[g],m=n.qNode.edges[h],Q=b.final&&m.final,p=void 0;g in n.output.edges?(p=n.output.edges[g],p.final=p.final||Q):(p=new t.TokenSet,p.final=Q,n.output.edges[g]=p),i.push({qNode:m,output:p,node:b})}}}return r},t.TokenSet.Builder=function(){this.previousWord="",this.root=new t.TokenSet,this.uncheckedNodes=[],this.minimizedNodes={}},t.TokenSet.Builder.prototype.insert=function(e){var r,n=0;if(e<this.previousWord)throw new Error("Out of order word insertion");for(var i=0;i<e.length&&i<this.previousWord.length&&e[i]==this.previousWord[i];i++)n++;this.minimize(n),this.uncheckedNodes.length==0?r=this.root:r=this.uncheckedNodes[this.uncheckedNodes.length-1].child;for(var i=n;i<e.length;i++){var s=new t.TokenSet,o=e[i];r.edges[o]=s,this.uncheckedNodes.push({parent:r,char:o,child:s}),r=s}r.final=!0,this.previousWord=e},t.TokenSet.Builder.prototype.finish=function(){this.minimize(0)},t.TokenSet.Builder.prototype.minimize=function(e){for(var r=this.uncheckedNodes.length-1;r>=e;r--){var n=this.uncheckedNodes[r],i=n.child.toString();i in this.minimizedNodes?n.parent.edges[n.char]=this.minimizedNodes[i]:(n.child._str=i,this.minimizedNodes[i]=n.child),this.uncheckedNodes.pop()}};/*!
+ */t.TokenSet=function(){this.final=!1,this.edges={},this.id=t.TokenSet._nextId,t.TokenSet._nextId+=1},t.TokenSet._nextId=1,t.TokenSet.fromArray=function(e){for(var r=new t.TokenSet.Builder,n=0,i=e.length;n<i;n++)r.insert(e[n]);return r.finish(),r.root},t.TokenSet.fromClause=function(e){return"editDistance"in e?t.TokenSet.fromFuzzyString(e.term,e.editDistance):t.TokenSet.fromString(e.term)},t.TokenSet.fromFuzzyString=function(e,r){for(var n=new t.TokenSet,i=[{node:n,editsRemaining:r,str:e}];i.length;){var s=i.pop();if(s.str.length>0){var o=s.str.charAt(0),a;o in s.node.edges?a=s.node.edges[o]:(a=new t.TokenSet,s.node.edges[o]=a),s.str.length==1&&(a.final=!0),i.push({node:a,editsRemaining:s.editsRemaining,str:s.str.slice(1)})}if(s.editsRemaining!=0){if("*"in s.node.edges)var u=s.node.edges["*"];else{var u=new t.TokenSet;s.node.edges["*"]=u}if(s.str.length==0&&(u.final=!0),i.push({node:u,editsRemaining:s.editsRemaining-1,str:s.str}),s.str.length>1&&i.push({node:s.node,editsRemaining:s.editsRemaining-1,str:s.str.slice(1)}),s.str.length==1&&(s.node.final=!0),s.str.length>=1){if("*"in s.node.edges)var c=s.node.edges["*"];else{var c=new t.TokenSet;s.node.edges["*"]=c}s.str.length==1&&(c.final=!0),i.push({node:c,editsRemaining:s.editsRemaining-1,str:s.str.slice(1)})}if(s.str.length>1){var f=s.str.charAt(0),g=s.str.charAt(1),l;g in s.node.edges?l=s.node.edges[g]:(l=new t.TokenSet,s.node.edges[g]=l),s.str.length==1&&(l.final=!0),i.push({node:l,editsRemaining:s.editsRemaining-1,str:f+s.str.slice(2)})}}}return n},t.TokenSet.fromString=function(e){for(var r=new t.TokenSet,n=r,i=0,s=e.length;i<s;i++){var o=e[i],a=i==s-1;if(o=="*")r.edges[o]=r,r.final=a;else{var u=new t.TokenSet;u.final=a,r.edges[o]=u,r=u}}return n},t.TokenSet.prototype.toArray=function(){for(var e=[],r=[{prefix:"",node:this}];r.length;){var n=r.pop(),i=Object.keys(n.node.edges),s=i.length;n.node.final&&(n.prefix.charAt(0),e.push(n.prefix));for(var o=0;o<s;o++){var a=i[o];r.push({prefix:n.prefix.concat(a),node:n.node.edges[a]})}}return e},t.TokenSet.prototype.toString=function(){if(this._str)return this._str;for(var e=this.final?"1":"0",r=Object.keys(this.edges).sort(),n=r.length,i=0;i<n;i++){var s=r[i],o=this.edges[s];e=e+s+o.id}return e},t.TokenSet.prototype.intersect=function(e){for(var r=new t.TokenSet,n=void 0,i=[{qNode:e,output:r,node:this}];i.length;){n=i.pop();for(var s=Object.keys(n.qNode.edges),o=s.length,a=Object.keys(n.node.edges),u=a.length,c=0;c<o;c++)for(var f=s[c],g=0;g<u;g++){var l=a[g];if(l==f||f=="*"){var m=n.node.edges[l],x=n.qNode.edges[f],v=m.final&&x.final,d=void 0;l in n.output.edges?(d=n.output.edges[l],d.final=d.final||v):(d=new t.TokenSet,d.final=v,n.output.edges[l]=d),i.push({qNode:x,output:d,node:m})}}}return r},t.TokenSet.Builder=function(){this.previousWord="",this.root=new t.TokenSet,this.uncheckedNodes=[],this.minimizedNodes={}},t.TokenSet.Builder.prototype.insert=function(e){var r,n=0;if(e<this.previousWord)throw new Error("Out of order word insertion");for(var i=0;i<e.length&&i<this.previousWord.length&&e[i]==this.previousWord[i];i++)n++;this.minimize(n),this.uncheckedNodes.length==0?r=this.root:r=this.uncheckedNodes[this.uncheckedNodes.length-1].child;for(var i=n;i<e.length;i++){var s=new t.TokenSet,o=e[i];r.edges[o]=s,this.uncheckedNodes.push({parent:r,char:o,child:s}),r=s}r.final=!0,this.previousWord=e},t.TokenSet.Builder.prototype.finish=function(){this.minimize(0)},t.TokenSet.Builder.prototype.minimize=function(e){for(var r=this.uncheckedNodes.length-1;r>=e;r--){var n=this.uncheckedNodes[r],i=n.child.toString();i in this.minimizedNodes?n.parent.edges[n.char]=this.minimizedNodes[i]:(n.child._str=i,this.minimizedNodes[i]=n.child),this.uncheckedNodes.pop()}};/*!
  * lunr.Index
  * Copyright (C) 2020 Oliver Nightingale
- */t.Index=function(e){this.invertedIndex=e.invertedIndex,this.fieldVectors=e.fieldVectors,this.tokenSet=e.tokenSet,this.fields=e.fields,this.pipeline=e.pipeline},t.Index.prototype.search=function(e){return this.query(function(r){var n=new t.QueryParser(e,r);n.parse()})},t.Index.prototype.query=function(e){for(var r=new t.Query(this.fields),n=Object.create(null),i=Object.create(null),s=Object.create(null),o=Object.create(null),a=Object.create(null),u=0;u<this.fields.length;u++)i[this.fields[u]]=new t.Vector;e.call(r,r);for(var u=0;u<r.clauses.length;u++){var c=r.clauses[u],h=null,y=t.Set.empty;c.usePipeline?h=this.pipeline.runString(c.term,{fields:c.fields}):h=[c.term];for(var g=0;g<h.length;g++){var b=h[g];c.term=b;var m=t.TokenSet.fromClause(c),Q=this.tokenSet.intersect(m).toArray();if(Q.length===0&&c.presence===t.Query.presence.REQUIRED){for(var p=0;p<c.fields.length;p++){var d=c.fields[p];o[d]=t.Set.empty}break}for(var w=0;w<Q.length;w++)for(var L=Q[w],k=this.invertedIndex[L],I=k._index,p=0;p<c.fields.length;p++){var d=c.fields[p],j=k[d],F=Object.keys(j),A=L+"/"+d,N=new t.Set(F);if(c.presence==t.Query.presence.REQUIRED&&(y=y.union(N),o[d]===void 0&&(o[d]=t.Set.complete)),c.presence==t.Query.presence.PROHIBITED){a[d]===void 0&&(a[d]=t.Set.empty),a[d]=a[d].union(N);continue}if(i[d].upsert(I,c.boost,function(pe,de){return pe+de}),!s[A]){for(var C=0;C<F.length;C++){var $=F[C],T=new t.FieldRef($,d),V=j[$],B;(B=n[T])===void 0?n[T]=new t.MatchData(L,d,V):B.add(L,d,V)}s[A]=!0}}}if(c.presence===t.Query.presence.REQUIRED)for(var p=0;p<c.fields.length;p++){var d=c.fields[p];o[d]=o[d].intersect(y)}}for(var D=t.Set.complete,O=t.Set.empty,u=0;u<this.fields.length;u++){var d=this.fields[u];o[d]&&(D=D.intersect(o[d])),a[d]&&(O=O.union(a[d]))}var l=Object.keys(n),v=[],P=Object.create(null);if(r.isNegated()){l=Object.keys(this.fieldVectors);for(var u=0;u<l.length;u++){var T=l[u],E=t.FieldRef.fromString(T);n[T]=new t.MatchData}}for(var u=0;u<l.length;u++){var E=t.FieldRef.fromString(l[u]),f=E.docRef;if(!!D.contains(f)&&!O.contains(f)){var x=this.fieldVectors[E],R=i[E.fieldName].similarity(x),_;if((_=P[f])!==void 0)_.score+=R,_.matchData.combine(n[E]);else{var S={ref:f,score:R,matchData:n[E]};P[f]=S,v.push(S)}}}return v.sort(function(he,fe){return fe.score-he.score})},t.Index.prototype.toJSON=function(){var e=Object.keys(this.invertedIndex).sort().map(function(n){return[n,this.invertedIndex[n]]},this),r=Object.keys(this.fieldVectors).map(function(n){return[n,this.fieldVectors[n].toJSON()]},this);return{version:t.version,fields:this.fields,fieldVectors:r,invertedIndex:e,pipeline:this.pipeline.toJSON()}},t.Index.load=function(e){var r={},n={},i=e.fieldVectors,s=Object.create(null),o=e.invertedIndex,a=new t.TokenSet.Builder,u=t.Pipeline.load(e.pipeline);e.version!=t.version&&t.utils.warn("Version mismatch when loading serialised index. Current version of lunr '"+t.version+"' does not match serialized index '"+e.version+"'");for(var c=0;c<i.length;c++){var h=i[c],y=h[0],g=h[1];n[y]=new t.Vector(g)}for(var c=0;c<o.length;c++){var h=o[c],b=h[0],m=h[1];a.insert(b),s[b]=m}return a.finish(),r.fields=e.fields,r.fieldVectors=n,r.invertedIndex=s,r.tokenSet=a.root,r.pipeline=u,new t.Index(r)};/*!
+ */t.Index=function(e){this.invertedIndex=e.invertedIndex,this.fieldVectors=e.fieldVectors,this.tokenSet=e.tokenSet,this.fields=e.fields,this.pipeline=e.pipeline},t.Index.prototype.search=function(e){return this.query(function(r){var n=new t.QueryParser(e,r);n.parse()})},t.Index.prototype.query=function(e){for(var r=new t.Query(this.fields),n=Object.create(null),i=Object.create(null),s=Object.create(null),o=Object.create(null),a=Object.create(null),u=0;u<this.fields.length;u++)i[this.fields[u]]=new t.Vector;e.call(r,r);for(var u=0;u<r.clauses.length;u++){var c=r.clauses[u],f=null,g=t.Set.empty;c.usePipeline?f=this.pipeline.runString(c.term,{fields:c.fields}):f=[c.term];for(var l=0;l<f.length;l++){var m=f[l];c.term=m;var x=t.TokenSet.fromClause(c),v=this.tokenSet.intersect(x).toArray();if(v.length===0&&c.presence===t.Query.presence.REQUIRED){for(var d=0;d<c.fields.length;d++){var y=c.fields[d];o[y]=t.Set.empty}break}for(var b=0;b<v.length;b++)for(var E=v[b],w=this.invertedIndex[E],R=w._index,d=0;d<c.fields.length;d++){var y=c.fields[d],j=w[y],_=Object.keys(j),D=E+"/"+y,N=new t.Set(_);if(c.presence==t.Query.presence.REQUIRED&&(g=g.union(N),o[y]===void 0&&(o[y]=t.Set.complete)),c.presence==t.Query.presence.PROHIBITED){a[y]===void 0&&(a[y]=t.Set.empty),a[y]=a[y].union(N);continue}if(i[y].upsert(R,c.boost,function(ye,me){return ye+me}),!s[D]){for(var C=0;C<_.length;C++){var V=_[C],P=new t.FieldRef(V,y),z=j[V],$;($=n[P])===void 0?n[P]=new t.MatchData(E,y,z):$.add(E,y,z)}s[D]=!0}}}if(c.presence===t.Query.presence.REQUIRED)for(var d=0;d<c.fields.length;d++){var y=c.fields[d];o[y]=o[y].intersect(g)}}for(var M=t.Set.complete,I=t.Set.empty,u=0;u<this.fields.length;u++){var y=this.fields[u];o[y]&&(M=M.intersect(o[y])),a[y]&&(I=I.union(a[y]))}var h=Object.keys(n),S=[],k=Object.create(null);if(r.isNegated()){h=Object.keys(this.fieldVectors);for(var u=0;u<h.length;u++){var P=h[u],L=t.FieldRef.fromString(P);n[P]=new t.MatchData}}for(var u=0;u<h.length;u++){var L=t.FieldRef.fromString(h[u]),p=L.docRef;if(M.contains(p)&&!I.contains(p)){var T=this.fieldVectors[L],O=i[L.fieldName].similarity(T),F;if((F=k[p])!==void 0)F.score+=O,F.matchData.combine(n[L]);else{var Q={ref:p,score:O,matchData:n[L]};k[p]=Q,S.push(Q)}}}return S.sort(function(pe,ge){return ge.score-pe.score})},t.Index.prototype.toJSON=function(){var e=Object.keys(this.invertedIndex).sort().map(function(n){return[n,this.invertedIndex[n]]},this),r=Object.keys(this.fieldVectors).map(function(n){return[n,this.fieldVectors[n].toJSON()]},this);return{version:t.version,fields:this.fields,fieldVectors:r,invertedIndex:e,pipeline:this.pipeline.toJSON()}},t.Index.load=function(e){var r={},n={},i=e.fieldVectors,s=Object.create(null),o=e.invertedIndex,a=new t.TokenSet.Builder,u=t.Pipeline.load(e.pipeline);e.version!=t.version&&t.utils.warn("Version mismatch when loading serialised index. Current version of lunr '"+t.version+"' does not match serialized index '"+e.version+"'");for(var c=0;c<i.length;c++){var f=i[c],g=f[0],l=f[1];n[g]=new t.Vector(l)}for(var c=0;c<o.length;c++){var f=o[c],m=f[0],x=f[1];a.insert(m),s[m]=x}return a.finish(),r.fields=e.fields,r.fieldVectors=n,r.invertedIndex=s,r.tokenSet=a.root,r.pipeline=u,new t.Index(r)};/*!
  * lunr.Builder
  * Copyright (C) 2020 Oliver Nightingale
- */t.Builder=function(){this._ref="id",this._fields=Object.create(null),this._documents=Object.create(null),this.invertedIndex=Object.create(null),this.fieldTermFrequencies={},this.fieldLengths={},this.tokenizer=t.tokenizer,this.pipeline=new t.Pipeline,this.searchPipeline=new t.Pipeline,this.documentCount=0,this._b=.75,this._k1=1.2,this.termIndex=0,this.metadataWhitelist=[]},t.Builder.prototype.ref=function(e){this._ref=e},t.Builder.prototype.field=function(e,r){if(/\//.test(e))throw new RangeError("Field '"+e+"' contains illegal character '/'");this._fields[e]=r||{}},t.Builder.prototype.b=function(e){e<0?this._b=0:e>1?this._b=1:this._b=e},t.Builder.prototype.k1=function(e){this._k1=e},t.Builder.prototype.add=function(e,r){var n=e[this._ref],i=Object.keys(this._fields);this._documents[n]=r||{},this.documentCount+=1;for(var s=0;s<i.length;s++){var o=i[s],a=this._fields[o].extractor,u=a?a(e):e[o],c=this.tokenizer(u,{fields:[o]}),h=this.pipeline.run(c),y=new t.FieldRef(n,o),g=Object.create(null);this.fieldTermFrequencies[y]=g,this.fieldLengths[y]=0,this.fieldLengths[y]+=h.length;for(var b=0;b<h.length;b++){var m=h[b];if(g[m]==null&&(g[m]=0),g[m]+=1,this.invertedIndex[m]==null){var Q=Object.create(null);Q._index=this.termIndex,this.termIndex+=1;for(var p=0;p<i.length;p++)Q[i[p]]=Object.create(null);this.invertedIndex[m]=Q}this.invertedIndex[m][o][n]==null&&(this.invertedIndex[m][o][n]=Object.create(null));for(var d=0;d<this.metadataWhitelist.length;d++){var w=this.metadataWhitelist[d],L=m.metadata[w];this.invertedIndex[m][o][n][w]==null&&(this.invertedIndex[m][o][n][w]=[]),this.invertedIndex[m][o][n][w].push(L)}}}},t.Builder.prototype.calculateAverageFieldLengths=function(){for(var e=Object.keys(this.fieldLengths),r=e.length,n={},i={},s=0;s<r;s++){var o=t.FieldRef.fromString(e[s]),a=o.fieldName;i[a]||(i[a]=0),i[a]+=1,n[a]||(n[a]=0),n[a]+=this.fieldLengths[o]}for(var u=Object.keys(this._fields),s=0;s<u.length;s++){var c=u[s];n[c]=n[c]/i[c]}this.averageFieldLength=n},t.Builder.prototype.createFieldVectors=function(){for(var e={},r=Object.keys(this.fieldTermFrequencies),n=r.length,i=Object.create(null),s=0;s<n;s++){for(var o=t.FieldRef.fromString(r[s]),a=o.fieldName,u=this.fieldLengths[o],c=new t.Vector,h=this.fieldTermFrequencies[o],y=Object.keys(h),g=y.length,b=this._fields[a].boost||1,m=this._documents[o.docRef].boost||1,Q=0;Q<g;Q++){var p=y[Q],d=h[p],w=this.invertedIndex[p]._index,L,k,I;i[p]===void 0?(L=t.idf(this.invertedIndex[p],this.documentCount),i[p]=L):L=i[p],k=L*((this._k1+1)*d)/(this._k1*(1-this._b+this._b*(u/this.averageFieldLength[a]))+d),k*=b,k*=m,I=Math.round(k*1e3)/1e3,c.insert(w,I)}e[o]=c}this.fieldVectors=e},t.Builder.prototype.createTokenSet=function(){this.tokenSet=t.TokenSet.fromArray(Object.keys(this.invertedIndex).sort())},t.Builder.prototype.build=function(){return this.calculateAverageFieldLengths(),this.createFieldVectors(),this.createTokenSet(),new t.Index({invertedIndex:this.invertedIndex,fieldVectors:this.fieldVectors,tokenSet:this.tokenSet,fields:Object.keys(this._fields),pipeline:this.searchPipeline})},t.Builder.prototype.use=function(e){var r=Array.prototype.slice.call(arguments,1);r.unshift(this),e.apply(this,r)},t.MatchData=function(e,r,n){for(var i=Object.create(null),s=Object.keys(n||{}),o=0;o<s.length;o++){var a=s[o];i[a]=n[a].slice()}this.metadata=Object.create(null),e!==void 0&&(this.metadata[e]=Object.create(null),this.metadata[e][r]=i)},t.MatchData.prototype.combine=function(e){for(var r=Object.keys(e.metadata),n=0;n<r.length;n++){var i=r[n],s=Object.keys(e.metadata[i]);this.metadata[i]==null&&(this.metadata[i]=Object.create(null));for(var o=0;o<s.length;o++){var a=s[o],u=Object.keys(e.metadata[i][a]);this.metadata[i][a]==null&&(this.metadata[i][a]=Object.create(null));for(var c=0;c<u.length;c++){var h=u[c];this.metadata[i][a][h]==null?this.metadata[i][a][h]=e.metadata[i][a][h]:this.metadata[i][a][h]=this.metadata[i][a][h].concat(e.metadata[i][a][h])}}}},t.MatchData.prototype.add=function(e,r,n){if(!(e in this.metadata)){this.metadata[e]=Object.create(null),this.metadata[e][r]=n;return}if(!(r in this.metadata[e])){this.metadata[e][r]=n;return}for(var i=Object.keys(n),s=0;s<i.length;s++){var o=i[s];o in this.metadata[e][r]?this.metadata[e][r][o]=this.metadata[e][r][o].concat(n[o]):this.metadata[e][r][o]=n[o]}},t.Query=function(e){this.clauses=[],this.allFields=e},t.Query.wildcard=new String("*"),t.Query.wildcard.NONE=0,t.Query.wildcard.LEADING=1,t.Query.wildcard.TRAILING=2,t.Query.presence={OPTIONAL:1,REQUIRED:2,PROHIBITED:3},t.Query.prototype.clause=function(e){return"fields"in e||(e.fields=this.allFields),"boost"in e||(e.boost=1),"usePipeline"in e||(e.usePipeline=!0),"wildcard"in e||(e.wildcard=t.Query.wildcard.NONE),e.wildcard&t.Query.wildcard.LEADING&&e.term.charAt(0)!=t.Query.wildcard&&(e.term="*"+e.term),e.wildcard&t.Query.wildcard.TRAILING&&e.term.slice(-1)!=t.Query.wildcard&&(e.term=""+e.term+"*"),"presence"in e||(e.presence=t.Query.presence.OPTIONAL),this.clauses.push(e),this},t.Query.prototype.isNegated=function(){for(var e=0;e<this.clauses.length;e++)if(this.clauses[e].presence!=t.Query.presence.PROHIBITED)return!1;return!0},t.Query.prototype.term=function(e,r){if(Array.isArray(e))return e.forEach(function(i){this.term(i,t.utils.clone(r))},this),this;var n=r||{};return n.term=e.toString(),this.clause(n),this},t.QueryParseError=function(e,r,n){this.name="QueryParseError",this.message=e,this.start=r,this.end=n},t.QueryParseError.prototype=new Error,t.QueryLexer=function(e){this.lexemes=[],this.str=e,this.length=e.length,this.pos=0,this.start=0,this.escapeCharPositions=[]},t.QueryLexer.prototype.run=function(){for(var e=t.QueryLexer.lexText;e;)e=e(this)},t.QueryLexer.prototype.sliceString=function(){for(var e=[],r=this.start,n=this.pos,i=0;i<this.escapeCharPositions.length;i++)n=this.escapeCharPositions[i],e.push(this.str.slice(r,n)),r=n+1;return e.push(this.str.slice(r,this.pos)),this.escapeCharPositions.length=0,e.join("")},t.QueryLexer.prototype.emit=function(e){this.lexemes.push({type:e,str:this.sliceString(),start:this.start,end:this.pos}),this.start=this.pos},t.QueryLexer.prototype.escapeCharacter=function(){this.escapeCharPositions.push(this.pos-1),this.pos+=1},t.QueryLexer.prototype.next=function(){if(this.pos>=this.length)return t.QueryLexer.EOS;var e=this.str.charAt(this.pos);return this.pos+=1,e},t.QueryLexer.prototype.width=function(){return this.pos-this.start},t.QueryLexer.prototype.ignore=function(){this.start==this.pos&&(this.pos+=1),this.start=this.pos},t.QueryLexer.prototype.backup=function(){this.pos-=1},t.QueryLexer.prototype.acceptDigitRun=function(){var e,r;do e=this.next(),r=e.charCodeAt(0);while(r>47&&r<58);e!=t.QueryLexer.EOS&&this.backup()},t.QueryLexer.prototype.more=function(){return this.pos<this.length},t.QueryLexer.EOS="EOS",t.QueryLexer.FIELD="FIELD",t.QueryLexer.TERM="TERM",t.QueryLexer.EDIT_DISTANCE="EDIT_DISTANCE",t.QueryLexer.BOOST="BOOST",t.QueryLexer.PRESENCE="PRESENCE",t.QueryLexer.lexField=function(e){return e.backup(),e.emit(t.QueryLexer.FIELD),e.ignore(),t.QueryLexer.lexText},t.QueryLexer.lexTerm=function(e){if(e.width()>1&&(e.backup(),e.emit(t.QueryLexer.TERM)),e.ignore(),e.more())return t.QueryLexer.lexText},t.QueryLexer.lexEditDistance=function(e){return e.ignore(),e.acceptDigitRun(),e.emit(t.QueryLexer.EDIT_DISTANCE),t.QueryLexer.lexText},t.QueryLexer.lexBoost=function(e){return e.ignore(),e.acceptDigitRun(),e.emit(t.QueryLexer.BOOST),t.QueryLexer.lexText},t.QueryLexer.lexEOS=function(e){e.width()>0&&e.emit(t.QueryLexer.TERM)},t.QueryLexer.termSeparator=t.tokenizer.separator,t.QueryLexer.lexText=function(e){for(;;){var r=e.next();if(r==t.QueryLexer.EOS)return t.QueryLexer.lexEOS;if(r.charCodeAt(0)==92){e.escapeCharacter();continue}if(r==":")return t.QueryLexer.lexField;if(r=="~")return e.backup(),e.width()>0&&e.emit(t.QueryLexer.TERM),t.QueryLexer.lexEditDistance;if(r=="^")return e.backup(),e.width()>0&&e.emit(t.QueryLexer.TERM),t.QueryLexer.lexBoost;if(r=="+"&&e.width()===1||r=="-"&&e.width()===1)return e.emit(t.QueryLexer.PRESENCE),t.QueryLexer.lexText;if(r.match(t.QueryLexer.termSeparator))return t.QueryLexer.lexTerm}},t.QueryParser=function(e,r){this.lexer=new t.QueryLexer(e),this.query=r,this.currentClause={},this.lexemeIdx=0},t.QueryParser.prototype.parse=function(){this.lexer.run(),this.lexemes=this.lexer.lexemes;for(var e=t.QueryParser.parseClause;e;)e=e(this);return this.query},t.QueryParser.prototype.peekLexeme=function(){return this.lexemes[this.lexemeIdx]},t.QueryParser.prototype.consumeLexeme=function(){var e=this.peekLexeme();return this.lexemeIdx+=1,e},t.QueryParser.prototype.nextClause=function(){var e=this.currentClause;this.query.clause(e),this.currentClause={}},t.QueryParser.parseClause=function(e){var r=e.peekLexeme();if(r!=null)switch(r.type){case t.QueryLexer.PRESENCE:return t.QueryParser.parsePresence;case t.QueryLexer.FIELD:return t.QueryParser.parseField;case t.QueryLexer.TERM:return t.QueryParser.parseTerm;default:var n="expected either a field or a term, found "+r.type;throw r.str.length>=1&&(n+=" with value '"+r.str+"'"),new t.QueryParseError(n,r.start,r.end)}},t.QueryParser.parsePresence=function(e){var r=e.consumeLexeme();if(r!=null){switch(r.str){case"-":e.currentClause.presence=t.Query.presence.PROHIBITED;break;case"+":e.currentClause.presence=t.Query.presence.REQUIRED;break;default:var n="unrecognised presence operator'"+r.str+"'";throw new t.QueryParseError(n,r.start,r.end)}var i=e.peekLexeme();if(i==null){var n="expecting term or field, found nothing";throw new t.QueryParseError(n,r.start,r.end)}switch(i.type){case t.QueryLexer.FIELD:return t.QueryParser.parseField;case t.QueryLexer.TERM:return t.QueryParser.parseTerm;default:var n="expecting term or field, found '"+i.type+"'";throw new t.QueryParseError(n,i.start,i.end)}}},t.QueryParser.parseField=function(e){var r=e.consumeLexeme();if(r!=null){if(e.query.allFields.indexOf(r.str)==-1){var n=e.query.allFields.map(function(o){return"'"+o+"'"}).join(", "),i="unrecognised field '"+r.str+"', possible fields: "+n;throw new t.QueryParseError(i,r.start,r.end)}e.currentClause.fields=[r.str];var s=e.peekLexeme();if(s==null){var i="expecting term, found nothing";throw new t.QueryParseError(i,r.start,r.end)}switch(s.type){case t.QueryLexer.TERM:return t.QueryParser.parseTerm;default:var i="expecting term, found '"+s.type+"'";throw new t.QueryParseError(i,s.start,s.end)}}},t.QueryParser.parseTerm=function(e){var r=e.consumeLexeme();if(r!=null){e.currentClause.term=r.str.toLowerCase(),r.str.indexOf("*")!=-1&&(e.currentClause.usePipeline=!1);var n=e.peekLexeme();if(n==null){e.nextClause();return}switch(n.type){case t.QueryLexer.TERM:return e.nextClause(),t.QueryParser.parseTerm;case t.QueryLexer.FIELD:return e.nextClause(),t.QueryParser.parseField;case t.QueryLexer.EDIT_DISTANCE:return t.QueryParser.parseEditDistance;case t.QueryLexer.BOOST:return t.QueryParser.parseBoost;case t.QueryLexer.PRESENCE:return e.nextClause(),t.QueryParser.parsePresence;default:var i="Unexpected lexeme type '"+n.type+"'";throw new t.QueryParseError(i,n.start,n.end)}}},t.QueryParser.parseEditDistance=function(e){var r=e.consumeLexeme();if(r!=null){var n=parseInt(r.str,10);if(isNaN(n)){var i="edit distance must be numeric";throw new t.QueryParseError(i,r.start,r.end)}e.currentClause.editDistance=n;var s=e.peekLexeme();if(s==null){e.nextClause();return}switch(s.type){case t.QueryLexer.TERM:return e.nextClause(),t.QueryParser.parseTerm;case t.QueryLexer.FIELD:return e.nextClause(),t.QueryParser.parseField;case t.QueryLexer.EDIT_DISTANCE:return t.QueryParser.parseEditDistance;case t.QueryLexer.BOOST:return t.QueryParser.parseBoost;case t.QueryLexer.PRESENCE:return e.nextClause(),t.QueryParser.parsePresence;default:var i="Unexpected lexeme type '"+s.type+"'";throw new t.QueryParseError(i,s.start,s.end)}}},t.QueryParser.parseBoost=function(e){var r=e.consumeLexeme();if(r!=null){var n=parseInt(r.str,10);if(isNaN(n)){var i="boost must be numeric";throw new t.QueryParseError(i,r.start,r.end)}e.currentClause.boost=n;var s=e.peekLexeme();if(s==null){e.nextClause();return}switch(s.type){case t.QueryLexer.TERM:return e.nextClause(),t.QueryParser.parseTerm;case t.QueryLexer.FIELD:return e.nextClause(),t.QueryParser.parseField;case t.QueryLexer.EDIT_DISTANCE:return t.QueryParser.parseEditDistance;case t.QueryLexer.BOOST:return t.QueryParser.parseBoost;case t.QueryLexer.PRESENCE:return e.nextClause(),t.QueryParser.parsePresence;default:var i="Unexpected lexeme type '"+s.type+"'";throw new t.QueryParseError(i,s.start,s.end)}}},function(e,r){typeof define=="function"&&define.amd?define(r):typeof ee=="object"?te.exports=r():e.lunr=r()}(this,function(){return t})})()});var q=K((Re,ne)=>{"use strict";/*!
- * escape-html
- * Copyright(c) 2012-2013 TJ Holowaychuk
- * Copyright(c) 2015 Andreas Lubbe
- * Copyright(c) 2015 Tiancheng "Timothy" Gu
- * MIT Licensed
- */var Le=/["'&<>]/;ne.exports=we;function we(t){var e=""+t,r=Le.exec(e);if(!r)return e;var n,i="",s=0,o=0;for(s=r.index;s<e.length;s++){switch(e.charCodeAt(s)){case 34:n="&quot;";break;case 38:n="&amp;";break;case 39:n="&#39;";break;case 60:n="&lt;";break;case 62:n="&gt;";break;default:continue}o!==s&&(i+=e.substring(o,s)),o=s+1,i+=n}return o!==s?i+e.substring(o,s):i}});var le=H(re());Object.entries||(Object.entries=function(t){let e=[];for(let r of Object.keys(t))e.push([r,t[r]]);return e});Object.values||(Object.values=function(t){let e=[];for(let r of Object.keys(t))e.push(t[r]);return e});typeof Element!="undefined"&&(Element.prototype.scrollTo||(Element.prototype.scrollTo=function(t,e){typeof t=="object"?(this.scrollLeft=t.left,this.scrollTop=t.top):(this.scrollLeft=t,this.scrollTop=e)}),Element.prototype.replaceWith||(Element.prototype.replaceWith=function(...t){let e=this.parentNode;if(e){t.length===0&&e.removeChild(this);for(let r=t.length-1;r>=0;r--){let n=t[r];typeof n!="object"?n=document.createTextNode(n):n.parentNode&&n.parentNode.removeChild(n),r?e.insertBefore(this.previousSibling,n):e.replaceChild(n,this)}}}));var ie=H(q());function se(t){let e=new Map,r=new Set;for(let n of t){let[i,s]=n.location.split("#"),o=n.location,a=n.title,u=n.tags,c=(0,ie.default)(n.text).replace(/\s+(?=[,.:;!?])/g,"").replace(/\s+/g," ");if(s){let h=e.get(i);r.has(h)?e.set(o,{location:o,title:a,text:c,parent:h}):(h.title=n.title,h.text=c,r.add(h))}else e.set(o,M({location:o,title:a,text:c},u&&{tags:u}))}return e}var oe=H(q());function ae(t,e){let r=new RegExp(t.separator,"img"),n=(i,s,o)=>`${s}<mark data-md-highlight>${o}</mark>`;return i=>{i=i.replace(/[\s*+\-:~^]+/g," ").trim();let s=new RegExp(`(^|${t.separator})(${i.replace(/[|\\{}()[\]^$+*?.-]/g,"\\$&").replace(r,"|")})`,"img");return o=>(e?(0,oe.default)(o):o).replace(s,n).replace(/<\/mark>(\s+)<mark[^>]*>/img,"$1")}}function ue(t){let e=new lunr.Query(["title","text"]);return new lunr.QueryParser(t,e).parse(),e.clauses}function ce(t,e){var i;let r=new Set(t),n={};for(let s=0;s<e.length;s++)for(let o of r)e[s].startsWith(o.term)&&(n[o.term]=!0,r.delete(o));for(let s of r)(i=lunr.stopWordFilter)!=null&&i.call(lunr,s.term)&&(n[s.term]=!1);return n}function Ee(t,e){let[r,n]=[new Set(t),new Set(e)];return[...new Set([...r].filter(i=>!n.has(i)))]}var U=class{constructor({config:e,docs:r,options:n}){this.options=n,this.documents=se(r),this.highlight=ae(e,!1),lunr.tokenizer.separator=new RegExp(e.separator),this.index=lunr(function(){e.lang.length===1&&e.lang[0]!=="en"?this.use(lunr[e.lang[0]]):e.lang.length>1&&this.use(lunr.multiLanguage(...e.lang));let i=Ee(["trimmer","stopWordFilter","stemmer"],n.pipeline);for(let s of e.lang.map(o=>o==="en"?lunr:lunr[o]))for(let o of i)this.pipeline.remove(s[o]),this.searchPipeline.remove(s[o]);this.ref("location"),this.field("title",{boost:1e3}),this.field("text"),this.field("tags",{boost:1e6});for(let s of r)this.add(s)})}search(e){if(e)try{let r=this.highlight(e),n=ue(e).filter(o=>o.presence!==lunr.Query.presence.PROHIBITED),i=this.index.search(`${e}*`).reduce((o,{ref:a,score:u,matchData:c})=>{let h=this.documents.get(a);if(typeof h!="undefined"){let{location:y,title:g,text:b,tags:m,parent:Q}=h,p=ce(n,Object.keys(c.metadata)),d=+!Q+ +Object.values(p).every(w=>w);o.push(Z(M({location:y,title:r(g),text:r(b)},m&&{tags:m.map(r)}),{score:u*(1+d),terms:p}))}return o},[]).sort((o,a)=>a.score-o.score).reduce((o,a)=>{let u=this.documents.get(a.location);if(typeof u!="undefined"){let c="parent"in u?u.parent.location:u.location;o.set(c,[...o.get(c)||[],a])}return o},new Map),s;if(this.options.suggestions){let o=this.index.query(a=>{for(let u of n)a.term(u.term,{fields:["title"],presence:lunr.Query.presence.REQUIRED,wildcard:lunr.Query.wildcard.TRAILING})});s=o.length?Object.keys(o[0].matchData.metadata):[]}return M({items:[...i.values()]},typeof s!="undefined"&&{suggestions:s})}catch(r){console.warn(`Invalid query: ${e} \u2013 see https://bit.ly/2s3ChXG`)}return{items:[]}}};var Y;function ke(t){return z(this,null,function*(){let e="../lunr";if(typeof parent!="undefined"&&"IFrameWorker"in parent){let n=document.querySelector("script[src]"),[i]=n.src.split("/worker");e=e.replace("..",i)}let r=[];for(let n of t.lang){switch(n){case"ja":r.push(`${e}/tinyseg.js`);break;case"hi":case"th":r.push(`${e}/wordcut.js`);break}n!=="en"&&r.push(`${e}/min/lunr.${n}.min.js`)}t.lang.length>1&&r.push(`${e}/min/lunr.multi.min.js`),r.length&&(yield importScripts(`${e}/min/lunr.stemmer.support.min.js`,...r))})}function Te(t){return z(this,null,function*(){switch(t.type){case 0:return yield ke(t.data.config),Y=new U(t.data),{type:1};case 2:return{type:3,data:Y?Y.search(t.data):{items:[]}};default:throw new TypeError("Invalid message type")}})}self.lunr=le.default;addEventListener("message",t=>z(void 0,null,function*(){postMessage(yield Te(t.data))}));})();
-//# sourceMappingURL=search.2a1c317c.min.js.map
+ */t.Builder=function(){this._ref="id",this._fields=Object.create(null),this._documents=Object.create(null),this.invertedIndex=Object.create(null),this.fieldTermFrequencies={},this.fieldLengths={},this.tokenizer=t.tokenizer,this.pipeline=new t.Pipeline,this.searchPipeline=new t.Pipeline,this.documentCount=0,this._b=.75,this._k1=1.2,this.termIndex=0,this.metadataWhitelist=[]},t.Builder.prototype.ref=function(e){this._ref=e},t.Builder.prototype.field=function(e,r){if(/\//.test(e))throw new RangeError("Field '"+e+"' contains illegal character '/'");this._fields[e]=r||{}},t.Builder.prototype.b=function(e){e<0?this._b=0:e>1?this._b=1:this._b=e},t.Builder.prototype.k1=function(e){this._k1=e},t.Builder.prototype.add=function(e,r){var n=e[this._ref],i=Object.keys(this._fields);this._documents[n]=r||{},this.documentCount+=1;for(var s=0;s<i.length;s++){var o=i[s],a=this._fields[o].extractor,u=a?a(e):e[o],c=this.tokenizer(u,{fields:[o]}),f=this.pipeline.run(c),g=new t.FieldRef(n,o),l=Object.create(null);this.fieldTermFrequencies[g]=l,this.fieldLengths[g]=0,this.fieldLengths[g]+=f.length;for(var m=0;m<f.length;m++){var x=f[m];if(l[x]==null&&(l[x]=0),l[x]+=1,this.invertedIndex[x]==null){var v=Object.create(null);v._index=this.termIndex,this.termIndex+=1;for(var d=0;d<i.length;d++)v[i[d]]=Object.create(null);this.invertedIndex[x]=v}this.invertedIndex[x][o][n]==null&&(this.invertedIndex[x][o][n]=Object.create(null));for(var y=0;y<this.metadataWhitelist.length;y++){var b=this.metadataWhitelist[y],E=x.metadata[b];this.invertedIndex[x][o][n][b]==null&&(this.invertedIndex[x][o][n][b]=[]),this.invertedIndex[x][o][n][b].push(E)}}}},t.Builder.prototype.calculateAverageFieldLengths=function(){for(var e=Object.keys(this.fieldLengths),r=e.length,n={},i={},s=0;s<r;s++){var o=t.FieldRef.fromString(e[s]),a=o.fieldName;i[a]||(i[a]=0),i[a]+=1,n[a]||(n[a]=0),n[a]+=this.fieldLengths[o]}for(var u=Object.keys(this._fields),s=0;s<u.length;s++){var 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t.Index({invertedIndex:this.invertedIndex,fieldVectors:this.fieldVectors,tokenSet:this.tokenSet,fields:Object.keys(this._fields),pipeline:this.searchPipeline})},t.Builder.prototype.use=function(e){var r=Array.prototype.slice.call(arguments,1);r.unshift(this),e.apply(this,r)},t.MatchData=function(e,r,n){for(var i=Object.create(null),s=Object.keys(n||{}),o=0;o<s.length;o++){var a=s[o];i[a]=n[a].slice()}this.metadata=Object.create(null),e!==void 0&&(this.metadata[e]=Object.create(null),this.metadata[e][r]=i)},t.MatchData.prototype.combine=function(e){for(var r=Object.keys(e.metadata),n=0;n<r.length;n++){var i=r[n],s=Object.keys(e.metadata[i]);this.metadata[i]==null&&(this.metadata[i]=Object.create(null));for(var o=0;o<s.length;o++){var a=s[o],u=Object.keys(e.metadata[i][a]);this.metadata[i][a]==null&&(this.metadata[i][a]=Object.create(null));for(var c=0;c<u.length;c++){var 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diff --git a/assets/javascripts/workers/search.6ce7567c.min.js.map b/assets/javascripts/workers/search.6ce7567c.min.js.map
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+++ b/assets/javascripts/workers/search.6ce7567c.min.js.map
@@ -0,0 +1,7 @@
+{
+  "version": 3,
+  "sources": ["node_modules/lunr/lunr.js", "src/templates/assets/javascripts/integrations/search/worker/main/index.ts", "src/templates/assets/javascripts/browser/element/_/index.ts", "src/templates/assets/javascripts/polyfills/index.ts", "src/templates/assets/javascripts/integrations/search/config/index.ts", "src/templates/assets/javascripts/integrations/search/internal/_/index.ts", "src/templates/assets/javascripts/integrations/search/internal/extract/index.ts", "src/templates/assets/javascripts/integrations/search/internal/highlight/index.ts", "src/templates/assets/javascripts/integrations/search/internal/tokenize/index.ts", "src/templates/assets/javascripts/integrations/search/query/transform/index.ts", "src/templates/assets/javascripts/integrations/search/query/_/index.ts", "src/templates/assets/javascripts/integrations/search/query/segment/index.ts", "src/templates/assets/javascripts/integrations/search/_/index.ts"],
+  "sourcesContent": ["/**\n * lunr - http://lunrjs.com - A bit like Solr, but much smaller and not as bright - 2.3.9\n * Copyright (C) 2020 Oliver Nightingale\n * @license MIT\n */\n\n;(function(){\n\n/**\n * A convenience function for configuring and constructing\n * a new lunr Index.\n *\n * A lunr.Builder instance is created and the pipeline setup\n * with a trimmer, stop word filter and stemmer.\n *\n * This builder object is yielded to the configuration function\n * that is passed as a parameter, allowing the list of fields\n * and other builder parameters to be customised.\n *\n * All documents _must_ be added within the passed config function.\n *\n * @example\n * var idx = lunr(function () {\n *   this.field('title')\n *   this.field('body')\n *   this.ref('id')\n *\n *   documents.forEach(function (doc) {\n *     this.add(doc)\n *   }, this)\n * })\n *\n * @see {@link lunr.Builder}\n * @see {@link lunr.Pipeline}\n * @see {@link lunr.trimmer}\n * @see {@link lunr.stopWordFilter}\n * @see {@link lunr.stemmer}\n * @namespace {function} lunr\n */\nvar lunr = function (config) {\n  var builder = new lunr.Builder\n\n  builder.pipeline.add(\n    lunr.trimmer,\n    lunr.stopWordFilter,\n    lunr.stemmer\n  )\n\n  builder.searchPipeline.add(\n    lunr.stemmer\n  )\n\n  config.call(builder, builder)\n  return builder.build()\n}\n\nlunr.version = \"2.3.9\"\n/*!\n * lunr.utils\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A namespace containing utils for the rest of the lunr library\n * @namespace lunr.utils\n */\nlunr.utils = {}\n\n/**\n * Print a warning message to the console.\n *\n * @param {String} message The message to be printed.\n * @memberOf lunr.utils\n * @function\n */\nlunr.utils.warn = (function (global) {\n  /* eslint-disable no-console */\n  return function (message) {\n    if (global.console && console.warn) {\n      console.warn(message)\n    }\n  }\n  /* eslint-enable no-console */\n})(this)\n\n/**\n * Convert an object to a string.\n *\n * In the case of `null` and `undefined` the function returns\n * the empty string, in all other cases the result of calling\n * `toString` on the passed object is returned.\n *\n * @param {Any} obj The object to convert to a string.\n * @return {String} string representation of the passed object.\n * @memberOf lunr.utils\n */\nlunr.utils.asString = function (obj) {\n  if (obj === void 0 || obj === null) {\n    return \"\"\n  } else {\n    return obj.toString()\n  }\n}\n\n/**\n * Clones an object.\n *\n * Will create a copy of an existing object such that any mutations\n * on the copy cannot affect the original.\n *\n * Only shallow objects are supported, passing a nested object to this\n * function will cause a TypeError.\n *\n * Objects with primitives, and arrays of primitives are supported.\n *\n * @param {Object} obj The object to clone.\n * @return {Object} a clone of the passed object.\n * @throws {TypeError} when a nested object is passed.\n * @memberOf Utils\n */\nlunr.utils.clone = function (obj) {\n  if (obj === null || obj === undefined) {\n    return obj\n  }\n\n  var clone = Object.create(null),\n      keys = Object.keys(obj)\n\n  for (var i = 0; i < keys.length; i++) {\n    var key = keys[i],\n        val = obj[key]\n\n    if (Array.isArray(val)) {\n      clone[key] = val.slice()\n      continue\n    }\n\n    if (typeof val === 'string' ||\n        typeof val === 'number' ||\n        typeof val === 'boolean') {\n      clone[key] = val\n      continue\n    }\n\n    throw new TypeError(\"clone is not deep and does not support nested objects\")\n  }\n\n  return clone\n}\nlunr.FieldRef = function (docRef, fieldName, stringValue) {\n  this.docRef = docRef\n  this.fieldName = fieldName\n  this._stringValue = stringValue\n}\n\nlunr.FieldRef.joiner = \"/\"\n\nlunr.FieldRef.fromString = function (s) {\n  var n = s.indexOf(lunr.FieldRef.joiner)\n\n  if (n === -1) {\n    throw \"malformed field ref string\"\n  }\n\n  var fieldRef = s.slice(0, n),\n      docRef = s.slice(n + 1)\n\n  return new lunr.FieldRef (docRef, fieldRef, s)\n}\n\nlunr.FieldRef.prototype.toString = function () {\n  if (this._stringValue == undefined) {\n    this._stringValue = this.fieldName + lunr.FieldRef.joiner + this.docRef\n  }\n\n  return this._stringValue\n}\n/*!\n * lunr.Set\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A lunr set.\n *\n * @constructor\n */\nlunr.Set = function (elements) {\n  this.elements = Object.create(null)\n\n  if (elements) {\n    this.length = elements.length\n\n    for (var i = 0; i < this.length; i++) {\n      this.elements[elements[i]] = true\n    }\n  } else {\n    this.length = 0\n  }\n}\n\n/**\n * A complete set that contains all elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.complete = {\n  intersect: function (other) {\n    return other\n  },\n\n  union: function () {\n    return this\n  },\n\n  contains: function () {\n    return true\n  }\n}\n\n/**\n * An empty set that contains no elements.\n *\n * @static\n * @readonly\n * @type {lunr.Set}\n */\nlunr.Set.empty = {\n  intersect: function () {\n    return this\n  },\n\n  union: function (other) {\n    return other\n  },\n\n  contains: function () {\n    return false\n  }\n}\n\n/**\n * Returns true if this set contains the specified object.\n *\n * @param {object} object - Object whose presence in this set is to be tested.\n * @returns {boolean} - True if this set contains the specified object.\n */\nlunr.Set.prototype.contains = function (object) {\n  return !!this.elements[object]\n}\n\n/**\n * Returns a new set containing only the elements that are present in both\n * this set and the specified set.\n *\n * @param {lunr.Set} other - set to intersect with this set.\n * @returns {lunr.Set} a new set that is the intersection of this and the specified set.\n */\n\nlunr.Set.prototype.intersect = function (other) {\n  var a, b, elements, intersection = []\n\n  if (other === lunr.Set.complete) {\n    return this\n  }\n\n  if (other === lunr.Set.empty) {\n    return other\n  }\n\n  if (this.length < other.length) {\n    a = this\n    b = other\n  } else {\n    a = other\n    b = this\n  }\n\n  elements = Object.keys(a.elements)\n\n  for (var i = 0; i < elements.length; i++) {\n    var element = elements[i]\n    if (element in b.elements) {\n      intersection.push(element)\n    }\n  }\n\n  return new lunr.Set (intersection)\n}\n\n/**\n * Returns a new set combining the elements of this and the specified set.\n *\n * @param {lunr.Set} other - set to union with this set.\n * @return {lunr.Set} a new set that is the union of this and the specified set.\n */\n\nlunr.Set.prototype.union = function (other) {\n  if (other === lunr.Set.complete) {\n    return lunr.Set.complete\n  }\n\n  if (other === lunr.Set.empty) {\n    return this\n  }\n\n  return new lunr.Set(Object.keys(this.elements).concat(Object.keys(other.elements)))\n}\n/**\n * A function to calculate the inverse document frequency for\n * a posting. This is shared between the builder and the index\n *\n * @private\n * @param {object} posting - The posting for a given term\n * @param {number} documentCount - The total number of documents.\n */\nlunr.idf = function (posting, documentCount) {\n  var documentsWithTerm = 0\n\n  for (var fieldName in posting) {\n    if (fieldName == '_index') continue // Ignore the term index, its not a field\n    documentsWithTerm += Object.keys(posting[fieldName]).length\n  }\n\n  var x = (documentCount - documentsWithTerm + 0.5) / (documentsWithTerm + 0.5)\n\n  return Math.log(1 + Math.abs(x))\n}\n\n/**\n * A token wraps a string representation of a token\n * as it is passed through the text processing pipeline.\n *\n * @constructor\n * @param {string} [str=''] - The string token being wrapped.\n * @param {object} [metadata={}] - Metadata associated with this token.\n */\nlunr.Token = function (str, metadata) {\n  this.str = str || \"\"\n  this.metadata = metadata || {}\n}\n\n/**\n * Returns the token string that is being wrapped by this object.\n *\n * @returns {string}\n */\nlunr.Token.prototype.toString = function () {\n  return this.str\n}\n\n/**\n * A token update function is used when updating or optionally\n * when cloning a token.\n *\n * @callback lunr.Token~updateFunction\n * @param {string} str - The string representation of the token.\n * @param {Object} metadata - All metadata associated with this token.\n */\n\n/**\n * Applies the given function to the wrapped string token.\n *\n * @example\n * token.update(function (str, metadata) {\n *   return str.toUpperCase()\n * })\n *\n * @param {lunr.Token~updateFunction} fn - A function to apply to the token string.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.update = function (fn) {\n  this.str = fn(this.str, this.metadata)\n  return this\n}\n\n/**\n * Creates a clone of this token. Optionally a function can be\n * applied to the cloned token.\n *\n * @param {lunr.Token~updateFunction} [fn] - An optional function to apply to the cloned token.\n * @returns {lunr.Token}\n */\nlunr.Token.prototype.clone = function (fn) {\n  fn = fn || function (s) { return s }\n  return new lunr.Token (fn(this.str, this.metadata), this.metadata)\n}\n/*!\n * lunr.tokenizer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A function for splitting a string into tokens ready to be inserted into\n * the search index. Uses `lunr.tokenizer.separator` to split strings, change\n * the value of this property to change how strings are split into tokens.\n *\n * This tokenizer will convert its parameter to a string by calling `toString` and\n * then will split this string on the character in `lunr.tokenizer.separator`.\n * Arrays will have their elements converted to strings and wrapped in a lunr.Token.\n *\n * Optional metadata can be passed to the tokenizer, this metadata will be cloned and\n * added as metadata to every token that is created from the object to be tokenized.\n *\n * @static\n * @param {?(string|object|object[])} obj - The object to convert into tokens\n * @param {?object} metadata - Optional metadata to associate with every token\n * @returns {lunr.Token[]}\n * @see {@link lunr.Pipeline}\n */\nlunr.tokenizer = function (obj, metadata) {\n  if (obj == null || obj == undefined) {\n    return []\n  }\n\n  if (Array.isArray(obj)) {\n    return obj.map(function (t) {\n      return new lunr.Token(\n        lunr.utils.asString(t).toLowerCase(),\n        lunr.utils.clone(metadata)\n      )\n    })\n  }\n\n  var str = obj.toString().toLowerCase(),\n      len = str.length,\n      tokens = []\n\n  for (var sliceEnd = 0, sliceStart = 0; sliceEnd <= len; sliceEnd++) {\n    var char = str.charAt(sliceEnd),\n        sliceLength = sliceEnd - sliceStart\n\n    if ((char.match(lunr.tokenizer.separator) || sliceEnd == len)) {\n\n      if (sliceLength > 0) {\n        var tokenMetadata = lunr.utils.clone(metadata) || {}\n        tokenMetadata[\"position\"] = [sliceStart, sliceLength]\n        tokenMetadata[\"index\"] = tokens.length\n\n        tokens.push(\n          new lunr.Token (\n            str.slice(sliceStart, sliceEnd),\n            tokenMetadata\n          )\n        )\n      }\n\n      sliceStart = sliceEnd + 1\n    }\n\n  }\n\n  return tokens\n}\n\n/**\n * The separator used to split a string into tokens. Override this property to change the behaviour of\n * `lunr.tokenizer` behaviour when tokenizing strings. By default this splits on whitespace and hyphens.\n *\n * @static\n * @see lunr.tokenizer\n */\nlunr.tokenizer.separator = /[\\s\\-]+/\n/*!\n * lunr.Pipeline\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Pipelines maintain an ordered list of functions to be applied to all\n * tokens in documents entering the search index and queries being ran against\n * the index.\n *\n * An instance of lunr.Index created with the lunr shortcut will contain a\n * pipeline with a stop word filter and an English language stemmer. Extra\n * functions can be added before or after either of these functions or these\n * default functions can be removed.\n *\n * When run the pipeline will call each function in turn, passing a token, the\n * index of that token in the original list of all tokens and finally a list of\n * all the original tokens.\n *\n * The output of functions in the pipeline will be passed to the next function\n * in the pipeline. To exclude a token from entering the index the function\n * should return undefined, the rest of the pipeline will not be called with\n * this token.\n *\n * For serialisation of pipelines to work, all functions used in an instance of\n * a pipeline should be registered with lunr.Pipeline. Registered functions can\n * then be loaded. If trying to load a serialised pipeline that uses functions\n * that are not registered an error will be thrown.\n *\n * If not planning on serialising the pipeline then registering pipeline functions\n * is not necessary.\n *\n * @constructor\n */\nlunr.Pipeline = function () {\n  this._stack = []\n}\n\nlunr.Pipeline.registeredFunctions = Object.create(null)\n\n/**\n * A pipeline function maps lunr.Token to lunr.Token. A lunr.Token contains the token\n * string as well as all known metadata. A pipeline function can mutate the token string\n * or mutate (or add) metadata for a given token.\n *\n * A pipeline function can indicate that the passed token should be discarded by returning\n * null, undefined or an empty string. This token will not be passed to any downstream pipeline\n * functions and will not be added to the index.\n *\n * Multiple tokens can be returned by returning an array of tokens. Each token will be passed\n * to any downstream pipeline functions and all will returned tokens will be added to the index.\n *\n * Any number of pipeline functions may be chained together using a lunr.Pipeline.\n *\n * @interface lunr.PipelineFunction\n * @param {lunr.Token} token - A token from the document being processed.\n * @param {number} i - The index of this token in the complete list of tokens for this document/field.\n * @param {lunr.Token[]} tokens - All tokens for this document/field.\n * @returns {(?lunr.Token|lunr.Token[])}\n */\n\n/**\n * Register a function with the pipeline.\n *\n * Functions that are used in the pipeline should be registered if the pipeline\n * needs to be serialised, or a serialised pipeline needs to be loaded.\n *\n * Registering a function does not add it to a pipeline, functions must still be\n * added to instances of the pipeline for them to be used when running a pipeline.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @param {String} label - The label to register this function with\n */\nlunr.Pipeline.registerFunction = function (fn, label) {\n  if (label in this.registeredFunctions) {\n    lunr.utils.warn('Overwriting existing registered function: ' + label)\n  }\n\n  fn.label = label\n  lunr.Pipeline.registeredFunctions[fn.label] = fn\n}\n\n/**\n * Warns if the function is not registered as a Pipeline function.\n *\n * @param {lunr.PipelineFunction} fn - The function to check for.\n * @private\n */\nlunr.Pipeline.warnIfFunctionNotRegistered = function (fn) {\n  var isRegistered = fn.label && (fn.label in this.registeredFunctions)\n\n  if (!isRegistered) {\n    lunr.utils.warn('Function is not registered with pipeline. This may cause problems when serialising the index.\\n', fn)\n  }\n}\n\n/**\n * Loads a previously serialised pipeline.\n *\n * All functions to be loaded must already be registered with lunr.Pipeline.\n * If any function from the serialised data has not been registered then an\n * error will be thrown.\n *\n * @param {Object} serialised - The serialised pipeline to load.\n * @returns {lunr.Pipeline}\n */\nlunr.Pipeline.load = function (serialised) {\n  var pipeline = new lunr.Pipeline\n\n  serialised.forEach(function (fnName) {\n    var fn = lunr.Pipeline.registeredFunctions[fnName]\n\n    if (fn) {\n      pipeline.add(fn)\n    } else {\n      throw new Error('Cannot load unregistered function: ' + fnName)\n    }\n  })\n\n  return pipeline\n}\n\n/**\n * Adds new functions to the end of the pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction[]} functions - Any number of functions to add to the pipeline.\n */\nlunr.Pipeline.prototype.add = function () {\n  var fns = Array.prototype.slice.call(arguments)\n\n  fns.forEach(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n    this._stack.push(fn)\n  }, this)\n}\n\n/**\n * Adds a single function after a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.after = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  pos = pos + 1\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Adds a single function before a function that already exists in the\n * pipeline.\n *\n * Logs a warning if the function has not been registered.\n *\n * @param {lunr.PipelineFunction} existingFn - A function that already exists in the pipeline.\n * @param {lunr.PipelineFunction} newFn - The new function to add to the pipeline.\n */\nlunr.Pipeline.prototype.before = function (existingFn, newFn) {\n  lunr.Pipeline.warnIfFunctionNotRegistered(newFn)\n\n  var pos = this._stack.indexOf(existingFn)\n  if (pos == -1) {\n    throw new Error('Cannot find existingFn')\n  }\n\n  this._stack.splice(pos, 0, newFn)\n}\n\n/**\n * Removes a function from the pipeline.\n *\n * @param {lunr.PipelineFunction} fn The function to remove from the pipeline.\n */\nlunr.Pipeline.prototype.remove = function (fn) {\n  var pos = this._stack.indexOf(fn)\n  if (pos == -1) {\n    return\n  }\n\n  this._stack.splice(pos, 1)\n}\n\n/**\n * Runs the current list of functions that make up the pipeline against the\n * passed tokens.\n *\n * @param {Array} tokens The tokens to run through the pipeline.\n * @returns {Array}\n */\nlunr.Pipeline.prototype.run = function (tokens) {\n  var stackLength = this._stack.length\n\n  for (var i = 0; i < stackLength; i++) {\n    var fn = this._stack[i]\n    var memo = []\n\n    for (var j = 0; j < tokens.length; j++) {\n      var result = fn(tokens[j], j, tokens)\n\n      if (result === null || result === void 0 || result === '') continue\n\n      if (Array.isArray(result)) {\n        for (var k = 0; k < result.length; k++) {\n          memo.push(result[k])\n        }\n      } else {\n        memo.push(result)\n      }\n    }\n\n    tokens = memo\n  }\n\n  return tokens\n}\n\n/**\n * Convenience method for passing a string through a pipeline and getting\n * strings out. This method takes care of wrapping the passed string in a\n * token and mapping the resulting tokens back to strings.\n *\n * @param {string} str - The string to pass through the pipeline.\n * @param {?object} metadata - Optional metadata to associate with the token\n * passed to the pipeline.\n * @returns {string[]}\n */\nlunr.Pipeline.prototype.runString = function (str, metadata) {\n  var token = new lunr.Token (str, metadata)\n\n  return this.run([token]).map(function (t) {\n    return t.toString()\n  })\n}\n\n/**\n * Resets the pipeline by removing any existing processors.\n *\n */\nlunr.Pipeline.prototype.reset = function () {\n  this._stack = []\n}\n\n/**\n * Returns a representation of the pipeline ready for serialisation.\n *\n * Logs a warning if the function has not been registered.\n *\n * @returns {Array}\n */\nlunr.Pipeline.prototype.toJSON = function () {\n  return this._stack.map(function (fn) {\n    lunr.Pipeline.warnIfFunctionNotRegistered(fn)\n\n    return fn.label\n  })\n}\n/*!\n * lunr.Vector\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A vector is used to construct the vector space of documents and queries. These\n * vectors support operations to determine the similarity between two documents or\n * a document and a query.\n *\n * Normally no parameters are required for initializing a vector, but in the case of\n * loading a previously dumped vector the raw elements can be provided to the constructor.\n *\n * For performance reasons vectors are implemented with a flat array, where an elements\n * index is immediately followed by its value. E.g. [index, value, index, value]. This\n * allows the underlying array to be as sparse as possible and still offer decent\n * performance when being used for vector calculations.\n *\n * @constructor\n * @param {Number[]} [elements] - The flat list of element index and element value pairs.\n */\nlunr.Vector = function (elements) {\n  this._magnitude = 0\n  this.elements = elements || []\n}\n\n\n/**\n * Calculates the position within the vector to insert a given index.\n *\n * This is used internally by insert and upsert. If there are duplicate indexes then\n * the position is returned as if the value for that index were to be updated, but it\n * is the callers responsibility to check whether there is a duplicate at that index\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @returns {Number}\n */\nlunr.Vector.prototype.positionForIndex = function (index) {\n  // For an empty vector the tuple can be inserted at the beginning\n  if (this.elements.length == 0) {\n    return 0\n  }\n\n  var start = 0,\n      end = this.elements.length / 2,\n      sliceLength = end - start,\n      pivotPoint = Math.floor(sliceLength / 2),\n      pivotIndex = this.elements[pivotPoint * 2]\n\n  while (sliceLength > 1) {\n    if (pivotIndex < index) {\n      start = pivotPoint\n    }\n\n    if (pivotIndex > index) {\n      end = pivotPoint\n    }\n\n    if (pivotIndex == index) {\n      break\n    }\n\n    sliceLength = end - start\n    pivotPoint = start + Math.floor(sliceLength / 2)\n    pivotIndex = this.elements[pivotPoint * 2]\n  }\n\n  if (pivotIndex == index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex > index) {\n    return pivotPoint * 2\n  }\n\n  if (pivotIndex < index) {\n    return (pivotPoint + 1) * 2\n  }\n}\n\n/**\n * Inserts an element at an index within the vector.\n *\n * Does not allow duplicates, will throw an error if there is already an entry\n * for this index.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n */\nlunr.Vector.prototype.insert = function (insertIdx, val) {\n  this.upsert(insertIdx, val, function () {\n    throw \"duplicate index\"\n  })\n}\n\n/**\n * Inserts or updates an existing index within the vector.\n *\n * @param {Number} insertIdx - The index at which the element should be inserted.\n * @param {Number} val - The value to be inserted into the vector.\n * @param {function} fn - A function that is called for updates, the existing value and the\n * requested value are passed as arguments\n */\nlunr.Vector.prototype.upsert = function (insertIdx, val, fn) {\n  this._magnitude = 0\n  var position = this.positionForIndex(insertIdx)\n\n  if (this.elements[position] == insertIdx) {\n    this.elements[position + 1] = fn(this.elements[position + 1], val)\n  } else {\n    this.elements.splice(position, 0, insertIdx, val)\n  }\n}\n\n/**\n * Calculates the magnitude of this vector.\n *\n * @returns {Number}\n */\nlunr.Vector.prototype.magnitude = function () {\n  if (this._magnitude) return this._magnitude\n\n  var sumOfSquares = 0,\n      elementsLength = this.elements.length\n\n  for (var i = 1; i < elementsLength; i += 2) {\n    var val = this.elements[i]\n    sumOfSquares += val * val\n  }\n\n  return this._magnitude = Math.sqrt(sumOfSquares)\n}\n\n/**\n * Calculates the dot product of this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The vector to compute the dot product with.\n * @returns {Number}\n */\nlunr.Vector.prototype.dot = function (otherVector) {\n  var dotProduct = 0,\n      a = this.elements, b = otherVector.elements,\n      aLen = a.length, bLen = b.length,\n      aVal = 0, bVal = 0,\n      i = 0, j = 0\n\n  while (i < aLen && j < bLen) {\n    aVal = a[i], bVal = b[j]\n    if (aVal < bVal) {\n      i += 2\n    } else if (aVal > bVal) {\n      j += 2\n    } else if (aVal == bVal) {\n      dotProduct += a[i + 1] * b[j + 1]\n      i += 2\n      j += 2\n    }\n  }\n\n  return dotProduct\n}\n\n/**\n * Calculates the similarity between this vector and another vector.\n *\n * @param {lunr.Vector} otherVector - The other vector to calculate the\n * similarity with.\n * @returns {Number}\n */\nlunr.Vector.prototype.similarity = function (otherVector) {\n  return this.dot(otherVector) / this.magnitude() || 0\n}\n\n/**\n * Converts the vector to an array of the elements within the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toArray = function () {\n  var output = new Array (this.elements.length / 2)\n\n  for (var i = 1, j = 0; i < this.elements.length; i += 2, j++) {\n    output[j] = this.elements[i]\n  }\n\n  return output\n}\n\n/**\n * A JSON serializable representation of the vector.\n *\n * @returns {Number[]}\n */\nlunr.Vector.prototype.toJSON = function () {\n  return this.elements\n}\n/* eslint-disable */\n/*!\n * lunr.stemmer\n * Copyright (C) 2020 Oliver Nightingale\n * Includes code from - http://tartarus.org/~martin/PorterStemmer/js.txt\n */\n\n/**\n * lunr.stemmer is an english language stemmer, this is a JavaScript\n * implementation of the PorterStemmer taken from http://tartarus.org/~martin\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token - The string to stem\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n * @function\n */\nlunr.stemmer = (function(){\n  var step2list = {\n      \"ational\" : \"ate\",\n      \"tional\" : \"tion\",\n      \"enci\" : \"ence\",\n      \"anci\" : \"ance\",\n      \"izer\" : \"ize\",\n      \"bli\" : \"ble\",\n      \"alli\" : \"al\",\n      \"entli\" : \"ent\",\n      \"eli\" : \"e\",\n      \"ousli\" : \"ous\",\n      \"ization\" : \"ize\",\n      \"ation\" : \"ate\",\n      \"ator\" : \"ate\",\n      \"alism\" : \"al\",\n      \"iveness\" : \"ive\",\n      \"fulness\" : \"ful\",\n      \"ousness\" : \"ous\",\n      \"aliti\" : \"al\",\n      \"iviti\" : \"ive\",\n      \"biliti\" : \"ble\",\n      \"logi\" : \"log\"\n    },\n\n    step3list = {\n      \"icate\" : \"ic\",\n      \"ative\" : \"\",\n      \"alize\" : \"al\",\n      \"iciti\" : \"ic\",\n      \"ical\" : \"ic\",\n      \"ful\" : \"\",\n      \"ness\" : \"\"\n    },\n\n    c = \"[^aeiou]\",          // consonant\n    v = \"[aeiouy]\",          // vowel\n    C = c + \"[^aeiouy]*\",    // consonant sequence\n    V = v + \"[aeiou]*\",      // vowel sequence\n\n    mgr0 = \"^(\" + C + \")?\" + V + C,               // [C]VC... is m>0\n    meq1 = \"^(\" + C + \")?\" + V + C + \"(\" + V + \")?$\",  // [C]VC[V] is m=1\n    mgr1 = \"^(\" + C + \")?\" + V + C + V + C,       // [C]VCVC... is m>1\n    s_v = \"^(\" + C + \")?\" + v;                   // vowel in stem\n\n  var re_mgr0 = new RegExp(mgr0);\n  var re_mgr1 = new RegExp(mgr1);\n  var re_meq1 = new RegExp(meq1);\n  var re_s_v = new RegExp(s_v);\n\n  var re_1a = /^(.+?)(ss|i)es$/;\n  var re2_1a = /^(.+?)([^s])s$/;\n  var re_1b = /^(.+?)eed$/;\n  var re2_1b = /^(.+?)(ed|ing)$/;\n  var re_1b_2 = /.$/;\n  var re2_1b_2 = /(at|bl|iz)$/;\n  var re3_1b_2 = new RegExp(\"([^aeiouylsz])\\\\1$\");\n  var re4_1b_2 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var re_1c = /^(.+?[^aeiou])y$/;\n  var re_2 = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/;\n\n  var re_3 = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/;\n\n  var re_4 = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/;\n  var re2_4 = /^(.+?)(s|t)(ion)$/;\n\n  var re_5 = /^(.+?)e$/;\n  var re_5_1 = /ll$/;\n  var re3_5 = new RegExp(\"^\" + C + v + \"[^aeiouwxy]$\");\n\n  var porterStemmer = function porterStemmer(w) {\n    var stem,\n      suffix,\n      firstch,\n      re,\n      re2,\n      re3,\n      re4;\n\n    if (w.length < 3) { return w; }\n\n    firstch = w.substr(0,1);\n    if (firstch == \"y\") {\n      w = firstch.toUpperCase() + w.substr(1);\n    }\n\n    // Step 1a\n    re = re_1a\n    re2 = re2_1a;\n\n    if (re.test(w)) { w = w.replace(re,\"$1$2\"); }\n    else if (re2.test(w)) { w = w.replace(re2,\"$1$2\"); }\n\n    // Step 1b\n    re = re_1b;\n    re2 = re2_1b;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      re = re_mgr0;\n      if (re.test(fp[1])) {\n        re = re_1b_2;\n        w = w.replace(re,\"\");\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1];\n      re2 = re_s_v;\n      if (re2.test(stem)) {\n        w = stem;\n        re2 = re2_1b_2;\n        re3 = re3_1b_2;\n        re4 = re4_1b_2;\n        if (re2.test(w)) { w = w + \"e\"; }\n        else if (re3.test(w)) { re = re_1b_2; w = w.replace(re,\"\"); }\n        else if (re4.test(w)) { w = w + \"e\"; }\n      }\n    }\n\n    // Step 1c - replace suffix y or Y by i if preceded by a non-vowel which is not the first letter of the word (so cry -> cri, by -> by, say -> say)\n    re = re_1c;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      w = stem + \"i\";\n    }\n\n    // Step 2\n    re = re_2;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step2list[suffix];\n      }\n    }\n\n    // Step 3\n    re = re_3;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      suffix = fp[2];\n      re = re_mgr0;\n      if (re.test(stem)) {\n        w = stem + step3list[suffix];\n      }\n    }\n\n    // Step 4\n    re = re_4;\n    re2 = re2_4;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      if (re.test(stem)) {\n        w = stem;\n      }\n    } else if (re2.test(w)) {\n      var fp = re2.exec(w);\n      stem = fp[1] + fp[2];\n      re2 = re_mgr1;\n      if (re2.test(stem)) {\n        w = stem;\n      }\n    }\n\n    // Step 5\n    re = re_5;\n    if (re.test(w)) {\n      var fp = re.exec(w);\n      stem = fp[1];\n      re = re_mgr1;\n      re2 = re_meq1;\n      re3 = re3_5;\n      if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) {\n        w = stem;\n      }\n    }\n\n    re = re_5_1;\n    re2 = re_mgr1;\n    if (re.test(w) && re2.test(w)) {\n      re = re_1b_2;\n      w = w.replace(re,\"\");\n    }\n\n    // and turn initial Y back to y\n\n    if (firstch == \"y\") {\n      w = firstch.toLowerCase() + w.substr(1);\n    }\n\n    return w;\n  };\n\n  return function (token) {\n    return token.update(porterStemmer);\n  }\n})();\n\nlunr.Pipeline.registerFunction(lunr.stemmer, 'stemmer')\n/*!\n * lunr.stopWordFilter\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.generateStopWordFilter builds a stopWordFilter function from the provided\n * list of stop words.\n *\n * The built in lunr.stopWordFilter is built using this generator and can be used\n * to generate custom stopWordFilters for applications or non English languages.\n *\n * @function\n * @param {Array} token The token to pass through the filter\n * @returns {lunr.PipelineFunction}\n * @see lunr.Pipeline\n * @see lunr.stopWordFilter\n */\nlunr.generateStopWordFilter = function (stopWords) {\n  var words = stopWords.reduce(function (memo, stopWord) {\n    memo[stopWord] = stopWord\n    return memo\n  }, {})\n\n  return function (token) {\n    if (token && words[token.toString()] !== token.toString()) return token\n  }\n}\n\n/**\n * lunr.stopWordFilter is an English language stop word list filter, any words\n * contained in the list will not be passed through the filter.\n *\n * This is intended to be used in the Pipeline. If the token does not pass the\n * filter then undefined will be returned.\n *\n * @function\n * @implements {lunr.PipelineFunction}\n * @params {lunr.Token} token - A token to check for being a stop word.\n * @returns {lunr.Token}\n * @see {@link lunr.Pipeline}\n */\nlunr.stopWordFilter = lunr.generateStopWordFilter([\n  'a',\n  'able',\n  'about',\n  'across',\n  'after',\n  'all',\n  'almost',\n  'also',\n  'am',\n  'among',\n  'an',\n  'and',\n  'any',\n  'are',\n  'as',\n  'at',\n  'be',\n  'because',\n  'been',\n  'but',\n  'by',\n  'can',\n  'cannot',\n  'could',\n  'dear',\n  'did',\n  'do',\n  'does',\n  'either',\n  'else',\n  'ever',\n  'every',\n  'for',\n  'from',\n  'get',\n  'got',\n  'had',\n  'has',\n  'have',\n  'he',\n  'her',\n  'hers',\n  'him',\n  'his',\n  'how',\n  'however',\n  'i',\n  'if',\n  'in',\n  'into',\n  'is',\n  'it',\n  'its',\n  'just',\n  'least',\n  'let',\n  'like',\n  'likely',\n  'may',\n  'me',\n  'might',\n  'most',\n  'must',\n  'my',\n  'neither',\n  'no',\n  'nor',\n  'not',\n  'of',\n  'off',\n  'often',\n  'on',\n  'only',\n  'or',\n  'other',\n  'our',\n  'own',\n  'rather',\n  'said',\n  'say',\n  'says',\n  'she',\n  'should',\n  'since',\n  'so',\n  'some',\n  'than',\n  'that',\n  'the',\n  'their',\n  'them',\n  'then',\n  'there',\n  'these',\n  'they',\n  'this',\n  'tis',\n  'to',\n  'too',\n  'twas',\n  'us',\n  'wants',\n  'was',\n  'we',\n  'were',\n  'what',\n  'when',\n  'where',\n  'which',\n  'while',\n  'who',\n  'whom',\n  'why',\n  'will',\n  'with',\n  'would',\n  'yet',\n  'you',\n  'your'\n])\n\nlunr.Pipeline.registerFunction(lunr.stopWordFilter, 'stopWordFilter')\n/*!\n * lunr.trimmer\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.trimmer is a pipeline function for trimming non word\n * characters from the beginning and end of tokens before they\n * enter the index.\n *\n * This implementation may not work correctly for non latin\n * characters and should either be removed or adapted for use\n * with languages with non-latin characters.\n *\n * @static\n * @implements {lunr.PipelineFunction}\n * @param {lunr.Token} token The token to pass through the filter\n * @returns {lunr.Token}\n * @see lunr.Pipeline\n */\nlunr.trimmer = function (token) {\n  return token.update(function (s) {\n    return s.replace(/^\\W+/, '').replace(/\\W+$/, '')\n  })\n}\n\nlunr.Pipeline.registerFunction(lunr.trimmer, 'trimmer')\n/*!\n * lunr.TokenSet\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * A token set is used to store the unique list of all tokens\n * within an index. Token sets are also used to represent an\n * incoming query to the index, this query token set and index\n * token set are then intersected to find which tokens to look\n * up in the inverted index.\n *\n * A token set can hold multiple tokens, as in the case of the\n * index token set, or it can hold a single token as in the\n * case of a simple query token set.\n *\n * Additionally token sets are used to perform wildcard matching.\n * Leading, contained and trailing wildcards are supported, and\n * from this edit distance matching can also be provided.\n *\n * Token sets are implemented as a minimal finite state automata,\n * where both common prefixes and suffixes are shared between tokens.\n * This helps to reduce the space used for storing the token set.\n *\n * @constructor\n */\nlunr.TokenSet = function () {\n  this.final = false\n  this.edges = {}\n  this.id = lunr.TokenSet._nextId\n  lunr.TokenSet._nextId += 1\n}\n\n/**\n * Keeps track of the next, auto increment, identifier to assign\n * to a new tokenSet.\n *\n * TokenSets require a unique identifier to be correctly minimised.\n *\n * @private\n */\nlunr.TokenSet._nextId = 1\n\n/**\n * Creates a TokenSet instance from the given sorted array of words.\n *\n * @param {String[]} arr - A sorted array of strings to create the set from.\n * @returns {lunr.TokenSet}\n * @throws Will throw an error if the input array is not sorted.\n */\nlunr.TokenSet.fromArray = function (arr) {\n  var builder = new lunr.TokenSet.Builder\n\n  for (var i = 0, len = arr.length; i < len; i++) {\n    builder.insert(arr[i])\n  }\n\n  builder.finish()\n  return builder.root\n}\n\n/**\n * Creates a token set from a query clause.\n *\n * @private\n * @param {Object} clause - A single clause from lunr.Query.\n * @param {string} clause.term - The query clause term.\n * @param {number} [clause.editDistance] - The optional edit distance for the term.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromClause = function (clause) {\n  if ('editDistance' in clause) {\n    return lunr.TokenSet.fromFuzzyString(clause.term, clause.editDistance)\n  } else {\n    return lunr.TokenSet.fromString(clause.term)\n  }\n}\n\n/**\n * Creates a token set representing a single string with a specified\n * edit distance.\n *\n * Insertions, deletions, substitutions and transpositions are each\n * treated as an edit distance of 1.\n *\n * Increasing the allowed edit distance will have a dramatic impact\n * on the performance of both creating and intersecting these TokenSets.\n * It is advised to keep the edit distance less than 3.\n *\n * @param {string} str - The string to create the token set from.\n * @param {number} editDistance - The allowed edit distance to match.\n * @returns {lunr.Vector}\n */\nlunr.TokenSet.fromFuzzyString = function (str, editDistance) {\n  var root = new lunr.TokenSet\n\n  var stack = [{\n    node: root,\n    editsRemaining: editDistance,\n    str: str\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop()\n\n    // no edit\n    if (frame.str.length > 0) {\n      var char = frame.str.charAt(0),\n          noEditNode\n\n      if (char in frame.node.edges) {\n        noEditNode = frame.node.edges[char]\n      } else {\n        noEditNode = new lunr.TokenSet\n        frame.node.edges[char] = noEditNode\n      }\n\n      if (frame.str.length == 1) {\n        noEditNode.final = true\n      }\n\n      stack.push({\n        node: noEditNode,\n        editsRemaining: frame.editsRemaining,\n        str: frame.str.slice(1)\n      })\n    }\n\n    if (frame.editsRemaining == 0) {\n      continue\n    }\n\n    // insertion\n    if (\"*\" in frame.node.edges) {\n      var insertionNode = frame.node.edges[\"*\"]\n    } else {\n      var insertionNode = new lunr.TokenSet\n      frame.node.edges[\"*\"] = insertionNode\n    }\n\n    if (frame.str.length == 0) {\n      insertionNode.final = true\n    }\n\n    stack.push({\n      node: insertionNode,\n      editsRemaining: frame.editsRemaining - 1,\n      str: frame.str\n    })\n\n    // deletion\n    // can only do a deletion if we have enough edits remaining\n    // and if there are characters left to delete in the string\n    if (frame.str.length > 1) {\n      stack.push({\n        node: frame.node,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // deletion\n    // just removing the last character from the str\n    if (frame.str.length == 1) {\n      frame.node.final = true\n    }\n\n    // substitution\n    // can only do a substitution if we have enough edits remaining\n    // and if there are characters left to substitute\n    if (frame.str.length >= 1) {\n      if (\"*\" in frame.node.edges) {\n        var substitutionNode = frame.node.edges[\"*\"]\n      } else {\n        var substitutionNode = new lunr.TokenSet\n        frame.node.edges[\"*\"] = substitutionNode\n      }\n\n      if (frame.str.length == 1) {\n        substitutionNode.final = true\n      }\n\n      stack.push({\n        node: substitutionNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: frame.str.slice(1)\n      })\n    }\n\n    // transposition\n    // can only do a transposition if there are edits remaining\n    // and there are enough characters to transpose\n    if (frame.str.length > 1) {\n      var charA = frame.str.charAt(0),\n          charB = frame.str.charAt(1),\n          transposeNode\n\n      if (charB in frame.node.edges) {\n        transposeNode = frame.node.edges[charB]\n      } else {\n        transposeNode = new lunr.TokenSet\n        frame.node.edges[charB] = transposeNode\n      }\n\n      if (frame.str.length == 1) {\n        transposeNode.final = true\n      }\n\n      stack.push({\n        node: transposeNode,\n        editsRemaining: frame.editsRemaining - 1,\n        str: charA + frame.str.slice(2)\n      })\n    }\n  }\n\n  return root\n}\n\n/**\n * Creates a TokenSet from a string.\n *\n * The string may contain one or more wildcard characters (*)\n * that will allow wildcard matching when intersecting with\n * another TokenSet.\n *\n * @param {string} str - The string to create a TokenSet from.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.fromString = function (str) {\n  var node = new lunr.TokenSet,\n      root = node\n\n  /*\n   * Iterates through all characters within the passed string\n   * appending a node for each character.\n   *\n   * When a wildcard character is found then a self\n   * referencing edge is introduced to continually match\n   * any number of any characters.\n   */\n  for (var i = 0, len = str.length; i < len; i++) {\n    var char = str[i],\n        final = (i == len - 1)\n\n    if (char == \"*\") {\n      node.edges[char] = node\n      node.final = final\n\n    } else {\n      var next = new lunr.TokenSet\n      next.final = final\n\n      node.edges[char] = next\n      node = next\n    }\n  }\n\n  return root\n}\n\n/**\n * Converts this TokenSet into an array of strings\n * contained within the TokenSet.\n *\n * This is not intended to be used on a TokenSet that\n * contains wildcards, in these cases the results are\n * undefined and are likely to cause an infinite loop.\n *\n * @returns {string[]}\n */\nlunr.TokenSet.prototype.toArray = function () {\n  var words = []\n\n  var stack = [{\n    prefix: \"\",\n    node: this\n  }]\n\n  while (stack.length) {\n    var frame = stack.pop(),\n        edges = Object.keys(frame.node.edges),\n        len = edges.length\n\n    if (frame.node.final) {\n      /* In Safari, at this point the prefix is sometimes corrupted, see:\n       * https://github.com/olivernn/lunr.js/issues/279 Calling any\n       * String.prototype method forces Safari to \"cast\" this string to what\n       * it's supposed to be, fixing the bug. */\n      frame.prefix.charAt(0)\n      words.push(frame.prefix)\n    }\n\n    for (var i = 0; i < len; i++) {\n      var edge = edges[i]\n\n      stack.push({\n        prefix: frame.prefix.concat(edge),\n        node: frame.node.edges[edge]\n      })\n    }\n  }\n\n  return words\n}\n\n/**\n * Generates a string representation of a TokenSet.\n *\n * This is intended to allow TokenSets to be used as keys\n * in objects, largely to aid the construction and minimisation\n * of a TokenSet. As such it is not designed to be a human\n * friendly representation of the TokenSet.\n *\n * @returns {string}\n */\nlunr.TokenSet.prototype.toString = function () {\n  // NOTE: Using Object.keys here as this.edges is very likely\n  // to enter 'hash-mode' with many keys being added\n  //\n  // avoiding a for-in loop here as it leads to the function\n  // being de-optimised (at least in V8). From some simple\n  // benchmarks the performance is comparable, but allowing\n  // V8 to optimize may mean easy performance wins in the future.\n\n  if (this._str) {\n    return this._str\n  }\n\n  var str = this.final ? '1' : '0',\n      labels = Object.keys(this.edges).sort(),\n      len = labels.length\n\n  for (var i = 0; i < len; i++) {\n    var label = labels[i],\n        node = this.edges[label]\n\n    str = str + label + node.id\n  }\n\n  return str\n}\n\n/**\n * Returns a new TokenSet that is the intersection of\n * this TokenSet and the passed TokenSet.\n *\n * This intersection will take into account any wildcards\n * contained within the TokenSet.\n *\n * @param {lunr.TokenSet} b - An other TokenSet to intersect with.\n * @returns {lunr.TokenSet}\n */\nlunr.TokenSet.prototype.intersect = function (b) {\n  var output = new lunr.TokenSet,\n      frame = undefined\n\n  var stack = [{\n    qNode: b,\n    output: output,\n    node: this\n  }]\n\n  while (stack.length) {\n    frame = stack.pop()\n\n    // NOTE: As with the #toString method, we are using\n    // Object.keys and a for loop instead of a for-in loop\n    // as both of these objects enter 'hash' mode, causing\n    // the function to be de-optimised in V8\n    var qEdges = Object.keys(frame.qNode.edges),\n        qLen = qEdges.length,\n        nEdges = Object.keys(frame.node.edges),\n        nLen = nEdges.length\n\n    for (var q = 0; q < qLen; q++) {\n      var qEdge = qEdges[q]\n\n      for (var n = 0; n < nLen; n++) {\n        var nEdge = nEdges[n]\n\n        if (nEdge == qEdge || qEdge == '*') {\n          var node = frame.node.edges[nEdge],\n              qNode = frame.qNode.edges[qEdge],\n              final = node.final && qNode.final,\n              next = undefined\n\n          if (nEdge in frame.output.edges) {\n            // an edge already exists for this character\n            // no need to create a new node, just set the finality\n            // bit unless this node is already final\n            next = frame.output.edges[nEdge]\n            next.final = next.final || final\n\n          } else {\n            // no edge exists yet, must create one\n            // set the finality bit and insert it\n            // into the output\n            next = new lunr.TokenSet\n            next.final = final\n            frame.output.edges[nEdge] = next\n          }\n\n          stack.push({\n            qNode: qNode,\n            output: next,\n            node: node\n          })\n        }\n      }\n    }\n  }\n\n  return output\n}\nlunr.TokenSet.Builder = function () {\n  this.previousWord = \"\"\n  this.root = new lunr.TokenSet\n  this.uncheckedNodes = []\n  this.minimizedNodes = {}\n}\n\nlunr.TokenSet.Builder.prototype.insert = function (word) {\n  var node,\n      commonPrefix = 0\n\n  if (word < this.previousWord) {\n    throw new Error (\"Out of order word insertion\")\n  }\n\n  for (var i = 0; i < word.length && i < this.previousWord.length; i++) {\n    if (word[i] != this.previousWord[i]) break\n    commonPrefix++\n  }\n\n  this.minimize(commonPrefix)\n\n  if (this.uncheckedNodes.length == 0) {\n    node = this.root\n  } else {\n    node = this.uncheckedNodes[this.uncheckedNodes.length - 1].child\n  }\n\n  for (var i = commonPrefix; i < word.length; i++) {\n    var nextNode = new lunr.TokenSet,\n        char = word[i]\n\n    node.edges[char] = nextNode\n\n    this.uncheckedNodes.push({\n      parent: node,\n      char: char,\n      child: nextNode\n    })\n\n    node = nextNode\n  }\n\n  node.final = true\n  this.previousWord = word\n}\n\nlunr.TokenSet.Builder.prototype.finish = function () {\n  this.minimize(0)\n}\n\nlunr.TokenSet.Builder.prototype.minimize = function (downTo) {\n  for (var i = this.uncheckedNodes.length - 1; i >= downTo; i--) {\n    var node = this.uncheckedNodes[i],\n        childKey = node.child.toString()\n\n    if (childKey in this.minimizedNodes) {\n      node.parent.edges[node.char] = this.minimizedNodes[childKey]\n    } else {\n      // Cache the key for this node since\n      // we know it can't change anymore\n      node.child._str = childKey\n\n      this.minimizedNodes[childKey] = node.child\n    }\n\n    this.uncheckedNodes.pop()\n  }\n}\n/*!\n * lunr.Index\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * An index contains the built index of all documents and provides a query interface\n * to the index.\n *\n * Usually instances of lunr.Index will not be created using this constructor, instead\n * lunr.Builder should be used to construct new indexes, or lunr.Index.load should be\n * used to load previously built and serialized indexes.\n *\n * @constructor\n * @param {Object} attrs - The attributes of the built search index.\n * @param {Object} attrs.invertedIndex - An index of term/field to document reference.\n * @param {Object<string, lunr.Vector>} attrs.fieldVectors - Field vectors\n * @param {lunr.TokenSet} attrs.tokenSet - An set of all corpus tokens.\n * @param {string[]} attrs.fields - The names of indexed document fields.\n * @param {lunr.Pipeline} attrs.pipeline - The pipeline to use for search terms.\n */\nlunr.Index = function (attrs) {\n  this.invertedIndex = attrs.invertedIndex\n  this.fieldVectors = attrs.fieldVectors\n  this.tokenSet = attrs.tokenSet\n  this.fields = attrs.fields\n  this.pipeline = attrs.pipeline\n}\n\n/**\n * A result contains details of a document matching a search query.\n * @typedef {Object} lunr.Index~Result\n * @property {string} ref - The reference of the document this result represents.\n * @property {number} score - A number between 0 and 1 representing how similar this document is to the query.\n * @property {lunr.MatchData} matchData - Contains metadata about this match including which term(s) caused the match.\n */\n\n/**\n * Although lunr provides the ability to create queries using lunr.Query, it also provides a simple\n * query language which itself is parsed into an instance of lunr.Query.\n *\n * For programmatically building queries it is advised to directly use lunr.Query, the query language\n * is best used for human entered text rather than program generated text.\n *\n * At its simplest queries can just be a single term, e.g. `hello`, multiple terms are also supported\n * and will be combined with OR, e.g `hello world` will match documents that contain either 'hello'\n * or 'world', though those that contain both will rank higher in the results.\n *\n * Wildcards can be included in terms to match one or more unspecified characters, these wildcards can\n * be inserted anywhere within the term, and more than one wildcard can exist in a single term. Adding\n * wildcards will increase the number of documents that will be found but can also have a negative\n * impact on query performance, especially with wildcards at the beginning of a term.\n *\n * Terms can be restricted to specific fields, e.g. `title:hello`, only documents with the term\n * hello in the title field will match this query. Using a field not present in the index will lead\n * to an error being thrown.\n *\n * Modifiers can also be added to terms, lunr supports edit distance and boost modifiers on terms. A term\n * boost will make documents matching that term score higher, e.g. `foo^5`. Edit distance is also supported\n * to provide fuzzy matching, e.g. 'hello~2' will match documents with hello with an edit distance of 2.\n * Avoid large values for edit distance to improve query performance.\n *\n * Each term also supports a presence modifier. By default a term's presence in document is optional, however\n * this can be changed to either required or prohibited. For a term's presence to be required in a document the\n * term should be prefixed with a '+', e.g. `+foo bar` is a search for documents that must contain 'foo' and\n * optionally contain 'bar'. Conversely a leading '-' sets the terms presence to prohibited, i.e. it must not\n * appear in a document, e.g. `-foo bar` is a search for documents that do not contain 'foo' but may contain 'bar'.\n *\n * To escape special characters the backslash character '\\' can be used, this allows searches to include\n * characters that would normally be considered modifiers, e.g. `foo\\~2` will search for a term \"foo~2\" instead\n * of attempting to apply a boost of 2 to the search term \"foo\".\n *\n * @typedef {string} lunr.Index~QueryString\n * @example <caption>Simple single term query</caption>\n * hello\n * @example <caption>Multiple term query</caption>\n * hello world\n * @example <caption>term scoped to a field</caption>\n * title:hello\n * @example <caption>term with a boost of 10</caption>\n * hello^10\n * @example <caption>term with an edit distance of 2</caption>\n * hello~2\n * @example <caption>terms with presence modifiers</caption>\n * -foo +bar baz\n */\n\n/**\n * Performs a search against the index using lunr query syntax.\n *\n * Results will be returned sorted by their score, the most relevant results\n * will be returned first.  For details on how the score is calculated, please see\n * the {@link https://lunrjs.com/guides/searching.html#scoring|guide}.\n *\n * For more programmatic querying use lunr.Index#query.\n *\n * @param {lunr.Index~QueryString} queryString - A string containing a lunr query.\n * @throws {lunr.QueryParseError} If the passed query string cannot be parsed.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.search = function (queryString) {\n  return this.query(function (query) {\n    var parser = new lunr.QueryParser(queryString, query)\n    parser.parse()\n  })\n}\n\n/**\n * A query builder callback provides a query object to be used to express\n * the query to perform on the index.\n *\n * @callback lunr.Index~queryBuilder\n * @param {lunr.Query} query - The query object to build up.\n * @this lunr.Query\n */\n\n/**\n * Performs a query against the index using the yielded lunr.Query object.\n *\n * If performing programmatic queries against the index, this method is preferred\n * over lunr.Index#search so as to avoid the additional query parsing overhead.\n *\n * A query object is yielded to the supplied function which should be used to\n * express the query to be run against the index.\n *\n * Note that although this function takes a callback parameter it is _not_ an\n * asynchronous operation, the callback is just yielded a query object to be\n * customized.\n *\n * @param {lunr.Index~queryBuilder} fn - A function that is used to build the query.\n * @returns {lunr.Index~Result[]}\n */\nlunr.Index.prototype.query = function (fn) {\n  // for each query clause\n  // * process terms\n  // * expand terms from token set\n  // * find matching documents and metadata\n  // * get document vectors\n  // * score documents\n\n  var query = new lunr.Query(this.fields),\n      matchingFields = Object.create(null),\n      queryVectors = Object.create(null),\n      termFieldCache = Object.create(null),\n      requiredMatches = Object.create(null),\n      prohibitedMatches = Object.create(null)\n\n  /*\n   * To support field level boosts a query vector is created per\n   * field. An empty vector is eagerly created to support negated\n   * queries.\n   */\n  for (var i = 0; i < this.fields.length; i++) {\n    queryVectors[this.fields[i]] = new lunr.Vector\n  }\n\n  fn.call(query, query)\n\n  for (var i = 0; i < query.clauses.length; i++) {\n    /*\n     * Unless the pipeline has been disabled for this term, which is\n     * the case for terms with wildcards, we need to pass the clause\n     * term through the search pipeline. A pipeline returns an array\n     * of processed terms. Pipeline functions may expand the passed\n     * term, which means we may end up performing multiple index lookups\n     * for a single query term.\n     */\n    var clause = query.clauses[i],\n        terms = null,\n        clauseMatches = lunr.Set.empty\n\n    if (clause.usePipeline) {\n      terms = this.pipeline.runString(clause.term, {\n        fields: clause.fields\n      })\n    } else {\n      terms = [clause.term]\n    }\n\n    for (var m = 0; m < terms.length; m++) {\n      var term = terms[m]\n\n      /*\n       * Each term returned from the pipeline needs to use the same query\n       * clause object, e.g. the same boost and or edit distance. The\n       * simplest way to do this is to re-use the clause object but mutate\n       * its term property.\n       */\n      clause.term = term\n\n      /*\n       * From the term in the clause we create a token set which will then\n       * be used to intersect the indexes token set to get a list of terms\n       * to lookup in the inverted index\n       */\n      var termTokenSet = lunr.TokenSet.fromClause(clause),\n          expandedTerms = this.tokenSet.intersect(termTokenSet).toArray()\n\n      /*\n       * If a term marked as required does not exist in the tokenSet it is\n       * impossible for the search to return any matches. We set all the field\n       * scoped required matches set to empty and stop examining any further\n       * clauses.\n       */\n      if (expandedTerms.length === 0 && clause.presence === lunr.Query.presence.REQUIRED) {\n        for (var k = 0; k < clause.fields.length; k++) {\n          var field = clause.fields[k]\n          requiredMatches[field] = lunr.Set.empty\n        }\n\n        break\n      }\n\n      for (var j = 0; j < expandedTerms.length; j++) {\n        /*\n         * For each term get the posting and termIndex, this is required for\n         * building the query vector.\n         */\n        var expandedTerm = expandedTerms[j],\n            posting = this.invertedIndex[expandedTerm],\n            termIndex = posting._index\n\n        for (var k = 0; k < clause.fields.length; k++) {\n          /*\n           * For each field that this query term is scoped by (by default\n           * all fields are in scope) we need to get all the document refs\n           * that have this term in that field.\n           *\n           * The posting is the entry in the invertedIndex for the matching\n           * term from above.\n           */\n          var field = clause.fields[k],\n              fieldPosting = posting[field],\n              matchingDocumentRefs = Object.keys(fieldPosting),\n              termField = expandedTerm + \"/\" + field,\n              matchingDocumentsSet = new lunr.Set(matchingDocumentRefs)\n\n          /*\n           * if the presence of this term is required ensure that the matching\n           * documents are added to the set of required matches for this clause.\n           *\n           */\n          if (clause.presence == lunr.Query.presence.REQUIRED) {\n            clauseMatches = clauseMatches.union(matchingDocumentsSet)\n\n            if (requiredMatches[field] === undefined) {\n              requiredMatches[field] = lunr.Set.complete\n            }\n          }\n\n          /*\n           * if the presence of this term is prohibited ensure that the matching\n           * documents are added to the set of prohibited matches for this field,\n           * creating that set if it does not yet exist.\n           */\n          if (clause.presence == lunr.Query.presence.PROHIBITED) {\n            if (prohibitedMatches[field] === undefined) {\n              prohibitedMatches[field] = lunr.Set.empty\n            }\n\n            prohibitedMatches[field] = prohibitedMatches[field].union(matchingDocumentsSet)\n\n            /*\n             * Prohibited matches should not be part of the query vector used for\n             * similarity scoring and no metadata should be extracted so we continue\n             * to the next field\n             */\n            continue\n          }\n\n          /*\n           * The query field vector is populated using the termIndex found for\n           * the term and a unit value with the appropriate boost applied.\n           * Using upsert because there could already be an entry in the vector\n           * for the term we are working with. In that case we just add the scores\n           * together.\n           */\n          queryVectors[field].upsert(termIndex, clause.boost, function (a, b) { return a + b })\n\n          /**\n           * If we've already seen this term, field combo then we've already collected\n           * the matching documents and metadata, no need to go through all that again\n           */\n          if (termFieldCache[termField]) {\n            continue\n          }\n\n          for (var l = 0; l < matchingDocumentRefs.length; l++) {\n            /*\n             * All metadata for this term/field/document triple\n             * are then extracted and collected into an instance\n             * of lunr.MatchData ready to be returned in the query\n             * results\n             */\n            var matchingDocumentRef = matchingDocumentRefs[l],\n                matchingFieldRef = new lunr.FieldRef (matchingDocumentRef, field),\n                metadata = fieldPosting[matchingDocumentRef],\n                fieldMatch\n\n            if ((fieldMatch = matchingFields[matchingFieldRef]) === undefined) {\n              matchingFields[matchingFieldRef] = new lunr.MatchData (expandedTerm, field, metadata)\n            } else {\n              fieldMatch.add(expandedTerm, field, metadata)\n            }\n\n          }\n\n          termFieldCache[termField] = true\n        }\n      }\n    }\n\n    /**\n     * If the presence was required we need to update the requiredMatches field sets.\n     * We do this after all fields for the term have collected their matches because\n     * the clause terms presence is required in _any_ of the fields not _all_ of the\n     * fields.\n     */\n    if (clause.presence === lunr.Query.presence.REQUIRED) {\n      for (var k = 0; k < clause.fields.length; k++) {\n        var field = clause.fields[k]\n        requiredMatches[field] = requiredMatches[field].intersect(clauseMatches)\n      }\n    }\n  }\n\n  /**\n   * Need to combine the field scoped required and prohibited\n   * matching documents into a global set of required and prohibited\n   * matches\n   */\n  var allRequiredMatches = lunr.Set.complete,\n      allProhibitedMatches = lunr.Set.empty\n\n  for (var i = 0; i < this.fields.length; i++) {\n    var field = this.fields[i]\n\n    if (requiredMatches[field]) {\n      allRequiredMatches = allRequiredMatches.intersect(requiredMatches[field])\n    }\n\n    if (prohibitedMatches[field]) {\n      allProhibitedMatches = allProhibitedMatches.union(prohibitedMatches[field])\n    }\n  }\n\n  var matchingFieldRefs = Object.keys(matchingFields),\n      results = [],\n      matches = Object.create(null)\n\n  /*\n   * If the query is negated (contains only prohibited terms)\n   * we need to get _all_ fieldRefs currently existing in the\n   * index. This is only done when we know that the query is\n   * entirely prohibited terms to avoid any cost of getting all\n   * fieldRefs unnecessarily.\n   *\n   * Additionally, blank MatchData must be created to correctly\n   * populate the results.\n   */\n  if (query.isNegated()) {\n    matchingFieldRefs = Object.keys(this.fieldVectors)\n\n    for (var i = 0; i < matchingFieldRefs.length; i++) {\n      var matchingFieldRef = matchingFieldRefs[i]\n      var fieldRef = lunr.FieldRef.fromString(matchingFieldRef)\n      matchingFields[matchingFieldRef] = new lunr.MatchData\n    }\n  }\n\n  for (var i = 0; i < matchingFieldRefs.length; i++) {\n    /*\n     * Currently we have document fields that match the query, but we\n     * need to return documents. The matchData and scores are combined\n     * from multiple fields belonging to the same document.\n     *\n     * Scores are calculated by field, using the query vectors created\n     * above, and combined into a final document score using addition.\n     */\n    var fieldRef = lunr.FieldRef.fromString(matchingFieldRefs[i]),\n        docRef = fieldRef.docRef\n\n    if (!allRequiredMatches.contains(docRef)) {\n      continue\n    }\n\n    if (allProhibitedMatches.contains(docRef)) {\n      continue\n    }\n\n    var fieldVector = this.fieldVectors[fieldRef],\n        score = queryVectors[fieldRef.fieldName].similarity(fieldVector),\n        docMatch\n\n    if ((docMatch = matches[docRef]) !== undefined) {\n      docMatch.score += score\n      docMatch.matchData.combine(matchingFields[fieldRef])\n    } else {\n      var match = {\n        ref: docRef,\n        score: score,\n        matchData: matchingFields[fieldRef]\n      }\n      matches[docRef] = match\n      results.push(match)\n    }\n  }\n\n  /*\n   * Sort the results objects by score, highest first.\n   */\n  return results.sort(function (a, b) {\n    return b.score - a.score\n  })\n}\n\n/**\n * Prepares the index for JSON serialization.\n *\n * The schema for this JSON blob will be described in a\n * separate JSON schema file.\n *\n * @returns {Object}\n */\nlunr.Index.prototype.toJSON = function () {\n  var invertedIndex = Object.keys(this.invertedIndex)\n    .sort()\n    .map(function (term) {\n      return [term, this.invertedIndex[term]]\n    }, this)\n\n  var fieldVectors = Object.keys(this.fieldVectors)\n    .map(function (ref) {\n      return [ref, this.fieldVectors[ref].toJSON()]\n    }, this)\n\n  return {\n    version: lunr.version,\n    fields: this.fields,\n    fieldVectors: fieldVectors,\n    invertedIndex: invertedIndex,\n    pipeline: this.pipeline.toJSON()\n  }\n}\n\n/**\n * Loads a previously serialized lunr.Index\n *\n * @param {Object} serializedIndex - A previously serialized lunr.Index\n * @returns {lunr.Index}\n */\nlunr.Index.load = function (serializedIndex) {\n  var attrs = {},\n      fieldVectors = {},\n      serializedVectors = serializedIndex.fieldVectors,\n      invertedIndex = Object.create(null),\n      serializedInvertedIndex = serializedIndex.invertedIndex,\n      tokenSetBuilder = new lunr.TokenSet.Builder,\n      pipeline = lunr.Pipeline.load(serializedIndex.pipeline)\n\n  if (serializedIndex.version != lunr.version) {\n    lunr.utils.warn(\"Version mismatch when loading serialised index. Current version of lunr '\" + lunr.version + \"' does not match serialized index '\" + serializedIndex.version + \"'\")\n  }\n\n  for (var i = 0; i < serializedVectors.length; i++) {\n    var tuple = serializedVectors[i],\n        ref = tuple[0],\n        elements = tuple[1]\n\n    fieldVectors[ref] = new lunr.Vector(elements)\n  }\n\n  for (var i = 0; i < serializedInvertedIndex.length; i++) {\n    var tuple = serializedInvertedIndex[i],\n        term = tuple[0],\n        posting = tuple[1]\n\n    tokenSetBuilder.insert(term)\n    invertedIndex[term] = posting\n  }\n\n  tokenSetBuilder.finish()\n\n  attrs.fields = serializedIndex.fields\n\n  attrs.fieldVectors = fieldVectors\n  attrs.invertedIndex = invertedIndex\n  attrs.tokenSet = tokenSetBuilder.root\n  attrs.pipeline = pipeline\n\n  return new lunr.Index(attrs)\n}\n/*!\n * lunr.Builder\n * Copyright (C) 2020 Oliver Nightingale\n */\n\n/**\n * lunr.Builder performs indexing on a set of documents and\n * returns instances of lunr.Index ready for querying.\n *\n * All configuration of the index is done via the builder, the\n * fields to index, the document reference, the text processing\n * pipeline and document scoring parameters are all set on the\n * builder before indexing.\n *\n * @constructor\n * @property {string} _ref - Internal reference to the document reference field.\n * @property {string[]} _fields - Internal reference to the document fields to index.\n * @property {object} invertedIndex - The inverted index maps terms to document fields.\n * @property {object} documentTermFrequencies - Keeps track of document term frequencies.\n * @property {object} documentLengths - Keeps track of the length of documents added to the index.\n * @property {lunr.tokenizer} tokenizer - Function for splitting strings into tokens for indexing.\n * @property {lunr.Pipeline} pipeline - The pipeline performs text processing on tokens before indexing.\n * @property {lunr.Pipeline} searchPipeline - A pipeline for processing search terms before querying the index.\n * @property {number} documentCount - Keeps track of the total number of documents indexed.\n * @property {number} _b - A parameter to control field length normalization, setting this to 0 disabled normalization, 1 fully normalizes field lengths, the default value is 0.75.\n * @property {number} _k1 - A parameter to control how quickly an increase in term frequency results in term frequency saturation, the default value is 1.2.\n * @property {number} termIndex - A counter incremented for each unique term, used to identify a terms position in the vector space.\n * @property {array} metadataWhitelist - A list of metadata keys that have been whitelisted for entry in the index.\n */\nlunr.Builder = function () {\n  this._ref = \"id\"\n  this._fields = Object.create(null)\n  this._documents = Object.create(null)\n  this.invertedIndex = Object.create(null)\n  this.fieldTermFrequencies = {}\n  this.fieldLengths = {}\n  this.tokenizer = lunr.tokenizer\n  this.pipeline = new lunr.Pipeline\n  this.searchPipeline = new lunr.Pipeline\n  this.documentCount = 0\n  this._b = 0.75\n  this._k1 = 1.2\n  this.termIndex = 0\n  this.metadataWhitelist = []\n}\n\n/**\n * Sets the document field used as the document reference. Every document must have this field.\n * The type of this field in the document should be a string, if it is not a string it will be\n * coerced into a string by calling toString.\n *\n * The default ref is 'id'.\n *\n * The ref should _not_ be changed during indexing, it should be set before any documents are\n * added to the index. Changing it during indexing can lead to inconsistent results.\n *\n * @param {string} ref - The name of the reference field in the document.\n */\nlunr.Builder.prototype.ref = function (ref) {\n  this._ref = ref\n}\n\n/**\n * A function that is used to extract a field from a document.\n *\n * Lunr expects a field to be at the top level of a document, if however the field\n * is deeply nested within a document an extractor function can be used to extract\n * the right field for indexing.\n *\n * @callback fieldExtractor\n * @param {object} doc - The document being added to the index.\n * @returns {?(string|object|object[])} obj - The object that will be indexed for this field.\n * @example <caption>Extracting a nested field</caption>\n * function (doc) { return doc.nested.field }\n */\n\n/**\n * Adds a field to the list of document fields that will be indexed. Every document being\n * indexed should have this field. Null values for this field in indexed documents will\n * not cause errors but will limit the chance of that document being retrieved by searches.\n *\n * All fields should be added before adding documents to the index. Adding fields after\n * a document has been indexed will have no effect on already indexed documents.\n *\n * Fields can be boosted at build time. This allows terms within that field to have more\n * importance when ranking search results. Use a field boost to specify that matches within\n * one field are more important than other fields.\n *\n * @param {string} fieldName - The name of a field to index in all documents.\n * @param {object} attributes - Optional attributes associated with this field.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this field.\n * @param {fieldExtractor} [attributes.extractor] - Function to extract a field from a document.\n * @throws {RangeError} fieldName cannot contain unsupported characters '/'\n */\nlunr.Builder.prototype.field = function (fieldName, attributes) {\n  if (/\\//.test(fieldName)) {\n    throw new RangeError (\"Field '\" + fieldName + \"' contains illegal character '/'\")\n  }\n\n  this._fields[fieldName] = attributes || {}\n}\n\n/**\n * A parameter to tune the amount of field length normalisation that is applied when\n * calculating relevance scores. A value of 0 will completely disable any normalisation\n * and a value of 1 will fully normalise field lengths. The default is 0.75. Values of b\n * will be clamped to the range 0 - 1.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.b = function (number) {\n  if (number < 0) {\n    this._b = 0\n  } else if (number > 1) {\n    this._b = 1\n  } else {\n    this._b = number\n  }\n}\n\n/**\n * A parameter that controls the speed at which a rise in term frequency results in term\n * frequency saturation. The default value is 1.2. Setting this to a higher value will give\n * slower saturation levels, a lower value will result in quicker saturation.\n *\n * @param {number} number - The value to set for this tuning parameter.\n */\nlunr.Builder.prototype.k1 = function (number) {\n  this._k1 = number\n}\n\n/**\n * Adds a document to the index.\n *\n * Before adding fields to the index the index should have been fully setup, with the document\n * ref and all fields to index already having been specified.\n *\n * The document must have a field name as specified by the ref (by default this is 'id') and\n * it should have all fields defined for indexing, though null or undefined values will not\n * cause errors.\n *\n * Entire documents can be boosted at build time. Applying a boost to a document indicates that\n * this document should rank higher in search results than other documents.\n *\n * @param {object} doc - The document to add to the index.\n * @param {object} attributes - Optional attributes associated with this document.\n * @param {number} [attributes.boost=1] - Boost applied to all terms within this document.\n */\nlunr.Builder.prototype.add = function (doc, attributes) {\n  var docRef = doc[this._ref],\n      fields = Object.keys(this._fields)\n\n  this._documents[docRef] = attributes || {}\n  this.documentCount += 1\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i],\n        extractor = this._fields[fieldName].extractor,\n        field = extractor ? extractor(doc) : doc[fieldName],\n        tokens = this.tokenizer(field, {\n          fields: [fieldName]\n        }),\n        terms = this.pipeline.run(tokens),\n        fieldRef = new lunr.FieldRef (docRef, fieldName),\n        fieldTerms = Object.create(null)\n\n    this.fieldTermFrequencies[fieldRef] = fieldTerms\n    this.fieldLengths[fieldRef] = 0\n\n    // store the length of this field for this document\n    this.fieldLengths[fieldRef] += terms.length\n\n    // calculate term frequencies for this field\n    for (var j = 0; j < terms.length; j++) {\n      var term = terms[j]\n\n      if (fieldTerms[term] == undefined) {\n        fieldTerms[term] = 0\n      }\n\n      fieldTerms[term] += 1\n\n      // add to inverted index\n      // create an initial posting if one doesn't exist\n      if (this.invertedIndex[term] == undefined) {\n        var posting = Object.create(null)\n        posting[\"_index\"] = this.termIndex\n        this.termIndex += 1\n\n        for (var k = 0; k < fields.length; k++) {\n          posting[fields[k]] = Object.create(null)\n        }\n\n        this.invertedIndex[term] = posting\n      }\n\n      // add an entry for this term/fieldName/docRef to the invertedIndex\n      if (this.invertedIndex[term][fieldName][docRef] == undefined) {\n        this.invertedIndex[term][fieldName][docRef] = Object.create(null)\n      }\n\n      // store all whitelisted metadata about this token in the\n      // inverted index\n      for (var l = 0; l < this.metadataWhitelist.length; l++) {\n        var metadataKey = this.metadataWhitelist[l],\n            metadata = term.metadata[metadataKey]\n\n        if (this.invertedIndex[term][fieldName][docRef][metadataKey] == undefined) {\n          this.invertedIndex[term][fieldName][docRef][metadataKey] = []\n        }\n\n        this.invertedIndex[term][fieldName][docRef][metadataKey].push(metadata)\n      }\n    }\n\n  }\n}\n\n/**\n * Calculates the average document length for this index\n *\n * @private\n */\nlunr.Builder.prototype.calculateAverageFieldLengths = function () {\n\n  var fieldRefs = Object.keys(this.fieldLengths),\n      numberOfFields = fieldRefs.length,\n      accumulator = {},\n      documentsWithField = {}\n\n  for (var i = 0; i < numberOfFields; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        field = fieldRef.fieldName\n\n    documentsWithField[field] || (documentsWithField[field] = 0)\n    documentsWithField[field] += 1\n\n    accumulator[field] || (accumulator[field] = 0)\n    accumulator[field] += this.fieldLengths[fieldRef]\n  }\n\n  var fields = Object.keys(this._fields)\n\n  for (var i = 0; i < fields.length; i++) {\n    var fieldName = fields[i]\n    accumulator[fieldName] = accumulator[fieldName] / documentsWithField[fieldName]\n  }\n\n  this.averageFieldLength = accumulator\n}\n\n/**\n * Builds a vector space model of every document using lunr.Vector\n *\n * @private\n */\nlunr.Builder.prototype.createFieldVectors = function () {\n  var fieldVectors = {},\n      fieldRefs = Object.keys(this.fieldTermFrequencies),\n      fieldRefsLength = fieldRefs.length,\n      termIdfCache = Object.create(null)\n\n  for (var i = 0; i < fieldRefsLength; i++) {\n    var fieldRef = lunr.FieldRef.fromString(fieldRefs[i]),\n        fieldName = fieldRef.fieldName,\n        fieldLength = this.fieldLengths[fieldRef],\n        fieldVector = new lunr.Vector,\n        termFrequencies = this.fieldTermFrequencies[fieldRef],\n        terms = Object.keys(termFrequencies),\n        termsLength = terms.length\n\n\n    var fieldBoost = this._fields[fieldName].boost || 1,\n        docBoost = this._documents[fieldRef.docRef].boost || 1\n\n    for (var j = 0; j < termsLength; j++) {\n      var term = terms[j],\n          tf = termFrequencies[term],\n          termIndex = this.invertedIndex[term]._index,\n          idf, score, scoreWithPrecision\n\n      if (termIdfCache[term] === undefined) {\n        idf = lunr.idf(this.invertedIndex[term], this.documentCount)\n        termIdfCache[term] = idf\n      } else {\n        idf = termIdfCache[term]\n      }\n\n      score = idf * ((this._k1 + 1) * tf) / (this._k1 * (1 - this._b + this._b * (fieldLength / this.averageFieldLength[fieldName])) + tf)\n      score *= fieldBoost\n      score *= docBoost\n      scoreWithPrecision = Math.round(score * 1000) / 1000\n      // Converts 1.23456789 to 1.234.\n      // Reducing the precision so that the vectors take up less\n      // space when serialised. Doing it now so that they behave\n      // the same before and after serialisation. Also, this is\n      // the fastest approach to reducing a number's precision in\n      // JavaScript.\n\n      fieldVector.insert(termIndex, scoreWithPrecision)\n    }\n\n    fieldVectors[fieldRef] = fieldVector\n  }\n\n  this.fieldVectors = fieldVectors\n}\n\n/**\n * Creates a token set of all tokens in the index using lunr.TokenSet\n *\n * @private\n */\nlunr.Builder.prototype.createTokenSet = function () {\n  this.tokenSet = lunr.TokenSet.fromArray(\n    Object.keys(this.invertedIndex).sort()\n  )\n}\n\n/**\n * Builds the index, creating an instance of lunr.Index.\n *\n * This completes the indexing process and should only be called\n * once all documents have been added to the index.\n *\n * @returns {lunr.Index}\n */\nlunr.Builder.prototype.build = function () {\n  this.calculateAverageFieldLengths()\n  this.createFieldVectors()\n  this.createTokenSet()\n\n  return new lunr.Index({\n    invertedIndex: this.invertedIndex,\n    fieldVectors: this.fieldVectors,\n    tokenSet: this.tokenSet,\n    fields: Object.keys(this._fields),\n    pipeline: this.searchPipeline\n  })\n}\n\n/**\n * Applies a plugin to the index builder.\n *\n * A plugin is a function that is called with the index builder as its context.\n * Plugins can be used to customise or extend the behaviour of the index\n * in some way. A plugin is just a function, that encapsulated the custom\n * behaviour that should be applied when building the index.\n *\n * The plugin function will be called with the index builder as its argument, additional\n * arguments can also be passed when calling use. The function will be called\n * with the index builder as its context.\n *\n * @param {Function} plugin The plugin to apply.\n */\nlunr.Builder.prototype.use = function (fn) {\n  var args = Array.prototype.slice.call(arguments, 1)\n  args.unshift(this)\n  fn.apply(this, args)\n}\n/**\n * Contains and collects metadata about a matching document.\n * A single instance of lunr.MatchData is returned as part of every\n * lunr.Index~Result.\n *\n * @constructor\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n * @property {object} metadata - A cloned collection of metadata associated with this document.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData = function (term, field, metadata) {\n  var clonedMetadata = Object.create(null),\n      metadataKeys = Object.keys(metadata || {})\n\n  // Cloning the metadata to prevent the original\n  // being mutated during match data combination.\n  // Metadata is kept in an array within the inverted\n  // index so cloning the data can be done with\n  // Array#slice\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n    clonedMetadata[key] = metadata[key].slice()\n  }\n\n  this.metadata = Object.create(null)\n\n  if (term !== undefined) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = clonedMetadata\n  }\n}\n\n/**\n * An instance of lunr.MatchData will be created for every term that matches a\n * document. However only one instance is required in a lunr.Index~Result. This\n * method combines metadata from another instance of lunr.MatchData with this\n * objects metadata.\n *\n * @param {lunr.MatchData} otherMatchData - Another instance of match data to merge with this one.\n * @see {@link lunr.Index~Result}\n */\nlunr.MatchData.prototype.combine = function (otherMatchData) {\n  var terms = Object.keys(otherMatchData.metadata)\n\n  for (var i = 0; i < terms.length; i++) {\n    var term = terms[i],\n        fields = Object.keys(otherMatchData.metadata[term])\n\n    if (this.metadata[term] == undefined) {\n      this.metadata[term] = Object.create(null)\n    }\n\n    for (var j = 0; j < fields.length; j++) {\n      var field = fields[j],\n          keys = Object.keys(otherMatchData.metadata[term][field])\n\n      if (this.metadata[term][field] == undefined) {\n        this.metadata[term][field] = Object.create(null)\n      }\n\n      for (var k = 0; k < keys.length; k++) {\n        var key = keys[k]\n\n        if (this.metadata[term][field][key] == undefined) {\n          this.metadata[term][field][key] = otherMatchData.metadata[term][field][key]\n        } else {\n          this.metadata[term][field][key] = this.metadata[term][field][key].concat(otherMatchData.metadata[term][field][key])\n        }\n\n      }\n    }\n  }\n}\n\n/**\n * Add metadata for a term/field pair to this instance of match data.\n *\n * @param {string} term - The term this match data is associated with\n * @param {string} field - The field in which the term was found\n * @param {object} metadata - The metadata recorded about this term in this field\n */\nlunr.MatchData.prototype.add = function (term, field, metadata) {\n  if (!(term in this.metadata)) {\n    this.metadata[term] = Object.create(null)\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  if (!(field in this.metadata[term])) {\n    this.metadata[term][field] = metadata\n    return\n  }\n\n  var metadataKeys = Object.keys(metadata)\n\n  for (var i = 0; i < metadataKeys.length; i++) {\n    var key = metadataKeys[i]\n\n    if (key in this.metadata[term][field]) {\n      this.metadata[term][field][key] = this.metadata[term][field][key].concat(metadata[key])\n    } else {\n      this.metadata[term][field][key] = metadata[key]\n    }\n  }\n}\n/**\n * A lunr.Query provides a programmatic way of defining queries to be performed\n * against a {@link lunr.Index}.\n *\n * Prefer constructing a lunr.Query using the {@link lunr.Index#query} method\n * so the query object is pre-initialized with the right index fields.\n *\n * @constructor\n * @property {lunr.Query~Clause[]} clauses - An array of query clauses.\n * @property {string[]} allFields - An array of all available fields in a lunr.Index.\n */\nlunr.Query = function (allFields) {\n  this.clauses = []\n  this.allFields = allFields\n}\n\n/**\n * Constants for indicating what kind of automatic wildcard insertion will be used when constructing a query clause.\n *\n * This allows wildcards to be added to the beginning and end of a term without having to manually do any string\n * concatenation.\n *\n * The wildcard constants can be bitwise combined to select both leading and trailing wildcards.\n *\n * @constant\n * @default\n * @property {number} wildcard.NONE - The term will have no wildcards inserted, this is the default behaviour\n * @property {number} wildcard.LEADING - Prepend the term with a wildcard, unless a leading wildcard already exists\n * @property {number} wildcard.TRAILING - Append a wildcard to the term, unless a trailing wildcard already exists\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with trailing wildcard</caption>\n * query.term('foo', { wildcard: lunr.Query.wildcard.TRAILING })\n * @example <caption>query term with leading and trailing wildcard</caption>\n * query.term('foo', {\n *   wildcard: lunr.Query.wildcard.LEADING | lunr.Query.wildcard.TRAILING\n * })\n */\n\nlunr.Query.wildcard = new String (\"*\")\nlunr.Query.wildcard.NONE = 0\nlunr.Query.wildcard.LEADING = 1\nlunr.Query.wildcard.TRAILING = 2\n\n/**\n * Constants for indicating what kind of presence a term must have in matching documents.\n *\n * @constant\n * @enum {number}\n * @see lunr.Query~Clause\n * @see lunr.Query#clause\n * @see lunr.Query#term\n * @example <caption>query term with required presence</caption>\n * query.term('foo', { presence: lunr.Query.presence.REQUIRED })\n */\nlunr.Query.presence = {\n  /**\n   * Term's presence in a document is optional, this is the default value.\n   */\n  OPTIONAL: 1,\n\n  /**\n   * Term's presence in a document is required, documents that do not contain\n   * this term will not be returned.\n   */\n  REQUIRED: 2,\n\n  /**\n   * Term's presence in a document is prohibited, documents that do contain\n   * this term will not be returned.\n   */\n  PROHIBITED: 3\n}\n\n/**\n * A single clause in a {@link lunr.Query} contains a term and details on how to\n * match that term against a {@link lunr.Index}.\n *\n * @typedef {Object} lunr.Query~Clause\n * @property {string[]} fields - The fields in an index this clause should be matched against.\n * @property {number} [boost=1] - Any boost that should be applied when matching this clause.\n * @property {number} [editDistance] - Whether the term should have fuzzy matching applied, and how fuzzy the match should be.\n * @property {boolean} [usePipeline] - Whether the term should be passed through the search pipeline.\n * @property {number} [wildcard=lunr.Query.wildcard.NONE] - Whether the term should have wildcards appended or prepended.\n * @property {number} [presence=lunr.Query.presence.OPTIONAL] - The terms presence in any matching documents.\n */\n\n/**\n * Adds a {@link lunr.Query~Clause} to this query.\n *\n * Unless the clause contains the fields to be matched all fields will be matched. In addition\n * a default boost of 1 is applied to the clause.\n *\n * @param {lunr.Query~Clause} clause - The clause to add to this query.\n * @see lunr.Query~Clause\n * @returns {lunr.Query}\n */\nlunr.Query.prototype.clause = function (clause) {\n  if (!('fields' in clause)) {\n    clause.fields = this.allFields\n  }\n\n  if (!('boost' in clause)) {\n    clause.boost = 1\n  }\n\n  if (!('usePipeline' in clause)) {\n    clause.usePipeline = true\n  }\n\n  if (!('wildcard' in clause)) {\n    clause.wildcard = lunr.Query.wildcard.NONE\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.LEADING) && (clause.term.charAt(0) != lunr.Query.wildcard)) {\n    clause.term = \"*\" + clause.term\n  }\n\n  if ((clause.wildcard & lunr.Query.wildcard.TRAILING) && (clause.term.slice(-1) != lunr.Query.wildcard)) {\n    clause.term = \"\" + clause.term + \"*\"\n  }\n\n  if (!('presence' in clause)) {\n    clause.presence = lunr.Query.presence.OPTIONAL\n  }\n\n  this.clauses.push(clause)\n\n  return this\n}\n\n/**\n * A negated query is one in which every clause has a presence of\n * prohibited. These queries require some special processing to return\n * the expected results.\n *\n * @returns boolean\n */\nlunr.Query.prototype.isNegated = function () {\n  for (var i = 0; i < this.clauses.length; i++) {\n    if (this.clauses[i].presence != lunr.Query.presence.PROHIBITED) {\n      return false\n    }\n  }\n\n  return true\n}\n\n/**\n * Adds a term to the current query, under the covers this will create a {@link lunr.Query~Clause}\n * to the list of clauses that make up this query.\n *\n * The term is used as is, i.e. no tokenization will be performed by this method. Instead conversion\n * to a token or token-like string should be done before calling this method.\n *\n * The term will be converted to a string by calling `toString`. Multiple terms can be passed as an\n * array, each term in the array will share the same options.\n *\n * @param {object|object[]} term - The term(s) to add to the query.\n * @param {object} [options] - Any additional properties to add to the query clause.\n * @returns {lunr.Query}\n * @see lunr.Query#clause\n * @see lunr.Query~Clause\n * @example <caption>adding a single term to a query</caption>\n * query.term(\"foo\")\n * @example <caption>adding a single term to a query and specifying search fields, term boost and automatic trailing wildcard</caption>\n * query.term(\"foo\", {\n *   fields: [\"title\"],\n *   boost: 10,\n *   wildcard: lunr.Query.wildcard.TRAILING\n * })\n * @example <caption>using lunr.tokenizer to convert a string to tokens before using them as terms</caption>\n * query.term(lunr.tokenizer(\"foo bar\"))\n */\nlunr.Query.prototype.term = function (term, options) {\n  if (Array.isArray(term)) {\n    term.forEach(function (t) { this.term(t, lunr.utils.clone(options)) }, this)\n    return this\n  }\n\n  var clause = options || {}\n  clause.term = term.toString()\n\n  this.clause(clause)\n\n  return this\n}\nlunr.QueryParseError = function (message, start, end) {\n  this.name = \"QueryParseError\"\n  this.message = message\n  this.start = start\n  this.end = end\n}\n\nlunr.QueryParseError.prototype = new Error\nlunr.QueryLexer = function (str) {\n  this.lexemes = []\n  this.str = str\n  this.length = str.length\n  this.pos = 0\n  this.start = 0\n  this.escapeCharPositions = []\n}\n\nlunr.QueryLexer.prototype.run = function () {\n  var state = lunr.QueryLexer.lexText\n\n  while (state) {\n    state = state(this)\n  }\n}\n\nlunr.QueryLexer.prototype.sliceString = function () {\n  var subSlices = [],\n      sliceStart = this.start,\n      sliceEnd = this.pos\n\n  for (var i = 0; i < this.escapeCharPositions.length; i++) {\n    sliceEnd = this.escapeCharPositions[i]\n    subSlices.push(this.str.slice(sliceStart, sliceEnd))\n    sliceStart = sliceEnd + 1\n  }\n\n  subSlices.push(this.str.slice(sliceStart, this.pos))\n  this.escapeCharPositions.length = 0\n\n  return subSlices.join('')\n}\n\nlunr.QueryLexer.prototype.emit = function (type) {\n  this.lexemes.push({\n    type: type,\n    str: this.sliceString(),\n    start: this.start,\n    end: this.pos\n  })\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.escapeCharacter = function () {\n  this.escapeCharPositions.push(this.pos - 1)\n  this.pos += 1\n}\n\nlunr.QueryLexer.prototype.next = function () {\n  if (this.pos >= this.length) {\n    return lunr.QueryLexer.EOS\n  }\n\n  var char = this.str.charAt(this.pos)\n  this.pos += 1\n  return char\n}\n\nlunr.QueryLexer.prototype.width = function () {\n  return this.pos - this.start\n}\n\nlunr.QueryLexer.prototype.ignore = function () {\n  if (this.start == this.pos) {\n    this.pos += 1\n  }\n\n  this.start = this.pos\n}\n\nlunr.QueryLexer.prototype.backup = function () {\n  this.pos -= 1\n}\n\nlunr.QueryLexer.prototype.acceptDigitRun = function () {\n  var char, charCode\n\n  do {\n    char = this.next()\n    charCode = char.charCodeAt(0)\n  } while (charCode > 47 && charCode < 58)\n\n  if (char != lunr.QueryLexer.EOS) {\n    this.backup()\n  }\n}\n\nlunr.QueryLexer.prototype.more = function () {\n  return this.pos < this.length\n}\n\nlunr.QueryLexer.EOS = 'EOS'\nlunr.QueryLexer.FIELD = 'FIELD'\nlunr.QueryLexer.TERM = 'TERM'\nlunr.QueryLexer.EDIT_DISTANCE = 'EDIT_DISTANCE'\nlunr.QueryLexer.BOOST = 'BOOST'\nlunr.QueryLexer.PRESENCE = 'PRESENCE'\n\nlunr.QueryLexer.lexField = function (lexer) {\n  lexer.backup()\n  lexer.emit(lunr.QueryLexer.FIELD)\n  lexer.ignore()\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexTerm = function (lexer) {\n  if (lexer.width() > 1) {\n    lexer.backup()\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n\n  lexer.ignore()\n\n  if (lexer.more()) {\n    return lunr.QueryLexer.lexText\n  }\n}\n\nlunr.QueryLexer.lexEditDistance = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.EDIT_DISTANCE)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexBoost = function (lexer) {\n  lexer.ignore()\n  lexer.acceptDigitRun()\n  lexer.emit(lunr.QueryLexer.BOOST)\n  return lunr.QueryLexer.lexText\n}\n\nlunr.QueryLexer.lexEOS = function (lexer) {\n  if (lexer.width() > 0) {\n    lexer.emit(lunr.QueryLexer.TERM)\n  }\n}\n\n// This matches the separator used when tokenising fields\n// within a document. These should match otherwise it is\n// not possible to search for some tokens within a document.\n//\n// It is possible for the user to change the separator on the\n// tokenizer so it _might_ clash with any other of the special\n// characters already used within the search string, e.g. :.\n//\n// This means that it is possible to change the separator in\n// such a way that makes some words unsearchable using a search\n// string.\nlunr.QueryLexer.termSeparator = lunr.tokenizer.separator\n\nlunr.QueryLexer.lexText = function (lexer) {\n  while (true) {\n    var char = lexer.next()\n\n    if (char == lunr.QueryLexer.EOS) {\n      return lunr.QueryLexer.lexEOS\n    }\n\n    // Escape character is '\\'\n    if (char.charCodeAt(0) == 92) {\n      lexer.escapeCharacter()\n      continue\n    }\n\n    if (char == \":\") {\n      return lunr.QueryLexer.lexField\n    }\n\n    if (char == \"~\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexEditDistance\n    }\n\n    if (char == \"^\") {\n      lexer.backup()\n      if (lexer.width() > 0) {\n        lexer.emit(lunr.QueryLexer.TERM)\n      }\n      return lunr.QueryLexer.lexBoost\n    }\n\n    // \"+\" indicates term presence is required\n    // checking for length to ensure that only\n    // leading \"+\" are considered\n    if (char == \"+\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    // \"-\" indicates term presence is prohibited\n    // checking for length to ensure that only\n    // leading \"-\" are considered\n    if (char == \"-\" && lexer.width() === 1) {\n      lexer.emit(lunr.QueryLexer.PRESENCE)\n      return lunr.QueryLexer.lexText\n    }\n\n    if (char.match(lunr.QueryLexer.termSeparator)) {\n      return lunr.QueryLexer.lexTerm\n    }\n  }\n}\n\nlunr.QueryParser = function (str, query) {\n  this.lexer = new lunr.QueryLexer (str)\n  this.query = query\n  this.currentClause = {}\n  this.lexemeIdx = 0\n}\n\nlunr.QueryParser.prototype.parse = function () {\n  this.lexer.run()\n  this.lexemes = this.lexer.lexemes\n\n  var state = lunr.QueryParser.parseClause\n\n  while (state) {\n    state = state(this)\n  }\n\n  return this.query\n}\n\nlunr.QueryParser.prototype.peekLexeme = function () {\n  return this.lexemes[this.lexemeIdx]\n}\n\nlunr.QueryParser.prototype.consumeLexeme = function () {\n  var lexeme = this.peekLexeme()\n  this.lexemeIdx += 1\n  return lexeme\n}\n\nlunr.QueryParser.prototype.nextClause = function () {\n  var completedClause = this.currentClause\n  this.query.clause(completedClause)\n  this.currentClause = {}\n}\n\nlunr.QueryParser.parseClause = function (parser) {\n  var lexeme = parser.peekLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.type) {\n    case lunr.QueryLexer.PRESENCE:\n      return lunr.QueryParser.parsePresence\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expected either a field or a term, found \" + lexeme.type\n\n      if (lexeme.str.length >= 1) {\n        errorMessage += \" with value '\" + lexeme.str + \"'\"\n      }\n\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n}\n\nlunr.QueryParser.parsePresence = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  switch (lexeme.str) {\n    case \"-\":\n      parser.currentClause.presence = lunr.Query.presence.PROHIBITED\n      break\n    case \"+\":\n      parser.currentClause.presence = lunr.Query.presence.REQUIRED\n      break\n    default:\n      var errorMessage = \"unrecognised presence operator'\" + lexeme.str + \"'\"\n      throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term or field, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.FIELD:\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term or field, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseField = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  if (parser.query.allFields.indexOf(lexeme.str) == -1) {\n    var possibleFields = parser.query.allFields.map(function (f) { return \"'\" + f + \"'\" }).join(', '),\n        errorMessage = \"unrecognised field '\" + lexeme.str + \"', possible fields: \" + possibleFields\n\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.fields = [lexeme.str]\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    var errorMessage = \"expecting term, found nothing\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      return lunr.QueryParser.parseTerm\n    default:\n      var errorMessage = \"expecting term, found '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseTerm = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  parser.currentClause.term = lexeme.str.toLowerCase()\n\n  if (lexeme.str.indexOf(\"*\") != -1) {\n    parser.currentClause.usePipeline = false\n  }\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseEditDistance = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var editDistance = parseInt(lexeme.str, 10)\n\n  if (isNaN(editDistance)) {\n    var errorMessage = \"edit distance must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.editDistance = editDistance\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\nlunr.QueryParser.parseBoost = function (parser) {\n  var lexeme = parser.consumeLexeme()\n\n  if (lexeme == undefined) {\n    return\n  }\n\n  var boost = parseInt(lexeme.str, 10)\n\n  if (isNaN(boost)) {\n    var errorMessage = \"boost must be numeric\"\n    throw new lunr.QueryParseError (errorMessage, lexeme.start, lexeme.end)\n  }\n\n  parser.currentClause.boost = boost\n\n  var nextLexeme = parser.peekLexeme()\n\n  if (nextLexeme == undefined) {\n    parser.nextClause()\n    return\n  }\n\n  switch (nextLexeme.type) {\n    case lunr.QueryLexer.TERM:\n      parser.nextClause()\n      return lunr.QueryParser.parseTerm\n    case lunr.QueryLexer.FIELD:\n      parser.nextClause()\n      return lunr.QueryParser.parseField\n    case lunr.QueryLexer.EDIT_DISTANCE:\n      return lunr.QueryParser.parseEditDistance\n    case lunr.QueryLexer.BOOST:\n      return lunr.QueryParser.parseBoost\n    case lunr.QueryLexer.PRESENCE:\n      parser.nextClause()\n      return lunr.QueryParser.parsePresence\n    default:\n      var errorMessage = \"Unexpected lexeme type '\" + nextLexeme.type + \"'\"\n      throw new lunr.QueryParseError (errorMessage, nextLexeme.start, nextLexeme.end)\n  }\n}\n\n  /**\n   * export the module via AMD, CommonJS or as a browser global\n   * Export code from https://github.com/umdjs/umd/blob/master/returnExports.js\n   */\n  ;(function (root, factory) {\n    if (typeof define === 'function' && define.amd) {\n      // AMD. Register as an anonymous module.\n      define(factory)\n    } else if (typeof exports === 'object') {\n      /**\n       * Node. Does not work with strict CommonJS, but\n       * only CommonJS-like enviroments that support module.exports,\n       * like Node.\n       */\n      module.exports = factory()\n    } else {\n      // Browser globals (root is window)\n      root.lunr = factory()\n    }\n  }(this, function () {\n    /**\n     * Just return a value to define the module export.\n     * This example returns an object, but the module\n     * can return a function as the exported value.\n     */\n    return lunr\n  }))\n})();\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A RTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport lunr from \"lunr\"\n\nimport { getElement } from \"~/browser/element/_\"\nimport \"~/polyfills\"\n\nimport { Search } from \"../../_\"\nimport { SearchConfig } from \"../../config\"\nimport {\n  SearchMessage,\n  SearchMessageType\n} from \"../message\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Add support for `iframe-worker` shim\n *\n * While `importScripts` is synchronous when executed inside of a web worker,\n * it's not possible to provide a synchronous shim implementation. The cool\n * thing is that awaiting a non-Promise will convert it into a Promise, so\n * extending the type definition to return a `Promise` shouldn't break anything.\n *\n * @see https://bit.ly/2PjDnXi - GitHub comment\n *\n * @param urls - Scripts to load\n *\n * @returns Promise resolving with no result\n */\ndeclare global {\n  function importScripts(...urls: string[]): Promise<void> | void\n}\n\n/* ----------------------------------------------------------------------------\n * Data\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nlet index: Search\n\n/* ----------------------------------------------------------------------------\n * Helper functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Fetch (= import) multi-language support through `lunr-languages`\n *\n * This function automatically imports the stemmers necessary to process the\n * languages which are defined as part of the search configuration.\n *\n * If the worker runs inside of an `iframe` (when using `iframe-worker` as\n * a shim), the base URL for the stemmers to be loaded must be determined by\n * searching for the first `script` element with a `src` attribute, which will\n * contain the contents of this script.\n *\n * @param config - Search configuration\n *\n * @returns Promise resolving with no result\n */\nasync function setupSearchLanguages(\n  config: SearchConfig\n): Promise<void> {\n  let base = \"../lunr\"\n\n  /* Detect `iframe-worker` and fix base URL */\n  if (typeof parent !== \"undefined\" && \"IFrameWorker\" in parent) {\n    const worker = getElement<HTMLScriptElement>(\"script[src]\")\n    const [path] = worker.src.split(\"/worker\")\n\n    /* Prefix base with path */\n    base = base.replace(\"..\", path)\n  }\n\n  /* Add scripts for languages */\n  const scripts = []\n  for (const lang of config.lang) {\n    switch (lang) {\n\n      /* Add segmenter for Japanese */\n      case \"ja\":\n        scripts.push(`${base}/tinyseg.js`)\n        break\n\n      /* Add segmenter for Hindi and Thai */\n      case \"hi\":\n      case \"th\":\n        scripts.push(`${base}/wordcut.js`)\n        break\n    }\n\n    /* Add language support */\n    if (lang !== \"en\")\n      scripts.push(`${base}/min/lunr.${lang}.min.js`)\n  }\n\n  /* Add multi-language support */\n  if (config.lang.length > 1)\n    scripts.push(`${base}/min/lunr.multi.min.js`)\n\n  /* Load scripts synchronously */\n  if (scripts.length)\n    await importScripts(\n      `${base}/min/lunr.stemmer.support.min.js`,\n      ...scripts\n    )\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Message handler\n *\n * @param message - Source message\n *\n * @returns Target message\n */\nexport async function handler(\n  message: SearchMessage\n): Promise<SearchMessage> {\n  switch (message.type) {\n\n    /* Search setup message */\n    case SearchMessageType.SETUP:\n      await setupSearchLanguages(message.data.config)\n      index = new Search(message.data)\n      return {\n        type: SearchMessageType.READY\n      }\n\n    /* Search query message */\n    case SearchMessageType.QUERY:\n      const query = message.data\n      try {\n        return {\n          type: SearchMessageType.RESULT,\n          data: index.search(query)\n        }\n\n      /* Return empty result in case of error */\n      } catch (err) {\n        console.warn(`Invalid query: ${query} \u2013 see https://bit.ly/2s3ChXG`)\n        console.warn(err)\n        return {\n          type: SearchMessageType.RESULT,\n          data: { items: [] }\n        }\n      }\n\n    /* All other messages */\n    default:\n      throw new TypeError(\"Invalid message type\")\n  }\n}\n\n/* ----------------------------------------------------------------------------\n * Worker\n * ------------------------------------------------------------------------- */\n\n/* Expose Lunr.js in global scope, or stemmers won't work */\nself.lunr = lunr\n\n/* Monkey-patch Lunr.js to mitigate https://t.ly/68TLq */\nlunr.utils.warn = console.warn\n\n/* Handle messages */\naddEventListener(\"message\", async ev => {\n  postMessage(await handler(ev.data))\n})\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Retrieve all elements matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Elements\n */\nexport function getElements<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T][]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T[]\n\nexport function getElements<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T[] {\n  return Array.from(node.querySelectorAll<T>(selector))\n}\n\n/**\n * Retrieve an element matching a query selector or throw a reference error\n *\n * Note that this function assumes that the element is present. If unsure if an\n * element is existent, use the `getOptionalElement` function instead.\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element\n */\nexport function getElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T]\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T\n\nexport function getElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T {\n  const el = getOptionalElement<T>(selector, node)\n  if (typeof el === \"undefined\")\n    throw new ReferenceError(\n      `Missing element: expected \"${selector}\" to be present`\n    )\n\n  /* Return element */\n  return el\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Retrieve an optional element matching the query selector\n *\n * @template T - Element type\n *\n * @param selector - Query selector\n * @param node - Node of reference\n *\n * @returns Element or nothing\n */\nexport function getOptionalElement<T extends keyof HTMLElementTagNameMap>(\n  selector: T, node?: ParentNode\n): HTMLElementTagNameMap[T] | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node?: ParentNode\n): T | undefined\n\nexport function getOptionalElement<T extends HTMLElement>(\n  selector: string, node: ParentNode = document\n): T | undefined {\n  return node.querySelector<T>(selector) || undefined\n}\n\n/**\n * Retrieve the currently active element\n *\n * @returns Element or nothing\n */\nexport function getActiveElement(): HTMLElement | undefined {\n  return (\n    document.activeElement?.shadowRoot?.activeElement as HTMLElement ??\n    document.activeElement as HTMLElement ??\n    undefined\n  )\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Polyfills\n * ------------------------------------------------------------------------- */\n\n/* Polyfill `Object.entries` */\nif (!Object.entries)\n  Object.entries = function (obj: object) {\n    const data: [string, string][] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push([key, obj[key]])\n\n    /* Return entries */\n    return data\n  }\n\n/* Polyfill `Object.values` */\nif (!Object.values)\n  Object.values = function (obj: object) {\n    const data: string[] = []\n    for (const key of Object.keys(obj))\n      // @ts-expect-error - ignore property access warning\n      data.push(obj[key])\n\n    /* Return values */\n    return data\n  }\n\n/* ------------------------------------------------------------------------- */\n\n/* Polyfills for `Element` */\nif (typeof Element !== \"undefined\") {\n\n  /* Polyfill `Element.scrollTo` */\n  if (!Element.prototype.scrollTo)\n    Element.prototype.scrollTo = function (\n      x?: ScrollToOptions | number, y?: number\n    ): void {\n      if (typeof x === \"object\") {\n        this.scrollLeft = x.left!\n        this.scrollTop = x.top!\n      } else {\n        this.scrollLeft = x!\n        this.scrollTop = y!\n      }\n    }\n\n  /* Polyfill `Element.replaceWith` */\n  if (!Element.prototype.replaceWith)\n    Element.prototype.replaceWith = function (\n      ...nodes: Array<string | Node>\n    ): void {\n      const parent = this.parentNode\n      if (parent) {\n        if (nodes.length === 0)\n          parent.removeChild(this)\n\n        /* Replace children and create text nodes */\n        for (let i = nodes.length - 1; i >= 0; i--) {\n          let node = nodes[i]\n          if (typeof node === \"string\")\n            node = document.createTextNode(node)\n          else if (node.parentNode)\n            node.parentNode.removeChild(node)\n\n          /* Replace child or insert before previous sibling */\n          if (!i)\n            parent.replaceChild(node, this)\n          else\n            parent.insertBefore(this.previousSibling!, node)\n        }\n      }\n    }\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search configuration\n */\nexport interface SearchConfig {\n  lang: string[]                       /* Search languages */\n  separator: string                    /* Search separator */\n  pipeline: SearchPipelineFn[]         /* Search pipeline */\n}\n\n/**\n * Search document\n */\nexport interface SearchDocument {\n  location: string                     /* Document location */\n  title: string                        /* Document title */\n  text: string                         /* Document text */\n  tags?: string[]                      /* Document tags */\n  boost?: number                       /* Document boost */\n  parent?: SearchDocument              /* Document parent */\n}\n\n/**\n * Search options\n */\nexport interface SearchOptions {\n  suggest: boolean                     /* Search suggestions */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport interface SearchIndex {\n  config: SearchConfig                 /* Search configuration */\n  docs: SearchDocument[]               /* Search documents */\n  options: SearchOptions               /* Search options */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search pipeline function\n */\ntype SearchPipelineFn =\n  | \"trimmer\"                          /* Trimmer */\n  | \"stopWordFilter\"                   /* Stop word filter */\n  | \"stemmer\"                          /* Stemmer */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create a search document map\n *\n * This function creates a mapping of URLs (including anchors) to the actual\n * articles and sections. It relies on the invariant that the search index is\n * ordered with the main article appearing before all sections with anchors.\n * If this is not the case, the logic music be changed.\n *\n * @param docs - Search documents\n *\n * @returns Search document map\n */\nexport function setupSearchDocumentMap(\n  docs: SearchDocument[]\n): Map<string, SearchDocument> {\n  const map = new Map<string, SearchDocument>()\n  for (const doc of docs) {\n    const [path] = doc.location.split(\"#\")\n\n    /* Add document article */\n    const article = map.get(path)\n    if (typeof article === \"undefined\") {\n      map.set(path, doc)\n\n      /* Add document section */\n    } else {\n      map.set(doc.location, doc)\n      doc.parent = article\n    }\n  }\n\n  /* Return search document map */\n  return map\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string using the given separator\n *\n * @param input - Input value\n * @param separator - Separator\n * @param fn - Visitor function\n */\nexport function split(\n  input: string, separator: RegExp, fn: VisitorFn\n): void {\n  separator = new RegExp(separator, \"g\")\n\n  /* Split string using separator */\n  let match: RegExpExecArray | null\n  let index = 0\n  do {\n    match = separator.exec(input)\n\n    /* Emit non-empty range */\n    const until = match?.index ?? input.length\n    if (index < until)\n      fn(index, until)\n\n    /* Update last index */\n    if (match) {\n      const [term] = match\n      index = match.index + term.length\n\n      /* Support zero-length lookaheads */\n      if (term.length === 0)\n        separator.lastIndex = match.index + 1\n    }\n  } while (match)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Extraction type\n *\n * This type defines the possible values that are encoded into the first two\n * bits of a section that is part of the blocks of a tokenization table. There\n * are three types of interest: HTML opening and closing tags, as well as the\n * actual text content we need to extract for indexing.\n */\nexport const enum Extract {\n  TAG_OPEN  = 0,                       /* HTML opening tag */\n  TEXT      = 1,                       /* Text content */\n  TAG_CLOSE = 2                        /* HTML closing tag */\n}\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param block - Block index\n * @param type - Extraction type\n * @param start - Start offset\n * @param end - End offset\n */\ntype VisitorFn = (\n  block: number, type: Extract, start: number, end: number\n) => void\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string into markup and text sections\n *\n * This function scans a string and divides it up into sections of markup and\n * text. For each section, it invokes the given visitor function with the block\n * index, extraction type, as well as start and end offsets. Using a visitor\n * function (= streaming data) is ideal for minimizing pressure on the GC.\n *\n * @param input - Input value\n * @param fn - Visitor function\n */\nexport function extract(\n  input: string, fn: VisitorFn\n): void {\n\n  let block = 0                        /* Current block */\n  let start = 0                        /* Current start offset */\n  let end = 0                          /* Current end offset */\n\n  /* Split string into sections */\n  for (let stack = 0; end < input.length; end++) {\n\n    /* Opening tag after non-empty section */\n    if (input.charAt(end) === \"<\" && end > start) {\n      fn(block, Extract.TEXT, start, start = end)\n\n    /* Closing tag */\n    } else if (input.charAt(end) === \">\") {\n      if (input.charAt(start + 1) === \"/\") {\n        if (--stack === 0)\n          fn(block++, Extract.TAG_CLOSE, start, end + 1)\n\n      /* Tag is not self-closing */\n      } else if (input.charAt(end - 1) !== \"/\") {\n        if (stack++ === 0)\n          fn(block, Extract.TAG_OPEN, start, end + 1)\n      }\n\n      /* New section */\n      start = end + 1\n    }\n  }\n\n  /* Add trailing section */\n  if (end > start)\n    fn(block, Extract.TEXT, start, end)\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Position table\n */\nexport type PositionTable = number[][]\n\n/**\n * Position\n */\nexport type Position = number\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Highlight all occurrences in a string\n *\n * This function receives a field's value (e.g. like `title` or `text`), it's\n * position table that was generated during indexing, and the positions found\n * when executing the query. It then highlights all occurrences, and returns\n * their concatenation. In case of multiple blocks, two are returned.\n *\n * @param input - Input value\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string value\n */\nexport function highlight(\n  input: string, table: PositionTable, positions: Position[], full = false\n): string {\n  return highlightAll([input], table, positions, full).pop()!\n}\n\n/**\n * Highlight all occurrences in a set of strings\n *\n * @param inputs - Input values\n * @param table - Table for indexing\n * @param positions - Occurrences\n * @param full - Full results\n *\n * @returns Highlighted string values\n */\nexport function highlightAll(\n  inputs: string[], table: PositionTable, positions: Position[], full = false\n): string[] {\n\n  /* Map blocks to input values */\n  const mapping = [0]\n  for (let t = 1; t < table.length; t++) {\n    const prev = table[t - 1]\n    const next = table[t]\n\n    /* Check if table points to new block */\n    const p = prev[prev.length - 1] >>> 2 & 0x3FF\n    const q = next[0]               >>> 12\n\n    /* Add block to mapping */\n    mapping.push(+(p > q) + mapping[mapping.length - 1])\n  }\n\n  /* Highlight strings one after another */\n  return inputs.map((input, i) => {\n    let cursor = 0\n\n    /* Map occurrences to blocks */\n    const blocks = new Map<number, number[]>()\n    for (const p of positions.sort((a, b) => a - b)) {\n      const index = p & 0xFFFFF\n      const block = p >>> 20\n      if (mapping[block] !== i)\n        continue\n\n      /* Ensure presence of block group */\n      let group = blocks.get(block)\n      if (typeof group === \"undefined\")\n        blocks.set(block, group = [])\n\n      /* Add index to group */\n      group.push(index)\n    }\n\n    /* Just return string, if no occurrences */\n    if (blocks.size === 0)\n      return input\n\n    /* Compute slices */\n    const slices: string[] = []\n    for (const [block, indexes] of blocks) {\n      const t = table[block]\n\n      /* Extract positions and length */\n      const start  = t[0]            >>> 12\n      const end    = t[t.length - 1] >>> 12\n      const length = t[t.length - 1] >>> 2 & 0x3FF\n\n      /* Add prefix, if full results are desired */\n      if (full && start > cursor)\n        slices.push(input.slice(cursor, start))\n\n      /* Extract and highlight slice */\n      let slice = input.slice(start, end + length)\n      for (const j of indexes.sort((a, b) => b - a)) {\n\n        /* Retrieve offset and length of match */\n        const p = (t[j] >>> 12) - start\n        const q = (t[j] >>> 2 & 0x3FF) + p\n\n        /* Wrap occurrence */\n        slice = [\n          slice.slice(0, p),\n          \"<mark>\",\n          slice.slice(p, q),\n          \"</mark>\",\n          slice.slice(q)\n        ].join(\"\")\n      }\n\n      /* Update cursor */\n      cursor = end + length\n\n      /* Append slice and abort if we have two */\n      if (slices.push(slice) === 2)\n        break\n    }\n\n    /* Add suffix, if full results are desired */\n    if (full && cursor < input.length)\n      slices.push(input.slice(cursor))\n\n    /* Return highlighted slices */\n    return slices.join(\"\")\n  })\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../_\"\nimport {\n  Extract,\n  extract\n} from \"../extract\"\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Split a string or set of strings into tokens\n *\n * This tokenizer supersedes the default tokenizer that is provided by Lunr.js,\n * as it is aware of HTML tags and allows for multi-character splitting.\n *\n * It takes the given inputs, splits each of them into markup and text sections,\n * tokenizes and segments (if necessary) each of them, and then indexes them in\n * a table by using a compact bit representation. Bitwise techniques are used\n * to write and read from the table during indexing and querying.\n *\n * @see https://bit.ly/3W3Xw4J - Search: better, faster, smaller\n *\n * @param input - Input value(s)\n *\n * @returns Tokens\n */\nexport function tokenize(\n  input?: string | string[]\n): lunr.Token[] {\n  const tokens: lunr.Token[] = []\n  if (typeof input === \"undefined\")\n    return tokens\n\n  /* Tokenize strings one after another */\n  const inputs = Array.isArray(input) ? input : [input]\n  for (let i = 0; i < inputs.length; i++) {\n    const table = lunr.tokenizer.table\n    const total = table.length\n\n    /* Split string into sections and tokenize content blocks */\n    extract(inputs[i], (block, type, start, end) => {\n      table[block += total] ||= []\n      switch (type) {\n\n        /* Handle markup */\n        case Extract.TAG_OPEN:\n        case Extract.TAG_CLOSE:\n          table[block].push(\n            start       << 12 |\n            end - start <<  2 |\n            type\n          )\n          break\n\n        /* Handle text content */\n        case Extract.TEXT:\n          const section = inputs[i].slice(start, end)\n          split(section, lunr.tokenizer.separator, (index, until) => {\n\n            /**\n             * Apply segmenter after tokenization. Note that the segmenter will\n             * also split words at word boundaries, which is not what we want,\n             * so we need to check if we can somehow mitigate this behavior.\n             */\n            if (typeof lunr.segmenter !== \"undefined\") {\n              const subsection = section.slice(index, until)\n              if (/^[MHIK]$/.test(lunr.segmenter.ctype_(subsection))) {\n                const segments = lunr.segmenter.segment(subsection)\n                for (let s = 0, l = 0; s < segments.length; s++) {\n\n                  /* Add block to section */\n                  table[block] ||= []\n                  table[block].push(\n                    start + index + l  << 12 |\n                    segments[s].length <<  2 |\n                    type\n                  )\n\n                  /* Add token with position */\n                  tokens.push(new lunr.Token(\n                    segments[s].toLowerCase(), {\n                      position: block << 20 | table[block].length - 1\n                    }\n                  ))\n\n                  /* Keep track of length */\n                  l += segments[s].length\n                }\n                return\n              }\n            }\n\n            /* Add block to section */\n            table[block].push(\n              start + index << 12 |\n              until - index <<  2 |\n              type\n            )\n\n            /* Add token with position */\n            tokens.push(new lunr.Token(\n              section.slice(index, until).toLowerCase(), {\n                position: block << 20 | table[block].length - 1\n              }\n            ))\n          })\n      }\n    })\n  }\n\n  /* Return tokens */\n  return tokens\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Helper types\n * ------------------------------------------------------------------------- */\n\n/**\n * Visitor function\n *\n * @param value - String value\n *\n * @returns String term(s)\n */\ntype VisitorFn = (\n  value: string\n) => string | string[]\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Default transformation function\n *\n * 1. Trim excess whitespace from left and right.\n *\n * 2. Search for parts in quotation marks and prepend a `+` modifier to denote\n *    that the resulting document must contain all parts, converting the query\n *    to an `AND` query (as opposed to the default `OR` behavior). While users\n *    may expect parts enclosed in quotation marks to map to span queries, i.e.\n *    for which order is important, Lunr.js doesn't support them, so the best\n *    we can do is to convert the parts to an `AND` query.\n *\n * 3. Replace control characters which are not located at the beginning of the\n *    query or preceded by white space, or are not followed by a non-whitespace\n *    character or are at the end of the query string. Furthermore, filter\n *    unmatched quotation marks.\n *\n * 4. Split the query string at whitespace, then pass each part to the visitor\n *    function for tokenization, and append a wildcard to every resulting term\n *    that is not explicitly marked with a `+`, `-`, `~` or `^` modifier, since\n *    it ensures consistent and stable ranking when multiple terms are entered.\n *    Also, if a fuzzy or boost modifier are given, but no numeric value has\n *    been entered, default to 1 to not induce a query error.\n *\n * @param query - Query value\n * @param fn - Visitor function\n *\n * @returns Transformed query value\n */\nexport function transform(\n  query: string, fn: VisitorFn = term => term\n): string {\n  return query\n\n    /* => 1 */\n    .trim()\n\n    /* => 2 */\n    .split(/\"([^\"]+)\"/g)\n      .map((parts, index) => index & 1\n        ? parts.replace(/^\\b|^(?![^\\x00-\\x7F]|$)|\\s+/g, \" +\")\n        : parts\n      )\n      .join(\"\")\n\n    /* => 3 */\n    .replace(/\"|(?:^|\\s+)[*+\\-:^~]+(?=\\s+|$)/g, \"\")\n\n    /* => 4 */\n    .split(/\\s+/g)\n      .reduce((prev, term) => {\n        const next = fn(term)\n        return [...prev, ...Array.isArray(next) ? next : [next]]\n      }, [] as string[])\n      .map(term => /([~^]$)/.test(term) ? `${term}1` : term)\n      .map(term => /(^[+-]|[~^]\\d+$)/.test(term) ? term : `${term}*`)\n      .join(\" \")\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport { split } from \"../../internal\"\nimport { transform } from \"../transform\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search query clause\n */\nexport interface SearchQueryClause {\n  presence: lunr.Query.presence        /* Clause presence */\n  term: string                         /* Clause term */\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Search query terms\n */\nexport type SearchQueryTerms = Record<string, boolean>\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Transform search query\n *\n * This function lexes the given search query and applies the transformation\n * function to each term, preserving markup like `+` and `-` modifiers.\n *\n * @param query - Search query\n *\n * @returns Search query\n */\nexport function transformSearchQuery(\n  query: string\n): string {\n\n  /* Split query terms with tokenizer */\n  return transform(query, part => {\n    const terms: string[] = []\n\n    /* Initialize lexer and analyze part */\n    const lexer = new lunr.QueryLexer(part)\n    lexer.run()\n\n    /* Extract and tokenize term from lexeme */\n    for (const { type, str: term, start, end } of lexer.lexemes)\n      switch (type) {\n\n        /* Hack: remove colon - see https://bit.ly/3wD3T3I */\n        case \"FIELD\":\n          if (![\"title\", \"text\", \"tags\"].includes(term))\n            part = [\n              part.slice(0, end),\n              \" \",\n              part.slice(end + 1)\n            ].join(\"\")\n          break\n\n        /* Tokenize term */\n        case \"TERM\":\n          split(term, lunr.tokenizer.separator, (...range) => {\n            terms.push([\n              part.slice(0, start),\n              term.slice(...range),\n              part.slice(end)\n            ].join(\"\"))\n          })\n      }\n\n    /* Return terms */\n    return terms\n  })\n}\n\n/* ------------------------------------------------------------------------- */\n\n/**\n * Parse a search query for analysis\n *\n * Lunr.js itself has a bug where it doesn't detect or remove wildcards for\n * query clauses, so we must do this here.\n *\n * @see https://bit.ly/3DpTGtz - GitHub issue\n *\n * @param value - Query value\n *\n * @returns Search query clauses\n */\nexport function parseSearchQuery(\n  value: string\n): SearchQueryClause[] {\n  const query  = new lunr.Query([\"title\", \"text\", \"tags\"])\n  const parser = new lunr.QueryParser(value, query)\n\n  /* Parse Search query */\n  parser.parse()\n  for (const clause of query.clauses) {\n    clause.usePipeline = true\n\n    /* Handle leading wildcard */\n    if (clause.term.startsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.LEADING\n      clause.term = clause.term.slice(1)\n    }\n\n    /* Handle trailing wildcard */\n    if (clause.term.endsWith(\"*\")) {\n      clause.wildcard = lunr.Query.wildcard.TRAILING\n      clause.term = clause.term.slice(0, -1)\n    }\n  }\n\n  /* Return query clauses */\n  return query.clauses\n}\n\n/**\n * Analyze the search query clauses in regard to the search terms found\n *\n * @param query - Search query clauses\n * @param terms - Search terms\n *\n * @returns Search query terms\n */\nexport function getSearchQueryTerms(\n  query: SearchQueryClause[], terms: string[]\n): SearchQueryTerms {\n  const clauses = new Set<SearchQueryClause>(query)\n\n  /* Match query clauses against terms */\n  const result: SearchQueryTerms = {}\n  for (let t = 0; t < terms.length; t++)\n    for (const clause of clauses)\n      if (terms[t].startsWith(clause.term)) {\n        result[clause.term] = true\n        clauses.delete(clause)\n      }\n\n  /* Annotate unmatched non-stopword query clauses */\n  for (const clause of clauses)\n    if (lunr.stopWordFilter?.(clause.term))\n      result[clause.term] = false\n\n  /* Return query terms */\n  return result\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Segment a search query using the inverted index\n *\n * This function implements a clever approach to text segmentation for Asian\n * languages, as it used the information already available in the search index.\n * The idea is to greedily segment the search query based on the tokens that are\n * already part of the index, as described in the linked issue.\n *\n * @see https://bit.ly/3lwjrk7 - GitHub issue\n *\n * @param query - Query value\n * @param index - Inverted index\n *\n * @returns Segmented query value\n */\nexport function segment(\n  query: string, index: object\n): Iterable<string> {\n  const segments = new Set<string>()\n\n  /* Segment search query */\n  const wordcuts = new Uint16Array(query.length)\n  for (let i = 0; i < query.length; i++)\n    for (let j = i + 1; j < query.length; j++) {\n      const value = query.slice(i, j)\n      if (value in index)\n        wordcuts[i] = j - i\n    }\n\n  /* Compute longest matches with minimum overlap */\n  const stack = [0]\n  for (let s = stack.length; s > 0;) {\n    const p = stack[--s]\n    for (let q = 1; q < wordcuts[p]; q++)\n      if (wordcuts[p + q] > wordcuts[p] - q) {\n        segments.add(query.slice(p, p + q))\n        stack[s++] = p + q\n      }\n\n    /* Continue at end of query string */\n    const q = p + wordcuts[p]\n    if (wordcuts[q] && q < query.length - 1)\n      stack[s++] = q\n\n    /* Add current segment */\n    segments.add(query.slice(p, q))\n  }\n\n  // @todo fix this case in the code block above, this is a hotfix\n  if (segments.has(\"\"))\n    return new Set([query])\n\n  /* Return segmented query value */\n  return segments\n}\n", "/*\n * Copyright (c) 2016-2024 Martin Donath <martin.donath@squidfunk.com>\n *\n * Permission is hereby granted, free of charge, to any person obtaining a copy\n * of this software and associated documentation files (the \"Software\"), to\n * deal in the Software without restriction, including without limitation the\n * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or\n * sell copies of the Software, and to permit persons to whom the Software is\n * furnished to do so, subject to the following conditions:\n *\n * The above copyright notice and this permission notice shall be included in\n * all copies or substantial portions of the Software.\n *\n * THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n * FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE\n * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS\n * IN THE SOFTWARE.\n */\n\nimport {\n  SearchDocument,\n  SearchIndex,\n  SearchOptions,\n  setupSearchDocumentMap\n} from \"../config\"\nimport {\n  Position,\n  PositionTable,\n  highlight,\n  highlightAll,\n  tokenize\n} from \"../internal\"\nimport {\n  SearchQueryTerms,\n  getSearchQueryTerms,\n  parseSearchQuery,\n  segment,\n  transformSearchQuery\n} from \"../query\"\n\n/* ----------------------------------------------------------------------------\n * Types\n * ------------------------------------------------------------------------- */\n\n/**\n * Search item\n */\nexport interface SearchItem\n  extends SearchDocument\n{\n  score: number                        /* Score (relevance) */\n  terms: SearchQueryTerms              /* Search query terms */\n}\n\n/**\n * Search result\n */\nexport interface SearchResult {\n  items: SearchItem[][]                /* Search items */\n  suggest?: string[]                   /* Search suggestions */\n}\n\n/* ----------------------------------------------------------------------------\n * Functions\n * ------------------------------------------------------------------------- */\n\n/**\n * Create field extractor factory\n *\n * @param table - Position table map\n *\n * @returns Extractor factory\n */\nfunction extractor(table: Map<string, PositionTable>) {\n  return (name: keyof SearchDocument) => {\n    return (doc: SearchDocument) => {\n      if (typeof doc[name] === \"undefined\")\n        return undefined\n\n      /* Compute identifier and initialize table */\n      const id = [doc.location, name].join(\":\")\n      table.set(id, lunr.tokenizer.table = [])\n\n      /* Return field value */\n      return doc[name]\n    }\n  }\n}\n\n/**\n * Compute the difference of two lists of strings\n *\n * @param a - 1st list of strings\n * @param b - 2nd list of strings\n *\n * @returns Difference\n */\nfunction difference(a: string[], b: string[]): string[] {\n  const [x, y] = [new Set(a), new Set(b)]\n  return [\n    ...new Set([...x].filter(value => !y.has(value)))\n  ]\n}\n\n/* ----------------------------------------------------------------------------\n * Class\n * ------------------------------------------------------------------------- */\n\n/**\n * Search index\n */\nexport class Search {\n\n  /**\n   * Search document map\n   */\n  protected map: Map<string, SearchDocument>\n\n  /**\n   * Search options\n   */\n  protected options: SearchOptions\n\n  /**\n   * The underlying Lunr.js search index\n   */\n  protected index: lunr.Index\n\n  /**\n   * Internal position table map\n   */\n  protected table: Map<string, PositionTable>\n\n  /**\n   * Create the search integration\n   *\n   * @param data - Search index\n   */\n  public constructor({ config, docs, options }: SearchIndex) {\n    const field = extractor(this.table = new Map())\n\n    /* Set up document map and options */\n    this.map = setupSearchDocumentMap(docs)\n    this.options = options\n\n    /* Set up document index */\n    this.index = lunr(function () {\n      this.metadataWhitelist = [\"position\"]\n      this.b(0)\n\n      /* Set up (multi-)language support */\n      if (config.lang.length === 1 && config.lang[0] !== \"en\") {\n        // @ts-expect-error - namespace indexing not supported\n        this.use(lunr[config.lang[0]])\n      } else if (config.lang.length > 1) {\n        this.use(lunr.multiLanguage(...config.lang))\n      }\n\n      /* Set up custom tokenizer (must be after language setup) */\n      this.tokenizer = tokenize as typeof lunr.tokenizer\n      lunr.tokenizer.separator = new RegExp(config.separator)\n\n      /* Set up custom segmenter, if loaded */\n      lunr.segmenter = \"TinySegmenter\" in lunr\n        ? new lunr.TinySegmenter()\n        : undefined\n\n      /* Compute functions to be removed from the pipeline */\n      const fns = difference([\n        \"trimmer\", \"stopWordFilter\", \"stemmer\"\n      ], config.pipeline)\n\n      /* Remove functions from the pipeline for registered languages */\n      for (const lang of config.lang.map(language => (\n        // @ts-expect-error - namespace indexing not supported\n        language === \"en\" ? lunr : lunr[language]\n      )))\n        for (const fn of fns) {\n          this.pipeline.remove(lang[fn])\n          this.searchPipeline.remove(lang[fn])\n        }\n\n      /* Set up index reference */\n      this.ref(\"location\")\n\n      /* Set up index fields */\n      this.field(\"title\", { boost: 1e3, extractor: field(\"title\") })\n      this.field(\"text\",  { boost: 1e0, extractor: field(\"text\") })\n      this.field(\"tags\",  { boost: 1e6, extractor: field(\"tags\") })\n\n      /* Add documents to index */\n      for (const doc of docs)\n        this.add(doc, { boost: doc.boost })\n    })\n  }\n\n  /**\n   * Search for matching documents\n   *\n   * @param query - Search query\n   *\n   * @returns Search result\n   */\n  public search(query: string): SearchResult {\n\n    // Experimental Chinese segmentation\n    query = query.replace(/\\p{sc=Han}+/gu, value => {\n      return [...segment(value, this.index.invertedIndex)]\n        .join(\"* \")\n    })\n\n    // @todo: move segmenter (above) into transformSearchQuery\n    query = transformSearchQuery(query)\n    if (!query)\n      return { items: [] }\n\n    /* Parse query to extract clauses for analysis */\n    const clauses = parseSearchQuery(query)\n      .filter(clause => (\n        clause.presence !== lunr.Query.presence.PROHIBITED\n      ))\n\n    /* Perform search and post-process results */\n    const groups = this.index.search(query)\n\n      /* Apply post-query boosts based on title and search query terms */\n      .reduce<SearchItem[]>((item, { ref, score, matchData }) => {\n        let doc = this.map.get(ref)\n        if (typeof doc !== \"undefined\") {\n\n          /* Shallow copy document */\n          doc = { ...doc }\n          if (doc.tags)\n            doc.tags = [...doc.tags]\n\n          /* Compute and analyze search query terms */\n          const terms = getSearchQueryTerms(\n            clauses,\n            Object.keys(matchData.metadata)\n          )\n\n          /* Highlight matches in fields */\n          for (const field of this.index.fields) {\n            if (typeof doc[field] === \"undefined\")\n              continue\n\n            /* Collect positions from matches */\n            const positions: Position[] = []\n            for (const match of Object.values(matchData.metadata))\n              if (typeof match[field] !== \"undefined\")\n                positions.push(...match[field].position)\n\n            /* Skip highlighting, if no positions were collected */\n            if (!positions.length)\n              continue\n\n            /* Load table and determine highlighting method */\n            const table = this.table.get([doc.location, field].join(\":\"))!\n            const fn = Array.isArray(doc[field])\n              ? highlightAll\n              : highlight\n\n            // @ts-expect-error - stop moaning, TypeScript!\n            doc[field] = fn(doc[field], table, positions, field !== \"text\")\n          }\n\n          /* Highlight title and text and apply post-query boosts */\n          const boost = +!doc.parent +\n            Object.values(terms)\n              .filter(t => t).length /\n            Object.keys(terms).length\n\n          /* Append item */\n          item.push({\n            ...doc,\n            score: score * (1 + boost ** 2),\n            terms\n          })\n        }\n        return item\n      }, [])\n\n      /* Sort search results again after applying boosts */\n      .sort((a, b) => b.score - a.score)\n\n      /* Group search results by article */\n      .reduce((items, result) => {\n        const doc = this.map.get(result.location)\n        if (typeof doc !== \"undefined\") {\n          const ref = doc.parent\n            ? doc.parent.location\n            : doc.location\n          items.set(ref, [...items.get(ref) || [], result])\n        }\n        return items\n      }, new Map<string, SearchItem[]>())\n\n    /* Ensure that every item set has an article */\n    for (const [ref, items] of groups)\n      if (!items.find(item => item.location === ref)) {\n        const doc = this.map.get(ref)!\n        items.push({ ...doc, score: 0, terms: {} })\n      }\n\n    /* Generate search suggestions, if desired */\n    let suggest: string[] | undefined\n    if (this.options.suggest) {\n      const titles = this.index.query(builder => {\n        for (const clause of clauses)\n          builder.term(clause.term, {\n            fields: [\"title\"],\n            presence: lunr.Query.presence.REQUIRED,\n            wildcard: lunr.Query.wildcard.TRAILING\n          })\n      })\n\n      /* Retrieve suggestions for best match */\n      suggest = titles.length\n        ? Object.keys(titles[0].matchData.metadata)\n        : []\n    }\n\n    /* Return search result */\n    return {\n      items: [...groups.values()],\n      ...typeof suggest !== \"undefined\" && { suggest }\n    }\n  }\n}\n"],
+  "mappings": 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+}
diff --git a/assets/js/baidu-tongji.js b/assets/js/baidu-tongji.js
index 3ce7de9..3d8b25a 100644
--- a/assets/js/baidu-tongji.js
+++ b/assets/js/baidu-tongji.js
@@ -1,7 +1,7 @@
-var _hmt = _hmt || [];
-(function() {
-	var hm = document.createElement("script");
-	hm.src = "https://hm.baidu.com/hm.js?144798b0c46b6bf68086c38e76de3792";
-	var s = document.getElementsByTagName("script")[0]; 
-	s.parentNode.insertBefore(hm, s);
+var _hmt = _hmt || [];
+(function() {
+	var hm = document.createElement("script");
+	hm.src = "https://hm.baidu.com/hm.js?144798b0c46b6bf68086c38e76de3792";
+	var s = document.getElementsByTagName("script")[0]; 
+	s.parentNode.insertBefore(hm, s);
 })();
\ No newline at end of file
diff --git a/assets/stylesheets/main.6f8fc17f.min.css b/assets/stylesheets/main.6f8fc17f.min.css
new file mode 100644
index 0000000..a0d06b0
--- /dev/null
+++ b/assets/stylesheets/main.6f8fc17f.min.css
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\ No newline at end of file
diff --git a/assets/stylesheets/palette.06af60db.min.css b/assets/stylesheets/palette.06af60db.min.css
new file mode 100644
index 0000000..a640d38
--- /dev/null
+++ b/assets/stylesheets/palette.06af60db.min.css
@@ -0,0 +1 @@
+@media 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deleted file mode 100644
index 4662090..0000000
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diff --git a/index.html b/index.html
index 49f072a..f8f5239 100644
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       <meta charset="utf-8">
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-        <meta name="description" content="ROS2入门教程·古月居">
+        <meta name="description" content="图书资源·古月居">
       
       
       
         <link rel="canonical" href="https://www.guyuehome.com/">
       
+      
+        <link rel="prev" href="ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/">
+      
+      
+        <link rel="next" href="ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/">
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-        <title>ROS2入门教程</title>
+        <title>引言 - 图书资源</title>
       
     
     
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+      <link rel="stylesheet" href="assets/stylesheets/main.6f8fc17f.min.css">
       
         
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+    <body dir="ltr" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue">
   
     
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-      <script>var palette=__md_get("__palette");if(palette&&"object"==typeof palette.color)for(var key of Object.keys(palette.color))document.body.setAttribute("data-md-color-"+key,palette.color[key])</script>
-    
     <input class="md-toggle" data-md-toggle="drawer" type="checkbox" id="__drawer" autocomplete="off">
     <input class="md-toggle" data-md-toggle="search" type="checkbox" id="__search" autocomplete="off">
     <label class="md-overlay" for="__drawer"></label>
@@ -79,21 +88,24 @@
     
       
 
-<header class="md-header" data-md-component="header">
+  
+
+<header class="md-header md-header--shadow" data-md-component="header">
   <nav class="md-header__inner md-grid" aria-label="页眉">
-    <a href="." title="ROS2入门教程" class="md-header__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="." title="图书资源" class="md-header__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="assets/img/favicon.png" alt="logo">
 
     </a>
     <label class="md-header__button md-icon" for="__drawer">
-      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3V6m0 5h18v2H3v-2m0 5h18v2H3v-2Z"/></svg>
+      
+      <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M3 6h18v2H3zm0 5h18v2H3zm0 5h18v2H3z"/></svg>
     </label>
     <div class="md-header__title" data-md-component="header-title">
       <div class="md-header__ellipsis">
         <div class="md-header__topic">
           <span class="md-ellipsis">
-            ROS2入门教程
+            图书资源
           </span>
         </div>
         <div class="md-header__topic" data-md-component="header-topic">
@@ -106,32 +118,40 @@
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-      <form class="md-header__option" data-md-component="palette">
-        
-          
-          
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-          
-            <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_2" hidden>
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3Z"/></svg>
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-          
-        
-          
-          
-          <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="blue" data-md-color-accent="blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_2">
-          
-            <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_1" hidden>
-              <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6zm0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4zM7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3z"/></svg>
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-          
-        
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+      
+        <form class="md-header__option" data-md-component="palette">
+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="default" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to dark mode"  type="radio" name="__palette" id="__palette_0">
+    
+      <label class="md-header__button md-icon" title="Switch to dark mode" for="__palette_1" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 7H7a5 5 0 0 0-5 5 5 5 0 0 0 5 5h10a5 5 0 0 0 5-5 5 5 0 0 0-5-5m0 8a3 3 0 0 1-3-3 3 3 0 0 1 3-3 3 3 0 0 1 3 3 3 3 0 0 1-3 3"/></svg>
+      </label>
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+  
+    
+    
+    
+    <input class="md-option" data-md-color-media="" data-md-color-scheme="slate" data-md-color-primary="Blue" data-md-color-accent="Blue"  aria-label="Switch to light mode"  type="radio" name="__palette" id="__palette_1">
+    
+      <label class="md-header__button md-icon" title="Switch to light mode" for="__palette_0" hidden>
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M17 6H7c-3.31 0-6 2.69-6 6s2.69 6 6 6h10c3.31 0 6-2.69 6-6s-2.69-6-6-6m0 10H7c-2.21 0-4-1.79-4-4s1.79-4 4-4h10c2.21 0 4 1.79 4 4s-1.79 4-4 4M7 9c-1.66 0-3 1.34-3 3s1.34 3 3 3 3-1.34 3-3-1.34-3-3-3"/></svg>
+      </label>
+    
+  
+</form>
+      
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+    
+      <script>var palette=__md_get("__palette");if(palette&&palette.color){if("(prefers-color-scheme)"===palette.color.media){var media=matchMedia("(prefers-color-scheme: light)"),input=document.querySelector(media.matches?"[data-md-color-media='(prefers-color-scheme: light)']":"[data-md-color-media='(prefers-color-scheme: dark)']");palette.color.media=input.getAttribute("data-md-color-media"),palette.color.scheme=input.getAttribute("data-md-color-scheme"),palette.color.primary=input.getAttribute("data-md-color-primary"),palette.color.accent=input.getAttribute("data-md-color-accent")}for(var[key,value]of Object.entries(palette.color))document.body.setAttribute("data-md-color-"+key,value)}</script>
     
     
     
       <label class="md-header__button md-icon" for="__search">
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
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       <div class="md-search" data-md-component="search" role="dialog">
   <label class="md-search__overlay" for="__search"></label>
@@ -139,24 +159,27 @@
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       <label class="md-search__icon md-icon" for="__search">
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.516 6.516 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5Z"/></svg>
-        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11h12Z"/></svg>
+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M9.5 3A6.5 6.5 0 0 1 16 9.5c0 1.61-.59 3.09-1.56 4.23l.27.27h.79l5 5-1.5 1.5-5-5v-.79l-.27-.27A6.52 6.52 0 0 1 9.5 16 6.5 6.5 0 0 1 3 9.5 6.5 6.5 0 0 1 9.5 3m0 2C7 5 5 7 5 9.5S7 14 9.5 14 14 12 14 9.5 12 5 9.5 5"/></svg>
+        
+        <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M20 11v2H8l5.5 5.5-1.42 1.42L4.16 12l7.92-7.92L13.5 5.5 8 11z"/></svg>
       </label>
       <nav class="md-search__options" aria-label="查找">
         
-        <button type="reset" class="md-search__icon md-icon" aria-label="清空当前内容" tabindex="-1">
-          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12 19 6.41Z"/></svg>
+        <button type="reset" class="md-search__icon md-icon" title="清空当前内容" aria-label="清空当前内容" tabindex="-1">
+          
+          <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 24 24"><path d="M19 6.41 17.59 5 12 10.59 6.41 5 5 6.41 10.59 12 5 17.59 6.41 19 12 13.41 17.59 19 19 17.59 13.41 12z"/></svg>
         </button>
       </nav>
       
     </form>
     <div class="md-search__output">
-      <div class="md-search__scrollwrap" data-md-scrollfix>
+      <div class="md-search__scrollwrap" tabindex="0" data-md-scrollfix>
         <div class="md-search-result" data-md-component="search-result">
           <div class="md-search-result__meta">
             正在初始化搜索引擎
           </div>
-          <ol class="md-search-result__list"></ol>
+          <ol class="md-search-result__list" role="presentation"></ol>
         </div>
       </div>
     </div>
@@ -168,7 +191,7 @@
         <a href="https://gitee.com/guyuehome" title="前往仓库" class="md-source" data-md-component="source">
   <div class="md-source__icon md-icon">
     
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81"/></svg>
   </div>
   <div class="md-source__repository">
     guyuehome
@@ -198,21 +221,22 @@
                     
 
 
+
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   <label class="md-nav__title" for="__drawer">
-    <a href="." title="ROS2入门教程" class="md-nav__button md-logo" aria-label="ROS2入门教程" data-md-component="logo">
+    <a href="." title="图书资源" class="md-nav__button md-logo" aria-label="图书资源" data-md-component="logo">
       
   <img src="assets/img/favicon.png" alt="logo">
 
     </a>
-    ROS2入门教程
+    图书资源
   </label>
   
     <div class="md-nav__source">
       <a href="https://gitee.com/guyuehome" title="前往仓库" class="md-source" data-md-component="source">
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+    <svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 448 512"><!--! Font Awesome Free 6.7.1 by @fontawesome - https://fontawesome.com License - https://fontawesome.com/license/free (Icons: CC BY 4.0, Fonts: SIL OFL 1.1, Code: MIT License) Copyright 2024 Fonticons, Inc.--><path d="M439.55 236.05 244 40.45a28.87 28.87 0 0 0-40.81 0l-40.66 40.63 51.52 51.52c27.06-9.14 52.68 16.77 43.39 43.68l49.66 49.66c34.23-11.8 61.18 31 35.47 56.69-26.49 26.49-70.21-2.87-56-37.34L240.22 199v121.85c25.3 12.54 22.26 41.85 9.08 55a34.34 34.34 0 0 1-48.55 0c-17.57-17.6-11.07-46.91 11.25-56v-123c-20.8-8.51-24.6-30.74-18.64-45L142.57 101 8.45 235.14a28.86 28.86 0 0 0 0 40.81l195.61 195.6a28.86 28.86 0 0 0 40.8 0l194.69-194.69a28.86 28.86 0 0 0 0-40.81"/></svg>
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   <div class="md-source__repository">
     guyuehome
@@ -224,28 +248,457 @@
     
       
       
+  
+  
+  
+  
+    
+    
+    
+    
+    <li class="md-nav__item md-nav__item--nested">
       
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1" >
+        
+          
+          <label class="md-nav__link" for="__nav_1" id="__nav_1_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2智能机器人开发实践
+  </span>
+  
 
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_1_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2智能机器人开发实践
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/0.%E5%89%8D%E8%A8%80/" class="md-nav__link">
+        
   
+  <span class="md-ellipsis">
+    本书使用说明
+  </span>
   
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    
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+    
+    <li class="md-nav__item md-nav__item--nested">
+      
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_2" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_2" id="__nav_1_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2基础原理
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2基础原理
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS：智能机器人的灵魂
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2核心原理：构建机器人的基石
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2常用工具：让机器人开发更便捷
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+  
+
+      </a>
+    </li>
+  
+
+              
+            
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+        </nav>
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+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_1_3" >
+        
+          
+          <label class="md-nav__link" for="__nav_1_3" id="__nav_1_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2机器人设计
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_3">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人设计
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人仿真：零成本玩转机器人
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2机器人构建：从仿真到实物
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
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+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2控制与感知：让机器人动得了、看得见
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
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+          <label class="md-nav__link" for="__nav_1_4" id="__nav_1_4_label" tabindex="0">
+            
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+  <span class="md-ellipsis">
+    ROS2机器人应用
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_1_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_1_4">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2机器人应用
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+            
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+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2视觉应用：让机器人看懂世界
+  </span>
+  
+
+      </a>
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+  
+
+              
+            
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+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2地图构建：让机器人理解环境
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
+              
+                
+  
+  
+  
+  
+    <li class="md-nav__item">
+      <a href="ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    ROS 2自主导航：让机器人运动自由
+  </span>
+  
+
+      </a>
+    </li>
+  
+
+              
+            
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+
+              
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+
+    
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+      
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+  
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+  
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+    <li class="md-nav__item md-nav__item--active md-nav__item--nested">
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+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2" checked>
+        
+          
+          <label class="md-nav__link" for="__nav_2" id="__nav_2_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    ROS2入门21讲
+  </span>
+  
+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_2_label" aria-expanded="true">
+          <label class="md-nav__title" for="__nav_2">
+            <span class="md-nav__icon md-icon"></span>
+            ROS2入门21讲
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+          <ul class="md-nav__list" data-md-scrollfix>
+            
+              
+                
+  
+  
+    
+  
   
   
     <li class="md-nav__item md-nav__item--active">
       
-      <input class="md-nav__toggle md-toggle" data-md-toggle="toc" type="checkbox" id="__toc">
+      <input class="md-nav__toggle md-toggle" type="checkbox" id="__toc">
       
       
         
       
       
         <label class="md-nav__link md-nav__link--active" for="__toc">
-          引言
+          
+  
+  <span class="md-ellipsis">
+    引言
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+
           <span class="md-nav__icon md-icon"></span>
         </label>
       
       <a href="." class="md-nav__link md-nav__link--active">
-        引言
+        
+  
+  <span class="md-ellipsis">
+    引言
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+  
+
       </a>
       
         
@@ -265,7 +718,9 @@
       
         <li class="md-nav__item">
   <a href="#_2" class="md-nav__link">
-    教程链接汇总
+    <span class="md-ellipsis">
+      教程链接汇总
+    </span>
   </a>
   
 </li>
@@ -277,457 +732,642 @@
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     
+    
+    
+    
     <li class="md-nav__item md-nav__item--nested">
       
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+          <label class="md-nav__link" for="__nav_2_2" id="__nav_2_2_label" tabindex="0">
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+
+            <span class="md-nav__icon md-icon"></span>
+          </label>
+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_2_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_2">
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+            系统架构
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+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/" class="md-nav__link">
-        ROS和ROS2是什么
+        
+  
+  <span class="md-ellipsis">
+    ROS和ROS2是什么
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/" class="md-nav__link">
-        ROS2对比ROS1
+        
+  
+  <span class="md-ellipsis">
+    ROS2对比ROS1
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/" class="md-nav__link">
-        ROS2安装方法
+        
+  
+  <span class="md-ellipsis">
+    ROS2安装方法
+  </span>
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+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/" class="md-nav__link">
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+        
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+
       </a>
     </li>
   
 
-            
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+              
             
               
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     <li class="md-nav__item">
       <a href="ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/" class="md-nav__link">
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+    ROS2开发环境配置
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+
       </a>
     </li>
   
 
+              
             
-          
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+          </ul>
+        </nav>
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     </li>
   
 
-    
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-      
-
+              
+            
+              
+                
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     <li class="md-nav__item md-nav__item--nested">
       
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+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_3" >
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+          <label class="md-nav__link" for="__nav_2_3" id="__nav_2_3_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    核心概念
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+
+            <span class="md-nav__icon md-icon"></span>
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+        
+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_3_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_3">
+            <span class="md-nav__icon md-icon"></span>
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+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/" class="md-nav__link">
-        概念总览
+        
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+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/" class="md-nav__link">
-        工作空间
+        
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+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/" class="md-nav__link">
-        功能包
+        
+  
+  <span class="md-ellipsis">
+    功能包
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+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/" class="md-nav__link">
-        节点
+        
+  
+  <span class="md-ellipsis">
+    节点
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/" class="md-nav__link">
-        话题
+        
+  
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+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/" class="md-nav__link">
-        服务
+        
+  
+  <span class="md-ellipsis">
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+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/" class="md-nav__link">
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+        
+  
+  <span class="md-ellipsis">
+    通信接口
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+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/" class="md-nav__link">
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+        
+  
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+    动作
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
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-        参数
+        
+  
+  <span class="md-ellipsis">
+    参数
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/" class="md-nav__link">
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+        
+  
+  <span class="md-ellipsis">
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+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/" class="md-nav__link">
-        DDS
+        
+  
+  <span class="md-ellipsis">
+    DDS
+  </span>
+  
+
       </a>
     </li>
   
 
+              
             
-          
-        </ul>
-      </nav>
+          </ul>
+        </nav>
+      
     </li>
   
 
-    
-      
-      
-      
-
+              
+            
+              
+                
+  
   
   
   
     
+    
+    
+    
     <li class="md-nav__item md-nav__item--nested">
       
-      
-        <input class="md-nav__toggle md-toggle" data-md-toggle="__nav_4" type="checkbox" id="__nav_4" >
-      
-      
-      
-      
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-        <label class="md-nav__title" for="__nav_4">
-          <span class="md-nav__icon md-icon"></span>
-          常用工具
-        </label>
-        <ul class="md-nav__list" data-md-scrollfix>
+        
+        
+        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_2_4" >
+        
           
+          <label class="md-nav__link" for="__nav_2_4" id="__nav_2_4_label" tabindex="0">
+            
+  
+  <span class="md-ellipsis">
+    常用工具
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+  
+
+            <span class="md-nav__icon md-icon"></span>
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+        <nav class="md-nav" data-md-level="2" aria-labelledby="__nav_2_4_label" aria-expanded="false">
+          <label class="md-nav__title" for="__nav_2_4">
+            <span class="md-nav__icon md-icon"></span>
+            常用工具
+          </label>
+          <ul class="md-nav__list" data-md-scrollfix>
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/" class="md-nav__link">
-        Launch
+        
+  
+  <span class="md-ellipsis">
+    Launch
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/" class="md-nav__link">
-        TF
+        
+  
+  <span class="md-ellipsis">
+    TF
+  </span>
+  
+
       </a>
     </li>
   
 
-            
-          
+              
             
               
+                
+  
   
   
   
     <li class="md-nav__item">
       <a href="ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/" class="md-nav__link">
-        URDF
+        
+  
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+    Rviz
+  </span>
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+        
+  
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-      <a href="https://guyuehome.com/Bubble/circleDetail/id/90" class="md-nav__link">
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+      <a href="https://class.guyuehome.com/detail/p_628f4288e4b01c509ab5bc7a/6" class="md-nav__link">
+        
+  
+  <span class="md-ellipsis">
+    视频课程
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-      
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+  
   
   
   
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       <a href="https://www.guyuehome.com" class="md-nav__link">
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-    教程链接汇总
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+          
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+              <article class="md-content__inner md-typeset">
                 
+                  
 
 
 <h1 id="_1"><strong>引言</strong></h1>
@@ -840,35 +1493,29 @@ <h2 id="_2"><strong>教程链接汇总</strong></h2>
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既然自己做不到，那为什么不联合所有人一起干呢？ 如果设计一套标准的机器人平台和其中的软件，大家都可以在这个平台上做应用开发，既然应用软件都基于同一平台，应用的分享也很容易实现，这就类似别人开发的苹果手机应用，只要你有苹果手机，同样也可以用。 说干就干，初期的机器人原型是用实验室可以找到的木头和一些零部件组成的，后期有了充足的资金，才得以实现图中这款外观精致、性能强悍的机器人—— PR2 ，Personal Robot 2代。 在上图中，我们可以看到PR2机器人已经可以完成叠毛巾、熨烫衣服、打台球、剪头发等一系列复杂的应用功能，以叠毛巾为例，这在当时是轰动机器人圈的重要研究，因为第一次有机器人可以完成柔性物体的处理，虽然效率很低，在100分钟之内只完成了5条毛巾的整理，但是在学术层面却推动机器人向前走了一大步。 这款机器人中的软件框架就是ROS的原型，所以ROS因这款个人服务机器人而生，很快也从中独立出来，成为一款用于更多机器人的软件系统。 ROS的发展 ROS诞生于2007年的斯坦福大学，这是早期PR2机器人的原型，这个项目很快被一家商业公司Willow Garage看中，类似现在的风险投资一样，他们投了一大笔钱给这群年轻人，PR2机器人在资本的助推下成功诞生。 2010年，随着PR2机器人的发布，其中的软件正式确定了名称，就叫做机器人操作系统，Robot Operating System，简称为ROS。同年，ROS也肩负着让更多人使用的使命，正式开源。 PR2机器人虽好，但是成本居高不下，几百万的价格让绝大部分开发者望而却步，官方也注意到了这个问题，所以在2011年发布了一款后期成为ROS圈爆款的机器人—— Turtlebot ，这款机器人采用扫地机器人的底盘，加上xbox游戏机中的体感传感器Kinect，直接使用笔记本电脑就可以控制，支持ROS的所有开源功能，关键是价格便宜，随着这款机器人的普及，大大推动了ROS的应用。 从2012年开始，使用ROS的人越来越多，ROS官方也开始每年举办一届ROS开发者大会—— ROS Conference ，简称 ROSCon ，来自全球的开发者会齐聚一堂分享自己使用ROS开发的机器人应用，其中不乏亚马逊、Intel、微软等大公司的身影，近两年因为疫情原因改为线上举办，名称也变为了ROS World。 经历前几年野蛮而快速的增长，ROS逐渐迭代稳定，2014年起，ROS跟随Ubuntu系统，每两年推出一个长期支持版，每个版本支持五年时间，这标志着ROS的成熟，也让ROS加快了普及的步伐。 回到时间轴的起点，ROS的创始团队原本只想做一款个人服务机器人，万万没想到， ROS被越来越多机器人使用，受限于当初设计的局限性，ROS的问题也逐渐暴露 。为了能够真正设计一款适用于所有机器人的操作系统，ROS2在2017年底正式发布，历经多年迭代，我们终于在2022年5月底，迎来了ROS2第一个长期支持版—— ROS2 Humble ，ROS2已经成熟，我们也进入了一个全新的ROS2时代。 从ROS发展的时间轴中，我们不仅可以了解到ROS的发展过程，更重要的是熟悉ROS和ROS2诞生的原因。 这里我们也把ROS2发展的时间轴单独提取出来，介于ROS在各种各样机器人中应用的问题，ROS2在2014年提出，2015年开始迭代，2017年推出第一个正式版，此后快速迭代，直到2022年推出了第一个长期支持版，本教程也会在该版本ROS2之上进行讲解。 ROS的特点 ROS怀揣“ 提高机器人软件复用率 ”的目标，促使社区快速发展和繁荣，时至今日，ROS已经广泛用于各种机器人的开发，无论是机械臂、移动机器人、水下机器人，还是人形机器人、复合机器人，统统都可以看到ROS的身影，ROS已经成为机器人领域的普遍标准。 提高机器人软件复用率，这个目标简单来讲就是 不要重新造轮子 。 正如一家做汽车的公司，从零制造汽车并不是一个明智的做法，他们通常会采购A家的轮子、B家的引擎、C家的多媒体系统，最后把这些整合到一起做成汽车。同理，我们也可以将ROS社区中已有的各种软件集合到一起，在此之上去实现自己的创意，同时还可以将自己的成果分享给别人，这样大家都可以站在巨人的肩膀上，向前走的更远，一步一步，智能机器人才会有更多沉淀和更长远的进步。 围绕这个核心目标，ROS在自身的设计上也尽量做到了模块化，由 通信机制、开发工具、应用功能、生态系统 四大部分组成。同时ROS具备多项特点，这里的ROS是ROS1和ROS2的总称， 比如： 社区是全球化 的，那就可以集合全人类的智慧来推进机器人的智能化发展； 这些智慧的结晶都会以各种各样的 应用案例在社区中沉淀 下来； ROS本身也是完全开源的， 商业许可证非常宽松 ； 对商业应用功能友好，这就代表着公司可以直接使用ROS开发商业化的机器人产品， 缩短了产品的上市时间 ； ROS也可以 跨平台使用 ，Linux、Windows、嵌入式系统都可以跑； ROS2中也新增了很多 支持工业应用 的新特性和新技术，促使ROS在越来越多领域中被使用。 ROS的社区 社区是ROS快速发展的核心动力，什么是社区呢？其实就是ROS相关资源的整合方式，比如wiki说明、问答网站、应用源码、论坛讨论等都算是社区中的元素。 ROS全球社区有几个重要网站： answers.ros.org，这是一个ROS问答网站，大家可以在上边提出任何关于ROS的问题，全球很多开发者都很乐意回答我们的问题； wiki.ros.org，这是ROS的维基百科，记录了ROS教程和各种功能包的使用； discourse.ros.org，这是ROS论坛，关于ROS开发的新鲜事都可以在这里发表和查看，比如ROS的活动、新功能包的发布等等。 index.ros.org，是ROS各种资源的一个索引网站； packages.ros.org，是ROS功能包存储的数据库。 这几个网站的使用情况基本就可以代表ROS社区的活跃度了。 上图是近几年ROS社区页面浏览量的增长曲线，从总体趋势上来看，各项增长速度都非常快，wiki作为日常使用最为频繁的网站，使用度无疑是最高的，现在每个月有 150万左右 的访问量，answers和packages现在差不多，每个月有 80万 左右，其他两个不多，四项加起来每个月基本有 250万左右 的访问量，已经是一个活跃度非常棒的社区了。 从访问人数上来看，上边这张图更为清晰， wiki每个月有20到25万人使用 ， answers每个月有15万人以上使用 ，四项加起来每个月差不多有40多万的使用人数，这些用户绝大部分都是机器人开发者，可以看到ROS使用人数是越来越多了。 总而言之，通过这些数据，我们可以看到的是ROS发展迅猛，正在助推机器人革命这一波大浪潮，大家每一个人在其中都大有可为。 如果你希望学习机器人开发，ROS绝对会成为你开发机器人的神兵利器，本教程也绝对是你的最佳选择。 参考资料 关于本教程的参考资料，主要推荐这几个网站。 首先是最为推荐的搜索之王—— Google ，几乎所有问题，都可以在这里解决，作为开发工程师的同学，一定要掌握这个重要工具的使用方法。 其次是开源项目的主阵地—— Github ，ROS和社区中的绝大部分代码，都在这里托管，还有大量可以作为我们学习参考的开源项目都可以在这里找到，也是我们离不开的一个网站。 然后是 古月居 网站，这里有大量ROS机器人开发的技术内容和视频课程，还可以在泡泡板块中提问，也欢迎大家在这里和120万人分享你所学的知识。 最后是 本教程网站 ，会提供详细的ROS2入门教程，后续也会不断更新和扩展，努力成为大家学习ROS机器人开发的百科全书，配合课程视频学习，效果会更好。 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那什么是ROS？什么又是ROS2呢？ 接下来，我们就一起掀起ROS的神秘面纱，带领大家认识一下机器人开发中这位重量级的嘉宾。","text_tokens":["高度","？","，","方向","进化","面纱","全","一下","那","接下","机器","对","挑战","接下来","带领","什么","操作","量级","提出","ros","一起","向","重量","智能","是","又","认识一下"," ","了","呢","。","ros2","正在","而生","巨大","嘉宾","系统","开发","大家","认识","神秘","时代","掀起","场景","的","我们","智能化","这","重量级","应用","下来","就","机器人","中","这位","操作系统"],"title":"ROS/ROS2是什么","title_tokens":["ros2","/","ros","是","什么"]},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/#ros","text":"对于越来越复杂的智能机器人系统，已经不是一个人或者一个团队可以独立完成的，如何高效开发机器人，是技术层面上非常重要的一个问题，针对这个问题，一群斯坦福大学的有志青年尝试给出一个答案，那就是 机器人操作系统 。 2007年，他们诞生了这样一个想法，我们有没有可能做一款个人服务机器人，帮助我们完成洗衣做饭收拾家等一切你不想做的事情，甚至还可以在你无聊的时候，陪你聊天玩耍，最后他们真的做出来了。 当时，他们深知做出这样一款机器人并不容易，机械、电路、软件等都要涉及，而且横跨很多个专业，光靠自己肯定做不到，此时他们诞生了这样一个想法： 既然自己做不到，那为什么不联合所有人一起干呢？ 如果设计一套标准的机器人平台和其中的软件，大家都可以在这个平台上做应用开发，既然应用软件都基于同一平台，应用的分享也很容易实现，这就类似别人开发的苹果手机应用，只要你有苹果手机，同样也可以用。 说干就干，初期的机器人原型是用实验室可以找到的木头和一些零部件组成的，后期有了充足的资金，才得以实现图中这款外观精致、性能强悍的机器人—— 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当然是因为ROS1有一些问题了，具体是什么问题呢？从ROS发展的历史中，我们似乎可以找到答案。 ROS最早的设计目标就是开发这样一款PR2家庭服务机器人，这款机器人绝大部分时间都是独立工作，为了让他具备充足的能力： 它搭载了 工作站级别的计算平台 和各种先进的通信设备，不用担忧算力不够，有足够的实力支持各种复杂的实时运算和处理； 由于是单兵作战，通信绝大部分都自己内部完成，那就可以用有线连接， 保证了良好的网络连接 ，没有丢数据或者黑客入侵的风险； 这台机器人最终虽然小批量生产，但是由于 高昂的成本和售价 ，也只能用于学术研究。 随着ROS的普及，应用ROS的机器人类型已经和PR2机器人有了天翻地覆的问题，也并不具备PR2这样的条件，那原本针对PR2设计的软件框架，就会出现一些问题，比如： 要在资源有限的 嵌入式系统 中运行； 要在 有干扰的地方 保证通信的可靠性； 要做成 产品走向市场 ，甚至用在自动驾驶汽车和航天机器人上。 类似的问题不断涌现，致使更加适合各种机器人应用的新一代ROS诞生了，也就是我们课程的主角——ROS2。 全新的ROS2 ROS2怀揣变革智能机器人时代的历史使命，在设计之初，就考虑到要满足各种各样机器人应用的需求。 多机器人系统 ：未来机器人一定不会是独立的个体，机器人和机器人之间也需要通信和协作，ROS2为多机器人系统的应用提供了标准方法和通信机制。 跨平台 ：机器人应用场景不同，使用的控制平台也会有很大差异，比如自动驾驶汽车中的算力性能肯定比AMR机器人强很多，为了让所有机器人都可以运行ROS2，ROS2可以跨平台运行于Linux、Windows、MacOS、RTOS，甚至是没有任何系统的微控制器（MCU）上，这样我们就不用纠结自己的控制器能不能用ROS了。 实时性 ：机器人运动控制和很多行为策略要求机器人具备实时性，比如机器人要可靠得在100ms内发现前方的行人，或者稳定的在1ms周期内完成运动学、动力学的解算，ROS2为类似这样的实时性需求提供了基本保障。 网络连接 ：无论在怎样的网络环境下，ROS2都可以尽量保障机器人大量数据的完整性和安全性，比如在wifi信号不好的时候数据也要尽力发送过去，在有黑客入侵风险的场景下要对数据进行加密解密。 产品化 ：，大量机器人已经走向我们的生活，未来还会越来越多，ROS2不仅可以用于机器人研发阶段，还可以直接搭载在产品中，走向消费市场，这对ROS2的稳定性、强壮性也提除了巨大挑战。 项目管理 ：机器人开发是一个复杂的系统工程，设计、开发、调试、测试、部署等全流程的项目管理工具和机制，也会在ROS2中体现，更方便我们去开发一款机器人。 要满足这些需求，ROS2的设计和开发工作并不简单，相对手机这样标准化的产品，Android系统也可以尽量做到标准化，但是机器人课时千差万别， 如何能够适合尽量多的机器人，这可能远比开发一个手机系统或者电脑系统更加复杂。 ROS开发者面对的选择有两个，第一个是在ROS1的架构之上，进行修改和优化，类似一个盖好的房子，我们把它打成毛坯房，重新装修翻新一下，但肯定会受制于原本建筑的格局，长远来看并不是最佳选择，他们最终选择了第二种方案，那就是 推倒重来 。 所以ROS2是一个全新的机器人操作系统，在借鉴ROS1成功经验的基础上，对系统架构和软件代码全部进行了重新设计和实现。与ROS1相比，体现在以下几点： 系统架构进行了颠覆性的变化 ，ROS1中所有节点都需要在节点管理器ROS Master的管理下进行工作，一旦Master出现问题，系统就面临宕机的风险，ROS2实现了真正的分布式，不再有Master这个角色，借助一种全新的通信框架DDS，为所有节点的通信提供可靠保障。 软件API进行了重新设计 ，ROS1原有的接口已经无法满足需求，ROS2结合C++最新标准和Python3语言特性，设计了更具通用性的API，虽然导致原有ROS1的代码无法直接在ROS2中运行，但是尽量保留了类似的使用方法，同时提供了大量移植的说明。 编译系统进行了升级 ，ROS1中使用的rosbuild和catkin问题诸多，尤其是针对代码较多的大项目以及Python编写的项目，编译、链接经常会出错，ROS2对这些问题也进行了优化，重新优化后的编译系统叫做ament和colcon，大家在后续的课程中就会体验到新版编译器的使用方法。 这几点只是框架层面，ROS1和ROS2的明显变化，具体细节如何呢？我们继续给大家分解。 ROS2 vs ROS1 系统架构 在这张图中，左侧是ROS1，右侧是ROS2，大家注意看两者最明显的变化，那就是 Master 。 在ROS1中，应用层里Master这个节点管理器的角色至关重要，所有节点都得听它指挥，类似是一个公司的CEO，有且只有一个，如果这个CEO突然消失，公司肯定会成一团乱麻。ROS2把这个最不稳定的角色请走了，节点可以通过另外一套discovery—— 自发现机制 ，找到彼此，从而建立稳定的通信连接。 中间层是ROS封装好的标准通信接口，我们写程序的时候，会频繁和这些通信接口打交道，比如发布一个图像的数据，接收一个雷达的信息，客户端库会再调用底层复杂的驱动和通信协议，让我们的开发变得更加简单明了。 在ROS1中，ROS通信依赖底层的TCP和UDP协议，而在ROS2中，通信协议更换成了更加复杂但也更加完善的 DDS系统 。 如果是在进程内需要进行大量数据的通信，ROS1和ROS2都提供了基于 共享内存 的通信方法，只不过名字不太一样而已。 最下边是系统层，也就是可以将ROS安装在哪些操作系统上，ROS1主要安装在Linux上，ROS2的可选项就很多了， Linux、windows、MacOS、RTOS 都可以。 通过这样对比的方式，我们了解了ROS2的整体架构，如果大家有接触过ROS1，这个框架应该并不难理解，如果大家是从ROS2开始学习，先大致有一个印象，通过后续的学习，就会有更加深入的理解。 DDS通信 ROS2相比ROS1最大的变化，除了省略了Master之外，应该就是通信系统的变化了。ROS1中基于TCP/UDP的通信系统，频繁诟病于延迟、丢数据、无法加密等问题，ROS2中的DDS在通信层面的功能就丰富多了。 DDS其实是物联网中广泛应用的一种通信协议 ，类似于我们常听说的5G通信一样，DDS是一个国际标准，能够实现该标准的软件系统并不是唯一的，所以我们可以选择多个厂家提供的DDS系统，比如这里的OpenSplice、FastRTPS，还有更多厂家提供的，每一家的性能不同，适用的场景也不同。 不过这就带来一个问题，每个DDS厂家的软件接口肯定是不一样的，如果我们按照某一家的接口写完了程序，想要切换其他厂家的DDS，不是要重新写代码么？这当然不符合ROS提高软件复用率的目标。 为了解决这个问题，ROS2设计了一个 ROS Middleware，简称RMW ，也就是指定一个标准的接口，比如如何发数据，如何收数据，数据的各种属性如何配置，都定义好了，如果厂家想要接入ROS社区，就得按照这个标准写一个适配的接口，把自家的DDS给移植过来，这样就把问题交给了最熟悉自家DDS的厂商。对于我们这些用户来讲，某一个DDS用的不爽，只要安装另一个，然后做一个简单的配置，程序一行的都不用改，轻松更换底层的通信系统。 举一个例子，比如我们在产品开发时，可以先用开源版本的DDS满足基本需求，部署交付的产品时，再更换为商业版本更稳定的DDS，这样可以减少开发成本。 总之，DDS的加入，让ROS2系统更加稳定，也更加灵活，当然复杂度也会高一些。这样，我们不用再纠结ROS的通信系统是否稳定、该如何优化等问题，更多精力都可以放在其他三个部分，专注优化我们的机器人应用功能。 核心概念 ROS1应用已经非常广泛，全球有几百万开发者，大家已经熟悉了ROS1的开发方式以及其中的很多概念。ROS2尽量保留了这些概念，便于开发者从ROS1迁移到ROS2。 如果各位熟悉ROS1，这里的概念应该并不陌生，在ROS2中，这些概念依然存在，意义也几乎一致，在本课程的第二个部分，我们就会一一讲解这些概念的含义和使用方法，没有学习过ROS的小伙伴也不用担心。 编码方式 再来看看编码，同样是一个发布者的程序，ROS1和ROS2的实现版本如两个图片所示。 总体而言，ROS2会用到更多面向对象的实现方法和语言特性，从编程语言的角度来讲，难度确实会提高一些，不过当我们迈过这道坎之后，就会发现我们写的程序会更具备可读性和可移植性，也会更接接近真实企业中机器人软件开发的过程。 具体如何编码，大家暂且稍安勿躁，切记不要搬来一本大部头的编程语言教程，一页一页学习，更好的方式是在项目开发的过程中一边用一边学，后续课程我们也会带领大家一步一步来操作。 命令行 最后我们再对比下ROS开发中最为常用的一种工具——命令行。 ROS1中的命令行相对分散，每一个功能都是一个独立的命令，比如rosrun启动某一个节点，rostopic控制话题相关的功能。 ROS2对命令行做了大幅度的集成，所有命令都集成在一个ros2的主命令中，比如ros2 run，表示启动某一个节点，ros2 topic表示话题相关的功能。 除此之外，ros2命令行也会有更多功能，我们在后续教程中陆续揭秘。 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好了，大家一定已经摩拳擦掌想要试一试Ubuntu了，安装方法很多，如果你之前已经熟悉Linux，建议在电脑上硬盘安装Ubuntu，这样可以发挥出硬件最大的性能，如果你是第一次接触Linux，建议在已有的windows上通过虚拟机安装，未来熟悉之后再考虑硬盘安装。 这里我们主要介绍虚拟机中的安装方法，大家也可以参考课程资料或网络资料，自行考虑硬盘安装。","text_tokens":["版","，","讲解","顺序","通过","快","互联网","两年","如何","紧随其后","六个","04","方法","到","直接","多","除此","但是","2022","俱全","升级","表示","以","最大","ubuntu","选择","时候","可能","了","一个","还","依然","2004","持续","出现","有","移植","之后","合适","互联","10","22","网络","的","我们","很多","介绍","上","使用","占据","4","接触","软件","应用","之前","其后","时","在","虚拟机","不同","年","位置","好","更新","影响","紧随","安装","一下","机器","变动","或","后缀","诞生","可以","免费","维护","关注","其中","是","无论","都","只","每隔","六个月","文件","试一试","。","代表","之外","已经","、","长期","系统","各种","编辑器","效果","后续","会","如果","建议","擦掌","教程","主要","月","进行","就是","人工","人工智能","常用","linux","环境","普通","其他","为了","通讯","发行","很","一次","为例","各个","虚拟","ubuntu20.04","智能","之内","未来","出","于","这里","一应俱全","编号","资料","联网","会加","考虑","比较","18","看出","一应","开发","月份","编辑","更","大家","课程","版本","个","从","让","一直","ubuntu22.04","支持","第一","中","无论是","发行版","电脑","这样","发挥","发布","优先","稳定","除了","数字","用户","浏览","开发者","性能","绝对","因为","摩拳擦掌","自行","windows","第一次","lts","上层","想要","硬盘"," 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"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/","text":"DDS Hello，大家好，欢迎来到《ROS2入门21讲》，我是主讲人古月。 终于讲到ROS2中最为重大的变化—— DDS ，我们在前边课程中学习的话题、服务、动作，他们底层通信的具体实现过程，都是靠DDS来完成的，它相当于是 ROS机器人系统中的神经网络 。 通信模型 DDS的核心是通信，能够实现通信的模型和软件框架非常多，这里我们列出常用的四种模型。 第一种， 点对点模型 ，许多客户端连接到一个服务端，每次通信时，通信双方必须建立一条连接。当通信节点增多时，连接数也会增多。而且每个客户端都需要知道服务器的具体地址和所提供的服务，一旦服务器地址发生变化，所有客户端都会受到影响。 第二种， Broker模型 ，针对点对点模型进行了优化，由Broker集中处理所有人的请求，并进一步找到真正能响应该服务的角色。这样客户端就不用关心服务器的具体地址了。不过问题也很明显，Broker作为核心，它的处理速度会影响所有节点的效率，当系统规模增长到一定程度，Broker就会成为整个系统的性能瓶颈。更麻烦是，如果Broker发生异常，可能导致整个系统都无法正常运转。之前的ROS1系统，使用的就是类似这样的架构。 第三种， 广播模型 ，所有节点都可以在通道上广播消息，并且节点都可以收到消息。这个模型解决了服务器地址的问题，而且通信双方也不用单独建立连接，但是广播通道上的消息太多了，所有节点都必须关心每条消息，其实很多是和自己没有关系的。 第四种，就是 以数据为中心的DDS模型 了，这种模型与广播模型有些类似，所有节点都可以在DataBus上发布和订阅消息。但它的先进之处在于，通信中包含了很多并行的通路，每个节点可以只关心自己感兴趣的消息，忽略不感兴趣的消息，有点像是一个旋转火锅，各种好吃的都在这个DataBus传送，我们只需要拿自己想吃的就行，其他的和我们没有关系。 可见，在这几种通信模型中，DDS的优势更加明显。 DDS DDS并不是一个新的通信方式，在ROS2之前，DDS已经广泛应用在很多领域，比如航空，国防，交通，医疗，能源等。 比如在自动驾驶领域，通常会存在感知，预测，决策和定位等模块，这些模块都需要非常高速和频繁地交换数据。借助DDS，可以很好地满足它们的通信需求。 什么是DDS 好啦，说了半天DDS，到底啥意思呢？我们来做一个完整的介绍 DDS的全称是 Data Distribution Service ，也就是 数据分发服务 ，2004年由 对象管理组织OMG 发布和维护，是一套专门为 实时系统 设计的 数据分发/订阅标准 ，最早应用于美国海军， 解决舰船复杂网络环境中大量软件升级的兼容性问题，现在已经成为强制标准。 DDS强调 以数据为中心 ，可以提供丰富的 服务质量策略 ，以保障数据进行实时、高效、灵活地分发，可满足各种分布式实时通信应用需求。 这里也提一下对象管理组织OMG，成立于1989年，它的使命是开发技术标准，为数以千计的垂直行业提供真实的价值，比如大家课可能听说过的统一建模语言SYSML和UML，还有中间件标准CORBA等，当然还有DDS。 DDS在ROS2中的应用 DDS在ROS2系统中的位置至关重要，所有上层建设都建立在DDS之上。在这个ROS2的架构图中，蓝色和红色部分就是DDS。 刚才我们也提到，DDS是一种通信的标准，就像4G、5G一样，既然是标准，那大家都可以按照这个标准来实现对应的功能，所以华为、高通都有很多5G的技术专利，DDS也是一样， 能够按照DDS标准实现的通信系统很多 ，这里每一个红色模块，就是某一企业或组织实现的一种DDS系统。 既然可选用的DDS这么多，那我们该用哪一个呢？具体而言，他们肯定都符合基本标准，但还是会有性能上的差别，ROS2的原则就是尽量兼容，让用户根据使用场景选择，比如个人开发，我们选择一个开源版本的DDS就行，如果是工业应用，那可能得选择一个商业授权的版本了。 为了实现对多个DDS的兼容，ROS设计了一个 Middleware中间件 ，也就是一个统一的标准，不管我们用那个DDS，保证上层编程使用的函数接口都是一样的。此时兼容性的问题就转移给了DDS厂商，如果他们想让自己的DDS系统进入ROS生态，就得按照ROS的接口标准，开发一个驱动，也就是这个部分。 无论如何，ROS的宗旨不变，要提高软件代码的复用性，下边DDS任你边，上边的软件没影响。 在ROS的四大组成部分中，由于DDS的加入，大大提高了分布式通信系统的综合能力，这样我们在开发机器人的过程中，就不需要纠结通信的问题，可以把更多时间放在其他部分的应用开发上。 质量服务策略QoS DDS为ROS的通信系统提供提供了哪些特性呢？我们通过这个通信模型图来看下。 DDS中的基本结构是 Domain ，Domain将各个应用程序绑定在一起进行通信，回忆下之前我们配置树莓派和电脑通信的时候，配置的那个DOMAIN ID，就是对全局数据空间的分组定义，只有处于同一个DOMAIN小组中的节点才能互相通信。这样可以避免无用数据占用的资源。 DDS中另外一个重要特性就是 质量服务策略，QoS 。 QoS是一种网络传输策略，应用程序指定所需要的网络传输质量行为，QoS服务实现这种行为要求，尽可能地满足客户对通信质量的需求，可以理解为 数据提供者和接收者之间的合约 。 具体会有哪些策略？比如： DEADLINE 策略，表示通信数据必须要在每次截止时间内完成一次通信； HISTORY 策略，表示针对历史数据的一个缓存大小； RELIABILITY 策略，表示数据通信的模式，配置成BEST_EFFORT，就是尽力传输模式，网络情况不好的时候，也要保证数据流畅，此时可能会导致数据丢失，配置成RELIABLE，就是可信赖模式，可以在通信中尽量保证图像的完整性，我们可以根据应用功能场景选择合适的通信模式； DURABILITY 策略，可以配置针对晚加入的节点，也保证有一定的历史数据发送过去，可以让新节点快速适应系统。 所有这些策略在ROS系统中都可以通过类似这样的结构体配置，如果不配置的话，系统也会使用默认的参数。 举一个机器人的例子便于大家理解。 比如我们遥控一个无人机航拍，如果网络情况不好的话，遥控器向无人机发送运动指令的过程，可以用reliable通信模式，保证每一个命令都可以顺利发送给无人机，但是可能会有一些延时，无人机传输图像的过程可以用best effort模式，保证视频的流畅性，但是可能会有掉帧。 如果此时出现一个黑客黑入我们的网络，也没有关系，我们可以给ROS2的通信数据进行加密，黑客也没有办法直接控制无人机。 DDS的加入，让ROS2的通信系统焕然一新，多众多样的通信配置，可以更好的满足不同场景下的机器人应用。 好啦，DDS这么好，那该如何配置和使用呢？我们先带大家入个门。 案例一：在命令行中配置DDS 我们先来试一试在命令行中配置DDS的参数。 启动第一个终端，我们使用best_effort创建一个发布者节点，循环发布任意数据，在另外一个终端中，如果我们使用reliable模型订阅同一话题，无法实现数据通信，如果修改为同样的best_effort，才能实现数据传输。 $ ros2 topic pub /chatter std_msgs/msg/Int32 \"data: 42\" --qos-reliability best_effort $ ros2 topic echo /chatter --qos-reliability reliable $ ros2 topic echo /chatter --qos-reliability best_effort 如何去查看ROS2系统中每一个发布者或者订阅者的QoS策略呢，在topic命令后边跟一个\"--verbose\"参数就行了。 $ ros2 topic info /chatter --verbose 案例二：DDS编程示例 接下来，我们尝试在代码中配置DDS，以之前Hello World话题通信为例。 运行效果 启动两个终端，分别运行发布者和订阅者节点： $ ros2 run learning_qos qos_helloworld_pub $ ros2 run learning_qos qos_helloworld_sub 可以看到两个终端中的通信效果如下，和之前貌似并没有太大区别。 看效果确实差不多，不过底层通信机理上可是有所不同的。 发布者代码解析 我们看下在代码中，如果加入QoS的配置。 learning_qos/qos_helloworld_pub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 QoS示例-发布“Hello World”话题 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # 字符串消息类型 from rclpy.qos import QoSProfile , QoSReliabilityPolicy , QoSHistoryPolicy # ROS2 QoS类 \"\"\" 创建一个发布者节点 \"\"\" class PublisherNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 qos_profile = QoSProfile ( # 创建一个QoS原则 # reliability=QoSReliabilityPolicy.BEST_EFFORT, reliability = QoSReliabilityPolicy . RELIABLE , history = QoSHistoryPolicy . KEEP_LAST , depth = 1 ) self . pub = self . create_publisher ( String , \"chatter\" , qos_profile ) # 创建发布者对象（消息类型、话题名、QoS原则） self . timer = self . create_timer ( 0.5 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） def timer_callback ( self ): # 创建定时器周期执行的回调函数 msg = String () # 创建一个String类型的消息对象 msg . data = 'Hello World' # 填充消息对象中的消息数据 self . pub . publish ( msg ) # 发布话题消息 self . get_logger () . info ( 'Publishing: \" %s \"' % msg . data ) # 输出日志信息，提示已经完成话题发布 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = PublisherNode ( \"qos_helloworld_pub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'qos_helloworld_pub = learning_qos.qos_helloworld_pub:main' , }, 订阅者代码解析 订阅者中的QoS配置和发布者类似。 learning_qos/qos_helloworld_sub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 QoS示例-订阅“Hello World”话题消息 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # ROS2标准定义的String消息 from rclpy.qos import QoSProfile , QoSReliabilityPolicy , QoSHistoryPolicy # ROS2 QoS类 \"\"\" 创建一个订阅者节点 \"\"\" class SubscriberNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 qos_profile = QoSProfile ( # 创建一个QoS原则 # reliability=QoSReliabilityPolicy.BEST_EFFORT, reliability = QoSReliabilityPolicy . RELIABLE , history = QoSHistoryPolicy . KEEP_LAST , depth = 1 ) self . sub = self . create_subscription ( \\ String , \"chatter\" , self . listener_callback , qos_profile ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、QoS原则） def listener_callback ( self , msg ): # 创建回调函数，执行收到话题消息后对数据的处理 self . get_logger () . info ( 'I heard: \" %s \"' % msg . data ) # 输出日志信息，提示订阅收到的话题消息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = SubscriberNode ( \"qos_helloworld_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'qos_helloworld_pub = learning_qos.qos_helloworld_pub:main' , 'qos_helloworld_sub = learning_qos.qos_helloworld_sub:main' , ], }, DDS本身是一个非常复杂的系统，ROS2使用的也只是冰山一角，我们主要带领大家认识DDS，更多使用方法和相关内容，大家也可以参考下边的链接进行学习。 参考链接 https://design.ros2.org/articles/ros_on_dds.html https://docs.ros.org/en/humble/Concepts/About-Different-Middleware-Vendors.html https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html 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第四种，就是 以数据为中心的DDS模型 了，这种模型与广播模型有些类似，所有节点都可以在DataBus上发布和订阅消息。但它的先进之处在于，通信中包含了很多并行的通路，每个节点可以只关心自己感兴趣的消息，忽略不感兴趣的消息，有点像是一个旋转火锅，各种好吃的都在这个DataBus传送，我们只需要拿自己想吃的就行，其他的和我们没有关系。 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在ROS的四大组成部分中，由于DDS的加入，大大提高了分布式通信系统的综合能力，这样我们在开发机器人的过程中，就不需要纠结通信的问题，可以把更多时间放在其他部分的应用开发上。","text_tokens":["高通","，","过程","建立","和","能够","工业","中间件","生态","如何","既然","按照","华为","四大","驱动","时间","函数","5g","middleware","不变","多","加入","企业","选用","选择","可能","了","接口","一个","所有","有","专利","建设","分布式","基本","的","我们","很多","大大提高","上","使用","架构","统一","编程","应用","软件","布式","在","复用","？","原则","位置","无论如何","设计","影响","宗旨","或","机器","得","兼容性","把","组织","可以","来","可","是","纠结","无论","都","分布","。","多个","ros2","没","不管","、","问题","系统","模块","用","组成","那个","会","如果","至关","就是","dds","该用","大大","要","想","功能","差别","其他","为了","刚才","像","那","进入","机器人","而言","提到","某一","之上","代码","ros","不","尽量","兼容","一样","给","上边","对应","这里","中间","技术","组成部分","性","开发","更","提高","转移","综合","大家","开源","这么","一种","版本","由于","放在","让","中","此时","蓝色","这样","下边","他们","具体","这个","至关重要","符合","商业","对","用户","性能","构图","任","架构图","上层","部分","接口标准"," 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比如我们遥控一个无人机航拍，如果网络情况不好的话，遥控器向无人机发送运动指令的过程，可以用reliable通信模式，保证每一个命令都可以顺利发送给无人机，但是可能会有一些延时，无人机传输图像的过程可以用best effort模式，保证视频的流畅性，但是可能会有掉帧。 如果此时出现一个黑客黑入我们的网络，也没有关系，我们可以给ROS2的通信数据进行加密，黑客也没有办法直接控制无人机。 DDS的加入，让ROS2的通信系统焕然一新，多众多样的通信配置，可以更好的满足不同场景下的机器人应用。 好啦，DDS这么好，那该如何配置和使用呢？我们先带大家入个门。","text_tokens":["树莓","，","deadline","通过","供者","过程","哪些","和","无用","来看","特性","入个","应用程序","如何","的话","直接","之间","一新","时间","一起","遥控器","多","体","加入","但是","表示","没有","下","id","时候","可能","了","选择","延时","一个","参数","办法","先","domain","出现","有","所有","要求","所","合适","尽可能","基本","_","定义","流畅","例子","只有","必须","网络","门","的","我们","使用","之前","应用","帧","在","占用","？","针对","不同","黑入","好","传输","；","缓存","机器","发送给","可以","这些","小组","是","截止","都","历史数据","快速","派","history","。","ros2","运动","系统","情况","人机","无人机","durability","用","那个","客户","适应","默认","会","如果","送给","黑客","另外","配置","焕然一新","互相","处于","进行","就是","dds","每次","类似","指定","质量","满足","要","控制","需求","图像","功能","同一个","避免","回忆","：","qos","视频","晚","一次","样","各个","ros","信赖","不","服务","尽量","分组","这种","大小","啦","一些","给","过去","流畅性","完整性","模型","行为","无人","命令","effort","内","数据通","保证数据","同一","大家","接收者","将","航拍","数据通信","众多","一种","导致","这么","best","模式","让","才能","丢失","为","关系","顺利","中","那该","此时","电脑","这样","遥控","具体","这个","通信模型","理解","掉","图","带","结构","提供","便于","节点","提供者","对","资源","可信赖","指令","焕然","更好","reliable","空间","程序","向","全局","尽力","绑定"," ","保证","数据","呢","尽可","合约","发送","新","完整","也","每","实现","举","不好","可信","接收","重要","需要","地","场景","通信","成","策略","加密","一定","完成","根据","比如","机器人","历史","reliability"],"title":"质量服务策略QoS","title_tokens":["质量","服务","qos","策略"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#dds_3","text":"我们先来试一试在命令行中配置DDS的参数。 启动第一个终端，我们使用best_effort创建一个发布者节点，循环发布任意数据，在另外一个终端中，如果我们使用reliable模型订阅同一话题，无法实现数据通信，如果修改为同样的best_effort，才能实现数据传输。 $ ros2 topic pub /chatter std_msgs/msg/Int32 \"data: 42\" --qos-reliability best_effort $ ros2 topic echo /chatter --qos-reliability reliable $ ros2 topic echo /chatter --qos-reliability best_effort 如何去查看ROS2系统中每一个发布者或者订阅者的QoS策略呢，在topic命令后边跟一个\"--verbose\"参数就行了。 $ ros2 topic info /chatter --verbose","text_tokens":["，","终端","如何","第一个","一个","参数","先","msg","data",":","int32","topic","_","info","订阅","无法","的","我们","启动","使用","--","在","就行了","者","传输","命令行","发布者","来","试一试","。","ros2","任意","系统","-","pub","42","如果","另外","配置","同样","或者","dds","\"","std","qos","$","跟","chatter","模型","命令","effort","数据通","同一","数据通信","best","后边","第一","才能","为","中","循环","echo","发布","话题","数据传输","节点","msgs","reliable","创建"," ","数据","呢","去","verbose","/","查看","每","据传","实现","通信","修改","策略","reliability"],"title":"案例一：在命令行中配置DDS","title_tokens":["命令","案例","配置","命令行","一","：","中","dds","在"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#dds_4","text":"接下来，我们尝试在代码中配置DDS，以之前Hello World话题通信为例。","text_tokens":["，","话题","接下","接下来","为例","代码","尝试","以"," ","world","。","hello","配置","我们","通信","之前","下来","中","dds","在"],"title":"案例二：DDS编程示例","title_tokens":["案例","示例","编程","：","dds","二"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_2","text":"启动两个终端，分别运行发布者和订阅者节点： $ ros2 run learning_qos qos_helloworld_pub $ ros2 run learning_qos qos_helloworld_sub 可以看到两个终端中的通信效果如下，和之前貌似并没有太大区别。 看效果确实差不多，不过底层通信机理上可是有所不同的。","text_tokens":["helloworld","不同","，","者","终端","发布","不过","和","有所","：","看","qos","节点","可是","底层","确实","可以","$","run","发布者","没有","貌似"," ","sub","分别","区别","。","ros2","两个","并","机理","_","pub","效果","有所不同","看到","订阅","太","不多","运行","启动","的","通信","上","之前","如下","中","差不多","learning","大"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_3","text":"我们看下在代码中，如果加入QoS的配置。 learning_qos/qos_helloworld_pub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 QoS示例-发布“Hello World”话题 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # 字符串消息类型 from rclpy.qos import QoSProfile , QoSReliabilityPolicy , QoSHistoryPolicy # ROS2 QoS类 \"\"\" 创建一个发布者节点 \"\"\" class PublisherNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 qos_profile = QoSProfile ( # 创建一个QoS原则 # reliability=QoSReliabilityPolicy.BEST_EFFORT, reliability = QoSReliabilityPolicy . RELIABLE , history = QoSHistoryPolicy . KEEP_LAST , depth = 1 ) self . pub = self . create_publisher ( String , \"chatter\" , qos_profile ) # 创建发布者对象（消息类型、话题名、QoS原则） self . timer = self . create_timer ( 0.5 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） def timer_callback ( self ): # 创建定时器周期执行的回调函数 msg = String () # 创建一个String类型的消息对象 msg . data = 'Hello World' # 填充消息对象中的消息数据 self . pub . publish ( msg ) # 发布话题消息 self . get_logger () . info ( 'Publishing: \" %s \"' % msg . data ) # 输出日志信息，提示已经完成话题发布 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = PublisherNode ( \"qos_helloworld_pub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'qos_helloworld_pub = learning_qos.qos_helloworld_pub:main' , },","text_tokens":["scripts","helloworld","，","spin","name","定时器","1","logger","node","python3","publisher","说明","初始","包","函数","%","*","加入","publishernode","点","接口","msg","一个",",","import","data","create","并","编译",":","qosprofile","_","作者","库","=","@","退出","info","callback","字符串","的","我们","执行","'","如下","bin","打开","在","消息","定时","“","原则","python","qoshistorypolicy","单位","s","[","class","qosreliabilitypolicy","日志","等待","看下","”","发布者","points","string","main","history","文件","。","ros2","类型","已经","、","古月","{","self","args","系统","}","-","pub","last","!","hello","如果","信息","配置","entry","shutdown","后","进行","选项","\"","功能","std","publishing","入口","：","qos",".",")","输出","coding","回调","代码","关闭","销毁","初始化","timer","def","父类","居","编写","guyuehome","chatter","env","none","effort","周期","8","提示","类","from","best","让","填充","为","__","keep","中","循环","(","发布","对象","话题","profile","（","#","0.5","秒","节点","主","py","msgs","get","reliable","publish","字符","程序","创建","示例","rclpy","super","名","console","设置"," ","数据","）","world","com","www","depth","/","知道","utf","init","setup","需要","usr","完成","destroy","learning","reliability"],"title":"发布者代码解析","title_tokens":["发布","解析","发布者","代码"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_4","text":"订阅者中的QoS配置和发布者类似。 learning_qos/qos_helloworld_sub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 QoS示例-订阅“Hello World”话题消息 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # ROS2标准定义的String消息 from rclpy.qos import QoSProfile , QoSReliabilityPolicy , QoSHistoryPolicy # ROS2 QoS类 \"\"\" 创建一个订阅者节点 \"\"\" class SubscriberNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 qos_profile = QoSProfile ( # 创建一个QoS原则 # reliability=QoSReliabilityPolicy.BEST_EFFORT, reliability = QoSReliabilityPolicy . RELIABLE , history = QoSHistoryPolicy . KEEP_LAST , depth = 1 ) self . sub = self . create_subscription ( \\ String , \"chatter\" , self . listener_callback , qos_profile ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、QoS原则） def listener_callback ( self , msg ): # 创建回调函数，执行收到话题消息后对数据的处理 self . get_logger () . info ( 'I heard: \" %s \"' % msg . data ) # 输出日志信息，提示订阅收到的话题消息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = SubscriberNode ( \"qos_helloworld_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'qos_helloworld_pub = learning_qos.qos_helloworld_pub:main' , 'qos_helloworld_sub = learning_qos.qos_helloworld_sub:main' , ], }, DDS本身是一个非常复杂的系统，ROS2使用的也只是冰山一角，我们主要带领大家认识DDS，更多使用方法和相关内容，大家也可以参考下边的链接进行学习。","text_tokens":["scripts","helloworld","，","spin","name","和","1","logger","只是","node","python3","说明","链接","初始","包","方法","函数","%","*","多","加入","点","接口","msg","一个",",","import","data","create","并","subscribernode","编译","\\",":","qosprofile","_","作者","库","定义","@","=","info","退出","订阅","callback","的","冰山","我们","listener","使用","执行","本身","'","如下","]","bin","打开","消息","“","原则","者","python","qoshistorypolicy","s","[","class","qosreliabilitypolicy","日志","复杂","等待","可以","”","发布者","points","是","string","main","history","文件","。","收到","ros2","处理","类型","、","古月","{","self","args","系统","}","-","pub","heard","last","!","hello","信息","配置","entry","shutdown","主要","后","进行","非常","dds","类似","选项","\"","功能","std","入口","：","qos","subscription",".","带领","内容",")","输出","coding","回调","代码","关闭","销毁","初始化","def","相关","父类","居","sub","编写","guyuehome","chatter","env","none","effort","8","提示","更","类","大家","from","best","一角","让","__","keep","中","循环","(","下边","发布","对象","话题","profile","（","#","节点","非常复杂","对","主","py","msgs","get","reliable","程序","创建","示例","rclpy","super","名","i","console","设置"," 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learning_node/node_helloworld.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2节点示例-发布“Hello World”日志信息, 使用面向过程的实现方式 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import time def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = Node ( \"node_helloworld\" ) # 创建ROS2节点对象并进行初始化 while rclpy . ok (): # ROS2系统是否正常运行 node . get_logger () . info ( \"Hello World\" ) # ROS2日志输出 time . sleep ( 0.5 ) # 休眠控制循环时间 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , ], 创建节点流程 代码中出现的函数大家未来会经常用到，大家先不用纠结函数的具体使用方法，更重要的是理解节点的编码流程。 总结一下，想要实现一个节点，代码的实现流程是这样做： 编程接口初始化 创建节点并初始化 实现节点功能 销毁节点并关闭接口 大家如果有学习过C++或者Pyhton的话，应该可以发现这里我们使用的是面向过程的编程方法，这种方式虽然实现简单，但是对于稍微复杂一点的机器人系统，就很难做到模块化编码。 案例二：Hello World节点（面向对象） 所以在ROS2的开发中，我们更 推荐大家使用面向对象的编程方式 ，比如刚才的代码就可以改成这样，虽然看上去复杂了一些，但是代码会具备更好的可读性和可移植性，调试起来也会更加方便。 运行效果 接下来运行一下调整后的节点： $ ros2 run learning_node node_helloworld_class 运行成功后，可以还是可以在终端中看到循环打印“Hello World”字符串的效果。 代码解析 功能虽然一样，但是程序的结构发生了变化，我们具体看一下这份代码。 learning_node/node_helloworld_class.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2节点示例-发布“Hello World”日志信息, 使用面向对象的实现方式 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import time \"\"\" 创建一个HelloWorld节点, 初始化时输出“hello world”日志 \"\"\" class HelloWorldNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 while rclpy . ok (): # ROS2系统是否正常运行 self . get_logger () . info ( \"Hello World\" ) # ROS2日志输出 time . sleep ( 0.5 ) # 休眠控制循环时间 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = HelloWorldNode ( \"node_helloworld_class\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , 'node_helloworld_class = learning_node.node_helloworld_class:main' , ], 创建节点流程 所以总体而言，节点的实现方式依然是这四个步骤，只不过编码方式做了一些改变而已。 编程接口初始化 创建节点并初始化 实现节点功能 销毁节点并关闭接口 到这里为止，大家是不是心里还有一个疑惑，机器人中的节点不能只是打印Hello World吧，是不是得完成一些具体的任务。 案例三：物体识别节点 没错，接下来我们就以机器视觉的任务为例，模拟实际机器人中节点的实现过程。 我们先从网上找到一张苹果的图片，通过编写一个节点来识别图片中的苹果。 运行效果 在这个例程中，我们将用到一个图像处理的库——OpenCV，运行前请使用如下指令安装： $ sudo apt install python3-opencv 然后就可以运行例程啦： $ ros2 run learning_node node_object #注意修改图片路径后重新编译 Attention 运行前需要将learning_node/node_object.py代码中的图片路径，修改为实际路径，修改后重新编译运行即可： image = cv2.imread(' /home/hcx/dev_ws/src/ros2_21_tutorials/learning_node/learning_node/apple.jpg ') 例程运行成功后，会弹出一个可视化窗口，可以看到苹果被成功识别啦，一个绿色框会把苹果的轮廓勾勒出来，中间的绿点表示中心点。 代码解析 在这个例程中，我们加入了图像识别的处理过程，模拟一个节点的功能，关于图像处理的具体实现，并不是此处的重点，大家更多要关注我们是如何通过节点的概念来实现一个具体的机器人功能。 learning_node/node_object.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2节点示例-通过颜色识别检测图片中出现的苹果 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import cv2 # OpenCV图像处理库 import numpy as np # Python数值计算库 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 def object_detect ( image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 0 ) cv2 . destroyAllWindows () def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = Node ( \"node_object\" ) # 创建ROS2节点对象并进行初始化 node . get_logger () . info ( \"ROS2节点示例：检测图片中的苹果\" ) image = cv2 . imread ( '/home/hcx/dev_ws/src/ros2_21_tutorials/learning_node/learning_node/apple.jpg' ) # 读取图像 object_detect ( image ) # 苹果检测 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , 'node_helloworld_class = learning_node.node_helloworld_class:main' , 'node_object = learning_node.node_object:main' , ], 案例四：机器视觉识别节点 用图片进行识别好像还不太合理，机器人应该有眼睛呀，没问题，接下来我们就让节点读取摄像头的图像，动态识别其中的苹果，或者类似颜色的物体。 运行效果 启动一个终端，运行如下节点： $ ros2 run learning_node node_object_webcam #注意设置摄像头 Attention 如果是在虚拟机中操作，需要进行以下设置： 1. 把虚拟机设置为兼容USB3.1； 2. 在可移动设备中将摄像头连接至虚拟机。 运行成功后，该节点就可以驱动摄像头，并且实时识别摄像头中的红色物体啦。 代码解析 相比之前的程序，这里最大的变化是修改了图片的来源，使用OpenCV中的VideoCapture()来驱动相机，并且周期read摄像头的信息，并进行识别。 learning_node/node_object_webcam.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2节点示例-通过摄像头识别检测图片中出现的苹果 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import cv2 # OpenCV图像处理库 import numpy as np # Python数值计算库 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 def object_detect ( image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = Node ( \"node_object_webcam\" ) # 创建ROS2节点对象并进行初始化 node . get_logger () . info ( \"ROS2节点示例：检测图片中的苹果\" ) cap = cv2 . VideoCapture ( 0 ) while rclpy . ok (): ret , image = cap . read () # 读取一帧图像 if ret == True : object_detect ( image ) # 苹果检测 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , 'node_helloworld_class = learning_node.node_helloworld_class:main' , 'node_object = learning_node.node_object:main' , 'node_object_webcam = learning_node.node_object_webcam:main' , ], 节点命令行操作 节点命令的常用操作如下： $ ros2 node list # 查看节点列表 $ ros2 node info <node_name> # 查看节点信息 思考题 现在，大家应该熟悉节点这个工作细胞的概念和实现方法了，回到这个机器人系统的框架图，我们还会发现另外一个问题。 电脑B中的摇杆，要控制机器人运动，这两个节点岂不是应该有某种连接，比如摇杆节点发送一个速度指令给运动节点，收到后机器人开始运动。 同理，如果我们想要改变机器人的速度，负责配置参数的节点就得发送一个指令给运动节点，如果电脑B想要显示机器人看到的图像，电脑A中的摄像头节点就得把图像发送过来。 没错，在一个ROS机器人的系统中， 节点并不是孤立的，他们之间会有很多种机制保持联系 ，下一节，我们将给大家介绍这些机制中最为常用的一种。 参考链接 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在ROS中，我们给这些 “细胞”取了一个名字，那就是 节点 。","text_tokens":["，","一项","通过","综合体","功能","机制","整体","像","那","节点","机器","合体","到","工作","这些","ros","一起","”","是","一些"," ","了","给","“","一个","成为","。","取","细胞","各种","综合","众多","的","连接","我们","就","中","就是","机器人","在","每一项","名字"],"title":"节点","title_tokens":["节点"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_2","text":"完整的机器人系统可能并不是一个物理上的整体，比如这样一个的机器人： 在机器人身体里搭载了一台计算机A，它可以通过机器人的眼睛——摄像头，获取外界环境的信息，也可以控制机器人的腿——轮子，让机器人移动到想要去的地方。除此之外，可能还会有另外一台计算机B，放在你的桌子上，它可以远程监控机器人看到的信息，也可以远程配置机器人的速度和某些参数，还可以连接一个摇杆，人为控制机器人前后左右运动。 这些功能虽然位于不同的计算机中，但都是这款机器人的工作细胞，也就是节点，他们共同组成了一个完整的机器人系统。 节点在机器人系统中的职责就是 执行某些具体的任务 ，从计算机操作系统的角度来看，也叫做进程； 每个节点都是一个可以 独立运行的可执行文件 ，比如执行某一个python程序，或者执行C++编译生成的结果，都算是运行了一个节点； 既然每个节点都是独立的执行文件，那自然就可以想到，得到这个执行文件的 编程语言可以是不同的 ，比如C++、Python，乃至Java、Ruby等更多语言。 这些节点是功能各不相同的细胞，根据系统设计的不同，可能位于计算机A，也可能位于计算机B，还有可能运行在云端，这叫做 分布式 ，也就是可以分布在不同的硬件载体上； 每一个节点都需要有 唯一的命名 ，当我们想要去找到某一个节点的时候，或者想要查询某一个节点的状态时，可以通过节点的名称来做查询。 节点也可以比喻是一个一个的工人，分别完成不同的任务，他们有的在一线厂房工作，有的在后勤部门提供保障，他们互相可能并不认识，但却一起推动机器人这座“工厂”，完成更为复杂的任务。 接下来，我们就来看看， 节点这个工作细胞，到底该如何实现。","text_tokens":["相同","，","查询","人为","通过","摄像","某些","和","来看","各不相同","如何","既然","部门","接下来","更为","到","虽然","厂房","一起","多","除此","不是","角度","可能","了","时候","分别","一个","参数","还","推动","并","任务","编译","算是","外界","有","还会","编程语言","分布式","比喻","得到","运行","还有","的","我们","移动","上","执行","编程","布式","时","在","唯一","操作系统","“","不同","地方","python","设计","；","搭载","到底","摇杆","接下","机器","做","左右","操作","工作","每个","复杂","独立","可以","算机","这些","想到","来","”","是","c++","都","b","文件","分布","。","共同","自然","载体","之外","像头","细胞","、","眼睛","运动","系统","保障","组成","监控","信息","云端","另外","配置","当","互相","或者","就是","工厂","环境","控制","获取","乃至","功能","后勤部","整体","那","：","却","ruby","一台","这座","命名","不","状态","工人","桌子","身体","后勤","行文","更","名称","远程","从","连接","放在","让","这","该","后勤部门","中","物理","职责","摄像头","这样","速度","它","他们","具体","这个","看看","生成","找到","提供","节点","前后左右","一线","某","腿","轮子","进程","程序","位于","想要"," 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ROS2日志输出 time . sleep ( 0.5 ) # 休眠控制循环时间 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , ],","text_tokens":["scripts","helloworld","，","过程","来看","logger","node","如何","python3","说明","初始","包","时间","函数","*","加入","下","正常","点","接口",",","import","并","编译","是否",":","_","作者","库","=","@","info","运行","的","我们","使用","'","如下","]","bin","打开","“","？","python","[","日志","”","points","是","main","文件","。","ros2","面向","{","古月","args","系统","-","!","hello","信息","配置","entry","shutdown","后","进行","选项","控制","\"","功能","入口","：",".",")","sleep","输出","coding","代码","关闭","销毁","初始化","def","编写","居","guyuehome","env","none","8","类","from","休眠","让","循环","(","这个","发布","对象","#","方式","0.5","节点","主","py","get","程序","创建","示例","rclpy","console","设置"," 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( args = args ) # ROS2 Python接口初始化 node = HelloWorldNode ( \"node_helloworld_class\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , 'node_helloworld_class = learning_node.node_helloworld_class:main' , 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我们先从网上找到一张苹果的图片，通过编写一个节点来识别图片中的苹果。","text_tokens":["，","过程","找到","通过","苹果","实际","节点","接下","机器","接下来","网上","为例","来","以","编写"," ","一个","先","。","识别","任务","没错","模拟","图片","实现","从","的","我们","视觉","下来","就","中","机器人","一张"],"title":"案例三：物体识别节点","title_tokens":["识别","案例","三","物体","：","节点"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_10","text":"在这个例程中，我们将用到一个图像处理的库——OpenCV，运行前请使用如下指令安装： $ sudo apt install python3-opencv 然后就可以运行例程啦： $ ros2 run learning_node node_object #注意修改图片路径后重新编译 Attention 运行前需要将learning_node/node_object.py代码中的图片路径，修改为实际路径，修改后重新编译运行即可： image = cv2.imread(' /home/hcx/dev_ws/src/ros2_21_tutorials/learning_node/learning_node/apple.jpg ') 例程运行成功后，会弹出一个可视化窗口，可以看到苹果被成功识别啦，一个绿色框会把苹果的轮廓勾勒出来，中间的绿点表示中心点。","text_tokens":["，","然后","例程","实际","node","python3","src","apple","注意","表示","dev","一个","中心点","识别","编译","图片","attention","_","库","=","图像处理","运行","的","我们","使用","'","如下","绿点","在","安装","imread","image","把","可以","run","窗口","hcx","。","ros2","处理","-","前","勾勒","后","成功","图像","绿色","苹果","：",".",")","用到","代码","$","被","啦","出","中间","21","tutorials","请","ws","将","install","中心","为","中","轮廓","(","这个","#","指令","可视","sudo","会弹","py","jpg"," ","即可","opencv","—","框会","路径","/","可视化","重新","apt","object","看到","home","出来","需要","cv2","修改","就","learning"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_11","text":"在这个例程中，我们加入了图像识别的处理过程，模拟一个节点的功能，关于图像处理的具体实现，并不是此处的重点，大家更多要关注我们是如何通过节点的概念来实现一个具体的机器人功能。 learning_node/node_object.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2节点示例-通过颜色识别检测图片中出现的苹果 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import cv2 # OpenCV图像处理库 import numpy as np # Python数值计算库 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 def object_detect ( image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 0 ) cv2 . destroyAllWindows () def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = Node ( \"node_object\" ) # 创建ROS2节点对象并进行初始化 node . get_logger () . info ( \"ROS2节点示例：检测图片中的苹果\" ) image = cv2 . imread ( '/home/hcx/dev_ws/src/ros2_21_tutorials/learning_node/learning_node/apple.jpg' ) # 读取图像 object_detect ( image ) # 苹果检测 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , 'node_helloworld_class = learning_node.node_helloworld_class:main' , 'node_object = learning_node.node_object:main' , ],","text_tokens":["scripts","关于","helloworld","，","spin","图像识别","过程","通过","for","例程","和","1","显示","logger","数值","node","如何","python3","src","更多","说明","初始","apple","包","函数","*","加入","dev","不是","了","接口","点","一个",",","import","处理过程","识别","并","理过","inrange","as","编译","出现","像素",":","图片","in","2","_","作者","库","=","@","+","info","图像处理","得到","退出","去除","重点","的","我们","使用","宽","'","]","如下","bin","打开","在","<","坐标","python","y","[","imread","下限","机器","image","class","90","np","color","255","范围","等待","关注","来","points","是","retr","hcx","main","文件","destroyallwindows","。","ros2","处理","mask","w","古月","{","args","系统","-","效果","red","!","img","阈值","detect","配置","勾勒","shutdown","bgr","findcontours","shape","后","entry","进行","选项","array","numpy","\"","图像","功能","苹果","面积","更多要","入口","：","机器人",".",")","approx","coding","检测","hsv","关闭","代码","销毁","所在","contours","初始化","def","点画","一些","居","编写","h","guyuehome","env","模型","读取","21","none","tutorials","chain","8","二值化","ws","类","大家","if","将","from","从","circle","中心","让","boundingrect","为","高","cvtcolor","中","轮廓","循环","continue","太小","(","上角","概念","具体","waitkey","这个","对象","xy","#","上限","左上","转换","节点","150","主","list","py","噪声","get","bgr2hsv","程序","drawcontours","创建","示例","rclpy","jpg","及","console","x"," ","设置","opencv","com","www","/","模拟","红色","int","128","知道","object","0","imshow","实现","upper","计算","lower","出来","utf","init","home","setup","需要","usr","颜色","cv2","5","此处","cnt","左上角","180","完成","destroy","learning","hierarchy"],"title":"代码解析","title_tokens":["解析","代码"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_12","text":"用图片进行识别好像还不太合理，机器人应该有眼睛呀，没问题，接下来我们就让节点读取摄像头的图像，动态识别其中的苹果，或者类似颜色的物体。","text_tokens":["，","图像","摄像","苹果","接下","机器","应该","节点","接下来","动态","不","物体","其中","类似","合理","好像","还","。","识别","没","读取","像头","有","眼睛","问题","图片","用","就让","太","颜色","的","我们","呀","或者","进行","下来","机器人","摄像头"],"title":"案例四：机器视觉识别节点","title_tokens":["识别","案例","四","视觉","：","节点","机器"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_13","text":"启动一个终端，运行如下节点： $ ros2 run learning_node node_object_webcam #注意设置摄像头 Attention 如果是在虚拟机中操作，需要进行以下设置： 1. 把虚拟机设置为兼容USB3.1； 2. 在可移动设备中将摄像头连接至虚拟机。 运行成功后，该节点就可以驱动摄像头，并且实时识别摄像头中的红色物体啦。","text_tokens":["，","webcam","终端","成功","摄像","#","1","；","：","node","节点","实时",".","把","操作","虚拟","驱动","可以","$","run","注意","啦","可","兼容","物体","是","设置"," ","一个","。","ros2","识别","像头","红色","2","object","attention","以下","并且","_","usb3.1","至","如果","运行","需要","设备","启动","连接","的","移动","中将","后","为","该","进行","如下","中","就","learning","在","摄像头","虚拟机"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_14","text":"相比之前的程序，这里最大的变化是修改了图片的来源，使用OpenCV中的VideoCapture()来驱动相机，并且周期read摄像头的信息，并进行识别。 learning_node/node_object_webcam.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2节点示例-通过摄像头识别检测图片中出现的苹果 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import cv2 # OpenCV图像处理库 import numpy as np # Python数值计算库 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 def object_detect ( image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = Node ( \"node_object_webcam\" ) # 创建ROS2节点对象并进行初始化 node . get_logger () . info ( \"ROS2节点示例：检测图片中的苹果\" ) cap = cv2 . VideoCapture ( 0 ) while rclpy . ok (): ret , image = cap . read () # 读取一帧图像 if ret == True : object_detect ( image ) # 苹果检测 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'node_helloworld = learning_node.node_helloworld:main' , 'node_helloworld_class = learning_node.node_helloworld_class:main' , 'node_object = learning_node.node_object:main' , 'node_object_webcam = learning_node.node_object_webcam:main' , ],","text_tokens":["scripts","helloworld","，","通过","摄像","for","和","1","显示","50","logger","数值","node","python3","说明","初始","包","驱动","函数","*","加入","最大","来源","了","接口","点",",","import","并","识别","inrange","as","编译","出现","像素",":","图片","in","2","_","作者","库","=","@","+","info","图像处理","得到","去除","的","cap","一帧","使用","宽","之前","]","如下","'","bin","变化","打开","read","<","坐标","python","y","[","下限","image","class","90","np","color","255","范围","来","points","是","retr","main","文件","。","ros2","处理","mask","像头","w","古月","{","args","系统","-","相机","效果","red","!","信息","img","阈值","detect","配置","勾勒","shutdown","bgr","findcontours","shape","后","entry","进行","选项","array","numpy","\"","图像","功能","苹果","面积","入口","：",".",")","approx","coding","检测","hsv","关闭","代码","销毁","所在","contours","初始化","def","点画","一些","居","编写","h","这里","guyuehome","env","模型","读取","none","true","chain","周期","8","二值化","并且","类","if","将","ret","from","从","circle","中心","让","boundingrect","为","高","cvtcolor","中","轮廓","摄像头","videocapture","(","太小","continue","上角","webcam","waitkey","对象","xy","#","上限","左上","相比","节点","转换","150","主","list","py","噪声","get","程序","bgr2hsv","drawcontours","创建","示例","rclpy","console","及","x"," ","设置","opencv","ok","com","www","/","红色","int","128","知道","object","0","imshow","while","upper","计算","lower","出来","utf","init","setup","需要","usr","cv2","颜色","5","修改","cnt","左上角","180","完成","destroy","learning","hierarchy"],"title":"代码解析","title_tokens":["解析","代码"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_15","text":"节点命令的常用操作如下： $ ros2 node list # 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-*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2话题示例-发布“Hello World”话题 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # 字符串消息类型 \"\"\" 创建一个发布者节点 \"\"\" class PublisherNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . pub = self . create_publisher ( String , \"chatter\" , 10 ) # 创建发布者对象（消息类型、话题名、队列长度） self . timer = self . create_timer ( 0.5 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） def timer_callback ( self ): # 创建定时器周期执行的回调函数 msg = String () # 创建一个String类型的消息对象 msg . data = 'Hello World' # 填充消息对象中的消息数据 self . pub . publish ( msg ) # 发布话题消息 self . get_logger () . info ( 'Publishing: \" %s \"' % msg . data ) # 输出日志信息，提示已经完成话题发布 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = PublisherNode ( \"topic_helloworld_pub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , ], }, 流程总结 对以上程序进行分析，如果我们想要实现一个发布者，流程如下： 编程接口初始化 创建节点并初始化 创建发布者对象 创建并填充话题消息 发布话题消息 销毁节点并关闭接口 订阅者代码解析 我们再来看下订阅者的实现方法。 程序实现 learning_topic/topic_helloworld_sub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2话题示例-订阅“Hello World”话题消息 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # ROS2标准定义的String消息 \"\"\" 创建一个订阅者节点 \"\"\" class SubscriberNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( \\ String , \"chatter\" , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） def listener_callback ( self , msg ): # 创建回调函数，执行收到话题消息后对数据的处理 self . get_logger () . info ( 'I heard: \" %s \"' % msg . data ) # 输出日志信息，提示订阅收到的话题消息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = SubscriberNode ( \"topic_helloworld_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , 'topic_helloworld_sub = learning_topic.topic_helloworld_sub:main' , ], }, 流程总结 对以上程序进行分析，如果我们想要实现一个订阅者，流程如下： 编程接口初始化 创建节点并初始化 创建订阅者对象 回调函数处理话题数据 销毁节点并关闭接口 好啦，Hello World例程大家一定还不过瘾，接下来我们基于话题通信，继续优化下之前的机器视觉例程。 案例二：机器视觉识别 在节点概念的讲解过程中，我们通过一个节点驱动了相机，并且实现了对红色物体的识别。功能虽然没问题，但是对于机器人开发来讲，并没有做到程序的模块化，更好的方式是将相机驱动和视觉识别做成两个节点，节点间的联系就是这个图像数据，通过话题周期传输即可。 运行效果 这个图像消息在ROS中是标准定义好的，如果未来要更换另一个相机，只需要修改驱动节点，视觉识别节点完全是软件功能，就可以保持不变了，这种模块化的设计思想，可以更好的保证软件的可移植性。 好啦，说干就干，我们先来看下效果如何？ 启动两个终端，分别运行以下两个节点，第一个节点驱动相机并发布图像话题，第二个节点订阅图像话题并实现视觉识别。 $ ros2 run learning_topic topic_webcam_pub $ ros2 run learning_topic topic_webcam_sub 将红色物体放入相机范围内，即可看到识别效果。 发布者代码解析 learning_topic/topic_webcam_pub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2话题示例-发布图像话题 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 \"\"\" 创建一个发布者节点 \"\"\" class ImagePublisher ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . publisher_ = self . create_publisher ( Image , 'image_raw' , 10 ) # 创建发布者对象（消息类型、话题名、队列长度） self . timer = self . create_timer ( 0.1 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） self . cap = cv2 . VideoCapture ( 0 ) # 创建一个视频采集对象，驱动相机采集图像（相机设备号） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于稍后将OpenCV的图像转换成ROS的图像消息 def timer_callback ( self ): ret , frame = self . cap . read () # 一帧一帧读取图像 if ret == True : # 如果图像读取成功 self . publisher_ . publish ( self . cv_bridge . cv2_to_imgmsg ( frame , 'bgr8' )) # 发布图像消息 self . get_logger () . info ( 'Publishing video frame' ) # 输出日志信息，提示已经完成图像话题发布 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImagePublisher ( \"topic_webcam_pub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , 'topic_helloworld_sub = learning_topic.topic_helloworld_sub:main' , 'topic_webcam_pub = learning_topic.topic_webcam_pub:main' , ], }, 订阅者代码解析 learning_topic/topic_webcam_sub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2话题示例-订阅图像话题 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 import numpy as np # Python数值计算库 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 \"\"\" 创建一个订阅者节点 \"\"\" class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , 'image_raw' , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 def object_detect ( self , image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 10 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"topic_webcam_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , 'topic_helloworld_sub = learning_topic.topic_helloworld_sub:main' , 'topic_webcam_pub = learning_topic.topic_webcam_pub:main' , 'topic_webcam_sub = learning_topic.topic_webcam_sub:main' , ], }, 案例三：机器视觉识别优化 通过话题对原本节点功能的解耦，似乎让视觉识别的例程焕然一新了，不过似乎还有哪里不太对劲，大家有感觉到么？ ROS的目标不是提高软件复用率么，现在视觉识别的节点可以复用了，相机驱动节点好像不行呀，每换一个相机，是不是都得换一个驱动节点？这当然是不可能的！ 常用的usb相机驱动一般都是通用的，ROS中也集成了usb相机的标准驱动，我们只需要通过这样一行指令，就可以安装好，无论你用什么样的相机，只要符合usb接口协议，就可以直接使用ROS中的相机驱动节点，发布标准的图像话题了。 $ sudo apt install ros-humble-usb-cam 这样，我们的代码又得到了进一步精简，刚才自己写的图像发布节点换成了这样一句指令，视觉识别节点不需要做任何变化。 $ ros2 run usb_cam usb_cam_node_exe $ ros2 run learning_topic topic_webcam_sub 话题命令行操作 话题命令的常用操作如下： $ ros2 topic list # 查看话题列表 $ ros2 topic info <topic_name> # 查看话题信息 $ ros2 topic hz <topic_name> # 查看话题发布频率 $ ros2 topic bw <topic_name> # 查看话题传输带宽 $ ros2 topic echo <topic_name> # 查看话题数据 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","公众","数据","感器","叫做","知道","也","较强","你","通信","修改","传感器","就","比如"],"title":"异步通信","title_tokens":["异步","通信"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_6","text":"最后，既然是数据传输，发布者和订阅者就得统一数据的描述格式，不能一个说英文，一个理解成了中文。在ROS中，话题通信数据的描述格式称之为消息，对应编程语言中数据结构的概念。比如这里的一个图像数据，就会包含图像的长宽像素值、每个像素的RGB等等，在ROS中都有标准定义。 消息是ROS中的一种接口定义方式 ，与编程语言无关，我们也可以通过 .msg 后缀的文件自行定义，有了这样的接口，各种节点就像积木块一样，通过各种各样的接口进行拼接，组成复杂的机器人系统。","text_tokens":["长宽","，","通过","和","描述","既然","块","了","接口","一个","msg","有","像素","rgb","编程语言","定义","订阅","格式","的","包含","我们","统一","编程","在","消息","英文","者","传输","之为","机器","得","后缀","复杂","每个","可以","发布者","是","说","都","文件","。","、","无关","系统","各种","组成","会","进行","中文","最后","图像","像",".","各种各样","等等","数据结构","ros","积木","一样","对应","这里","与","值","各样","一种","中","这样","概念","拼接","理解","发布","话题","接口定义","数据传输","结构","方式","不能","节点","自行"," 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__init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . pub = self . create_publisher ( String , \"chatter\" , 10 ) # 创建发布者对象（消息类型、话题名、队列长度） self . timer = self . create_timer ( 0.5 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） def timer_callback ( self ): # 创建定时器周期执行的回调函数 msg = String () # 创建一个String类型的消息对象 msg . data = 'Hello World' # 填充消息对象中的消息数据 self . pub . publish ( msg ) # 发布话题消息 self . get_logger () . info ( 'Publishing: \" %s \"' % msg . data ) # 输出日志信息，提示已经完成话题发布 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = PublisherNode ( \"topic_helloworld_pub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , ], 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World”话题消息 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # ROS2标准定义的String消息 \"\"\" 创建一个订阅者节点 \"\"\" class SubscriberNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( \\ String , \"chatter\" , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） def listener_callback ( self , msg ): # 创建回调函数，执行收到话题消息后对数据的处理 self . get_logger () . info ( 'I heard: \" %s \"' % msg . data ) # 输出日志信息，提示订阅收到的话题消息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = SubscriberNode ( \"topic_helloworld_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , 'topic_helloworld_sub = learning_topic.topic_helloworld_sub:main' , ], },","text_tokens":["scripts","helloworld","，","spin","name","logger","node","python3","说明","初始","包","函数","%","*","加入","点","接口","msg","一个",",","import","data","create","并","subscribernode","编译","\\",":","topic","_","10","作者","库","定义","@","=","info","退出","订阅","callback","的","listener","执行","'","如下","]","bin","打开","消息","“","python","者","s","[","class","日志","等待","”","points","string","main","文件","收到","ros2","处理","类型","、","古月","{","self","args","系统","长度","-","}","pub","heard","!","hello","信息","配置","entry","shutdown","后","进行","选项","\"","功能","std","入口","：","subscription",".",")","输出","coding","回调","代码","关闭","销毁","初始化","def","父类","居","sub","编写","guyuehome","chatter","env","none","8","提示","类","from","让","__","循环","(","对象","话题","（","#","队列","节点","对","主","py","msgs","get","程序","创建","示例","rclpy","super","名","i","console","设置"," ","数据","）","world","com","www","/","标准","知道","utf","init","setup","需要","usr","完成","destroy","learning"],"title":"程序实现","title_tokens":["程序","程序实现","实现"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_13","text":"对以上程序进行分析，如果我们想要实现一个订阅者，流程如下： 编程接口初始化 创建节点并初始化 创建订阅者对象 回调函数处理话题数据 销毁节点并关闭接口 好啦，Hello World例程大家一定还不过瘾，接下来我们基于话题通信，继续优化下之前的机器视觉例程。","text_tokens":["，","流程","者","好","对象","话题","例程","：","节点","接下","对","机器","接下来","初始","回调","函数","程序","关闭","创建","销毁","不","基于","啦","初始化","想要","下"," ","接口","数据","一个","world","还","。","并","处理","分析","实现","大家","hello","优化","订阅","如果","过瘾","的","我们","通信","以上","继续","一定","视觉","进行","编程","如下","下来","之前"],"title":"流程总结","title_tokens":["总结","流程"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_14","text":"在节点概念的讲解过程中，我们通过一个节点驱动了相机，并且实现了对红色物体的识别。功能虽然没问题，但是对于机器人开发来讲，并没有做到程序的模块化，更好的方式是将相机驱动和视觉识别做成两个节点，节点间的联系就是这个图像数据，通过话题周期传输即可。","text_tokens":["概念","，","这个","讲解","过程","通过","功能","图像","话题","和","传输","方式","对于","间","节点","机器","对","更好","虽然","驱动","程序","但是","物体","模块化","没有","是","了","数据","即可","一个","。","并","识别","没","两个","周期","红色","问题","模块","并且","相机","开发","实现","将","做到","的","我们","联系","做成","来讲","视觉","中","就是","机器人","在"],"title":"案例二：机器视觉识别","title_tokens":["识别","案例","视觉","：","机器","二"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_15","text":"这个图像消息在ROS中是标准定义好的，如果未来要更换另一个相机，只需要修改驱动节点，视觉识别节点完全是软件功能，就可以保持不变了，这种模块化的设计思想，可以更好的保证软件的可移植性。 好啦，说干就干，我们先来看下效果如何？ 启动两个终端，分别运行以下两个节点，第一个节点驱动相机并发布图像话题，第二个节点订阅图像话题并实现视觉识别。 $ ros2 run learning_topic topic_webcam_pub $ ros2 run learning_topic topic_webcam_sub 将红色物体放入相机范围内，即可看到识别效果。","text_tokens":["，","终端","来看","如何","驱动","不变","第一个","下","了","分别","一个","先","并","识别","移植","topic","_","定义","订阅","运行","的","我们","启动","视觉","软件","移植性","在","消息","？","好","设计","范围","可以","run","模块化","是","物体","只","。","ros2","两个","以下","模块","相机","pub","效果","如果","第二","要","图像","功能","ros","$","啦","这种","sub","未来","保持","内","可移植","将","更换","完全","第二个","第一","思想","webcam","这个","发布","放入","话题","节点","更好","另","保证"," ","即可","二个","中是","标准","红色","实现","看到","需要","修改","可移植性","就","learning","说干就干"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_16","text":"learning_topic/topic_webcam_pub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2话题示例-发布图像话题 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 \"\"\" 创建一个发布者节点 \"\"\" class ImagePublisher ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . publisher_ = self . create_publisher ( Image , 'image_raw' , 10 ) # 创建发布者对象（消息类型、话题名、队列长度） self . timer = self . create_timer ( 0.1 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） self . cap = cv2 . VideoCapture ( 0 ) # 创建一个视频采集对象，驱动相机采集图像（相机设备号） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于稍后将OpenCV的图像转换成ROS的图像消息 def timer_callback ( self ): ret , frame = self . cap . read () # 一帧一帧读取图像 if ret == True : # 如果图像读取成功 self . publisher_ . publish ( self . cv_bridge . cv2_to_imgmsg ( frame , 'bgr8' )) # 发布图像消息 self . get_logger () . info ( 'Publishing video frame' ) # 输出日志信息，提示已经完成图像话题发布 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImagePublisher ( \"topic_webcam_pub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , 'topic_helloworld_sub = learning_topic.topic_helloworld_sub:main' , 'topic_webcam_pub = learning_topic.topic_webcam_pub:main' , ], },","text_tokens":["scripts","helloworld","，","spin","name","定时器","logger","node","python3","publisher","说明","用于","初始","包","驱动","函数","cv","*","加入","bridge","转换成","点","接口","msg","一个",",","import","create","并","编译",":","topic","_","10","imgmsg","作者","库","=","@","退出","info","图像处理","callback","的","cap","frame","一帧","执行","'","如下","采集","]","bin","打开","消息","定时","read","raw","python","单位","[","image","class","日志","等待","发布者","points","main","文件","ros2","处理","类型","已经","、","古月","{","self","args","系统","长度","-","video","}","相机","pub","!","如果","信息","配置","entry","shutdown","后","进行","选项","\"","成功","图像","bgr8","功能","publishing","入口","：","视频",".",")","输出","coding","回调","代码","ros","关闭","销毁","初始化","timer","def","父类","居","编写","sub","guyuehome","env","读取","true","none","周期","8","与","提示","imagepublisher","类","if","sensor","将","ret","from","让","换成","为","__","循环","videocapture","(","号","webcam","发布","对象","话题","（","#","队列","秒","转换","节点","主","py","msgs","get","publish","程序","创建","示例","rclpy","super","名","console","设置"," ","opencv","）","to","com","www","0.1","/","知道","0","utf","init","setup","设备","usr","cv2","需要","稍后","完成","cvbridge","destroy","learning"],"title":"发布者代码解析","title_tokens":["发布","解析","发布者","代码"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_17","text":"learning_topic/topic_webcam_sub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2话题示例-订阅图像话题 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 import numpy as np # Python数值计算库 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 \"\"\" 创建一个订阅者节点 \"\"\" class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , 'image_raw' , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 def object_detect ( self , image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 10 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"topic_webcam_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'topic_helloworld_pub = learning_topic.topic_helloworld_pub:main' , 'topic_helloworld_sub = learning_topic.topic_helloworld_sub:main' , 'topic_webcam_pub = learning_topic.topic_webcam_pub:main' , 'topic_webcam_sub = learning_topic.topic_webcam_sub:main' , ], },","text_tokens":["scripts","helloworld","，","spin","name","for","和","1","显示","logger","数值","node","python3","说明","用于","初始","包","函数","cv","*","加入","bridge","点","接口","转化成","msg","一个",",","import","data","create","并","inrange","as","receiving","编译","像素",":","2","topic","in","_","10","imgmsg","作者","库","=","@","+","info","图像处理","订阅","得到","callback","去除","退出","的","frame","listener","使用","宽","'","]","如下","bin","打开","消息","<","raw","坐标","python","者","y","[","下限","image","class","90","日志","np","color","255","范围","等待","points","已","retr","main","文件","ros2","处理","类型","mask","、","古月","w","self","args","系统","长度","-","video","{","}","pub","效果","red","!","信息","img","阈值","detect","配置","勾勒","shutdown","bgr","findcontours","互相","shape","后","entry","进行","imagesubscriber","选项","array","numpy","\"","bgr8","图像","功能","苹果","面积","入口","：","进入","subscription",".",")","approx","输出","coding","检测","回调","hsv","ros","关闭","化成","代码","销毁","所在","contours","初始化","def","点画","父类","居","sub","一些","h","编写","guyuehome","env","模型","none","chain","8","与","二值化","提示","类","if","sensor","将","from","从","circle","中心","让","boundingrect","为","__","cvtcolor","高","中","轮廓","循环","continue","太小","(","上角","webcam","waitkey","对象","话题","（","xy","#","上限","队列","左上","转换","节点","150","主","list","py","msgs","噪声","get","bgr2hsv","程序","创建","drawcontours","示例","rclpy","super","名","及","console","x"," ","设置","opencv","）","to","com","www","/","转化","红色","int","128","知道","object","0","imshow","upper","计算","lower","出来","utf","init","setup","需要","usr","cv2","颜色","5","cnt","左上角","180","完成","cvbridge","destroy","learning","hierarchy"],"title":"订阅者代码解析","title_tokens":["订阅","解析","代码","者"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_18","text":"通过话题对原本节点功能的解耦，似乎让视觉识别的例程焕然一新了，不过似乎还有哪里不太对劲，大家有感觉到么？ ROS的目标不是提高软件复用率么，现在视觉识别的节点可以复用了，相机驱动节点好像不行呀，每换一个相机，是不是都得换一个驱动节点？这当然是不可能的！ 常用的usb相机驱动一般都是通用的，ROS中也集成了usb相机的标准驱动，我们只需要通过这样一行指令，就可以安装好，无论你用什么样的相机，只要符合usb接口协议，就可以直接使用ROS中的相机驱动节点，发布标准的图像话题了。 $ sudo apt install ros-humble-usb-cam 这样，我们的代码又得到了进一步精简，刚才自己写的图像发布节点换成了这样一句指令，视觉识别节点不需要做任何变化。 $ ros2 run usb_cam usb_cam_node_exe $ ros2 run learning_topic topic_webcam_sub","text_tokens":["，","！","通过","例程","node","到","直接","一新","驱动","对劲","每换","不是","可能","了","接口","一个","目标","识别","有","topic","_","似乎","率","得到","还有","不行","的","我们","使用","视觉","么","软件","变化","复用","？","好","cam","安装","换","哪里","做","得","一般","现在","usb","可以","run","是不是","感觉","是","一行","又","无论","都","只","协议","解","。","ros2","一句","-","相机","用","焕然一新","呀","耦","通用","常用","图像","功能","不过","接口协议","刚才","精简","一步","代码","ros","$","不","sub","好像","集成","提高","只要","大家","install","让","这","进一步","换成","写","中","这样","不太","webcam","发布","话题","符合","节点","指令","对","sudo","焕然","什么","什么样"," ","任何","exe","humble","标准","也","apt","你","需要","原本","当然","自己","就","learning"],"title":"案例三：机器视觉识别优化","title_tokens":["识别","案例","三","视觉","：","机器","优化"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_19","text":"话题命令的常用操作如下： $ ros2 topic list # 查看话题列表 $ ros2 topic info <topic_name> # 查看话题信息 $ ros2 topic hz <topic_name> # 查看话题发布频率 $ ros2 topic bw <topic_name> # 查看话题传输带宽 $ ros2 topic echo <topic_name> # 查看话题数据 $ ros2 topic pub <topic_name> <msg_type> <msg_data> # 发布话题消息","text_tokens":["发布","name","传输","话题","#","：","list","hz","操作","带宽","$","列表","bw"," ","数据","msg","data","ros2","命令","type","查看","topic","_","pub",">","info","信息","的","频率","如下","消息","echo","<","常用"],"title":"话题命令行操作","title_tokens":["操作","话题","命令行","命令"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_20","text":"关于话题通信的原理和实现方法我们就讲到这里，给大家留一个思考题：话题通信的特性是单向传输，适合周期性的数据传递，对于一个复杂的机器人系统来讲，这种特性肯定无法满足所有数据传输的需求，大家是否能够举几个例子，是话题通信无法完成的呢？","text_tokens":["关于","？","，","满足","考题","适合","需求","传输","话题","和","能够","数据传输","：","特性","对于","机器","方法","几个","到","复杂","思考题","这种","是","讲","给","数据","呢","一个","这里","单向","思考","周期","所有","是否","传递","留","系统","据传","实现","大家","举","例子","无法","的","通信","我们","肯定","来讲","完成","周期性","就","机器人","原理"],"title":"思考题","title_tokens":["思考题","考题","思考"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_21","text":"https://docs.ros.org/en/humble/Tutorials/Topics/Understanding-ROS2-Topics.html","text_tokens":["html","docs","ros2","/","org","tutorials","ros","understanding","en","humble",":","topics","-",".","https"],"title":"参考链接","title_tokens":["参考","链接"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/","text":"服务 话题通信可以实现多个ROS节点之间数据的单向传输，使用这种异步通信机制，发布者无法准确知道订阅者是否收到消息，本讲我们将一起学习ROS另外一种常用的通信方法—— 服务 ，可以实现类似 你问我答的同步通信 效果。 通信模型 在之前的课程中，我们通过一个节点驱动相机，发布图像话题，另外一个节点订阅图像话题，并实现对其中红色物体的识别，此时我们可以按照图像识别的频率，周期得到物体的位置。 这个位置信息可以继续发给机器人的上层应用使用，比如可以跟随目标运动，或者运动到目标位置附近。此时，我们并不需要这么高的频率一直订阅物体的位置，而是更希望在需要这个数据的时候，发一个查询的请求，然后尽快得到此时目标的最新位置。 这样的通信模型和话题单向传输有所不同，变成了发送一个请求，反馈一个应答的形式，好像是你问我答一样，这种通信机制在ROS中成为 服务，Service 。 客户端/服务器模型 从服务的实现机制上来看，这种你问我答的形式叫做 客户端/服务器模型 ，简称为CS模型，客户端在需要某些数据的时候，针对某个具体的服务，发送请求信息，服务器端收到请求之后，就会进行处理并反馈应答信息。 这种通信机制在生活中也很常见，比如我们经常浏览的各种网页，此时你的电脑浏览器就是客户端，通过域名或者各种操作，向网站服务器发送请求，服务器收到之后返回需要展现的页面数据。 同步通信 这个过程一般要求越快越好，假设服务器半天没有反应，你的浏览器一直转圈圈，那有可能是服务器宕机了，或者是网络不好，所以相比话题通信，在服务通信中，客户端可以通过接收到的应答信息，判断服务器端的状态，我们也称之为同步通信。 一对多通信 比如古月居这个网站，服务器是唯一存在的，并没有多个完全一样的古月居网站，但是可以访问古月居网站的客户端是不唯一的，大家每一个人都可以看到同样的界面。所以服务通信模型中，服务器端唯一，但客户端可以不唯一。 服务接口 和话题通信类似，服务通信的核心还是要传递数据，数据变成了两个部分，一个 请求的数据 ，比如请求苹果位置的命令，还有一个 反馈的数据 ，比如反馈苹果坐标位置的数据，这些数据和话题消息一样，在ROS中也是要标准定义的，话题使用.msg文件定义，服务使用的是.srv文件定义，后续我们会给大家介绍定义的方法。 案例一：加法求解器 大家现在对ROS服务通信应该有了基本了解，接下来我们就要开始编写代码啦。还是从一个相对简单的例程开始，也是ROS官方的一个例程，通过服务实现一个加法求解器的功能。 当我们需要计算两个加数的求和结果时，就通过客户端节点，将两个加数封装成请求数据，针对服务“add_two_ints”发送出去，提供这个服务的服务器端节点，收到请求数据后，开始进行加法计算，并将求和结果封装成应答数据，反馈给客户端，之后客户端就可以得到想要的结果啦。 运行效果 我们一起操作下这个例程，并且看下代码的实现原理。 启动两个终端，并运行如下节点，第一个节点是服务端，等待请求数据并提供求和功能，第二个节点是客户端，发送传入的两个加数并等待求和结果。 $ ros2 run learning_service service_adder_server $ ros2 run learning_service service_adder_client 2 3 客户端代码解析 我们来看下客户端的实现方法。 程序实现 learning_service/service_adder_client.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-发送两个加数，请求加法器计算 \"\"\" import sys import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from learning_interface.srv import AddTwoInts # 自定义的服务接口 class adderClient ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . client = self . create_client ( AddTwoInts , 'add_two_ints' ) # 创建服务客户端对象（服务接口类型，服务名） while not self . client . wait_for_service ( timeout_sec = 1.0 ): # 循环等待服务器端成功启动 self . get_logger () . info ( 'service not available, waiting again...' ) self . request = AddTwoInts . Request () # 创建服务请求的数据对象 def send_request ( self ): # 创建一个发送服务请求的函数 self . request . a = int ( sys . argv [ 1 ]) self . request . b = int ( sys . argv [ 2 ]) self . future = self . client . call_async ( self . request ) # 异步方式发送服务请求 def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = adderClient ( \"service_adder_client\" ) # 创建ROS2节点对象并进行初始化 node . send_request () # 发送服务请求 while rclpy . ok (): # ROS2系统正常运行 rclpy . spin_once ( node ) # 循环执行一次节点 if node . future . done (): # 数据是否处理完成 try : response = node . future . result () # 接收服务器端的反馈数据 except Exception as e : node . get_logger () . info ( 'Service call failed %r ' % ( e ,)) else : node . get_logger () . info ( # 将收到的反馈信息打印输出 'Result of add_two_ints: for %d + %d = %d ' % ( node . request . a , node . request . b , response . sum )) break node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , ], }, 流程总结 对以上程序进行分析，如果我们想要实现一个客户端，流程如下： 编程接口初始化 创建节点并初始化 创建客户端对象 创建并发送请求数据 等待服务器端应答数据 销毁节点并关闭接口 服务端代码解析 至于服务器端的实现，有点类似话题通信中的订阅者，并不知道请求数据什么时间出现，也用到了回调函数机制。 程序实现 learning_service/service_adder_server.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-提供加法器的服务器处理功能 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from learning_interface.srv import AddTwoInts # 自定义的服务接口 class adderServer ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . srv = self . create_service ( AddTwoInts , 'add_two_ints' , self . adder_callback ) # 创建服务器对象（接口类型、服务名、服务器回调函数） def adder_callback ( self , request , response ): # 创建回调函数，执行收到请求后对数据的处理 response . sum = request . a + request . b # 完成加法求和计算，将结果放到反馈的数据中 self . get_logger () . info ( 'Incoming request \\n a: %d b: %d ' % ( request . a , request . b )) # 输出日志信息，提示已经完成加法求和计算 return response # 反馈应答信息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = adderServer ( \"service_adder_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , 'service_adder_server = learning_service.service_adder_server:main' , ], }, 流程总结 对以上程序进行分析，如果我们想要实现一个服务端，流程如下： 编程接口初始化 创建节点并初始化 创建服务器端对象 通过回调函数处进行服务 向客户端反馈应答结果 销毁节点并关闭接口 案例二：机器视觉识别 好啦，加法求解器已经实现了，回想下刚才我们提到的视觉识别流程，当我们需要知道目标物体位置的时候，通过服务通信的机制，岂不是更加合理。 运行效果 此时会有三个节点出现： 相机驱动节点 ，发布图像数据； 视觉识别节点 ，订阅图像数据，并且集成了一个服务器端对象，随时准备提供目标位置； 客户端节点 ，我们可以认为是一个机器人目标跟踪的节点，当需要根据目标运动时，就发送一次请求，然后拿到一个当前的目标位置。 启动三个终端，分别运行上述三个节点： $ ros2 run usb_cam usb_cam_node_exe $ ros2 run learning_service service_object_server $ ros2 run learning_service service_object_client 客户端代码解析 learning_service/service_object_client.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-请求目标识别，等待目标位置应答 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from learning_interface.srv import GetObjectPosition # 自定义的服务接口 class objectClient ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . client = self . create_client ( GetObjectPosition , 'get_target_position' ) while not self . client . wait_for_service ( timeout_sec = 1.0 ): self . get_logger () . info ( 'service not available, waiting again...' ) self . request = GetObjectPosition . Request () def send_request ( self ): self . request . get = True self . future = self . client . call_async ( self . request ) def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = objectClient ( \"service_object_client\" ) # 创建ROS2节点对象并进行初始化 node . send_request () while rclpy . ok (): rclpy . spin_once ( node ) if node . future . done (): try : response = node . future . result () except Exception as e : node . get_logger () . info ( 'Service call failed %r ' % ( e ,)) else : node . get_logger () . info ( 'Result of object position: \\n x: %d y: %d ' % ( response . x , response . y )) break node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , 'service_adder_server = learning_service.service_adder_server:main' , 'service_object_client = learning_service.service_object_client:main' , ], }, 服务端代码解析 learning_service/service_object_server.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-提供目标识别服务 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 import numpy as np # Python数值计算库 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 from learning_interface.srv import GetObjectPosition # 自定义的服务接口 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , 'image_raw' , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 self . srv = self . create_service ( GetObjectPosition , # 创建服务器对象（接口类型、服务名、服务器回调函数） 'get_target_position' , self . object_position_callback ) self . objectX = 0 self . objectY = 0 def object_detect ( self , image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 self . objectX = int ( x + w / 2 ) self . objectY = int ( y + h / 2 ) cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def object_position_callback ( self , request , response ): # 创建回调函数，执行收到请求后对数据的处理 if request . get == True : response . x = self . objectX # 目标物体的XY坐标 response . y = self . objectY self . get_logger () . info ( 'Object position \\n x: %d y: %d ' % ( response . x , response . y )) # 输出日志信息，提示已经反馈 else : response . x = 0 response . y = 0 self . get_logger () . info ( 'Invalid command' ) # 输出日志信息，提示已经反馈 return response def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"service_object_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , 'service_adder_server = learning_service.service_adder_server:main' , 'service_object_client = learning_service.service_object_client:main' , 'service_object_server = learning_service.service_object_server:main' , ], }, 服务命令行操作 服务命令的常用操作如下： $ ros2 service list # 查看服务列表 $ ros2 service type <service_name> # 查看服务数据类型 $ ros2 service call <service_name> <service_type> <service_data> # 发送服务请求 思考题 话题和服务是ROS中最为常用的两种数据通信方法，前者适合传感器、控制指令等周期性、单向传输的数据，后者适合一问一答，同步性要求更高的数据，比如获取机器视觉识别到的目标位置。 在机器人开发过程中，类似的通信应用比比皆是，ROS针对绝大部分通用场景，都设计了标准的话题和服务数据类型，比如图像数据、雷达数据、里程计数据等等，不过机器人软硬件繁杂，很多时候这些标准定义也无法满足我们的需求，这个时候，我们就要自定义通信接口了。 参考链接 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Request () # 创建服务请求的数据对象 def send_request ( self ): # 创建一个发送服务请求的函数 self . request . a = int ( sys . argv [ 1 ]) self . request . b = int ( sys . argv [ 2 ]) self . future = self . client . call_async ( self . request ) # 异步方式发送服务请求 def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = adderClient ( \"service_adder_client\" ) # 创建ROS2节点对象并进行初始化 node . send_request () # 发送服务请求 while rclpy . ok (): # ROS2系统正常运行 rclpy . spin_once ( node ) # 循环执行一次节点 if node . future . done (): # 数据是否处理完成 try : response = node . future . result () # 接收服务器端的反馈数据 except Exception as e : node . get_logger () . info ( 'Service call failed %r ' % ( e ,)) else : node . get_logger () . info ( # 将收到的反馈信息打印输出 'Result of add_two_ints: for %d + %d = %d ' % ( node . request . a , node . request . b , response . sum )) break node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , ], },","text_tokens":["scripts","，","spin","name","for","1","logger","node","python3","说明","not","初始","包","ints","函数","%","*","response","加入","async","正常","点","接口","一个","1.0",",","import","wait","create","并","failed","result","as","编译","是否",":","2","available","except","_","反馈","作者","库","定义","@","=","info","of","d","+","运行","的","启动","srv","...","执行","'","argv","]","自定义","bin","异步","打开","如下","打印","服务器端","python","[","法器","服务器","sys","class","again","sum","加法","once","等待","points","b","main","文件","request","ros2","两个","two","处理","类型","收到","{","古月","adderclient","self","addtwoints","send","args","-","系统","}","客户","!","请求","信息","配置","timeout","shutdown","entry","后","进行","client","选项","\"","成功","打印输出","功能","else","加数","exception","接口类型","入口","：",".",")","一次","输出","coding","add","接口类","代码","关闭","服务","销毁","初始化","def","adder","父类","居","编写","guyuehome","try","env","自定","none","务器","8","类","sec","if","将","from","service","break","让","__","interface","循环","(","r","call","对象","（","#","方式","节点","future","py","waiting","get","程序","创建","示例","rclpy","super","名","console","设置"," ","发送","数据","加法器","）","ok","com","www","/","done","知道","int","while","计算","e","utf","init","接收","setup","需要","usr","a","完成","destroy","客户端","learning"],"title":"程序实现","title_tokens":["程序","程序实现","实现"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_11","text":"对以上程序进行分析，如果我们想要实现一个客户端，流程如下： 编程接口初始化 创建节点并初始化 创建客户端对象 创建并发送请求数据 等待服务器端应答数据 销毁节点并关闭接口","text_tokens":["服务器端","，","流程","对象","：","服务器","节点","对","应答","初始","等待","关闭","程序","创建","服务","销毁","初始化","想要"," ","发送","接口","数据","一个","并","务器","分析","实现","客户","请求","如果","我们","以上","进行","编程","如下","客户端"],"title":"流程总结","title_tokens":["总结","流程"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_12","text":"至于服务器端的实现，有点类似话题通信中的订阅者，并不知道请求数据什么时间出现，也用到了回调函数机制。","text_tokens":["服务器端","，","者","并不知道","话题","不知","机制","至于","服务器","什么","时间","用到","回调","函数","服务","了","数据","。","有点","务器","出现","知道","也","实现","请求","订阅","的","通信","中","类似"],"title":"服务端代码解析","title_tokens":["解析","服务端","服务","代码"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_13","text":"learning_service/service_adder_server.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-提供加法器的服务器处理功能 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from learning_interface.srv import AddTwoInts # 自定义的服务接口 class adderServer ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . srv = self . create_service ( AddTwoInts , 'add_two_ints' , self . adder_callback ) # 创建服务器对象（接口类型、服务名、服务器回调函数） def adder_callback ( self , request , response ): # 创建回调函数，执行收到请求后对数据的处理 response . sum = request . a + request . b # 完成加法求和计算，将结果放到反馈的数据中 self . get_logger () . info ( 'Incoming request \\n a: %d b: %d ' % ( request . a , request . b )) # 输出日志信息，提示已经完成加法求和计算 return response # 反馈应答信息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = adderServer ( \"service_adder_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , 'service_adder_server = learning_service.service_adder_server:main' , ], },","text_tokens":["scripts","，","spin","name","logger","node","python3","说明","初始","包","ints","函数","%","*","response","加入","adderserver","点","接口",",","import","create","并","编译","\\",":","_","反馈","作者","库","定义","@","=","+","info","d","退出","callback","的","srv","执行","'","如下","]","自定义","bin","打开","python","求和","[","法器","服务器","class","sum","加法","日志","等待","points","b","main","文件","request","ros2","处理","two","收到","类型","已经","、","古月","{","self","addtwoints","args","系统","-","}","!","请求","信息","配置","entry","shutdown","后","进行","选项","client","\"","return","功能","入口","接口类型","：",".","应答",")","输出","coding","add","接口类","回调","代码","关闭","服务","销毁","初始化","def","adder","父类","居","编写","guyuehome","env","自定","none","务器","8","提示","类","n","将","from","service","让","__","中","interface","循环","(","对象","（","#","提供","节点","对","主","py","get","放到","程序","创建","示例","rclpy","super","名","console","设置"," ","数据","加法器","）","com","www","/","知道","计算","utf","init","setup","incoming","usr","a","需要","server","完成","destroy","结果","learning"],"title":"程序实现","title_tokens":["程序","程序实现","实现"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_14","text":"对以上程序进行分析，如果我们想要实现一个服务端，流程如下： 编程接口初始化 创建节点并初始化 创建服务器端对象 通过回调函数处进行服务 向客户端反馈应答结果 销毁节点并关闭接口","text_tokens":["服务器端","，","流程","对象","通过","：","服务器","节点","对","应答","初始","回调","函数","程序","向","创建","服务","销毁","关闭","初始化","想要","处"," ","接口","一个","并","结果","务器","服务端","分析","反馈","实现","客户","如果","我们","以上","进行","编程","如下","客户端"],"title":"流程总结","title_tokens":["总结","流程"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_15","text":"好啦，加法求解器已经实现了，回想下刚才我们提到的视觉识别流程，当我们需要知道目标物体位置的时候，通过服务通信的机制，岂不是更加合理。","text_tokens":["，","位置","流程","好","回想","通过","器","机制","刚才","提到","加法","岂","服务","啦","物体","下","不是","时候","合理","了","。","求解","目标","识别","已经","知道","更加","实现","需要","当","的","我们","通信","视觉"],"title":"案例二：机器视觉识别","title_tokens":["识别","案例","视觉","：","机器","二"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_16","text":"此时会有三个节点出现： 相机驱动节点 ，发布图像数据； 视觉识别节点 ，订阅图像数据，并且集成了一个服务器端对象，随时准备提供目标位置； 客户端节点 ，我们可以认为是一个机器人目标跟踪的节点，当需要根据目标运动时，就发送一次请求，然后拿到一个当前的目标位置。 启动三个终端，分别运行上述三个节点： $ ros2 run usb_cam usb_cam_node_exe $ ros2 run learning_service service_object_server $ ros2 run learning_service service_object_client","text_tokens":["服务器端","，","位置","client","然后","发布","终端","图像","对象","cam","提供","；","：","服务器","node","节点","机器","随时","机器人","一次","驱动","usb","可以","$","run","服务","当前","是","时"," ","了","数据","发送","一个","拿到","分别","准备","目标","。","识别","ros2","exe","learning","三个","出现","有","集成","务器","运动","上述","object","并且","相机","_","客户","请求","认为","订阅","会","需要","运行","当","的","我们","启动","service","server","视觉","根据","就","跟踪","客户端","此时"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_17","text":"learning_service/service_object_client.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-请求目标识别，等待目标位置应答 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from learning_interface.srv import GetObjectPosition # 自定义的服务接口 class objectClient ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . client = self . create_client ( GetObjectPosition , 'get_target_position' ) while not self . client . wait_for_service ( timeout_sec = 1.0 ): self . get_logger () . info ( 'service not available, waiting again...' ) self . request = GetObjectPosition . Request () def send_request ( self ): self . request . get = True self . future = self . client . call_async ( self . request ) def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = objectClient ( \"service_object_client\" ) # 创建ROS2节点对象并进行初始化 node . send_request () while rclpy . ok (): rclpy . spin_once ( node ) if node . future . done (): try : response = node . future . result () except Exception as e : node . get_logger () . info ( 'Service call failed %r ' % ( e ,)) else : node . get_logger () . info ( 'Result of object position: \\n x: %d y: %d ' % ( response . x , response . y )) break node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , 'service_adder_server = learning_service.service_adder_server:main' , 'service_object_client = learning_service.service_object_client:main' , ], },","text_tokens":["scripts","，","spin","name","for","logger","node","python3","说明","not","初始","包","%","*","response","加入","async","点","接口","1.0",",","import","wait","目标","create","识别","并","failed","result","as","编译","\\",":","available","except","_","作者","库","定义","@","=","info","of","d","的","srv","...","'","如下","]","自定义","bin","打开","位置","python","y","[","class","again","once","等待","points","main","文件","request","ros2","{","古月","self","send","args","系统","-","objectclient","}","getobjectposition","!","请求","配置","timeout","shutdown","entry","后","进行","client","选项","\"","功能","target","else","exception","入口","：",".","应答",")","position","coding","代码","关闭","服务","销毁","初始化","def","adder","父类","居","编写","guyuehome","try","env","自定","true","none","8","类","sec","n","if","from","service","break","让","__","interface","(","r","call","对象","#","节点","future","py","waiting","get","程序","创建","示例","rclpy","super","console","x"," ","设置","ok","com","www","/","done","知道","object","while","e","utf","init","setup","需要","usr","server","完成","destroy","learning"],"title":"客户端代码解析","title_tokens":["解析","客户","代码","客户端"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_18","text":"learning_service/service_object_server.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-提供目标识别服务 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 import numpy as np # Python数值计算库 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 from learning_interface.srv import GetObjectPosition # 自定义的服务接口 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , 'image_raw' , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 self . srv = self . create_service ( GetObjectPosition , # 创建服务器对象（接口类型、服务名、服务器回调函数） 'get_target_position' , self . object_position_callback ) self . objectX = 0 self . objectY = 0 def object_detect ( self , image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 self . objectX = int ( x + w / 2 ) self . objectY = int ( y + h / 2 ) cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def object_position_callback ( self , request , response ): # 创建回调函数，执行收到请求后对数据的处理 if request . get == True : response . x = self . objectX # 目标物体的XY坐标 response . y = self . objectY self . get_logger () . info ( 'Object position \\n x: %d y: %d ' % ( response . x , response . y )) # 输出日志信息，提示已经反馈 else : response . x = 0 response . y = 0 self . get_logger () . info ( 'Invalid command' ) # 输出日志信息，提示已经反馈 return response def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"service_object_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'service_adder_client = learning_service.service_adder_client:main' , 'service_adder_server = learning_service.service_adder_server:main' , 'service_object_client = learning_service.service_object_client:main' , 'service_object_server = learning_service.service_object_server:main' , ], },","text_tokens":["scripts","，","spin","name","for","和","1","显示","50","logger","数值","node","python3","说明","用于","初始","包","函数","cv","*","objectx","response","%","加入","bridge","点","接口","转化成","msg","一个",",","import","目标","create","识别","data","并","inrange","as","receiving","编译","像素","\\",":","2","in","invalid","_","10","imgmsg","作者","库","定义","@","=","+","图像处理","订阅","得到","callback","去除","info","d","的","frame","listener","srv","使用","执行","宽","'","]","如下","自定义","bin","打开","消息","<","raw","坐标","python","者","y","[","服务器","下限","image","class","90","日志","np","color","255","范围","等待","points","物体","已","retr","main","文件","request","ros2","处理","收到","类型","mask","已经","、","古月","w","self","args","系统","长度","-","video","{","getobjectposition","}","效果","red","!","请求","信息","img","阈值","detect","配置","勾勒","shutdown","bgr","findcontours","互相","shape","后","entry","进行","imagesubscriber","选项","array","client","numpy","\"","bgr8","图像","反馈","return","target","苹果","面积","功能","else","入口","接口类型","进入","：","subscription",".",")","position","approx","输出","coding","接口类","检测","回调","hsv","ros","关闭","化成","代码","服务","所在","contours","销毁","初始化","def","adder","点画","父类","居","sub","一些","h","编写","guyuehome","env","自定","模型","none","true","chain","务器","8","与","二值化","提示","类","n","if","sensor","将","from","service","从","circle","中心","让","boundingrect","为","__","cvtcolor","高","中","interface","轮廓","循环","continue","太小","(","上角","command","waitkey","对象","话题","（","xy","#","上限","队列","提供","左上","转换","节点","对","150","主","list","py","msgs","get","噪声","bgr2hsv","程序","创建","drawcontours","示例","rclpy","super","名","及","console","x"," ","设置","数据","opencv","）","to","com","www","/","转化","红色","int","128","退出","知道","object","0","imshow","upper","计算","lower","出来","utf","init","setup","需要","usr","cv2","颜色","5","server","cnt","180","左上角","cvbridge","destroy","完成","learning","objecty","hierarchy"],"title":"服务端代码解析","title_tokens":["解析","服务端","服务","代码"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_19","text":"服务命令的常用操作如下： $ ros2 service list # 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获取目标位置的指令 --- int32 x # 目标的X坐标 int32 y # 目标的Y坐标 定义中有两个部分，上边是获取目标位置的指令，get为true的话，就表示我们需要一次位置，服务端就会反馈这个x、y坐标了。 完成定义后，还需要在功能包的CMakeLists.txt中配置编译选项，让编译器在编译过程中，根据接口定义，自动生成不同语言的代码： ... find_package ( rosidl_default_generators REQUIRED ) rosidl_generate_interfaces ( ${ PROJECT_NAME } \"srv/GetObjectPosition.srv\" ) ... 功能包的package.xml文件中也需要添加代码生成的功能依赖： ... <build_depend> rosidl_default_generators </build_depend> <exec_depend> rosidl_default_runtime </exec_depend> <member_of_group> rosidl_interface_packages </member_of_group> ... 程序调用 我们在代码中再来重点看下接口的使用方法。 客户端接口调用 learning_service/service_object_client.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-请求目标识别，等待目标位置应答 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from learning_interface.srv import GetObjectPosition # 自定义的服务接口 class objectClient ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . client = self . create_client ( GetObjectPosition , 'get_target_position' ) while not self . client . wait_for_service ( timeout_sec = 1.0 ): self . get_logger () . info ( 'service not available, waiting again...' ) self . request = GetObjectPosition . Request () def send_request ( self ): self . request . get = True self . future = self . client . call_async ( self . request ) def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = objectClient ( \"service_object_client\" ) # 创建ROS2节点对象并进行初始化 node . send_request () while rclpy . ok (): rclpy . spin_once ( node ) if node . future . done (): try : response = node . future . result () except Exception as e : node . get_logger () . info ( 'Service call failed %r ' % ( e ,)) else : node . get_logger () . info ( 'Result of object position: \\n x: %d y: %d ' % ( response . x , response . y )) break node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 服务端接口调用 learning_service/service_object_server.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2服务示例-提供目标识别服务 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 import numpy as np # Python数值计算库 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 from learning_interface.srv import GetObjectPosition # 自定义的服务接口 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , 'image_raw' , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 self . srv = self . create_service ( GetObjectPosition , # 创建服务器对象（接口类型、服务名、服务器回调函数） 'get_target_position' , self . object_position_callback ) self . objectX = 0 self . objectY = 0 def object_detect ( self , image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 self . objectX = int ( x + w / 2 ) self . objectY = int ( y + h / 2 ) cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def object_position_callback ( self , request , response ): # 创建回调函数，执行收到请求后对数据的处理 if request . get == True : response . x = self . objectX # 目标物体的XY坐标 response . y = self . objectY self . get_logger () . info ( 'Object position \\n x: %d y: %d ' % ( response . x , response . y )) # 输出日志信息，提示已经反馈 else : response . x = 0 response . y = 0 self . get_logger () . info ( 'Invalid command' ) # 输出日志信息，提示已经反馈 return response def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"service_object_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 案例二：话题接口的定义与使用 话题通信接口的定义也是类似的，继续从之前的机器视觉案例中来衍生，我们想把服务换成话题，周期发布目标识别的位置，不管有没有人需要。 运行效果 现在我们会运行三个节点： 第一个节点，将驱动相机并发布图像话题，此时的话题数据使用的是ROS中标准定义的Image图像消息； 第二个节点，会运行视觉识别功能，识别目标的位置，这个位置我们希望封装成话题消息，发布出去，谁需要使用谁就来订阅； 第三个节点，订阅位置话题，打印到终端中。 启动三个终端，分别运行以上节点： $ ros2 run usb_cam usb_cam_node_exe $ ros2 run learning_topic interface_object_pub $ ros2 run learning_topic interface_object_sub 接口定义 在这个例程中，我们使用ObjectPosition.msg定义了服务通信的接口： learning_interface/msg/ObjectPosition.msg int32 x # 表示目标的X坐标 int32 y # 表示目标的Y坐标 话题消息的内容是一个位置，我们使用x、y坐标值进行描述。 完成定义后，还需要在功能包的CMakeLists.txt中配置编译选项，让编译器在编译过程中，根据接口定义，自动生成不同语言的代码： ... find_package ( rosidl_default_generators REQUIRED ) rosidl_generate_interfaces ( ${ PROJECT_NAME } \"msg/ObjectPosition.msg\" ) ... 程序调用 我们在代码中再来重点看下接口的使用方法。 发布者接口调用 learning_topic/interface_object_pub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2接口示例-发布目标位置 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 import numpy as np # Python数值计算库 from learning_interface.msg import ObjectPosition # 自定义的目标位置消息 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 \"\"\" 创建一个订阅者节点 \"\"\" class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , 'image_raw' , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） self . pub = self . create_publisher ( ObjectPosition , \"object_position\" , 10 ) # 创建发布者对象（消息类型、话题名、队列长度） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 self . objectX = 0 self . objectY = 0 def object_detect ( self , image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , # 将苹果的图像中心点画出来 ( 0 , 255 , 0 ), - 1 ) self . objectX = int ( x + w / 2 ) self . objectY = int ( y + h / 2 ) cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 position = ObjectPosition () self . object_detect ( image ) # 苹果检测 position . x , position . y = int ( self . objectX ), int ( self . objectY ) self . pub . publish ( position ) # 发布目标位置 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"topic_webcam_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 订阅者接口调用 learning_topic/interface_object_sub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2接口示例-订阅目标位置 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # 字符串消息类型 from learning_interface.msg import ObjectPosition # 自定义的目标位置消息 \"\"\" 创建一个订阅者节点 \"\"\" class SubscriberNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( \\ ObjectPosition , \"/object_position\" , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度 def listener_callback ( self , msg ): # 创建回调函数，执行收到话题消息后对数据的处理 self . get_logger () . info ( 'Target Position: \"( %d , %d )\"' % ( msg . x , msg . y )) # 输出日志信息，提示订阅收到的话题消息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . 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COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 self . objectX = int ( x + w / 2 ) self . objectY = int ( y + h / 2 ) cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def object_position_callback ( self , request , response ): # 创建回调函数，执行收到请求后对数据的处理 if request . get == True : response . x = self . objectX # 目标物体的XY坐标 response . y = self . objectY self . get_logger () . info ( 'Object position \\n x: %d y: %d ' % ( response . x , response . y )) # 输出日志信息，提示已经反馈 else : response . x = 0 response . y = 0 self . get_logger () . info ( 'Invalid command' ) # 输出日志信息，提示已经反馈 return response def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"service_object_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口","text_tokens":["，","spin","name","for","和","1","显示","50","logger","数值","node","python3","说明","用于","初始","函数","cv","*","objectx","response","%","bridge","接口","转化成","msg","一个",",","import","目标","create","识别","data","并","inrange","as","receiving","像素","\\",":","2","in","invalid","_","10","imgmsg","作者","库","定义","@","=","+","图像处理","订阅","得到","callback","去除","info","d","的","frame","listener","srv","使用","执行","宽","'","]","自定义","bin","消息","<","raw","坐标","python","者","y","[","服务器","下限","image","class","90","日志","np","color","255","范围","等待","物体","已","retr","main","request","ros2","处理","收到","类型","mask","已经","、","古月","w","self","args","长度","-","video","getobjectposition","效果","red","!","请求","信息","img","阈值","detect","勾勒","shutdown","bgr","findcontours","互相","shape","后","进行","imagesubscriber","array","numpy","\"","bgr8","图像","反馈","return","target","苹果","面积","else","入口","接口类型","进入","subscription",".",")","position","approx","输出","coding","接口类","检测","回调","hsv","ros","关闭","化成","服务","所在","contours","销毁","初始化","def","点画","父类","居","sub","一些","h","guyuehome","env","自定","模型","none","true","chain","务器","8","与","二值化","提示","类","n","if","sensor","将","from","service","从","circle","中心","boundingrect","为","__","cvtcolor","高","中","interface","轮廓","循环","continue","太小","(","上角","command","waitkey","对象","话题","（","xy","#","上限","队列","提供","左上","转换","节点","对","150","主","list","py","msgs","get","噪声","bgr2hsv","创建","drawcontours","示例","rclpy","super","名","及","x"," ","数据","opencv","）","to","com","www","/","转化","红色","int","128","退出","object","0","imshow","upper","计算","lower","出来","utf","init","usr","cv2","颜色","5","server","cnt","180","左上角","cvbridge","destroy","learning","objecty","hierarchy"],"title":"服务端接口调用","title_tokens":["接口","服务端","服务","调用"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_10","text":"话题通信接口的定义也是类似的，继续从之前的机器视觉案例中来衍生，我们想把服务换成话题，周期发布目标识别的位置，不管有没有人需要。","text_tokens":["，","位置","想","发布","话题","机器","通信接口","人","把","案例","中来","服务","是","没有","接口","。","目标","识别","不管","衍生","周期","也","定义","需要","从","的","通信","我们","继续","视觉","换成","有没有","之前","类似"],"title":"案例二：话题接口的定义与使用","title_tokens":["案例","的","话题","与","使用","：","定义","接口","二"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_11","text":"现在我们会运行三个节点： 第一个节点，将驱动相机并发布图像话题，此时的话题数据使用的是ROS中标准定义的Image图像消息； 第二个节点，会运行视觉识别功能，识别目标的位置，这个位置我们希望封装成话题消息，发布出去，谁需要使用谁就来订阅； 第三个节点，订阅位置话题，打印到终端中。 启动三个终端，分别运行以上节点： $ ros2 run usb_cam usb_cam_node_exe $ ros2 run learning_topic interface_object_pub $ ros2 run learning_topic interface_object_sub","text_tokens":["打印","，","第二","位置","这个","发布","终端","图像","话题","功能","cam","；","：","node","节点","封装","image","到","现在","驱动","谁","usb","ros","$","run","来","第一个","希望","是"," ","第三个","数据","分别","一个","二个","sub","。","目标","并","识别","ros2","exe","learning","三个","标准","topic","object","相机","_","pub","定义","将","会","订阅","第二个","运行","需要","第三","的","我们","成","出去","启动","以上","第一","使用","视觉","就","中","interface","此时","消息"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_12","text":"在这个例程中，我们使用ObjectPosition.msg定义了服务通信的接口： learning_interface/msg/ObjectPosition.msg int32 x # 表示目标的X坐标 int32 y # 表示目标的Y坐标 话题消息的内容是一个位置，我们使用x、y坐标值进行描述。 完成定义后，还需要在功能包的CMakeLists.txt中配置编译选项，让编译器在编译过程中，根据接口定义，自动生成不同语言的代码： ... find_package ( rosidl_default_generators REQUIRED ) rosidl_generate_interfaces ( ${ PROJECT_NAME } \"msg/ObjectPosition.msg\" ) ...","text_tokens":["，","坐标值","name","过程","例程","描述","cmakelists","编译器","interfaces","包","txt","标值","表示","了","接口","msg","一个","还","目标","编译","int32","_","定义","的","我们","...","使用","在","消息","坐标","不同","位置","y","是","required","自动","。","、","{","}","配置","default","后","进行","选项","\"","objectposition","功能","：",".","内容",")","代码","$","服务","让","中","interface","(","generators","这个","生成","话题","generate","接口定义","#","rosidl","x"," ","/","package","需要","通信","project","完成","语言","根据","find","learning"],"title":"接口定义","title_tokens":["定义","接口","接口定义"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_13","text":"我们在代码中再来重点看下接口的使用方法。","text_tokens":["。","重点","代码","的","我们","再","来","使用","看","下","中","接口","在","方法"],"title":"程序调用","title_tokens":["程序","调用"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_14","text":"learning_topic/interface_object_pub.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2接口示例-发布目标位置 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 import numpy as np # Python数值计算库 from learning_interface.msg import ObjectPosition # 自定义的目标位置消息 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 \"\"\" 创建一个订阅者节点 \"\"\" class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , 'image_raw' , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） self . pub = self . create_publisher ( ObjectPosition , \"object_position\" , 10 ) # 创建发布者对象（消息类型、话题名、队列长度） self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 self . objectX = 0 self . objectY = 0 def object_detect ( self , image ): hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , # 将苹果的图像中心点画出来 ( 0 , 255 , 0 ), - 1 ) self . objectX = int ( x + w / 2 ) self . objectY = int ( y + h / 2 ) cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , 'bgr8' ) # 将ROS的图像消息转化成OpenCV图像 position = ObjectPosition () self . object_detect ( image ) # 苹果检测 position . x , position . y = int ( self . objectX ), int ( self . objectY ) self . pub . publish ( position ) # 发布目标位置 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"topic_webcam_sub\" ) # 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-*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2接口示例-订阅目标位置 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from std_msgs.msg import String # 字符串消息类型 from learning_interface.msg import ObjectPosition # 自定义的目标位置消息 \"\"\" 创建一个订阅者节点 \"\"\" class SubscriberNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( \\ ObjectPosition , \"/object_position\" , self . listener_callback , 10 ) # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度 def listener_callback ( self , msg ): # 创建回调函数，执行收到话题消息后对数据的处理 self . get_logger () . info ( 'Target Position: \"( %d , %d )\"' % ( msg . x , msg . y )) # 输出日志信息，提示订阅收到的话题消息 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = SubscriberNode ( \"interface_position_sub\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口","text_tokens":["，","spin","name","logger","node","python3","说明","初始","函数","%","*","接口","msg","一个",",","import","目标","create","并","subscribernode","\\",":","topic","_","10","作者","库","定义","@","=","info","d","订阅","退出","callback","字符串","的","listener","执行","'","自定义","bin","消息","位置","python","者","y","class","日志","等待","string","main","收到","ros2","处理","类型","、","古月","self","args","长度","-","!","信息","shutdown","后","进行","\"","objectposition","target","std","入口","subscription",".",")","position","输出","coding","回调","关闭","销毁","初始化","def","父类","居","sub","guyuehome","env","自定","none","8","提示","类","from","__","interface","循环","(","对象","话题","（","#","队列","节点","对","主","py","msgs","get","字符","创建","示例","rclpy","super","名","x"," ","数据","com","www","/","object","utf","init","usr","destroy","learning"],"title":"订阅者接口调用","title_tokens":["订阅","接口","调用","者"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_16","text":"接口命令的常用操作如下： $ ros2 interface list # 查看系统接口列表 $ ros2 interface show <interface_name> # 查看某个接口的详细定义 $ ros2 interface package <package_name> # 查看某个功能包中的接口定义","text_tokens":["name","功能","show","#","接口定义","包中","：","list","操作","$","列表"," ","接口","ros2","命令","package","查看","某个","系统","_",">","定义","的","详细","如下","interface","<","常用"],"title":"接口命令行操作","title_tokens":["操作","接口","命令行","命令"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_17","text":"https://docs.ros.org/en/humble/Concepts/About-ROS-Interfaces.html https://docs.ros.org/en/humble/Tutorials/Single-Package-Define-And-Use-Interface.html","text_tokens":["use","concepts",".","interfaces","html","ros","en","about"," ","https","docs","/","org","tutorials","package","humble",":","-","and","single","define","interface"],"title":"参考链接","title_tokens":["参考","链接"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/","text":"动作 机器人是一个复杂的智能系统，并不仅仅是键盘遥控运动、识别某个目标这么简单，我们需要实现的是送餐、送货、分拣等满足具体场景需求的机器人。 在这些应用功能的实现中，另外一种ROS通信机制也会被常常用到——那就是 动作 。从这个名字上就可以很好理解这个概念的含义，这种通信机制的目的就是便于 对机器人某一完整行为的流程进行管理 。 通信模型 举个例子，比如我们想让机器人转个圈，这肯定不是一下就可以完成的，机器人得一点一点旋转，直到360度才能结束，假设机器人并不在我们眼前，发出指令后，我们根本不知道机器人到底有没有开始转圈，转到哪里了？ OK，现在我们需要的是一个反馈，比如每隔1s，告诉我们当前转到多少度了，10度、20度、30度，一段时间之后，到了360度，再发送一个信息，表示动作执行完成。 这样一个需要执行一段时间的行为，使用动作的通信机制就更为合适，就像装了一个进度条，我们可以随时把控进度，如果运动过程当中，我们还可以随时发送一个取消运动的命令。 客户端/服务器模型 动作和服务类似，使用的也是客户端和服务器模型，客户端发送动作的目标，想让机器人干什么，服务器端执行动作过程， 控制机器人达到运动的目标，同时周期反馈动作执行过程中的状态。 客户端发送一个运动的目标，想让机器人动起来，服务器端收到之后，就开始控制机器人运动，一边运动，一边反馈当前的状态，如果是一个导航动作，这个反馈可能是当前所处的坐标，如果是机械臂抓取，这个反馈可能又是机械臂的实时姿态。当运动执行结束后，服务器再反馈一个动作结束的信息。整个通信过程就此结束。 一对多通信 和服务一样，动作通信中的客户端可以有多个，大家都可以发送运动命令，但是服务器端只能有一个，毕竟只有一个机器人，先执行完成一个动作，才能执行下一个动作。 同步通信 既然有反馈，那动作也是一种同步通信机制，之前我们也介绍过，动作过程中的数据通信接口，使用.action文件进行定义。 由服务和话题合成 大家再仔细看下上边的动图，是不是还会发现一个隐藏的秘密。 动作的三个通信模块，竟然有两个是服务，一个是话题，当客户端发送运动目标时，使用的是服务的请求调用，服务器端也会反馈一个应带，表示收到命令。动作的反馈过程，其实就是一个话题的周期发布，服务器端是发布者，客户端是订阅者。 没错，动作是一种应用层的通信机制，其底层就是基于话题和服务来实现的。 案例一：小海龟的动作 我们再用小海龟的案例加深对动作概念的理解。 按照以下命令启动小海龟仿真器，接下来使用action命令控制小海龟的动作，可以让海龟运动到某一指定的姿态： $ ros2 run turtlesim turtlesim_node $ ros2 run turtlesim turtle_teleop_key $ ros2 action info /turtle1/rotate_absolute $ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute \"{theta: -1.57}\" $ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute \"{theta: -1.57}\" --feedback 案例二：机器人画圆 如何通过代码来实现动作的编程呢？ 动作虽然是基于话题和服务实现的，但在实际使用中，并不会直接使用话题和服务的编程方法，而是有一套针对动作特性封装好的编程接口，接下来我们就一起试一试。 假设我们有一个机器人，我们希望通过动作的通信方法，让机器人转个圈，请编程实现动作通信中，客户端和服务器端的实现过程。 运行效果 启动两个终端，分别运行一下命令，启动动作示例的服务端和客户端： $ ros2 run learning_action action_move_server $ ros2 run learning_action action_move_client 终端中，我们可以看到客户端发送动作目标之后，服务器端开始模拟机器人运动，每30度发送一次反馈信息，最终完成运动，并反馈结束运动的信息。 接下来我们就分析下这个例程实现背后的原理。 接口定义 例程使用的动作并不是ROS中的标准定义，我们通过MoveCircle.action进行自定义： learning_interface/action/MoveCircle.action bool enable # 定义动作的目标，表示动作开始的指令 --- bool finish # 定义动作的结果，表示是否成功执行 --- int32 state # 定义动作的反馈，表示当前执行到的位置 包含三个部分： 第一块是 动作的目标 ，enable为true时，表示开始运动； 第二块是 动作的执行结果 ，finish为true，表示动作执行完成； 第三块是 动作的周期反馈 ，表示当前机器人旋转到的角度。 完成定义后，还需要在功能包的CMakeLists.txt中配置编译选项，让编译器在编译过程中，根据接口定义，自动生成不同语言的代码： ... find_package ( rosidl_default_generators REQUIRED ) rosidl_generate_interfaces ( ${ PROJECT_NAME } \"action/MoveCircle.action\" ) ... 通信模型 通信模型就是这样，客户端发送给一个动作目标，服务器控制机器人开始运动，并周期反馈，结束后反馈结束信息。 思路理清楚，接下来开始写代码。相比之前话题和服务的程序，动作通信的例程相对较长，我们一起来运行并分析一下。 服务端代码解析 learning_action/action_move_server.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2动作示例-负责执行圆周运动动作的服务端 \"\"\" import time import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from rclpy.action import ActionServer # ROS2 动作服务器类 from learning_interface.action import MoveCircle # 自定义的圆周运动接口 class MoveCircleActionServer ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . _action_server = ActionServer ( # 创建动作服务器（接口类型、动作名、回调函数） self , MoveCircle , 'move_circle' , self . execute_callback ) def execute_callback ( self , goal_handle ): # 执行收到动作目标之后的处理函数 self . get_logger () . info ( 'Moving circle...' ) feedback_msg = MoveCircle . Feedback () # 创建一个动作反馈信息的消息 for i in range ( 0 , 360 , 30 ): # 从0到360度，执行圆周运动，并周期反馈信息 feedback_msg . state = i # 创建反馈信息，表示当前执行到的角度 self . get_logger () . info ( 'Publishing feedback: %d ' % feedback_msg . state ) goal_handle . publish_feedback ( feedback_msg ) # 发布反馈信息 time . sleep ( 0.5 ) goal_handle . succeed () # 动作执行成功 result = MoveCircle . Result () # 创建结果消息 result . finish = True return result # 反馈最终动作执行的结果 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = MoveCircleActionServer ( \"action_move_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'action_move_server = learning_action.action_move_server:main' , ], }, 客户端代码解析 learning_action/action_move_client.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2动作示例-请求执行圆周运动动作的客户端 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from rclpy.action import ActionClient # ROS2 动作客户端类 from learning_interface.action import MoveCircle # 自定义的圆周运动接口 class MoveCircleActionClient ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . _action_client = ActionClient ( # 创建动作客户端（接口类型、动作名） self , MoveCircle , 'move_circle' ) def send_goal ( self , enable ): # 创建一个发送动作目标的函数 goal_msg = MoveCircle . Goal () # 创建一个动作目标的消息 goal_msg . enable = enable # 设置动作目标为使能，希望机器人开始运动 self . _action_client . wait_for_server () # 等待动作的服务器端启动 self . _send_goal_future = self . _action_client . send_goal_async ( # 异步方式发送动作的目标 goal_msg , # 动作目标 feedback_callback = self . feedback_callback ) # 处理周期反馈消息的回调函数 self . _send_goal_future . add_done_callback ( self . goal_response_callback ) # 设置一个服务器收到目标之后反馈时的回调函数 def goal_response_callback ( self , future ): # 创建一个服务器收到目标之后反馈时的回调函数 goal_handle = future . result () # 接收动作的结果 if not goal_handle . accepted : # 如果动作被拒绝执行 self . get_logger () . info ( 'Goal rejected :(' ) return self . get_logger () . info ( 'Goal accepted :)' ) # 动作被顺利执行 self . _get_result_future = goal_handle . get_result_async () # 异步获取动作最终执行的结果反馈 self . _get_result_future . add_done_callback ( self . get_result_callback ) # 设置一个收到最终结果的回调函数 def get_result_callback ( self , future ): # 创建一个收到最终结果的回调函数 result = future . result () . result # 读取动作执行的结果 self . get_logger () . info ( 'Result: { %d }' % result . finish ) # 日志输出执行结果 def feedback_callback ( self , feedback_msg ): # 创建处理周期反馈消息的回调函数 feedback = feedback_msg . feedback # 读取反馈的数据 self . get_logger () . info ( 'Received feedback: { %d }' % feedback . state ) def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = MoveCircleActionClient ( \"action_move_client\" ) # 创建ROS2节点对象并进行初始化 node . send_goal ( True ) # 发送动作目标 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'action_move_client = learning_action.action_move_client:main' , 'action_move_server = learning_action.action_move_server:main' , ], }, 动作命令行操作 动作命令的常用操作如下： $ ros2 action list # 查看服务列表 $ ros2 action info <action_name> # 查看服务数据类型 $ ros2 action send_goal <action_name> <action_type> <action_data> # 发送服务请求 参考链接 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turtlesim/action/RotateAbsolute \"{theta: -1.57}\" --feedback","text_tokens":["指定","概念","，","姿态","再用","加深","理解","控制","动作","\"","rotate","：","node","接下","对","按照","接下来","小海","到","某","案例","可以","海龟","$","run","goal","一","absolute"," ","action","。","key","ros2","真器","命令","turtlesim","/","仿真器","turtle","运动","{","send","仿真","rotateabsolute","以下","小海龟",":","-","_","1.57","}","feedback","teleop","info","的","我们","启动","让","使用","--","theta","下来","turtle1"],"title":"案例一：小海龟的动作","title_tokens":["小海","案例","的","海龟","动作","一","小海龟","："]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_8","text":"如何通过代码来实现动作的编程呢？ 动作虽然是基于话题和服务实现的，但在实际使用中，并不会直接使用话题和服务的编程方法，而是有一套针对动作特性封装好的编程接口，接下来我们就一起试一试。 假设我们有一个机器人，我们希望通过动作的通信方法，让机器人转个圈，请编程实现动作通信中，客户端和服务器端的实现过程。","text_tokens":["？","针对","，","服务器端","动作","通过","话题","好","过程","和","实际","特性","服务器","如何","接下","封装","机器","接下来","方法","直接","虽然","代码","一起","来","服务","基于","希望","是"," 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创建动作服务器（接口类型、动作名、回调函数） self , MoveCircle , 'move_circle' , self . execute_callback ) def execute_callback ( self , goal_handle ): # 执行收到动作目标之后的处理函数 self . get_logger () . info ( 'Moving circle...' ) feedback_msg = MoveCircle . Feedback () # 创建一个动作反馈信息的消息 for i in range ( 0 , 360 , 30 ): # 从0到360度，执行圆周运动，并周期反馈信息 feedback_msg . state = i # 创建反馈信息，表示当前执行到的角度 self . get_logger () . info ( 'Publishing feedback: %d ' % feedback_msg . state ) goal_handle . publish_feedback ( feedback_msg ) # 发布反馈信息 time . sleep ( 0.5 ) goal_handle . succeed () # 动作执行成功 result = MoveCircle . Result () # 创建结果消息 result . finish = True return result # 反馈最终动作执行的结果 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = MoveCircleActionServer ( \"action_move_server\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'action_move_server = learning_action.action_move_server:main' , ], },","text_tokens":["scripts","，","spin","name","for","logger","node","python3","说明","finish","初始","包","到","函数","%","*","加入","表示","角度","点","接口","msg","一个",",","import","目标","30","并","之后","result","编译",":","in","_","反馈","作者","库","定义","@","=","info","state","d","退出","callback","的","...","执行","'","如下","]","自定义","bin","打开","消息","movecircle","python","[","服务器","class","succeed","等待","goal","points","当前","main","文件","收到","ros2","圆周","处理","类型","最终","range","、","古月","运动","服务端","self","360","args","-","系统","{","}","!","信息","配置","entry","shutdown","后","进行","handle","选项","\"","成功","return","功能","movecircleactionserver","publishing","入口","接口类型","：",".",")","sleep","圆周运动","coding","接口类","回调","代码","关闭","服务","moving","销毁","初始化","度","def","父类","居","编写","guyuehome","env","自定","true","none","周期","务器","8","类","execute","move","from","从","circle","让","__","interface","循环","处理函数","(","发布","动作","对象","（","#","0.5","节点","主","py","get","publish","程序","创建","示例","rclpy","负责","super","名","i","console","设置"," ","）","actionserver","action","com","www","/","知道","time","0","feedback","utf","init","setup","需要","usr","server","完成","destroy","结果","learning"],"title":"服务端代码解析","title_tokens":["解析","服务端","服务","代码"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_13","text":"learning_action/action_move_client.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2动作示例-请求执行圆周运动动作的客户端 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from rclpy.action import ActionClient # ROS2 动作客户端类 from learning_interface.action import MoveCircle # 自定义的圆周运动接口 class MoveCircleActionClient ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . _action_client = ActionClient ( # 创建动作客户端（接口类型、动作名） self , MoveCircle , 'move_circle' ) def send_goal ( self , enable ): # 创建一个发送动作目标的函数 goal_msg = MoveCircle . Goal () # 创建一个动作目标的消息 goal_msg . enable = enable # 设置动作目标为使能，希望机器人开始运动 self . _action_client . wait_for_server () # 等待动作的服务器端启动 self . _send_goal_future = self . _action_client . send_goal_async ( # 异步方式发送动作的目标 goal_msg , # 动作目标 feedback_callback = self . feedback_callback ) # 处理周期反馈消息的回调函数 self . _send_goal_future . add_done_callback ( self . goal_response_callback ) # 设置一个服务器收到目标之后反馈时的回调函数 def goal_response_callback ( self , future ): # 创建一个服务器收到目标之后反馈时的回调函数 goal_handle = future . result () # 接收动作的结果 if not goal_handle . accepted : # 如果动作被拒绝执行 self . get_logger () . info ( 'Goal rejected :(' ) return self . get_logger () . info ( 'Goal accepted :)' ) # 动作被顺利执行 self . _get_result_future = goal_handle . get_result_async () # 异步获取动作最终执行的结果反馈 self . _get_result_future . add_done_callback ( self . get_result_callback ) # 设置一个收到最终结果的回调函数 def get_result_callback ( self , future ): # 创建一个收到最终结果的回调函数 result = future . result () . result # 读取动作执行的结果 self . get_logger () . info ( 'Result: { %d }' % result . finish ) # 日志输出执行结果 def feedback_callback ( self , feedback_msg ): # 创建处理周期反馈消息的回调函数 feedback = feedback_msg . feedback # 读取反馈的数据 self . get_logger () . info ( 'Received feedback: { %d }' % feedback . state ) def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = MoveCircleActionClient ( \"action_move_client\" ) # 创建ROS2节点对象并进行初始化 node . send_goal ( True ) # 发送动作目标 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'action_move_client = learning_action.action_move_client:main' , 'action_move_server = learning_action.action_move_server:main' , ], },","text_tokens":["scripts","，","spin","name","for","logger","node","python3","说明","not","finish","初始","包","rejected","函数","%","*","response","加入","async","点","接口","一个","msg",",","import","使","目标","wait","并","actionclient","之后","result","编译",":","_","反馈","作者","库","定义","@","=","info","d","state","退出","callback","的","启动","执行","'","如下","]","自定义","bin","异步","时","消息","打开","movecircle","服务器端","python","[","服务器","机器","class","日志","等待","goal","points","拒绝","main","文件","收到","ros2","圆周","处理","结果","类型","最终","、","古月","运动","self","send","开始","{","-","}","args","系统","客户","!","请求","如果","配置","entry","shutdown","后","进行","movecircleactionclient","handle","client","选项","\"","return","获取","功能","入口","接口类型","：","机器人",".","拒绝执行",")","输出","圆周运动","coding","接口类","add","回调","被","关闭","代码","服务","销毁","初始化","def","父类","居","编写","guyuehome","env","自定","读取","none","true","周期","务器","8","类","if","move","from","circle","让","为","__","顺利","interface","循环","(","enable","动作","对象","（","#","方式","节点","主","future","py","get","程序","创建","希望","示例","rclpy","super","名","console","设置"," ","发送","数据","）","action","com","www","/","done","知道","能","feedback","utf","init","接收","setup","需要","usr","server","完成","accepted","received","destroy","客户端","learning"],"title":"客户端代码解析","title_tokens":["解析","客户","代码","客户端"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_14","text":"动作命令的常用操作如下： $ ros2 action list # 查看服务列表 $ ros2 action info <action_name> # 查看服务数据类型 $ ros2 action send_goal <action_name> <action_type> <action_data> # 发送服务请求","text_tokens":["动作","name","#","：","list","操作","$","服务","列表","goal"," ","发送","数据","action","data","ros2","命令","类型","type","查看","send","_",">","info","请求","的","数据类型","如下","<","常用"],"title":"动作命令行操作","title_tokens":["动作","操作","命令行","命令"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_15","text":"https://docs.ros.org/en/humble/Tutorials/Understanding-ROS2-Actions.html","text_tokens":["html","docs","ros2","/","org","tutorials","ros","understanding","en","humble","actions",":","-",".","https"],"title":"参考链接","title_tokens":["参考","链接"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/","text":"参数 话题、服务、动作，不知道这三种通信机制大家是否已经了解清楚，本节我们再来介绍一种ROS系统中常用的数据传输方式—— 参数 。 类似C++编程中的全局变量，可以便于在多个程序中共享某些数据， 参数是ROS机器人系统中的全局字典，可以运行多个节点中共享数据。 通信模型 比如在机器视觉识别的时候，有很多参数都会影响视觉识别的效果。 在NodeA相机驱动节点中，就需要考虑很多问题，相机连接到哪个usb端口，使用的图像分辨率是多少，曝光度和编码格式分别是什么，这些都可以通过参数设置，我们可以通过配置文件或者程序进行设置。 NodeB节点中也是一样，图像识别使用的阈值是多少，整个图像面积很大，那个部分是我们关注的核心区域，识别过程是否需要美颜等等，就像我们使用美颜相机一样，我们可以通过滑动条或者输入框设置很多参数，不同参数设置后，都会改变执行功能的一些效果。 这就是参数的作用。 全局字典 在ROS系统中，参数是以 全局字典 的形态存在的，什么叫字典？就像真实的字典一样，由名称和数值组成，也叫做键和值，合成 键值 。或者我们也可以理解为，就像编程中的参数一样，有一个参数名 ，然后跟一个等号，后边就是参数值了，在使用的时候，访问这个参数名即可。 可动态监控 在ROS2中，参数的特性非常丰富，比如某一个节点共享了一个参数，其他节点都可以访问，如果某一个节点对参数进行了修改，其他节点也有办法立刻知道，从而获取最新的数值。这在 参数的高级编程 中，大家都可能会用到。 案例一：小海龟例程中的参数 在小海龟的例程中，仿真器也提供了不少参数，我们一起来通过这个例程，熟悉下参数的含义和命令行的使用方法。 启动两个终端，分别运行小海龟仿真器和键盘控制节点： $ ros2 run turtlesim turtlesim_node $ ros2 run turtlesim turtle_teleop_key 查看参数列表 当前系统中有哪些参数呢？我们可以启动一个终端，并使用如下命令查询： $ ros2 param list 参数查询与修改 如果想要查询或者修改某个参数的值，可以在param命令后边跟get或者set子命令： $ ros2 param describe turtlesim background_b # 查看某个参数的描述信息 $ ros2 param get turtlesim background_b # 查询某个参数的值 $ ros2 param set turtlesim background_b 10 # 修改某个参数的值 参数文件保存与加载 一个一个查询/修改参数太麻烦了，不如试一试参数文件，ROS中的参数文件使用yaml格式，可以在param命令后边跟dump子命令，将某个节点的参数都保存到文件中，或者通过load命令一次性加载某个参数文件中的所有内容： $ ros2 param dump turtlesim >> turtlesim.yaml # 将某个节点的参数保存到参数文件中 $ ros2 param load turtlesim turtlesim.yaml # 一次性加载某一个文件中的所有参数 案例二：参数编程 接下来就要开始写程序了，在程序中设置参数和读取参数都比较简单，一两句函数就可以实现，我们先来体验一下这几个函数的使用方法。 运行效果 启动一个终端，先运行第一句指令，启动param_declare节点，终端中可以看到循环打印的日志信息，其中的“mbot”就是我们设置的一个参数值，参数名称是“robot_name”，通过命令行修改这个参数，看下终端中会发生什么？ $ ros2 run learning_parameter param_declare $ ros2 param set param_declare robot_name turtle 代码解析 我们来看下在代码中，如何声明、创建、修改一个参数的值。 learning_parameter/param_declare.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2参数示例-创建、读取、修改参数 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 class ParameterNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . timer = self . create_timer ( 2 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） self . declare_parameter ( 'robot_name' , 'mbot' ) # 创建一个参数，并设置参数的默认值 def timer_callback ( self ): # 创建定时器周期执行的回调函数 robot_name_param = self . get_parameter ( 'robot_name' ) . get_parameter_value () . string_value # 从ROS2系统中读取参数的值 self . get_logger () . info ( 'Hello %s !' % robot_name_param ) # 输出日志信息，打印读取到的参数值 new_name_param = rclpy . parameter . Parameter ( 'robot_name' , # 重新将参数值设置为指定值 rclpy . Parameter . Type . STRING , 'mbot' ) all_new_parameters = [ new_name_param ] self . set_parameters ( all_new_parameters ) # 将重新创建的参数列表发送给ROS2系统 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ParameterNode ( \"param_declare\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'param_declare = learning_parameter.param_declare:main' , ], }, 案例三：机器视觉应用 参数大家已经会使用了，如何在机器人中应用呢？ 继续优化机器视觉的示例，物体识别对光线比较敏感，不同的环境大家使用的阈值也是不同的，每次在代码中修改阈值还挺麻烦，不如我们就把阈值提炼成参数，运行过程中就可以动态设置，不是大大提高了程序的易用性么？ 说干就干，我们先来看下效果如何，再看下代码中的变化。 运行效果 启动三个终端，分别运行： 相机驱动节点 视觉识别节点 修改红色阈值 $ ros2 run usb_cam usb_cam_node_exe $ ros2 run learning_parameter param_object_detect $ ros2 param set param_object_detect red_h_upper 180 在启动的视觉识别节点中，我们故意将视觉识别中红色阈值的上限设置为0，如果不修改参数，将无法实现目标识别。 为了便于调整阈值，我们在节点中将红色阈值的限位修改为了ROS参数，通过命令行修改该参数的值，就可以实现视觉识别啦。 代码解析 我们来看下在视觉识别的代码中，是如何通过参数来设置阈值的。 learning_parameter/param_object_detect.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2参数示例-设置目标识别的颜色阈值参数 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from sensor_msgs.msg import Image # 图像消息类型 from cv_bridge import CvBridge # ROS与OpenCV图像转换类 import cv2 # Opencv图像处理库 import numpy as np # Python数值计算库 lower_red = np . array ([ 0 , 90 , 128 ]) # 红色的HSV阈值下限 upper_red = np . array ([ 180 , 255 , 255 ]) # 红色的HSV阈值上限 \"\"\" 创建一个订阅者节点 \"\"\" class ImageSubscriber ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . sub = self . create_subscription ( Image , # 创建订阅者对象（消息类型、话题名、订阅者回调函数、队列长度） 'image_raw' , self . listener_callback , 10 ) self . cv_bridge = CvBridge () # 创建一个图像转换对象，用于OpenCV图像与ROS的图像消息的互相转换 self . declare_parameter ( 'red_h_upper' , 0 ) # 创建一个参数，表示阈值上限 self . declare_parameter ( 'red_h_lower' , 0 ) # 创建一个参数，表示阈值下限 def object_detect ( self , image ): upper_red [ 0 ] = self . get_parameter ( 'red_h_upper' ) . get_parameter_value () . integer_value # 读取阈值上限的参数值 lower_red [ 0 ] = self . get_parameter ( 'red_h_lower' ) . get_parameter_value () . integer_value # 读取阈值下限的参数值 self . get_logger () . info ( 'Get Red H Upper: %d , Lower: %d ' % ( upper_red [ 0 ], lower_red [ 0 ])) # 通过日志打印读取到的参数值 hsv_img = cv2 . cvtColor ( image , cv2 . COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , \"bgr8\" ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"param_object_detect\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'param_declare = learning_parameter.param_declare:main' , 'param_object_detect = learning_parameter.param_object_detect:main' , ], }, 参考链接 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参数 。 类似C++编程中的全局变量，可以便于在多个程序中共享某些数据， 参数是ROS机器人系统中的全局字典，可以运行多个节点中共享数据。","text_tokens":["，","动作","传输","话题","全局变量","某些","机制","方式","便于","节点","机器","变量","可以","ros","程序","不","服务","来","全局","c++","了解","类似","是"," ","数据","三种","参数","—","清楚","共享","。","多个","已经","、","是否","知道","再","系统","大家","一种","运行","的","我们","通信","这","介绍","传输方式","常用","编程","中","机器人","在","本","字典","节"],"title":"参数","title_tokens":["参数"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_2","text":"比如在机器视觉识别的时候，有很多参数都会影响视觉识别的效果。 在NodeA相机驱动节点中，就需要考虑很多问题，相机连接到哪个usb端口，使用的图像分辨率是多少，曝光度和编码格式分别是什么，这些都可以通过参数设置，我们可以通过配置文件或者程序进行设置。 NodeB节点中也是一样，图像识别使用的阈值是多少，整个图像面积很大，那个部分是我们关注的核心区域，识别过程是否需要美颜等等，就像我们使用美颜相机一样，我们可以通过滑动条或者输入框设置很多参数，不同参数设置后，都会改变执行功能的一些效果。 这就是参数的作用。","text_tokens":["，","图像识别","通过","过程","和","到","驱动","曝光","nodea","时候","分别","参数","整个","识别","有","参数设置","是否","nodeb","滑动","改变","格式","的","我们","很多","使用","视觉","执行","辨率","在","输入框","不同","分辨","影响","美颜","区域","机器","usb","这些","可以","关注","是","都","文件","。","问题","相机","效果","那个","会","分辨率","配置","阈值","条","后","或者","进行","就是","多少","图像","功能","面积","哪个","像","核心","等等","作用","度","一样","一些","配置文件","考虑","连接","编码","这","中","很大","节点","什么","程序","部分","设置"," ","端口","输入","也","需要","就","比如"],"title":"通信模型","title_tokens":["模型","通信","通信模型"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_3","text":"在ROS系统中，参数是以 全局字典 的形态存在的，什么叫字典？就像真实的字典一样，由名称和数值组成，也叫做键和值，合成 键值 。或者我们也可以理解为，就像编程中的参数一样，有一个参数名 ，然后跟一个等号，后边就是参数值了，在使用的时候，访问这个参数名即可。","text_tokens":["？","号","，","键值","理解","然后","这个","和","像","数值","访问","由","什么","叫","可以","ros","全局","真实","名","以","是","一样","跟","参数值"," ","了","时候","即可","参数","一个","。","叫做","有","系统","也","合成","存在","名称","组成","键和值","形态","后边","的","我们","使用","或者","为","等","编程","就","中","就是","在","字典"],"title":"全局字典","title_tokens":["全局","字典"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_4","text":"在ROS2中，参数的特性非常丰富，比如某一个节点共享了一个参数，其他节点都可以访问，如果某一个节点对参数进行了修改，其他节点也有办法立刻知道，从而获取最新的数值。这在 参数的高级编程 中，大家都可能会用到。","text_tokens":["，","从而","获取","其他","特性","访问","数值","节点","丰富","对","高级","某","用到","可以","都","了"," ","可能","共享","一个","参数","办法","。","ros2","有","知道","也","大家","会","如果","的","修改","这","进行","立刻","非常","中","比如","编程","在","最新"],"title":"可动态监控","title_tokens":["可","监控","动态"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_5","text":"在小海龟的例程中，仿真器也提供了不少参数，我们一起来通过这个例程，熟悉下参数的含义和命令行的使用方法。 启动两个终端，分别运行小海龟仿真器和键盘控制节点： $ ros2 run turtlesim turtlesim_node $ ros2 run turtlesim turtle_teleop_key","text_tokens":["，","控制","这个","终端","通过","命令行","例程","和","键盘","提供","：","node","节点","方法","小海","$","海龟","run","一","下"," 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","参数","一个","文件","load","试一试","麻烦","dump","ros2","/","命令","turtlesim","保存","所有","不如","某个",">","yaml","格式","将","太","后边","的","修改","子","使用","或者","中","param","在"],"title":"参数文件保存与加载","title_tokens":["保存","与","加载","参数","文件"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_9","text":"接下来就要开始写程序了，在程序中设置参数和读取参数都比较简单，一两句函数就可以实现，我们先来体验一下这几个函数的使用方法。","text_tokens":["，","和","比较简单","一下","接下","接下来","方法","几个","两句","一两","可以","函数","程序","来","设置","都","了","参数","先","。","读取","比较","开始","一两句","体验","实现","的","我们","这","使用","就要","写","下来","中","就","在","简单"],"title":"案例二：参数编程","title_tokens":["案例","编程","：","参数","二"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_10","text":"启动一个终端，先运行第一句指令，启动param_declare节点，终端中可以看到循环打印的日志信息，其中的“mbot”就是我们设置的一个参数值，参数名称是“robot_name”，通过命令行修改这个参数，看下终端中会发生什么？ $ ros2 run learning_parameter param_declare $ ros2 param set param_declare robot_name turtle","text_tokens":["打印","？","，","这个","终端","name","通过","命令行","数值","看","节点","指令","发生","什么","日志","可以","$","”","run","其中","是","下","设置","参数值"," ","一个","参数","先","mbot","declare","ros2","命令","learning","parameter","一句","turtle","_","名称","第一句","看到","会","信息","运行","启动","的","我们","修改","第一","robot","set","中","就是","param","循环","“"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_11","text":"我们来看下在代码中，如何声明、创建、修改一个参数的值。 learning_parameter/param_declare.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2参数示例-创建、读取、修改参数 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 class ParameterNode ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . timer = self . create_timer ( 2 , self . timer_callback ) # 创建一个定时器（单位为秒的周期，定时执行的回调函数） self . declare_parameter ( 'robot_name' , 'mbot' ) # 创建一个参数，并设置参数的默认值 def timer_callback ( self ): # 创建定时器周期执行的回调函数 robot_name_param = self . get_parameter ( 'robot_name' ) . get_parameter_value () . string_value # 从ROS2系统中读取参数的值 self . get_logger () . info ( 'Hello %s !' % robot_name_param ) # 输出日志信息，打印读取到的参数值 new_name_param = rclpy . parameter . Parameter ( 'robot_name' , # 重新将参数值设置为指定值 rclpy . Parameter . Type . 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COLOR_BGR2HSV ) # 图像从BGR颜色模型转换为HSV模型 mask_red = cv2 . inRange ( hsv_img , lower_red , upper_red ) # 图像二值化 contours , hierarchy = cv2 . findContours ( mask_red , cv2 . RETR_LIST , cv2 . CHAIN_APPROX_NONE ) # 图像中轮廓检测 for cnt in contours : # 去除一些轮廓面积太小的噪声 if cnt . shape [ 0 ] < 150 : continue ( x , y , w , h ) = cv2 . boundingRect ( cnt ) # 得到苹果所在轮廓的左上角xy像素坐标及轮廓范围的宽和高 cv2 . drawContours ( image , [ cnt ], - 1 , ( 0 , 255 , 0 ), 2 ) # 将苹果的轮廓勾勒出来 cv2 . circle ( image , ( int ( x + w / 2 ), int ( y + h / 2 )), 5 , ( 0 , 255 , 0 ), - 1 ) # 将苹果的图像中心点画出来 cv2 . imshow ( \"object\" , image ) # 使用OpenCV显示处理后的图像效果 cv2 . waitKey ( 50 ) def listener_callback ( self , data ): self . get_logger () . info ( 'Receiving video frame' ) # 输出日志信息，提示已进入回调函数 image = self . cv_bridge . imgmsg_to_cv2 ( data , \"bgr8\" ) # 将ROS的图像消息转化成OpenCV图像 self . object_detect ( image ) # 苹果检测 def main ( args = None ): # ROS2节点主入口main函数 rclpy . init ( args = args ) # ROS2 Python接口初始化 node = ImageSubscriber ( \"param_object_detect\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'param_declare = learning_parameter.param_declare:main' , 'param_object_detect = learning_parameter.param_object_detect:main' , ], 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机器人体积比较小，不适合放一个笔记本电脑在上边，于是采用 树莓派 作为控制器，主要实现传感器驱动和电机控制等功能，不过视觉处理和应用功能就不适合在树莓派里运行了，我们放在另外一个性能更强的 笔记本电脑 中，此外我们还需要在电脑上监控机器人的传感器信息，并且远程控制机器人运动。 两个电脑之间的通信，看上去还有点复杂，毕竟相互传输的数据还挺多的，不过ROS系统都已经为我们设计好了，我们只需要在每一个电脑上配置好ROS环境，功能开发上完全不需要做任何变化，实现非常方便。 接下来，我们就带领大家一起来感受下ROS分布式系统的魅力。 分布式网络搭建 除了我使用的笔记本电脑之外，另外一个计算平台我们选择了树莓派，模拟一个放置在机器人上的控制器。 树莓派配置 在开发之前，我们需要先配置好树莓派的环境，网上也有很多资料，大家都可以参考。 装系统 我们先要给树莓派装系统，这里我们选择的是 Ubuntu Mate 针对树莓派的镜像，下载镜像之后，烧写到树莓派的SD卡中就可以启动系统了。 Ubuntu MATE镜像下载链接： https://ubuntu-mate.org/download/ 安装ROS2 在安装好的Ubuntu Mate系统中，安装ROS2，和电脑端安装的流程一样。 编译代码 将我们课程的代码也下载到树莓派中，进行编译。 远程桌面 如果大家有显示器，可以直接在树莓派上连接键盘鼠标显示器使用，如果使用不方便的话，也可以在树莓派上配置好远程桌面，就可以通过网络访问树莓派的桌面系统了。 以上步骤的整体流程和电脑端操作基本一致，大家也可以参考如下链接配置树莓派： https://blog.csdn.net/qq_52785580/article/details/122599728 分布式数据传输 树莓派配置完成后，确保已经和你所使用的电脑连接到了同一个局域网络中。接下来我们打通两个计算平台的通信能力。具体需要做什么呢？ 简而言之，什么都不需要做。我们直接用命令行测试一下话题通信的效果。 Attention 如使用虚拟机，请将虚拟机网络修改为 桥接模式 在树莓派端，使用如下命令启动一个发布者节点： $ ros2 run demo_nodes_cpp talker #树莓派端 接下来在电脑端，使用如下命令启动一个订阅者节点： $ ros2 run demo_nodes_py listener #PC端 神奇的事情就这样发生了，只要两个计算机安装好ROS2，并且处于同一网络中，他们就可以实现之前讲过的话题、服务、动作等通信了，感觉就像在一个电脑里一样。 不过这也会带来一个问题，如果一个网络中有很多个计算机，我们并不希望他们都可以互通互联，而是可以分组通信，小组之间是无法实现通信的。 分布式网络分组 没问题，ROS2提供了一个DOMAIN的机制，就类似分组一样，处于同一个DOMAIN中的计算机才能通信，我们可以在电脑和树莓派端的.bashrc中加入这样一句配置，即可将两者分配到一个小组中： $ export ROS_DOMAIN_ID = <your_domain_id> 如果分配的ID不同，则两者无法实现通信。 案例一：小海龟分布式控制 分布式通信网络似乎已经建立成功了，是否真有我们想的这么神奇，我们继续测试之前学习过的一些例程。 先来试试ROS中的经典案例——小海龟。 我们可以在电脑端启动小海龟仿真器，树莓派上启动键盘控制节点，或者反过来也可以，依然可以流畅的控制小海龟运动： $ ros2 run turtlesim turtlesim_node # PC端 $ ros2 run turtlesim turtle_teleop_key # 树莓派端 案例二：话题分布式通信 我们之前编写的例程是否可以在不修改任何代码的情况下，直接使用呢？ 先试试话题通信，树莓派作为发布者，发布Hello World字符串，电脑作为订阅者，订阅Hello World字符串： $ ros2 run learning_topic topic_helloworld_pub # 树莓派端 $ ros2 run learning_topic topic_helloworld_sub # PC端 案例三：服务分布式通信 话题没有问题，服务也不在话下。 我们电脑端运行服务器程序，树莓派端运行客户端程序，还是可以顺利实现加法求和功能： $ ros2 run learning_service service_adder_server # PC端 $ ros2 run learning_service service_adder_client 2 3 # 树莓派端 案例四：机器视觉分布式应用 以上这些功能还不够复杂？没问题，视觉识别的例程安排上。 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到目前为止，每当我们运行一个ROS节点，都需要打开一个新的终端运行一个命令。机器人系统中节点很多，每次都这样启动好麻烦呀。有没有一种方式可以一次性启动所有节点呢？答案当然是肯定的，那就是 Launch启动文件 ，它是ROS系统中多节点启动与配置的一种脚本。 Launch文件 这是一个完整的Launch文件，乍看上去，好像Python代码呀，没错， ROS2中的Launch文件就是基于Python描述的 。 Launch的核心目的是 启动节点 ，我们在命令行中输入的各种参数，在Launch文件中，通过类似这样的很多代码模版，也可以进行配置，甚至还可以使用Python原有的编程功能，大大丰富了启动过程中的多样化配置。 Launch文件在ROS系统中出现的频次相当之高，它就像粘合剂一样，可以自由组装和配置各个节点，那如何编写或者阅读一个Launch文件呢，我们通过一系列例程带领大家来了解。 多节点启动 先来看看如何启动多个节点。 运行效果 启动终端，使用ros2中的launch命令来启动第一个launch文件示例： $ ros2 launch learning_launch simple.launch.py 运行成功后，就可以在终端中看到发布者和订阅者两个节点的日志信息啦。 文件解析 这两个节点是如何启动的呢？我们来分析下这个launch文件。 learning_launch/simple.launch.py from launch import LaunchDescription # launch文件的描述类 from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 return LaunchDescription ([ # 返回launch文件的描述信息 Node ( # 配置一个节点的启动 package = 'learning_topic' , # 节点所在的功能包 executable = 'topic_helloworld_pub' , # 节点的可执行文件 ), Node ( # 配置一个节点的启动 package = 'learning_topic' , # 节点所在的功能包 executable = 'topic_helloworld_sub' , # 节点的可执行文件名 ), ]) 命令行参数配置 我们使用ros2命令在终端中启动节点时，还可以在命令后配置一些传入程序的参数，使用launch文件一样可以做到。 运行效果 比如我们想要运行一个Rviz可视化上位机，并且加载某一个配置文件，使用命令行的话，是这样的： $ ros2 run rviz2 rviz2 -d <PACKAGE-PATH>/rviz/turtle_rviz.rviz 命令后边还得跟一长串配置文件的路径，如果放在launch文件里，启动就优雅很多了： $ ros2 launch learning_launch rviz.launch.py 文件解析 命令行后边的参数是如何通过launch传入节点的呢？来看下这个launch文件。 learning_launch/rviz.launch.py import os from ament_index_python.packages import get_package_share_directory # 查询功能包路径的方法 from launch import LaunchDescription # launch文件的描述类 from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 rviz_config = os . path . join ( # 找到配置文件的完整路径 get_package_share_directory ( 'learning_launch' ), 'rviz' , 'turtle_rviz.rviz' ) return LaunchDescription ([ # 返回launch文件的描述信息 Node ( # 配置一个节点的启动 package = 'rviz2' , # 节点所在的功能包 executable = 'rviz2' , # 节点的可执行文件名 name = 'rviz2' , # 对节点重新命名 arguments = [ '-d' , rviz_config ] # 加载命令行参数 ) ]) 资源重映射 ROS社区中的资源非常多，当我们使用别人代码的时候，经常会发现通信的话题名称不太符合我们的要求，能否对类似的资源重新命名呢？ 为了提高软件的复用性，ROS提供了资源重映射的机制，可以帮助我们解决类似的问题。 运行效果 启动一个终端，运行如下例程，很快会看到出现了两个小海龟仿真器界面；再打开一个终端，发布如下话题，让海龟1动起来，海龟2也会一起运动： $ ros2 launch learning_launch rviz.launch.py $ ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}\" 文件解析 为什么两个海龟都会动呢？这里要用到turtlesim功能包里另外一个节点，叫做mimic，它的功能是订阅某一个海龟的Pose位置，通过计算，变换成一个同样运动的速度指令，发布出去。 至于mimic节点订阅或者发布的话题名叫什么呢？我们就可以通过重映射修改成对应任意海龟的名字。 learning_launch/remapping.launch.py from launch import LaunchDescription # launch文件的描述类 from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 return LaunchDescription ([ # 返回launch文件的描述信息 Node ( # 配置一个节点的启动 package = 'turtlesim' , # 节点所在的功能包 namespace = 'turtlesim1' , # 节点所在的命名空间 executable = 'turtlesim_node' , # 节点的可执行文件名 name = 'sim' # 对节点重新命名 ), Node ( # 配置一个节点的启动 package = 'turtlesim' , # 节点所在的功能包 namespace = 'turtlesim2' , # 节点所在的命名空间 executable = 'turtlesim_node' , # 节点的可执行文件名 name = 'sim' # 对节点重新命名 ), Node ( # 配置一个节点的启动 package = 'turtlesim' , # 节点所在的功能包 executable = 'mimic' , # 节点的可执行文件名 name = 'mimic' , # 对节点重新命名 remappings = [ # 资源重映射列表 ( '/input/pose' , '/turtlesim1/turtle1/pose' ), # 将/input/pose话题名修改为/turtlesim1/turtle1/pose ( '/output/cmd_vel' , '/turtlesim2/turtle1/cmd_vel' ), # 将/output/cmd_vel话题名修改为/turtlesim2/turtle1/cmd_vel ] ) ]) ROS参数设置 ROS系统中的参数，也可以在Launch文件中设置。 运行效果 启动一个终端，运行如下命令： $ ros2 launch learning_launch parameters.launch.py 在启动的海龟仿真器中，我们看到背景颜色被改变了，这个颜色参数的设置就是在launch文件中完成的。 文件解析 我们看下在launch文件中如何来设置参数的。 learning_launch/parameters.launch.py from launch import LaunchDescription # launch文件的描述类 from launch.actions import DeclareLaunchArgument # 声明launch文件内使用的Argument类 from launch.substitutions import LaunchConfiguration , TextSubstitution from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 background_r_launch_arg = DeclareLaunchArgument ( 'background_r' , default_value = TextSubstitution ( text = '0' ) # 创建一个Launch文件内参数（arg）background_r ) background_g_launch_arg = DeclareLaunchArgument ( 'background_g' , default_value = TextSubstitution ( text = '84' ) # 创建一个Launch文件内参数（arg）background_g ) background_b_launch_arg = DeclareLaunchArgument ( 'background_b' , default_value = TextSubstitution ( text = '122' ) # 创建一个Launch文件内参数（arg）background_b ) return LaunchDescription ([ # 返回launch文件的描述信息 background_r_launch_arg , # 调用以上创建的参数（arg） background_g_launch_arg , background_b_launch_arg , Node ( # 配置一个节点的启动 package = 'turtlesim' , executable = 'turtlesim_node' , # 节点所在的功能包 name = 'sim' , # 对节点重新命名 parameters = [{ # ROS参数列表 'background_r' : LaunchConfiguration ( 'background_r' ), # 创建参数background_r 'background_g' : LaunchConfiguration ( 'background_g' ), # 创建参数background_g 'background_b' : LaunchConfiguration ( 'background_b' ), # 创建参数background_b }] ), ]) Attention launch文件中出现的argument和parameter，虽都译为“参数”，但含义不同： - argument：仅限launch文件内部使用，方便在launch中调用某些数值； - parameter：ROS系统的参数，方便在节点见使用某些数值。 加载参数文件 以上例程我们在launch文件中一个一个的设置参数，略显麻烦，当参数比较多的时候，建议使用参数文件进行加载。 learning_launch/parameters_yaml.launch.py import os from ament_index_python.packages import get_package_share_directory # 查询功能包路径的方法 from launch import LaunchDescription # launch文件的描述类 from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 config = os . path . join ( # 找到参数文件的完整路径 get_package_share_directory ( 'learning_launch' ), 'config' , 'turtlesim.yaml' ) return LaunchDescription ([ # 返回launch文件的描述信息 Node ( # 配置一个节点的启动 package = 'turtlesim' , # 节点所在的功能包 executable = 'turtlesim_node' , # 节点的可执行文件名 namespace = 'turtlesim2' , # 节点所在的命名空间 name = 'sim' , # 对节点重新命名 parameters = [ config ] # 加载参数文件 ) ]) Launch文件包含 在复杂的机器人系统中，launch文件也会有很多，此时我们可以使用类似编程中的include机制，让launch文件互相包含。 文件解析 learning_launch/namespaces.launch.py import os from ament_index_python.packages import get_package_share_directory # 查询功能包路径的方法 from launch import LaunchDescription # launch文件的描述类 from launch.actions import IncludeLaunchDescription # 节点启动的描述类 from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.actions import GroupAction # launch文件中的执行动作 from launch_ros.actions import PushRosNamespace # ROS命名空间配置 def generate_launch_description (): # 自动生成launch文件的函数 parameter_yaml = IncludeLaunchDescription ( # 包含指定路径下的另外一个launch文件 PythonLaunchDescriptionSource ([ os . path . join ( get_package_share_directory ( 'learning_launch' ), 'launch' ), '/parameters_nonamespace.launch.py' ]) ) parameter_yaml_with_namespace = GroupAction ( # 对指定launch文件中启动的功能加上命名空间 actions = [ PushRosNamespace ( 'turtlesim2' ), parameter_yaml ] ) return LaunchDescription ([ # 返回launch文件的描述信息 parameter_yaml_with_namespace ]) 功能包编译配置 ... data_files = [ ( 'share/ament_index/resource_index/packages' , [ 'resource/' + package_name ]), ( 'share/' + package_name , [ 'package.xml' ]), ( os . path . join ( 'share' , package_name , 'launch' ), glob ( os . path . join ( 'launch' , '*.launch.py' ))), ( os . path . join ( 'share' , package_name , 'config' ), glob ( os . path . join ( 'config' , '*.*' ))), ( os . path . join ( 'share' , package_name , 'rviz' ), glob ( os . path . join ( 'rviz' , '*.*' ))), ], ... 参考链接 https://docs.ros.org/en/humble/Tutorials/Launch/Launch-Main.html 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，它是ROS系统中多节点启动与配置的一种脚本。","text_tokens":["目前为止","？","它","，","终端","好","一次性","为止","方式","那","节点","机器","机器人","一次","到","可以","每当","ros","脚本","答案","是","没有","都"," ","呢","一个","文件","。","麻烦","新","命令","前为","所有","与","系统","launch","运行","需要","一种","配置","的","我们","很多","启动","呀","肯定","当然","有没有","中多","中","目前","打开","就是","每次","这样"],"title":"Launch：多节点启动与配置脚本","title_tokens":["launch","配置","启动","脚本","多","与","：","节点"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#launch_1","text":"这是一个完整的Launch文件，乍看上去，好像Python代码呀，没错， ROS2中的Launch文件就是基于Python描述的 。 Launch的核心目的是 启动节点 ，我们在命令行中输入的各种参数，在Launch文件中，通过类似这样的很多代码模版，也可以进行配置，甚至还可以使用Python原有的编程功能，大大丰富了启动过程中的多样化配置。 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运行成功后，就可以在终端中看到发布者和订阅者两个节点的日志信息啦。","text_tokens":["，","者","终端","成功","发布","和","：","节点",".","simple","py","日志","可以","$","发布者","来","第一个","示例","啦"," ","一个","文件","。","ros2","两个","命令","_","看到","launch","订阅","信息","运行","启动","的","使用","第一","后","就","中","learning","在"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_3","text":"这两个节点是如何启动的呢？我们来分析下这个launch文件。 learning_launch/simple.launch.py from launch import LaunchDescription # launch文件的描述类 from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 return LaunchDescription ([ # 返回launch文件的描述信息 Node ( # 配置一个节点的启动 package = 'learning_topic' , # 节点所在的功能包 executable = 'topic_helloworld_pub' , # 节点的可执行文件 ), Node ( # 配置一个节点的启动 package = 'learning_topic' , # 节点所在的功能包 executable = 'topic_helloworld_sub' , # 节点的可执行文件名 ), 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命令后边还得跟一长串配置文件的路径，如果放在launch文件里，启动就优雅很多了： $ ros2 launch learning_launch rviz.launch.py","text_tokens":["，","命令行","：","机","可视",".","的话","得","py","长串","上位","某","$","run","是","跟","想要"," ","了","加载","一个","配置文件","文件","还","一长串","路径","ros2","path","/","命令","可视化","package","turtle","-","并且","_","里",">","d","launch","如果","运行","配置","的","我们","rviz","后边","放在","启动","使用","优雅","很多","就","比如","rviz2","learning","这样","<"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_6","text":"命令行后边的参数是如何通过launch传入节点的呢？来看下这个launch文件。 learning_launch/rviz.launch.py import os from ament_index_python.packages import get_package_share_directory # 查询功能包路径的方法 from launch import LaunchDescription # launch文件的描述类 from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 rviz_config = os . path . join ( # 找到配置文件的完整路径 get_package_share_directory ( 'learning_launch' ), 'rviz' , 'turtle_rviz.rviz' ) return LaunchDescription ([ # 返回launch文件的描述信息 Node ( # 配置一个节点的启动 package = 'rviz2' , # 节点所在的功能包 executable = 'rviz2' , # 节点的可执行文件名 name = 'rviz2' , # 对节点重新命名 arguments = [ '-d' , rviz_config ] # 加载命令行参数 ) ])","text_tokens":["查询","name","通过","描述","来看","node","如何","方法","包","executable","函数","share","下","传入","重新命名","index","加载","参数","一个",",","import",":","directory","_","=","join","d","launch","的","启动","执行","'","]","？","python","命令行","config","[","是","文件","自动","。","actions","-","arguments","packages","launchdescription","信息","配置","rviz2","返回","return","功能",".",")","ros","命名","所在","def","配置文件","path","命令","turtle","行文","类","description","from","后边","(","这个","生成","找到","generate","#","节点","对","py","get","ament","名"," ","可执行文件","呢","路径","/","package","完整","重新","rviz","learning","os"],"title":"文件解析","title_tokens":["解析","文件"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_7","text":"ROS社区中的资源非常多，当我们使用别人代码的时候，经常会发现通信的话题名称不太符合我们的要求，能否对类似的资源重新命名呢？ 为了提高软件的复用性，ROS提供了资源重映射的机制，可以帮助我们解决类似的问题。","text_tokens":["？","，","不太","帮助","话题","机制","为了","提供","符合","对","资源","映射","能否","代码","ros","命名","经常","可以","多","别人","时候","重新命名"," ","了","呢","。","重","性","问题","要求","重新","复用","解决","名称","提高","会","当","的","我们","通信","发现","使用","软件","非常","中","社区","类似"],"title":"资源重映射","title_tokens":["重","资源","映射"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_8","text":"启动一个终端，运行如下例程，很快会看到出现了两个小海龟仿真器界面；再打开一个终端，发布如下话题，让海龟1动起来，海龟2也会一起运动： $ ros2 launch learning_launch rviz.launch.py $ ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}\"","text_tokens":["，","很快","终端","发布","\"","话题","例程","1","y","；","：",".","2.0","cmd","0.0","动","小海","界面","py","msgs","z","$","海龟","一起","rate","geometry","angular","linear","vel","x"," 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节点的可执行文件名 name = 'sim' # 对节点重新命名 ), Node ( # 配置一个节点的启动 package = 'turtlesim' , # 节点所在的功能包 executable = 'mimic' , # 节点的可执行文件名 name = 'mimic' , # 对节点重新命名 remappings = [ # 资源重映射列表 ( '/input/pose' , '/turtlesim1/turtle1/pose' ), # 将/input/pose话题名修改为/turtlesim1/turtle1/pose ( '/output/cmd_vel' , '/turtlesim2/turtle1/cmd_vel' ), # 将/output/cmd_vel话题名修改为/turtlesim2/turtle1/cmd_vel ] ) ])","text_tokens":["，","会动","通过","name","描述","node","cmd","namespace","包","executable","函数","列表","vel","重新命名","pose","一个",",","import","turtlesim",":","input","_","=","订阅","launch","的","我们","启动","执行","'","]","？","位置","名叫","[","映射","可以","是","都","文件","自动","。","两个","任意","运动","actions","launchdescription","信息","另外","配置","同样","或者","sim","返回","要","return","功能","至于",".",")","用到","ros","命名","所在","def","output","为什么","对应","这里","行文","类","description","turtlesim1","变换","将","from","为","turtlesim2","turtle1","(","mimic","速度","它","发布","生成","话题","generate","#","节点","指令","对","资源","什么","py","某","空间","海龟","名","remappings"," 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launch import LaunchDescription # launch文件的描述类 from launch.actions import DeclareLaunchArgument # 声明launch文件内使用的Argument类 from launch.substitutions import LaunchConfiguration , TextSubstitution from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 background_r_launch_arg = DeclareLaunchArgument ( 'background_r' , default_value = TextSubstitution ( text = '0' ) # 创建一个Launch文件内参数（arg）background_r ) background_g_launch_arg = DeclareLaunchArgument ( 'background_g' , default_value = TextSubstitution ( text = '84' ) # 创建一个Launch文件内参数（arg）background_g ) background_b_launch_arg = DeclareLaunchArgument ( 'background_b' , default_value = TextSubstitution ( text = '122' ) # 创建一个Launch文件内参数（arg）background_b ) return LaunchDescription ([ # 返回launch文件的描述信息 background_r_launch_arg , # 调用以上创建的参数（arg） background_g_launch_arg , background_b_launch_arg , Node ( # 配置一个节点的启动 package = 'turtlesim' , executable = 'turtlesim_node' , # 节点所在的功能包 name = 'sim' , # 对节点重新命名 parameters = [{ # ROS参数列表 'background_r' : LaunchConfiguration ( 'background_r' ), # 创建参数background_r 'background_g' : LaunchConfiguration ( 'background_g' ), # 创建参数background_g 'background_b' : LaunchConfiguration ( 'background_b' ), # 创建参数background_b }] ), ]) Attention launch文件中出现的argument和parameter，虽都译为“参数”，但含义不同： - argument：仅限launch文件内部使用，方便在launch中调用某些数值； - parameter：ROS系统的参数，方便在节点见使用某些数值。","text_tokens":["，","name","某些","描述","和","数值","node","如何","包","executable","函数","见","列表","重新命名","参数","一个",",","import","textsubstitution","turtlesim","parameter","background","出现","value",":","attention","_","=","launch","的","我们","启动","g","使用","'","]","在","“","不同","[","；","launchconfiguration","声明","看下","”","来","方便","都","b","文件","自动","。","{","actions","}","系统","-","译","launchdescription","84","信息","配置","default","text","substitutions","sim","含义","122","返回","return","功能","：",".",")","ros","命名","所在","def","parameters","argument","虽","内","调用","declarelaunchargument","类","description","from","以上","为","中","r","(","生成","generate","（","#","节点","arg","对","py","创建","设置"," ","）","/","package","仅限","重新","0","内部","但","learning"],"title":"文件解析","title_tokens":["解析","文件"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_12","text":"以上例程我们在launch文件中一个一个的设置参数，略显麻烦，当参数比较多的时候，建议使用参数文件进行加载。 learning_launch/parameters_yaml.launch.py import os from ament_index_python.packages import get_package_share_directory # 查询功能包路径的方法 from launch import LaunchDescription # launch文件的描述类 from launch_ros.actions import Node # 节点启动的描述类 def generate_launch_description (): # 自动生成launch文件的函数 config = os . path . join ( # 找到参数文件的完整路径 get_package_share_directory ( 'learning_launch' ), 'config' , 'turtlesim.yaml' ) return LaunchDescription ([ # 返回launch文件的描述信息 Node ( # 配置一个节点的启动 package = 'turtlesim' , # 节点所在的功能包 executable = 'turtlesim_node' , # 节点的可执行文件名 namespace = 'turtlesim2' , # 节点所在的命名空间 name = 'sim' , # 对节点重新命名 parameters = [ config ] # 加载参数文件 ) 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generate_launch_description (): # 自动生成launch文件的函数 parameter_yaml = IncludeLaunchDescription ( # 包含指定路径下的另外一个launch文件 PythonLaunchDescriptionSource ([ os . path . join ( get_package_share_directory ( 'learning_launch' ), 'launch' ), '/parameters_nonamespace.launch.py' ]) ) parameter_yaml_with_namespace = GroupAction ( # 对指定launch文件中启动的功能加上命名空间 actions = [ PushRosNamespace ( 'turtlesim2' ), parameter_yaml ] ) return LaunchDescription ([ # 返回launch文件的描述信息 parameter_yaml_with_namespace ])","text_tokens":["查询","描述","namespace","方法","包","函数","share","下","index","一个",",","import","groupaction","parameter",":","directory","_","=","join","launch","的","启动","包含","执行","'","]","python","[","pythonlaunchdescriptionsource","with","文件","自动","includelaunchdescription","actions","packages","launchdescription","yaml","信息","另外","配置","指定","返回","return","功能",".",")","ros","命名","def","parameters","path","类","description","from","turtlesim2","中","(","动作","生成","generate","#","pushrosnamespace","节点","对","py","get","空间","ament","namespaces","nonamespace"," ","sources","路径","/","package","加上","learning","os"],"title":"文件解析","title_tokens":["解析","文件"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_14","text":"... data_files = [ ( 'share/ament_index/resource_index/packages' , [ 'resource/' + package_name ]), ( 'share/' + package_name , [ 'package.xml' ]), ( os . path . join ( 'share' , package_name , 'launch' ), glob ( os . path . join ( 'launch' , '*.launch.py' ))), ( os . path . join ( 'share' , package_name , 'config' ), glob ( os . path . join ( 'config' , '*.*' ))), ( os . path . join ( 'share' , package_name , 'rviz' ), glob ( os . path . join ( 'rviz' , '*.*' ))), ], ...","text_tokens":["xml","name","config","[","files",".",")","py","ament","*","share"," ","index",",","data","path","/","package","resource","_","packages","glob","=","+","join","launch","rviz","...","'","]","os","("],"title":"功能包编译配置","title_tokens":["包","编译","功能","配置"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_15","text":"https://docs.ros.org/en/humble/Tutorials/Launch/Launch-Main.html https://docs.ros.org/en/humble/Tutorials/Launch/Using-ROS2-Launch-For-Large-Projects.html","text_tokens":["for",".","html","ros","en"," ","https","main","docs","ros2","/","org","tutorials","humble",":","-","projects","large","launch","using"],"title":"参考链接","title_tokens":["参考","链接"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/","text":"TF：机器人坐标系管理神器 坐标系是我们非常熟悉的一个概念，也是机器人学中的重要基础，在一个完整的机器人系统中，会存在很多坐标系，这些坐标系之间的位置关系该如何管理？ ROS给我们提供了一个坐标系的管理神器—— TF 。 机器人中的坐标系 机器人中都有哪些坐标系呢？ 比如在机械臂形态的机器人中，机器人安装的位置叫做 基坐标系 Base Frame，机器人安装位置在外部环境下的参考系叫做 世界坐标系 World Frame，机器人末端夹爪的位置叫做 工具坐标系 ，外部被操作物体的位置叫做 工件坐标系 ，在机械臂抓取外部物体的过程中，这些坐标系之间的关系也在跟随变化。 在移动机器人系统中，坐标系一样至关重要，比如一个移动机器人的中心点是 基坐标系 Base Link，雷达所在的位置叫做 雷达坐标系 laser link，机器人要移动，里程计会累积位置，这个位置的参考系叫做 里程计坐标系 odom，里程计又会有累积误差和漂移，绝对位置的参考系叫做 地图坐标系 map。 一层一层坐标系之间关系复杂，有一些是相对固定的，也有一些是不断变化的，看似简单的坐标系也在空间范围内变得复杂，良好的坐标系管理系统就显得格外重要。 关于坐标系变换关系的基本理论，在每一本机器人学的教材中都会有讲解，可以分解为 平移和旋转 两个部分，通过一个四乘四的矩阵进行描述，在空间中画出坐标系，那两者之间的变换关系，其实就是向量的数学描述。 ROS中TF功能的底层原理，就是对这些数学变换进行了封装，详细的理论知识大家可以参考机器人学的教材，我们主要讲解TF坐标管理系统的使用方法。 TF命令行操作 ROS中的TF该如何使用呢？我们先通过两只小海龟的示例，了解下基于坐标系的一种机器人跟随算法。 小海龟跟随例程 这个示例需要我们先安装相应的功能包，然后就可以通过一个launch文件启动，之后我们可以控制其中的一只小海龟，另外一只小海龟会自动跟随运动。 $ sudo apt install ros-humble-turtle-tf2-py ros-humble-tf2-tools $ sudo pip3 install transforms3d 具体运行的效果如何？我们来试一试。 $ ros2 launch turtle_tf2_py turtle_tf2_demo.launch.py $ ros2 run turtlesim turtle_teleop_key 当我们控制一只海龟运动时，另外一只海龟也会跟随运动。 查看TF树 在当前运行的两只海龟中，有哪些坐标系呢，我们可以通过这个小工具来做查看。 $ ros2 run tf2_tools view_frames 默认在当前终端路径下生成了一个frames.pdf文件，打开之后，就可以看到系统中各个坐标系的关系了。 查询坐标变换信息 只看到坐标系的结构还不行，如果我们想要知道某两个坐标系之间的具体关系，可以通过tf2_echo这个工具查看： $ ros2 run tf2_ros tf2_echo turtle2 turtle1 运行成功后，终端中就会循环打印坐标系的变换数值了，由平移和旋转两个部分组成，还有旋转矩阵。 坐标系可视化 看数值还不直观？可以试试用可视化软件来做显示： $ ros2 run rviz2 rviz2 -d $( ros2 pkg prefix --share turtle_tf2_py ) /rviz/turtle_rviz.rviz 再让小海龟动起来，Rviz中的坐标轴就会开始运动，这样是不是更加直观了呢！ 小海龟跟随的案例有点意思，这背后的原理是怎样的呢？大家不要着急，我们先来了解下TF的使用方法，便于大家慢慢理解。 静态TF广播 我们说TF的主要作用是对坐标系进行管理，那就管理一个试试呗？ 坐标变换中最为简单的应该是相对位置不发生变化的情况，比如你家的房子在哪个位置，只要房子不拆，这个坐标应该就不会变化。 在机器人系统中也很常见，比如激光雷达和机器人底盘之间的位置关系，安装好之后基本不会变化。 在TF中，这种情况也称之为 静态TF变换 ，我们来看看在程序中该如何实现？ 运行效果 启动终端，运行如下命令： $ ros2 run learning_tf static_tf_broadcaster $ ros2 run tf2_tools view_frames 可以看到当前系统中存在两个坐标系，一个是world，一个是house，两者之间的相对位置不会发生改变，通过一个静态的TF对象进行维护。 代码解析 来看下在代码中是如何创建坐标系并且发布静态变换的。 learning_tf/static_tf_broadcaster.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 TF示例-广播静态的坐标变换 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from geometry_msgs.msg import TransformStamped # 坐标变换消息 import tf_transformations # TF坐标变换库 from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster # TF静态坐标系广播器类 class StaticTFBroadcaster ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . tf_broadcaster = StaticTransformBroadcaster ( self ) # 创建一个TF广播器对象 static_transformStamped = TransformStamped () # 创建一个坐标变换的消息对象 static_transformStamped . header . stamp = self . get_clock () . now () . to_msg () # 设置坐标变换消息的时间戳 static_transformStamped . header . frame_id = 'world' # 设置一个坐标变换的源坐标系 static_transformStamped . child_frame_id = 'house' # 设置一个坐标变换的目标坐标系 static_transformStamped . transform . translation . x = 10.0 # 设置坐标变换中的X、Y、Z向的平移 static_transformStamped . transform . translation . y = 5.0 static_transformStamped . transform . translation . z = 0.0 quat = tf_transformations . quaternion_from_euler ( 0.0 , 0.0 , 0.0 ) # 将欧拉角转换为四元数（roll, pitch, yaw） static_transformStamped . transform . rotation . x = quat [ 0 ] # 设置坐标变换中的X、Y、Z向的旋转（四元数） static_transformStamped . transform . rotation . y = quat [ 1 ] static_transformStamped . transform . rotation . z = quat [ 2 ] static_transformStamped . transform . rotation . w = quat [ 3 ] self . tf_broadcaster . sendTransform ( static_transformStamped ) # 广播静态坐标变换，广播后两个坐标系的位置关系保持不变 def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = StaticTFBroadcaster ( \"static_tf_broadcaster\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , ], }, 经过这段代码，两个坐标系的变化是描述清楚了，到了使用的时候，我们又该如何查询呢？ TF监听 我们再来学习下如何查询两个坐标系之间的位置关系。 运行效果 启动一个终端，运行如下节点，就可以在终端中看到周期显示的坐标关系了。 $ ros2 run learning_tf tf_listener 代码解析 这个节点中是如何查询坐标关系的，我们来看下代码。 learning_tf/tf_listener.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 TF示例-监听某两个坐标系之间的变换 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import tf_transformations # TF坐标变换库 from tf2_ros import TransformException # TF左边变换的异常类 from tf2_ros.buffer import Buffer # 存储坐标变换信息的缓冲类 from tf2_ros.transform_listener import TransformListener # 监听坐标变换的监听器类 class TFListener ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . declare_parameter ( 'source_frame' , 'world' ) # 创建一个源坐标系名的参数 self . source_frame = self . get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'source_frame' ) . get_parameter_value () . string_value self . declare_parameter ( 'target_frame' , 'house' ) # 创建一个目标坐标系名的参数 self . target_frame = self . get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'target_frame' ) . get_parameter_value () . string_value self . tf_buffer = Buffer () # 创建保存坐标变换信息的缓冲区 self . tf_listener = TransformListener ( self . tf_buffer , self ) # 创建坐标变换的监听器 self . timer = self . create_timer ( 1.0 , self . on_timer ) # 创建一个固定周期的定时器，处理坐标信息 def on_timer ( self ): try : now = rclpy . time . Time () # 获取ROS系统的当前时间 trans = self . tf_buffer . lookup_transform ( # 监听当前时刻源坐标系到目标坐标系的坐标变换 self . target_frame , self . source_frame , now ) except TransformException as ex : # 如果坐标变换获取失败，进入异常报告 self . get_logger () . info ( f 'Could not transform { self . target_frame } to { self . source_frame } : { ex } ' ) return pos = trans . transform . translation # 获取位置信息 quat = trans . transform . rotation # 获取姿态信息（四元数） euler = tf_transformations . euler_from_quaternion ([ quat . x , quat . y , quat . z , quat . w ]) self . get_logger () . info ( 'Get %s --> %s transform: [ %f , %f , %f ] [ %f , %f , %f ]' % ( self . source_frame , self . target_frame , pos . x , pos . y , pos . z , euler [ 0 ], euler [ 1 ], euler [ 2 ])) def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = TFListener ( \"tf_listener\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , 'tf_listener = learning_tf.tf_listener:main' , ], }, 好啦，大家现在对TF的基本使用有所了解了。我们继续挑战两只海龟跟随的案例。 海龟跟随功能解析 还是之前小海龟跟随的示例，我们自己通过代码来实现一下。 运行效果 先看下实现的效果，启动终端后，通过如下命令启动例程： $ ros2 launch learning_tf turtle_following_demo.launch.py $ ros2 run turtlesim turtle_teleop_key 看到的效果和ROS自带的例程相同。 原理解析 在两只海龟的仿真器中，我们可以定义三个坐标系，比如仿真器的全局参考系叫做world，turtle1和turtle2坐标系在两只海龟的中心点，这样，turtle1和world坐标系的相对位置，就可以表示海龟1的位置，海龟2也同理。 要实现海龟2向海龟1运动，我们在两者中间做一个连线，再加一个箭头，怎么样，是不是有想起高中时学习的向量计算？我们说坐标变换的描述方法就是向量，所以在这个跟随例程中，用TF就可以很好的解决。 向量的长度表示距离，方向表示角度，有了距离和角度，我们随便设置一个时间，不就可以计算得到速度了么，然后就是速度话题的封装和发布，海龟2也就可以动起来了。 所以这个例程的核心就是通过坐标系实现向量的计算，两只海龟还会不断运动，这个向量也得按照某一个周期计算，这就得用上TF的动态广播与监听了。 我们一起看下代码该如何实现。 Launch文件解析 先来看下刚才运行的launch文件，里边启动了四个节点，分别是： 小海龟仿真器 海龟1的坐标系广播 海龟2的坐标系广播 海龟跟随控制 其中，两个坐标系的广播复用了turtle_tf_broadcaster节点，通过传入的参数名修改维护的坐标系名称。 learning_tf/launch/turtle_following_demo.launch.py from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node def generate_launch_description (): return LaunchDescription ([ Node ( package = 'turtlesim' , executable = 'turtlesim_node' , name = 'sim' ), Node ( package = 'learning_tf' , executable = 'turtle_tf_broadcaster' , name = 'broadcaster1' , parameters = [ { 'turtlename' : 'turtle1' } ] ), DeclareLaunchArgument ( 'target_frame' , default_value = 'turtle1' , description = 'Target frame name.' ), Node ( package = 'learning_tf' , executable = 'turtle_tf_broadcaster' , name = 'broadcaster2' , parameters = [ { 'turtlename' : 'turtle2' } ] ), Node ( package = 'learning_tf' , executable = 'turtle_following' , name = 'listener' , parameters = [ { 'target_frame' : LaunchConfiguration ( 'target_frame' )} ] ), ]) 坐标系动态广播 海龟1和海龟2在world坐标系下的坐标变换，在turtle_tf_broadcaster节点中实现，除了海龟坐标系的名字不同之外，针对两个海龟的功能是一样的。 learning_tf/turtle_tf_broadcaster.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 TF示例-广播动态的坐标变换 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from geometry_msgs.msg import TransformStamped # 坐标变换消息 import tf_transformations # TF坐标变换库 from tf2_ros import TransformBroadcaster # TF坐标变换广播器 from turtlesim.msg import Pose # turtlesim小海龟位置消息 class TurtleTFBroadcaster ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . declare_parameter ( 'turtlename' , 'turtle' ) # 创建一个海龟名称的参数 self . turtlename = self . get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'turtlename' ) . get_parameter_value () . string_value self . tf_broadcaster = TransformBroadcaster ( self ) # 创建一个TF坐标变换的广播对象并初始化 self . subscription = self . create_subscription ( # 创建一个订阅者，订阅海龟的位置消息 Pose , f '/ { self . turtlename } /pose' , # 使用参数中获取到的海龟名称 self . turtle_pose_callback , 1 ) def turtle_pose_callback ( self , msg ): # 创建一个处理海龟位置消息的回调函数，将位置消息转变成坐标变换 transform = TransformStamped () # 创建一个坐标变换的消息对象 transform . header . stamp = self . get_clock () . now () . to_msg () # 设置坐标变换消息的时间戳 transform . header . frame_id = 'world' # 设置一个坐标变换的源坐标系 transform . child_frame_id = self . turtlename # 设置一个坐标变换的目标坐标系 transform . transform . translation . x = msg . x # 设置坐标变换中的X、Y、Z向的平移 transform . transform . translation . y = msg . y transform . transform . translation . z = 0.0 q = tf_transformations . quaternion_from_euler ( 0 , 0 , msg . theta ) # 将欧拉角转换为四元数（roll, pitch, yaw） transform . transform . rotation . x = q [ 0 ] # 设置坐标变换中的X、Y、Z向的旋转（四元数） transform . transform . rotation . y = q [ 1 ] transform . transform . rotation . z = q [ 2 ] transform . transform . rotation . w = q [ 3 ] # Send the transformation self . tf_broadcaster . sendTransform ( transform ) # 广播坐标变换，海龟位置变化后，将及时更新坐标变换信息 def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = TurtleTFBroadcaster ( \"turtle_tf_broadcaster\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , 'turtle_tf_broadcaster = learning_tf.turtle_tf_broadcaster:main' , 'tf_listener = learning_tf.tf_listener:main' , ], }, 海龟跟随 坐标系都正常广播了，接下来我们就可以订阅两只海龟的位置关系，并且变换成速度指令进行控制啦。 learning_tf/turtle_following.py #!/usr/bin/env python3 # -*- coding: utf-8 -*- \"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 TF示例-通过坐标变化实现海龟跟随功能 \"\"\" import math import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import tf_transformations # TF坐标变换库 from tf2_ros import TransformException # TF左边变换的异常类 from tf2_ros.buffer import Buffer # 存储坐标变换信息的缓冲类 from tf2_ros.transform_listener import TransformListener # 监听坐标变换的监听器类 from geometry_msgs.msg import Twist # ROS2 速度控制消息 from turtlesim.srv import Spawn # 海龟生成的服务接口 class TurtleFollowing ( Node ) : def __init__ ( self, name ) : super () .__init__ ( name ) # ROS2节点父类初始化 self.declare_parameter ( 'source_frame' , 'turtle1' ) # 创建一个源坐标系名的参数 self.source_frame = self.get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'source_frame' ) .get_parameter_value () .string_value self.tf_buffer = Buffer () # 创建保存坐标变换信息的缓冲区 self.tf_listener = TransformListener ( self.tf_buffer, self ) # 创建坐标变换的监听器 self.spawner = self.create_client ( Spawn, 'spawn' ) # 创建一个请求产生海龟的客户端 self.turtle_spawning_service_ready = False # 是否已经请求海龟生成服务的标志位 self.turtle_spawned = False # 海龟是否产生成功的标志位 self.publisher = self.create_publisher ( Twist, 'turtle2/cmd_vel' , 1 ) # 创建跟随运动海龟的速度话题 self.timer = self.create_timer ( 1 .0, self.on_timer ) # 创建一个固定周期的定时器，控制跟随海龟的运动 def on_timer ( self ) : from_frame_rel = self.source_frame # 源坐标系 to_frame_rel = 'turtle2' # 目标坐标系 if self.turtle_spawning_service_ready: # 如果已经请求海龟生成服务 if self.turtle_spawned: # 如果跟随海龟已经生成 try: now = rclpy.time.Time () # 获取ROS系统的当前时间 trans = self.tf_buffer.lookup_transform ( # 监听当前时刻源坐标系到目标坐标系的坐标变换 to_frame_rel, from_frame_rel, now ) except TransformException as ex: # 如果坐标变换获取失败，进入异常报告 self.get_logger () .info ( f 'Could not transform {to_frame_rel} to {from_frame_rel}: {ex}' ) return msg = Twist () # 创建速度控制消息 scale_rotation_rate = 1 .0 # 根据海龟角度，计算角速度 msg.angular.z = scale_rotation_rate * math.atan2 ( trans.transform.translation.y, trans.transform.translation.x ) scale_forward_speed = 0 .5 # 根据海龟距离，计算线速度 msg.linear.x = scale_forward_speed * math.sqrt ( trans.transform.translation.x ** 2 + trans.transform.translation.y ** 2 ) self.publisher.publish ( msg ) # 发布速度指令，海龟跟随运动 else : # 如果跟随海龟没有生成 if self.result.done () : # 查看海龟是否生成 self.get_logger () .info ( f 'Successfully spawned {self.result.result().name}' ) self.turtle_spawned = True else : # 依然没有生成跟随海龟 self.get_logger () .info ( 'Spawn is not finished' ) else : # 如果没有请求海龟生成服务 if self.spawner.service_is_ready () : # 如果海龟生成服务器已经准备就绪 request = Spawn.Request () # 创建一个请求的数据 request.name = 'turtle2' # 设置请求数据的内容，包括海龟名、xy位置、姿态 request.x = float ( 4 ) request.y = float ( 2 ) request.theta = float ( 0 ) self.result = self.spawner.call_async ( request ) # 发送服务请求 self.turtle_spawning_service_ready = True # 设置标志位，表示已经发送请求 else : self.get_logger () .info ( 'Service is not ready' ) # 海龟生成服务器还没准备就绪的提示 def main ( args = None ) : rclpy.init ( args = args ) # ROS2 Python接口初始化 node = TurtleFollowing ( \"turtle_following\" ) # 创建ROS2节点对象并进行初始化 rclpy.spin ( node ) # 循环等待ROS2退出 node.destroy_node () # 销毁节点对象 rclpy.shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , 'turtle_tf_broadcaster = learning_tf.turtle_tf_broadcaster:main' , 'tf_listener = learning_tf.tf_listener:main' , 'turtle_following = learning_tf.turtle_following:main' , ], 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ROS给我们提供了一个坐标系的管理神器—— TF 。","text_tokens":["？","概念","，","位置","基础","提供","如何","机器","机器人学","之间","这些","ros","是","人学"," ","给","了","一个","—","。","完整","也","系统","存在","tf","会","重要","神器","管理","的","我们","很多","熟悉","坐标系","关系","该","非常","中","机器人","在","坐标"],"title":"TF：机器人坐标系管理神器","title_tokens":["神器","管理","坐标系","机器人","：","tf","机器","坐标"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_1","text":"机器人中都有哪些坐标系呢？ 比如在机械臂形态的机器人中，机器人安装的位置叫做 基坐标系 Base Frame，机器人安装位置在外部环境下的参考系叫做 世界坐标系 World Frame，机器人末端夹爪的位置叫做 工具坐标系 ，外部被操作物体的位置叫做 工件坐标系 ，在机械臂抓取外部物体的过程中，这些坐标系之间的关系也在跟随变化。 在移动机器人系统中，坐标系一样至关重要，比如一个移动机器人的中心点是 基坐标系 Base Link，雷达所在的位置叫做 雷达坐标系 laser link，机器人要移动，里程计会累积位置，这个位置的参考系叫做 里程计坐标系 odom，里程计又会有累积误差和漂移，绝对位置的参考系叫做 地图坐标系 map。 一层一层坐标系之间关系复杂，有一些是相对固定的，也有一些是不断变化的，看似简单的坐标系也在空间范围内变得复杂，良好的坐标系管理系统就显得格外重要。 关于坐标系变换关系的基本理论，在每一本机器人学的教材中都会有讲解，可以分解为 平移和旋转 两个部分，通过一个四乘四的矩阵进行描述，在空间中画出坐标系，那两者之间的变换关系，其实就是向量的数学描述。 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小海龟跟随的案例有点意思，这背后的原理是怎样的呢？大家不要着急，我们先来了解下TF的使用方法，便于大家慢慢理解。","text_tokens":["，","！","显示","数值","方法","案例","share","下","不是","了","跟随","还","先","怎样","小海龟","_","更加","d","的","pkg","我们","使用","--","软件","不要","坐标","？","做","小海","可以","run","来","是不是","是","慢慢","。","ros2","有点","直观","运动","开始","-","tf","用","tf2","会","着急","起来","rviz2","原理","看","：",".",")","$","不","turtle","大家","让","这","中","这样","(","试试","理解","便于","可视","动","py","海龟","背后","了解"," ","意思","呢","/","可视化","prefix","再","rviz","坐标轴","就"],"title":"坐标系可视化","title_tokens":["坐标系","可视","可视化","坐标"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#tf_3","text":"我们说TF的主要作用是对坐标系进行管理，那就管理一个试试呗？ 坐标变换中最为简单的应该是相对位置不发生变化的情况，比如你家的房子在哪个位置，只要房子不拆，这个坐标应该就不会变化。 在机器人系统中也很常见，比如激光雷达和机器人底盘之间的位置关系，安装好之后基本不会变化。 在TF中，这种情况也称之为 静态TF变换 ，我们来看看在程序中该如何实现？","text_tokens":["？","静态","，","位置","试试","这个","看看","好","之为","和","发生变化","哪个","安装","那","如何","应该","对","机器","发生","机器人","很","拆","之间","中该","程序","不","来","作用","这种","说","是"," 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\"\"\" @作者: 古月居(www.guyuehome.com) @说明: ROS2 TF示例-广播静态的坐标变换 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from geometry_msgs.msg import TransformStamped # 坐标变换消息 import tf_transformations # TF坐标变换库 from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster # TF静态坐标系广播器类 class StaticTFBroadcaster ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . tf_broadcaster = StaticTransformBroadcaster ( self ) # 创建一个TF广播器对象 static_transformStamped = TransformStamped () # 创建一个坐标变换的消息对象 static_transformStamped . header . stamp = self . get_clock () . now () . to_msg () # 设置坐标变换消息的时间戳 static_transformStamped . header . frame_id = 'world' # 设置一个坐标变换的源坐标系 static_transformStamped . child_frame_id = 'house' # 设置一个坐标变换的目标坐标系 static_transformStamped . transform . translation . x = 10.0 # 设置坐标变换中的X、Y、Z向的平移 static_transformStamped . transform . translation . y = 5.0 static_transformStamped . transform . translation . z = 0.0 quat = tf_transformations . quaternion_from_euler ( 0.0 , 0.0 , 0.0 ) # 将欧拉角转换为四元数（roll, pitch, yaw） static_transformStamped . transform . rotation . x = quat [ 0 ] # 设置坐标变换中的X、Y、Z向的旋转（四元数） static_transformStamped . transform . rotation . y = quat [ 1 ] static_transformStamped . transform . rotation . z = quat [ 2 ] static_transformStamped . transform . rotation . w = quat [ 3 ] self . tf_broadcaster . sendTransform ( static_transformStamped ) # 广播静态坐标变换，广播后两个坐标系的位置关系保持不变 def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = StaticTFBroadcaster ( \"static_tf_broadcaster\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , ], }, 经过这段代码，两个坐标系的变化是描述清楚了，到了使用的时候，我们又该如何查询呢？","text_tokens":["scripts","数","，","查询","spin","name","5.0","描述","1","来看","node","如何","python3","header","说明","0.0","源","初始","包","到","broadcaster","时间","不变","*","加入","stamp","下","id","时候","点","接口","sendtransform","msg","一个","了",",","import","目标","并","编译",":","2","_","quaternion","作者","库","=","@","退出","的","我们","frame","使用","坐标系","'","]","如下","bin","打开","在","消息","变化","坐标","？","位置","python","now","static","quat","器","y","[","欧拉角","class","等待","points","是","又","statictfbroadcaster","house","main","文件","清楚","。","ros2","两个","、","古月","w","self","args","系统","{","-","statictransformbroadcaster","}","tf","tf2","!","配置","entry","shutdown","后","进行","静态","四元","选项","旋转","\"","功能","transformations","入口","：","transformstamped",".",")","coding","代码","ros","销毁","geometry","初始化","戳","def","父类","居","编写","guyuehome","env","none","clock","8","保持","并且","pitch","translation","类","child","roll","变换","将","from","欧拉","让","这","经过","为","__","关系","该","中","平移","循环","(","发布","对象","（","#","转换","节点","广播","yaw","py","msgs","get","z","rotation","euler","向","创建","程序","示例","rclpy","super","console","设置"," 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TF示例-监听某两个坐标系之间的变换 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 import tf_transformations # TF坐标变换库 from tf2_ros import TransformException # TF左边变换的异常类 from tf2_ros.buffer import Buffer # 存储坐标变换信息的缓冲类 from tf2_ros.transform_listener import TransformListener # 监听坐标变换的监听器类 class TFListener ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . declare_parameter ( 'source_frame' , 'world' ) # 创建一个源坐标系名的参数 self . source_frame = self . get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'source_frame' ) . get_parameter_value () . string_value self . declare_parameter ( 'target_frame' , 'house' ) # 创建一个目标坐标系名的参数 self . target_frame = self . get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'target_frame' ) . get_parameter_value () . string_value self . tf_buffer = Buffer () # 创建保存坐标变换信息的缓冲区 self . tf_listener = TransformListener ( self . tf_buffer , self ) # 创建坐标变换的监听器 self . timer = self . create_timer ( 1.0 , self . on_timer ) # 创建一个固定周期的定时器，处理坐标信息 def on_timer ( self ): try : now = rclpy . time . Time () # 获取ROS系统的当前时间 trans = self . tf_buffer . lookup_transform ( # 监听当前时刻源坐标系到目标坐标系的坐标变换 self . target_frame , self . source_frame , now ) except TransformException as ex : # 如果坐标变换获取失败，进入异常报告 self . get_logger () . info ( f 'Could not transform { self . target_frame } to { self . source_frame } : { ex } ' ) return pos = trans . transform . translation # 获取位置信息 quat = trans . transform . rotation # 获取姿态信息（四元数） euler = tf_transformations . euler_from_quaternion ([ quat . x , quat . y , quat . z , quat . w ]) self . get_logger () . info ( 'Get %s --> %s transform: [ %f , %f , %f ] [ %f , %f , %f ]' % ( self . source_frame , self . target_frame , pos . x , pos . y , pos . z , euler [ 0 ], euler [ 1 ], euler [ 2 ])) def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = TFListener ( \"tf_listener\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , 'tf_listener = learning_tf.tf_listener:main' , ], }, 好啦，大家现在对TF的基本使用有所了解了。我们继续挑战两只海龟跟随的案例。","text_tokens":["scripts","，","数","查询","spin","name","定时器","source","1","来看","logger","数值","node","如何","python3","说明","not","源","初始","包","到","broadcaster","之间","时间","案例","%","*","pos","加入","缓冲区","下","tflistener","参数值","点","接口","了","一个","参数","1.0",",","import","跟随","目标","create","并","parameter","as","编译","value","保存",":","2","except","基本","_","quaternion","作者","库","=","@",">","info","退出","的","我们","异常","listener","frame","继续","使用","坐标系","trans","--","'","]","如下","bin","打开","定时","坐标","位置","python","now","static","好","quat","y","[","s","class","现在","否则","等待","points","当前","string","house","main","文件","。","declare","ros2","两个","处理","{","古月","ex","self","}","系统","w","-","args","tf","tf2","用","transformexception","默认","!","信息","如果","配置","entry","shutdown","后","进行","四元","选项","\"","获取","return","功能","target","transformations","有所","入口","：","进入",".",")","coding","代码","ros","关闭","销毁","啦","初始化","timer","def","默认值","父类","居","on","编写","guyuehome","try","env","缓冲","none","失败","周期","8","could","translation","类","时刻","大家","变换","外部","f","from","让","关系","__","循环","(","左边","姿态","buffer","这个","监听器","优先","对象","（","#","节点","对","挑战","py","监听","get","某","rotation","z","euler","程序","创建","海龟","示例","rclpy","super","名","console","了解","设置"," 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","key","自带","ros2","。","turtlesim","命令","turtle","_","tf","效果","实现","teleop","看到","launch","的","启动","后","如下","learning","demo"],"title":"运行效果","title_tokens":["效果","运行"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_11","text":"在两只海龟的仿真器中，我们可以定义三个坐标系，比如仿真器的全局参考系叫做world，turtle1和turtle2坐标系在两只海龟的中心点，这样，turtle1和world坐标系的相对位置，就可以表示海龟1的位置，海龟2也同理。 要实现海龟2向海龟1运动，我们在两者中间做一个连线，再加一个箭头，怎么样，是不是有想起高中时学习的向量计算？我们说坐标变换的描述方法就是向量，所以在这个跟随例程中，用TF就可以很好的解决。 向量的长度表示距离，方向表示角度，有了距离和角度，我们随便设置一个时间，不就可以计算得到速度了么，然后就是速度话题的封装和发布，海龟2也就可以动起来了。 所以这个例程的核心就是通过坐标系实现向量的计算，两只海龟还会不断运动，这个向量也得按照某一个周期计算，这就得用上TF的动态广播与监听了。 我们一起看下代码该如何实现。","text_tokens":["，","想起","高中","然后","通过","例程","和","1","描述","如何","封装","按照","方法","turtle2","时间","一起","表示","下","不是","角度","跟随","了","一个","中心点","加","三个","仿真器","有","还会","2","解决","定义","得到","怎么","的","我们","上","坐标系","么","时","在","怎么样","同理","坐标","？","两者","位置","方向","好","动态","做","得","可以","是不是","说","。","运动","长度","tf","用","参考系","距离","起来","就是","向量","要","核心","看","很","代码","不","不断","中间","真器","周期","与","随便","变换","中心","相对","这","该","中","turtle1","这样","速度","这个","发布","话题","动","广播","监听","某","海龟","向","全局","连线","设置"," ","world","箭头","两只","叫做","学习","再","仿真","也","实现","计算","参考","所以","就","比如"],"title":"原理解析","title_tokens":["解析","原理"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#launch","text":"先来看下刚才运行的launch文件，里边启动了四个节点，分别是： 小海龟仿真器 海龟1的坐标系广播 海龟2的坐标系广播 海龟跟随控制 其中，两个坐标系的广播复用了turtle_tf_broadcaster节点，通过传入的参数名修改维护的坐标系名称。 learning_tf/launch/turtle_following_demo.launch.py from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node def generate_launch_description (): return LaunchDescription ([ Node ( package = 'turtlesim' , executable = 'turtlesim_node' , name = 'sim' ), Node ( package = 'learning_tf' , executable = 'turtle_tf_broadcaster' , name = 'broadcaster1' , parameters = [ { 'turtlename' : 'turtle1' } ] ), DeclareLaunchArgument ( 'target_frame' , default_value = 'turtle1' , description = 'Target frame name.' ), Node ( package = 'learning_tf' , executable = 'turtle_tf_broadcaster' , name = 'broadcaster2' , parameters = [ { 'turtlename' : 'turtle2' } ] ), Node ( package = 'learning_tf' , executable = 'turtle_following' , name = 'listener' , parameters = [ { 'target_frame' : LaunchConfiguration ( 'target_frame' )} ] ), 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古月居(www.guyuehome.com) @说明: ROS2 TF示例-广播动态的坐标变换 \"\"\" import rclpy # ROS2 Python接口库 from rclpy.node import Node # ROS2 节点类 from geometry_msgs.msg import TransformStamped # 坐标变换消息 import tf_transformations # TF坐标变换库 from tf2_ros import TransformBroadcaster # TF坐标变换广播器 from turtlesim.msg import Pose # turtlesim小海龟位置消息 class TurtleTFBroadcaster ( Node ): def __init__ ( self , name ): super () . __init__ ( name ) # ROS2节点父类初始化 self . declare_parameter ( 'turtlename' , 'turtle' ) # 创建一个海龟名称的参数 self . turtlename = self . get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'turtlename' ) . get_parameter_value () . string_value self . tf_broadcaster = TransformBroadcaster ( self ) # 创建一个TF坐标变换的广播对象并初始化 self . subscription = self . create_subscription ( # 创建一个订阅者，订阅海龟的位置消息 Pose , f '/ { self . turtlename } /pose' , # 使用参数中获取到的海龟名称 self . turtle_pose_callback , 1 ) def turtle_pose_callback ( self , msg ): # 创建一个处理海龟位置消息的回调函数，将位置消息转变成坐标变换 transform = TransformStamped () # 创建一个坐标变换的消息对象 transform . header . stamp = self . get_clock () . now () . to_msg () # 设置坐标变换消息的时间戳 transform . header . frame_id = 'world' # 设置一个坐标变换的源坐标系 transform . child_frame_id = self . turtlename # 设置一个坐标变换的目标坐标系 transform . transform . translation . x = msg . x # 设置坐标变换中的X、Y、Z向的平移 transform . transform . translation . y = msg . y transform . transform . translation . z = 0.0 q = tf_transformations . quaternion_from_euler ( 0 , 0 , msg . theta ) # 将欧拉角转换为四元数（roll, pitch, yaw） transform . transform . rotation . x = q [ 0 ] # 设置坐标变换中的X、Y、Z向的旋转（四元数） transform . transform . rotation . y = q [ 1 ] transform . transform . rotation . z = q [ 2 ] transform . transform . rotation . w = q [ 3 ] # Send the transformation self . tf_broadcaster . sendTransform ( transform ) # 广播坐标变换，海龟位置变化后，将及时更新坐标变换信息 def main ( args = None ): rclpy . init ( args = args ) # ROS2 Python接口初始化 node = TurtleTFBroadcaster ( \"turtle_tf_broadcaster\" ) # 创建ROS2节点对象并进行初始化 rclpy . spin ( node ) # 循环等待ROS2退出 node . destroy_node () # 销毁节点对象 rclpy . shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , 'turtle_tf_broadcaster = learning_tf.turtle_tf_broadcaster:main' , 'tf_listener = learning_tf.tf_listener:main' , ], 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'source_frame' , 'turtle1' ) # 创建一个源坐标系名的参数 self.source_frame = self.get_parameter ( # 优先使用外部设置的参数值，否则用默认值 'source_frame' ) .get_parameter_value () .string_value self.tf_buffer = Buffer () # 创建保存坐标变换信息的缓冲区 self.tf_listener = TransformListener ( self.tf_buffer, self ) # 创建坐标变换的监听器 self.spawner = self.create_client ( Spawn, 'spawn' ) # 创建一个请求产生海龟的客户端 self.turtle_spawning_service_ready = False # 是否已经请求海龟生成服务的标志位 self.turtle_spawned = False # 海龟是否产生成功的标志位 self.publisher = self.create_publisher ( Twist, 'turtle2/cmd_vel' , 1 ) # 创建跟随运动海龟的速度话题 self.timer = self.create_timer ( 1 .0, self.on_timer ) # 创建一个固定周期的定时器，控制跟随海龟的运动 def on_timer ( self ) : from_frame_rel = self.source_frame # 源坐标系 to_frame_rel = 'turtle2' # 目标坐标系 if self.turtle_spawning_service_ready: # 如果已经请求海龟生成服务 if self.turtle_spawned: # 如果跟随海龟已经生成 try: now = rclpy.time.Time () # 获取ROS系统的当前时间 trans = self.tf_buffer.lookup_transform ( # 监听当前时刻源坐标系到目标坐标系的坐标变换 to_frame_rel, from_frame_rel, now ) except TransformException as ex: # 如果坐标变换获取失败，进入异常报告 self.get_logger () .info ( f 'Could not transform {to_frame_rel} to {from_frame_rel}: {ex}' ) return msg = Twist () # 创建速度控制消息 scale_rotation_rate = 1 .0 # 根据海龟角度，计算角速度 msg.angular.z = scale_rotation_rate * math.atan2 ( trans.transform.translation.y, trans.transform.translation.x ) scale_forward_speed = 0 .5 # 根据海龟距离，计算线速度 msg.linear.x = scale_forward_speed * math.sqrt ( trans.transform.translation.x ** 2 + trans.transform.translation.y ** 2 ) self.publisher.publish ( msg ) # 发布速度指令，海龟跟随运动 else : # 如果跟随海龟没有生成 if self.result.done () : # 查看海龟是否生成 self.get_logger () .info ( f 'Successfully spawned {self.result.result().name}' ) self.turtle_spawned = True else : # 依然没有生成跟随海龟 self.get_logger () .info ( 'Spawn is not finished' ) else : # 如果没有请求海龟生成服务 if self.spawner.service_is_ready () : # 如果海龟生成服务器已经准备就绪 request = Spawn.Request () # 创建一个请求的数据 request.name = 'turtle2' # 设置请求数据的内容，包括海龟名、xy位置、姿态 request.x = float ( 4 ) request.y = float ( 2 ) request.theta = float ( 0 ) self.result = self.spawner.call_async ( request ) # 发送服务请求 self.turtle_spawning_service_ready = True # 设置标志位，表示已经发送请求 else : self.get_logger () .info ( 'Service is not ready' ) # 海龟生成服务器还没准备就绪的提示 def main ( args = None ) : rclpy.init ( args = args ) # ROS2 Python接口初始化 node = TurtleFollowing ( \"turtle_following\" ) # 创建ROS2节点对象并进行初始化 rclpy.spin ( node ) # 循环等待ROS2退出 node.destroy_node () # 销毁节点对象 rclpy.shutdown () # 关闭ROS2 Python接口 完成代码的编写后需要设置功能包的编译选项，让系统知道Python程序的入口，打开功能包的setup.py文件，加入如下入口点的配置： entry_points = { 'console_scripts' : [ 'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main' , 'turtle_tf_broadcaster = learning_tf.turtle_tf_broadcaster:main' , 'tf_listener = learning_tf.tf_listener:main' , 'turtle_following = learning_tf.turtle_following:main' , ], 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传感系统包括电机上的编码器、板载的IMU、安装的摄像头、雷达等等，便于机器人感知自己的状态和外部的环境； 控制系统就是我们开发过程的主要载体了，一般是树莓派、电脑等计算平台，以及里边的操作系统和应用软件。 机器人建模的过程，其实就是按照类似的思路，通过建模语言，把机器人每一个部分都描述清楚，再组合起来的过程。 URDF ROS中的建模方法叫做 URDF ，全称是 统一机器人描述格式 ，不仅可以清晰描述机器人自身的模型，还可以描述机器人的外部环境，比如这里的桌子，也可以算作一个模型。 URDF模型文件使用的是 XML格式 ，右侧就是一个机器人的URDF描述，乍看上去，有点像网页开发的源代码，都是由一系列尖括号包围的标签和其中的属性组合而成。 如何使用这样一个文件描述机器人呢？比如这个机械臂，大家可以看下自己的手臂，我们的手臂是由大臂和小臂组成，他们独自是无法运动的，必须通过一个手肘关节连接之后，才能通过肌肉驱动，产生相对运动。 在建模中，大臂和小臂就类似机器人的这些独立的刚体部分，称为 连杆Link ，手肘就类似于机器人电机驱动部分，称为 关节joint 。 所以在URDF建模过程中，关键任务就是通过这里的<link>和<joint>，理清楚每一个连杆和关节的描述信息。 连杆Link的描述 <link>标签用来描述机器人某个刚体部分的 外观和物理属性 ，外观包括尺寸、颜色、形状，物理属性包括质量、惯性矩阵、碰撞参数等。 以这个机械臂连杆为例，它的link描述如下： link标签中的name表示该连杆的名称，我们可以自定义，未来joint连接link的时候，会使用到这个名称。 link里边的<visual>部分用来描述机器人的外观，比如： <geometry>表示 几何形状 ，里边使用<mesh>调用了一个在三维软件中提前设计好的蓝色外观，就是这个stl文件，看上去和真实机器人是一致的 <origin>表示 坐标系相对初始位置的偏移 ，分别是x、y、z方向上的平移，和roll、pitch、raw旋转，不需要偏移的话，就全为0。 第二个部分<collision>，描述 碰撞参数 ，里边的内容似乎和<visual>一样，也有<geometry>和<origin>，看似相同，其实区别还是比较大的。 <visual>部分重在描述机器人看上去的状态，也就是视觉效果； <collision>部分则是描述机器人运动过程中的状态，比如机器人与外界如何接触算作碰撞。 在这个机器人模型中，蓝色部分是通过<visual>来描述的，在实际控制过程中，这样复杂的外观在计算碰撞检测时，要求的算力较高，为了简化计算，我们将碰撞检测用的模型简化为了绿色框的圆柱体，也就是<collision>里边<geometry>描述的形状。<origin>坐标系偏移也是类似，可以描述刚体质心的偏移。 如果是移动机器人的话，link也可以用来描述小车的车体、轮子等部分。 关节Joint描述 机器人模型中的刚体最终要通过关节joint连接之后，才能产生相对运动。 URDF中的关节有六种运动类型。 continuous，描述旋转运动，可以围绕某一个轴无限旋转，比如小车的轮子，就属于这种类型。 revolute，也是旋转关节，和continuous类型的区别在于不能无限旋转，而是带有角度限制，比如机械臂的两个连杆，就属于这种运动。 prismatic，是滑动关节，可以沿某一个轴平移，也带有位置的极限，一般直线电机就是这种运动方式。 fixed，固定关节，是唯一一种不允许运动的关节，不过使用还是比较频繁的，比如相机这个连杆，安装在机器人上，相对位置是不会变化的，此时使用的连接方式就是Fixed。 Floating是浮动关节，第六种planar是平面关节，这两种使用相对较少。 在URDF模型中，每一个link都使用这样一段xml内容描述，比如关节的名字叫什么，运动类型是哪一种。 parent标签：描述父连杆； child标签：描述子连杆，子连杆会相对父连杆发生运动； origin：表示两个连杆坐标系之间的关系，也就是图中红色的向量，可以理解为这两个连杆该如何安装到一起； axis表示关节运动轴的单位向量，比如z等于1，就表示这个旋转运动是围绕z轴的正方向进行的； limit就表示运动的一些限制了，比如最小位置，最大位置，和最大速度等。 Info ROS中关于平移的默认单位是m，旋转是弧度（不是度），所以这里的3.14就表示可以在-180度到180度之间运动，线速度是m/s，角速度是rad/s。 完整机器人模型 最终所有的link和joint标签完成了对机器人每个部分的描述和组合，全都放在一个robot标签中，就形成了完整的机器人模型。 所以大家在看某一个URDF模型时，先不着急看每一块代码的细节，先来找link和joint，看下这个机器人是由哪些部分组成的，了解完全局之后，再看细节。 创建机器人模型 好啦，讲了这么多，还是要看一个完整的示例。 我们以这款移动机器人模型为例，一起看下它的URDF建模过程。 功能包结构 机器人的模型放置在learning_urdf功能包中，功能包中包含的文件夹如下： urdf：存放机器人模型的URDF或xacro文件 meshes：放置URDF中引用的模型渲染文件 launch：保存相关启动文件 rviz：保存rviz的配置文件 模型可视化效果 我们先来看下这个模型的效果，尝试逆向分下一下机器人的结构。 $ ros2 launch learning_urdf display.launch.py 很快就可以看到Rviz中显示的机器人模型啦，大家可以使用鼠标拖拽观察。 从可视化的效果来看，这个机器人由五个link和4个joint组成。 查看URDF模型结构 我们分析的对不对呢，可以在模型文件的路径下，使用urdf_to_graphviz这个小工具来分析下。 $ urdf_to_graphviz mbot_base.urdf # 在模型文件夹下运行 运行成功后会产生一个pdf文件，打开之后就可以看到URDF模型分析的结果啦，是不是和我们的猜测完全相同呢！ 模型文件解析 具体URDF模型什么样的，还是要打开模型来研究。 learning_urdf/urdf/mbot_base.urdf <?xml version=\"1.0\" ?> <robot name= \"mbot\" > <link name= \"base_link\" > <visual> <origin xyz= \" 0 0 0\" rpy= \"0 0 0\" /> <geometry> <cylinder length= \"0.16\" radius= \"0.20\" /> </geometry> <material name= \"yellow\" > <color rgba= \"1 0.4 0 1\" /> </material> </visual> </link> <joint name= \"left_wheel_joint\" type= \"continuous\" > <origin xyz= \"0 0.19 -0.05\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"left_wheel_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"left_wheel_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"1.5707 0 0\" /> <geometry> <cylinder radius= \"0.06\" length = \"0.025\" /> </geometry> <material name= \"white\" > <color rgba= \"1 1 1 0.9\" /> </material> </visual> </link> <joint name= \"right_wheel_joint\" type= \"continuous\" > <origin xyz= \"0 -0.19 -0.05\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"right_wheel_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"right_wheel_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"1.5707 0 0\" /> <geometry> <cylinder radius= \"0.06\" length = \"0.025\" /> </geometry> <material name= \"white\" > <color rgba= \"1 1 1 0.9\" /> </material> </visual> </link> <joint name= \"front_caster_joint\" type= \"continuous\" > <origin xyz= \"0.18 0 -0.095\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"front_caster_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"front_caster_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"0.015\" /> </geometry> <material name= \"black\" > <color rgba= \"0 0 0 0.95\" /> </material> </visual> </link> <joint name= \"back_caster_joint\" type= \"continuous\" > <origin xyz= \"-0.18 0 -0.095\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"back_caster_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"back_caster_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"0.015\" /> </geometry> <material name= \"black\" > <color rgba= \"0 0 0 0.95\" /> </material> </visual> </link> </robot> 参考链接 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为此，ROS专门提供了一种机器人建模方法—— URDF ，用来描述机器人外观、性能等各方面属性。","text_tokens":["？","，","要","不过","描述","专门","提供","如何","机器","为此","得","把","方法","操作","性能","ros","啦","是","下"," ","给","了","呢","一个","还","—","。","外观","、","各","系统","urdf","认识","建模","一种","方面","属性","的","我们","让","介绍","当然","使用","等","之前","机器人","在","用来","操作系统"],"title":"URDF：机器人建模方法","title_tokens":["机器人","urdf","：","机器","建模","方法"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_1","text":"建模描述机器人的过程中，我们自己需要先熟悉机器人的组成和参数，比如机器人一般是由 硬件结构、驱动系统、传感器系统、控制系统 四大部分组成，市面上一些常见的机器人，无论是移动机器人还是机械臂，我们都可以按照这四大组成部分进行分解。 硬件结构就是底盘、外壳、电机等实打实可以看到的设备； 驱动系统就是可以驱使这些设备正常使用的装置，比如电机的驱动器，电源管理系统等； 传感系统包括电机上的编码器、板载的IMU、安装的摄像头、雷达等等，便于机器人感知自己的状态和外部的环境； 控制系统就是我们开发过程的主要载体了，一般是树莓派、电脑等计算平台，以及里边的操作系统和应用软件。 机器人建模的过程，其实就是按照类似的思路，通过建模语言，把机器人每一个部分都描述清楚，再组合起来的过程。","text_tokens":["树莓","，","过程","通过","摄像","描述","和","按照","四大","驱动","面上","管理系统","驱动器","正常","码器","装置","了","参数","一个","先","传感","里边","管理系","的","我们","移动","上","使用","软件","应用","建模语言","操作系统","动机","imu","安装","；","机械","臂","由","机器","把","一般","操作","可以","分解","这些","其实","是","外壳","无论","都","派","清楚","。","常见","编码器","载体","像头","、","系统","组成","实打实","移动机器人","主要","起来","进行","雷达","就是","类似","环境","控制","包括","等等","状态","思路","一些","组成部分","平台","开发","建模","外部","感知","编码","电机","这","电源","中","无论是","电脑","摄像头","以及","结构","便于","市面","应用软件","部分"," ","感器","市面上","再","每","控制系统","组合","看到","计算","驱使","底盘","需要","设备","管理","板载","熟悉","传感器","硬件","自己","等","语言","比如","机器人","还是"],"title":"机器人的组成","title_tokens":["机器","机器人","的","组成"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#urdf_1","text":"ROS中的建模方法叫做 URDF ，全称是 统一机器人描述格式 ，不仅可以清晰描述机器人自身的模型，还可以描述机器人的外部环境，比如这里的桌子，也可以算作一个模型。 URDF模型文件使用的是 XML格式 ，右侧就是一个机器人的URDF描述，乍看上去，有点像网页开发的源代码，都是由一系列尖括号包围的标签和其中的属性组合而成。 如何使用这样一个文件描述机器人呢？比如这个机械臂，大家可以看下自己的手臂，我们的手臂是由大臂和小臂组成，他们独自是无法运动的，必须通过一个手肘关节连接之后，才能通过肌肉驱动，产生相对运动。 在建模中，大臂和小臂就类似机器人的这些独立的刚体部分，称为 连杆Link ，手肘就类似于机器人电机驱动部分，称为 关节joint 。 所以在URDF建模过程中，关键任务就是通过这里的<link>和<joint>，理清楚每一个连杆和关节的描述信息。","text_tokens":["，","通过","过程","产生","描述","上去","和","如何","方法","joint","驱动","清晰","下","一个","还","之后","手臂","任务","有点像","自身",">","独自","括号","必须","格式","无法","的","我们","使用","刚体","统一","在","<","？","称为","xml","一系列","机械","看上去","由","机器","臂","全称","连杆","独立","可以","这些","是","其中","不仅","都","标签","文件","清楚","。","有点","link","运动","组成","信息","属性","关键","系列","就是","类似","环境","看上","看","一系","代码","ros","包围","理","相对运动","这里","于","模型","桌子","大臂","肘关节","乍","开发","小臂","组合而成","大家","建模","外部","连接","相对","电机","右侧","才能","中","这样","外部环境","他们","这个","手","算作","网页","部分"," ","呢","源代码","手肘","叫做","也","每","urdf","尖括号","组合","肌肉","自己","所以","就","比如","机器人","关节"],"title":"URDF","title_tokens":["urdf"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#link","text":"<link>标签用来描述机器人某个刚体部分的 外观和物理属性 ，外观包括尺寸、颜色、形状，物理属性包括质量、惯性矩阵、碰撞参数等。 以这个机械臂连杆为例，它的link描述如下： link标签中的name表示该连杆的名称，我们可以自定义，未来joint连接link的时候，会使用到这个名称。 link里边的<visual>部分用来描述机器人的外观，比如： <geometry>表示 几何形状 ，里边使用<mesh>调用了一个在三维软件中提前设计好的蓝色外观，就是这个stl文件，看上去和真实机器人是一致的 <origin>表示 坐标系相对初始位置的偏移 ，分别是x、y、z方向上的平移，和roll、pitch、raw旋转，不需要偏移的话，就全为0。 第二个部分<collision>，描述 碰撞参数 ，里边的内容似乎和<visual>一样，也有<geometry>和<origin>，看似相同，其实区别还是比较大的。 <visual>部分重在描述机器人看上去的状态，也就是视觉效果； <collision>部分则是描述机器人运动过程中的状态，比如机器人与外界如何接触算作碰撞。 在这个机器人模型中，蓝色部分是通过<visual>来描述的，在实际控制过程中，这样复杂的外观在计算碰撞检测时，要求的算力较高，为了简化计算，我们将碰撞检测用的模型简化为了绿色框的圆柱体，也就是<collision>里边<geometry>描述的形状。<origin>坐标系偏移也是类似，可以描述刚体质心的偏移。 如果是移动机器人的话，link也可以用来描述小车的车体、轮子等部分。","text_tokens":["相同","，","看似","name","过程","origin","通过","描述","和","上去","实际","如何","的话","质心","初始","矩阵","到","joint","visual","一致","表示","以","mesh","时候","简化","了","分别","参数","一个","圆柱","则","有","外界","要求",">","定义","似乎","里边","重在","算力","的","我们","移动","上","使用","坐标系","刚体","视觉","接触","软件","如下","三维","自定义","时","在","<","坐标","raw","位置","方向","设计","好","动机","形状","y","；","机械","臂","看上去","柱体","机器","连杆","复杂","可以","来","圆柱体","其实","是","标签","文件","。","碰撞","link","、","运动","某个","模型简化","效果","用","惯性","stl","视觉效果","会","如果","移动机器人","属性","尺寸","就是","大","类似","质量","看上","旋转","第二","包括","控制","绿色","为了","：","较","内容","检测","为例","不","真实","状态","geometry","一样","未来","偏移","全为","自定","模型","外观","比较","与","调用","pitch","名称","roll","将","第二个","连接","相对","该","高","中","物理","平移","蓝色","这样","它","这个","算作","框","提前","z","小车","轮子","车体","collision","部分","x"," ","区别","二个","也","0","计算","需要","颜色","几何","等","就","比如","碰撞检测","机器人","还是","用来"],"title":"连杆Link的描述","title_tokens":["的","link","描述","连杆"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#joint","text":"机器人模型中的刚体最终要通过关节joint连接之后，才能产生相对运动。 URDF中的关节有六种运动类型。 continuous，描述旋转运动，可以围绕某一个轴无限旋转，比如小车的轮子，就属于这种类型。 revolute，也是旋转关节，和continuous类型的区别在于不能无限旋转，而是带有角度限制，比如机械臂的两个连杆，就属于这种运动。 prismatic，是滑动关节，可以沿某一个轴平移，也带有位置的极限，一般直线电机就是这种运动方式。 fixed，固定关节，是唯一一种不允许运动的关节，不过使用还是比较频繁的，比如相机这个连杆，安装在机器人上，相对位置是不会变化的，此时使用的连接方式就是Fixed。 Floating是浮动关节，第六种planar是平面关节，这两种使用相对较少。 在URDF模型中，每一个link都使用这样一段xml内容描述，比如关节的名字叫什么，运动类型是哪一种。 parent标签：描述父连杆； child标签：描述子连杆，子连杆会相对父连杆发生运动； origin：表示两个连杆坐标系之间的关系，也就是图中红色的向量，可以理解为这两个连杆该如何安装到一起； axis表示关节运动轴的单位向量，比如z等于1，就表示这个旋转运动是围绕z轴的正方向进行的； limit就表示运动的一些限制了，比如最小位置，最大位置，和最大速度等。 Info 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","区别","哪","图中","单位向量","）","/","红色","也","每","axis","urdf","等于","3.14","180","等","floating","就","比如","所以","机器人","还是","固定","关节","极限","名字"],"title":"关节Joint描述","title_tokens":["joint","关节","描述"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_2","text":"最终所有的link和joint标签完成了对机器人每个部分的描述和组合，全都放在一个robot标签中，就形成了完整的机器人模型。 所以大家在看某一个URDF模型时，先不着急看每一块代码的细节，先来找link和joint，看下这个机器人是由哪些部分组成的，了解完全局之后，再看细节。","text_tokens":["，","这个","哪些","和","描述","看","形成","机器","对","由","joint","某","每个","先来","全都","代码","不","找","是","部分","下","了解","局"," ","标签","了","一个","先","模型","。","最终","完整","link","所有","之后","再","每","urdf","一块","组成","组合","大家","完全","的","放在","完成","robot","着急","所以","就","中","时","机器人","在","细节"],"title":"完整机器人模型","title_tokens":["机器","模型","完整","机器人"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_3","text":"好啦，讲了这么多，还是要看一个完整的示例。 我们以这款移动机器人模型为例，一起看下它的URDF建模过程。","text_tokens":["它","，","要","好","过程","动机","看","机器","为例","一起","看下","多","示例","啦","以","讲"," 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\"base_link\" > <visual> <origin xyz= \" 0 0 0\" rpy= \"0 0 0\" /> <geometry> <cylinder length= \"0.16\" radius= \"0.20\" /> </geometry> <material name= \"yellow\" > <color rgba= \"1 0.4 0 1\" /> </material> </visual> </link> <joint name= \"left_wheel_joint\" type= \"continuous\" > <origin xyz= \"0 0.19 -0.05\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"left_wheel_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"left_wheel_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"1.5707 0 0\" /> <geometry> <cylinder radius= \"0.06\" length = \"0.025\" /> </geometry> <material name= \"white\" > <color rgba= \"1 1 1 0.9\" /> </material> </visual> </link> <joint name= \"right_wheel_joint\" type= \"continuous\" > <origin xyz= \"0 -0.19 -0.05\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"right_wheel_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"right_wheel_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"1.5707 0 0\" /> <geometry> <cylinder radius= \"0.06\" length = \"0.025\" /> </geometry> <material name= \"white\" > <color rgba= \"1 1 1 0.9\" /> </material> </visual> </link> <joint name= \"front_caster_joint\" type= \"continuous\" > <origin xyz= \"0.18 0 -0.095\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"front_caster_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"front_caster_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"0.015\" /> </geometry> <material name= \"black\" > <color rgba= \"0 0 0 0.95\" /> </material> </visual> </link> <joint name= \"back_caster_joint\" type= \"continuous\" > <origin xyz= \"-0.18 0 -0.095\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"back_caster_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"back_caster_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"0.015\" /> </geometry> <material name= \"black\" > <color rgba= \"0 0 0 0.95\" /> </material> </visual> </link> </robot>","text_tokens":["cylinder","base","，","具体","要","xml","\"","name","0.18","origin","0.095","0.05","sphere","caster","1","radius",".","version","yellow","什么","?","length","joint","continuous","color","visual","什么样","来","0.015","geometry","0.95","material"," ","right","1.0","mbot","模型","。","rgba","0.19","/","0.9","type","link","打开","white","0.4","0.16","black","1.5707","xyz","-","urdf","0","_","axis",">","parent","=","rpy","child","wheel","0.06","left","0.025","的","0.20","研究","robot","back","front","learning","还是","<"],"title":"模型文件解析","title_tokens":["模型","解析","文件"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_7","text":"https://docs.ros.org/en/humble/Tutorials/URDF/URDF-Main.html","text_tokens":["html","docs","/","org","tutorials","ros","en","humble",":","-","urdf",".","https","main"],"title":"参考链接","title_tokens":["参考","链接"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/","text":"Gazebo：三维物理仿真平台 ROS机器人开发，机器人当然是主角，如果我们手边没有实物机器人，怎么办呢？没问题，机器人三维物理仿真平台 Gazebo ，了解一下。 Gazebo仿真平台 介绍 Gazebo是ROS系统中最为常用的 三维物理仿真平台 ，支持动力学引擎，可以实现高质量的图形渲染，不仅可以模拟机器人及周边环境，还可以加入摩擦力、弹性系数等物理属性。 比如我们要开发一个火星车，那就可以在Gazebo中模拟火星表面的环境，再比如我们做无人机，续航和限飞都导致我们没有办法频繁用实物做实验，此时不妨使用Gazebo先做仿真，等算法开发的差不多了，再部署到实物上来运行。 所以类似Gazebo这样的仿真平台，可以帮助我们验证机器人算法、优化机器人设计、测试机器人场景应用，为机器人开发提供更多可能。 安装 Gazebo如何使用呢？我们不妨先把它给跑起来，互相认识一下。 为了确保系统中已经完整安装了Gazebo相关的功能包，大家可以通过这样一个命令，简单直接的把和gazebo相关的包都给装上： $ sudo apt install ros-humble-gazebo-* 运行 通过这句命令就可以启动啦： $ ros2 launch gazebo_ros gazebo.launch.py Attention 为保证模型顺利加载，请将离线模型下载并放置到~/.gazebo/models路径下 ，下载链接如下： https://github.com/osrf/gazebo_models 认识了Gazebo，接下来是不是该试试机器人仿真啦？ 大家还记得之前课程中，我们设计的移动机器人模型么？我们一起尝试把它放到Gazebo中，还要控制它在仿真环境中运动。 XACRO机器人模型优化 我们之前设计好的URDF模型此时还不能直接放到Gazebo中，需要我们做一些优化。这里给大家介绍一个URDF文件格式的升级版本—— XACRO文件 。 同样也是对机器人URDF模型的创建，XACRO文件加入了更多编程化的实现方法，可以让模型创建更友好。 比如： 宏定义 ，一个小车有4个轮子，每个轮子都一样，我们就没必要创建4个一样的link，像函数定义一样，做一个可重复使用的模块就可以了。 文件包含 ，复杂机器人的模型文件可能会很长，为了切分不同的模块，比如底盘、传感器，我们还可以把不同模块的模型放置在不同的文件中，然后再用一个总体文件做包含调用。 可编程接口 ，比如在XACRO模型文件中，定义一些常量，描述机器人的尺寸，定义一些变量，在调用宏定义的时候传递数据，还可以在模型中做数据计算，甚至加入条件语句，比如你的机器人叫A，就有摄像头，如果叫B，就没有摄像头。 XACRO建模过程就像写代码一样，功能更为丰富了。 接下来，我们就通过XACRO文件对移动机器人的模型做一下优化，大家先要使用这句命令安装必要的功能包。 $ sudo apt install ros-humble-xacro 以下是一些常用的XACRO文件语法，大家了解下。 常量定义 <xacro:property>标签用来定义一些常量，比如这样定义一个PI的常量名为“M_PI”，值为“3.14159”，在调用的时候，通过$加大括号，里边就可以使用定义好的常量了。 针对原本移动机器人的URDF文件，我们就可以把底盘的质量、尺寸，轮子的质量、尺寸、安装位置，这些不会变化的数据，都通过常量定义，未来需要修改的时候也很方便，就不需要在模型文件中一行一行找了。 数学计算 如果需要做数学计算，同样是在“${}”中进行，比如某一个位置，我们可以通过这两个常量做运算得到，就加入了加法和除法运算。 在移动机器人的模型中，很多有相对关系的数据，我们尽量都改成公式计算，如果直接写结果的数值，未来修改的时候，可能根本想不起来这个数据是怎么来的。 Info 所有数学运算都会转换成浮点数进行，以保证运算精度 宏定义 机器人的轮子我们也做成宏定义，定义方式是通过这个<xacro:macro>标签描述的，还可以像函数一样，设置里边会用到的一些参数，比如这里的A、B、C。 当需要使用这个宏的时候，就可以像这样，通过宏名字的标签，来调用，同时要记得把几个参数设置好。 比如在模型中，轮子的宏定义是这样的，包含了link描述和joint关节设置，link的名称和关节的位置，是通过输入的参数来区分的，在使用的时候，通过这两句调用，两个轮子就出现了。 这里的1和-1，是设置关节位置的，刚好是一个镜像关系。 文件包含 宏定义是可以嵌套的，于是我们把机器人的底盘也做成了一个宏，然后使用另外一个模型文件，对底盘宏定义的文件做了一个包含，然后再调用。 这种流程是不是似曾相识，很像C语言中的include文件包含，然后再去调用里边的某些函数。 到这里为止，仿真使用的模型优化还没有结束，接下来我们还得加入一些仿真必备的模块和参数。 机器人仿真模型配置 完善物理参数 第一步是确保每一个link都有惯性参数和碰撞属性，因为Gazebo是物理仿真平台，必要的物理参数是一定需要的。 添加Gazebo标签 第二步是为link添加gazebo标签，主要是为了可以在gazebo中渲染每一个link的颜色，因为URDF中的颜色系统和gazebo中的不同，所以得做一步这样的冗余配置。 配置传动装置 第三步是要给运动的joint配置传动装置，可以理解为仿真了一个电机。 添加控制器插件 第四步，要添加一个gazebo的控制器插件，小车是差速控制的，那就添加差速控制器插件，这样在不同角度下两个电机的速度分配，就可以交给控制器插件来完成了。 构建仿真环境 接下来就考虑如何把模型加载到Gazebo中了，需要用到一个gazebo提供的功能节点spwan_entity。 learning_gazebo/launch/load_urdf_into_gazebo.launch.py import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node def generate_launch_description (): # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!! package_name = 'learning_gazebo' #<--- CHANGE ME world_file_path = 'worlds/neighborhood.world' pkg_path = os . path . join ( get_package_share_directory ( package_name )) world_path = os . path . join ( pkg_path , world_file_path ) # Pose where we want to spawn the robot spawn_x_val = '0.0' spawn_y_val = '0.0' spawn_z_val = '0.0' spawn_yaw_val = '0.0' mbot = IncludeLaunchDescription ( PythonLaunchDescriptionSource ([ os . path . join ( get_package_share_directory ( package_name ), 'launch' , 'mbot.launch.py' )]), launch_arguments = { 'use_sim_time' : 'true' , 'world' : world_path } . items () ) # Include the Gazebo launch file, provided by the gazebo_ros package gazebo = IncludeLaunchDescription ( PythonLaunchDescriptionSource ([ os . path . join ( get_package_share_directory ( 'gazebo_ros' ), 'launch' , 'gazebo.launch.py' )]), ) # Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot. spawn_entity = Node ( package = 'gazebo_ros' , executable = 'spawn_entity.py' , arguments = [ '-topic' , 'robot_description' , '-entity' , 'mbot' , '-x' , spawn_x_val , '-y' , spawn_y_val , '-z' , spawn_z_val , '-Y' , spawn_yaw_val ], output = 'screen' ) # Launch them all! return LaunchDescription ([ mbot , gazebo , spawn_entity , ]) 机器人运动仿真 万事俱备，接下来就是见证奇迹的时刻。 我们需要运行两句命令，第一句启动仿真环境，第二句启动键盘控制节点。 $ ros2 launch learning_gazebo load_urdf_into_gazebo.launch.py $ ros2 run teleop_twist_keyboard teleop_twist_keyboard Attention 虚拟机中运行时需要关闭硬件加速：echo \" export SVGA_VGPU10=0\" >> ~/.bashrc 通过键盘上的“i、j、，、l”几个按键，就可以控制机器人前后左右运动啦。 整个仿真有点像控制小海龟的过程，不过此时的机器人和仿真环境，已经比小海龟复杂很多了。 以上就是Gazebo机器人的仿真的基本流程。 Ignition：下一代Gazebo 随着技术的进步，Gazebo仿真平台也在不断迭代，新一代的Gazebo命名为 Ignition ，从渲染效果和仿真流畅度上都有较大的变化，我们不妨也来试一下。 $ sudo apt install ros-humble-ros-ign $ ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py 运行成功后，会打开Ignition的仿真界面和Rviz上位机，我们可以看到RGBD相机仿真后发布的图像数据。 更多新版本仿真器的信息，大家也可以参考官方网站: www.ignitionrobotics.org/ 附录：机器人完整模型 learning_gazebo/urdf/mbot_gazebo.xacro <?xml version=\"1.0\"?> <robot name= \"mbot\" xmlns:xacro= \"http://www.ros.org/wiki/xacro\" > <xacro:include filename= \"$(find learning_gazebo)/urdf/mbot_base_gazebo.xacro\" /> <xacro:mbot_base_gazebo/> </robot> learning_gazebo/urdf/mbot_base_gazebo.xacro <?xml version=\"1.0\"?> <robot name= \"mbot\" xmlns:xacro= \"http://www.ros.org/wiki/xacro\" > <!-- PROPERTY LIST --> <xacro:property name= \"M_PI\" value= \"3.1415926\" /> <xacro:property name= \"base_mass\" value= \"1\" /> <xacro:property name= \"base_radius\" value= \"0.20\" /> <xacro:property name= \"base_length\" value= \"0.16\" /> <xacro:property name= \"wheel_mass\" value= \"0.2\" /> <xacro:property name= \"wheel_radius\" value= \"0.06\" /> <xacro:property name= \"wheel_length\" value= \"0.025\" /> <xacro:property name= \"wheel_joint_y\" value= \"0.19\" /> <xacro:property name= \"wheel_joint_z\" value= \"0.05\" /> <xacro:property name= \"caster_mass\" value= \"0.2\" /> <xacro:property name= \"caster_radius\" value= \"0.015\" /> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) --> <xacro:property name= \"caster_joint_x\" value= \"0.18\" /> <!-- Defining the colors used in this robot --> <material name= \"yellow\" > <color rgba= \"1 0.4 0 1\" /> </material> <material name= \"black\" > <color rgba= \"0 0 0 0.95\" /> </material> <material name= \"gray\" > <color rgba= \"0.75 0.75 0.75 1\" /> </material> <!-- Macro for inertia matrix --> <xacro:macro name= \"sphere_inertial_matrix\" params= \"m r\" > <inertial> <mass value= \"${m}\" /> <inertia ixx= \"${2*m*r*r/5}\" ixy= \"0\" ixz= \"0\" iyy= \"${2*m*r*r/5}\" iyz= \"0\" izz= \"${2*m*r*r/5}\" /> </inertial> </xacro:macro> <xacro:macro name= \"cylinder_inertial_matrix\" params= \"m r h\" > <inertial> <mass value= \"${m}\" /> <inertia ixx= \"${m*(3*r*r+h*h)/12}\" ixy = \"0\" ixz = \"0\" iyy= \"${m*(3*r*r+h*h)/12}\" iyz = \"0\" izz= \"${m*r*r/2}\" /> </inertial> </xacro:macro> <!-- Macro for robot wheel --> <xacro:macro name= \"wheel\" params= \"prefix reflect\" > <joint name= \"${prefix}_wheel_joint\" type= \"continuous\" > <origin xyz= \"0 ${reflect*wheel_joint_y} ${-wheel_joint_z}\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"${prefix}_wheel_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"${prefix}_wheel_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"${M_PI/2} 0 0\" /> <geometry> <cylinder radius= \"${wheel_radius}\" length = \"${wheel_length}\" /> </geometry> <material name= \"gray\" /> </visual> <collision> <origin xyz= \"0 0 0\" rpy= \"${M_PI/2} 0 0\" /> <geometry> <cylinder radius= \"${wheel_radius}\" length = \"${wheel_length}\" /> </geometry> </collision> <xacro:cylinder_inertial_matrix m= \"${wheel_mass}\" r= \"${wheel_radius}\" h= \"${wheel_length}\" /> </link> <gazebo reference= \"${prefix}_wheel_link\" > <material> Gazebo/Gray </material> </gazebo> <!-- Transmission is important to link the joints and the controller --> <transmission name= \"${prefix}_wheel_joint_trans\" > <type> transmission_interface/SimpleTransmission </type> <joint name= \"${prefix}_wheel_joint\" > <hardwareInterface> hardware_interface/VelocityJointInterface </hardwareInterface> </joint> <actuator name= \"${prefix}_wheel_joint_motor\" > <hardwareInterface> hardware_interface/VelocityJointInterface </hardwareInterface> <mechanicalReduction> 1 </mechanicalReduction> </actuator> </transmission> </xacro:macro> <!-- Macro for robot caster --> <xacro:macro name= \"caster\" params= \"prefix reflect\" > <joint name= \"${prefix}_caster_joint\" type= \"fixed\" > <origin xyz= \"${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"${prefix}_caster_link\" /> </joint> <link name= \"${prefix}_caster_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"${caster_radius}\" /> </geometry> <material name= \"black\" /> </visual> <collision> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"${caster_radius}\" /> </geometry> </collision> <xacro:sphere_inertial_matrix m= \"${caster_mass}\" r= \"${caster_radius}\" /> </link> <gazebo reference= \"${prefix}_caster_link\" > <material> Gazebo/Black </material> </gazebo> </xacro:macro> <xacro:macro name= \"mbot_base_gazebo\" > <link name= \"base_footprint\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <box size= \"0.001 0.001 0.001\" /> </geometry> </visual> </link> <gazebo reference= \"base_footprint\" > <turnGravityOff> false </turnGravityOff> </gazebo> <joint name= \"base_footprint_joint\" type= \"fixed\" > <origin xyz= \"0 0 ${base_length/2 + caster_radius*2}\" rpy= \"0 0 0\" /> <parent link= \"base_footprint\" /> <child link= \"base_link\" /> </joint> <link name= \"base_link\" > <visual> <origin xyz= \" 0 0 0\" rpy= \"0 0 0\" /> <geometry> <cylinder length= \"${base_length}\" radius= \"${base_radius}\" /> </geometry> <material name= \"yellow\" /> </visual> <collision> <origin xyz= \" 0 0 0\" rpy= \"0 0 0\" /> <geometry> <cylinder length= \"${base_length}\" radius= \"${base_radius}\" /> </geometry> </collision> <xacro:cylinder_inertial_matrix m= \"${base_mass}\" r= \"${base_radius}\" h= \"${base_length}\" /> </link> <gazebo reference= \"base_link\" > <material> Gazebo/Blue </material> </gazebo> <xacro:wheel prefix= \"left\" reflect= \"1\" /> <xacro:wheel prefix= \"right\" reflect= \"-1\" /> <xacro:caster prefix= \"front\" reflect= \"-1\" /> <xacro:caster prefix= \"back\" reflect= \"1\" /> <!-- controller --> <gazebo> <plugin name= \"differential_drive_controller\" filename= \"libgazebo_ros_diff_drive.so\" > <update_rate> 30 </update_rate> <left_joint> left_wheel_joint </left_joint> <right_joint> right_wheel_joint </right_joint> <wheel_separation> ${wheel_joint_y*2} </wheel_separation> <wheel_diameter> ${2*wheel_radius} </wheel_diameter> <max_wheel_torque> 20 </max_wheel_torque> <max_wheel_acceleration> 1.0 </max_wheel_acceleration> <command_topic> cmd_vel </command_topic> <publish_odom> true </publish_odom> <publish_odom_tf> true </publish_odom_tf> <publish_wheel_tf> true </publish_wheel_tf> <odometry_topic> odom </odometry_topic> <odometry_frame> odom </odometry_frame> <robot_base_frame> base_footprint </robot_base_frame> <odometry_source> 1 </odometry_source> </plugin> </gazebo> </xacro:macro> 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learning_gazebo/launch/load_urdf_into_gazebo.launch.py import os from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node def generate_launch_description (): # Include the robot_state_publisher launch file, provided by our own package. 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更多新版本仿真器的信息，大家也可以参考官方网站: www.ignitionrobotics.org/","text_tokens":["，","和","官方网","界面","上位","官方","多","一代","bridge","仿真器","有","camera",":","_","流畅","随着","launch","运行","的","我们","上","打开","变化","在","demos","进步","一下","ignitionrobotics","可以","来","都","。","ros2","gazebo","-","相机","效果","会","信息","不妨","后","ign","成功","图像","机",".","$","命名","ros","度","不断","官方网站","渲染","技术","真器","org","平台","更","大家","新一代","试一下","版本","从","install","为","发布","sudo","rgbd","py","迭代","ignition"," ","数据","www","新","/","humble","网站","仿真","也","apt","较大","看到","rviz","参考"],"title":"Ignition：下一代Gazebo","title_tokens":["下一代","ignition","gazebo","一代","："]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_14","text":"learning_gazebo/urdf/mbot_gazebo.xacro <?xml version=\"1.0\"?> <robot name= \"mbot\" xmlns:xacro= \"http://www.ros.org/wiki/xacro\" > <xacro:include filename= \"$(find learning_gazebo)/urdf/mbot_base_gazebo.xacro\" /> <xacro:mbot_base_gazebo/> </robot> learning_gazebo/urdf/mbot_base_gazebo.xacro <?xml version=\"1.0\"?> <robot name= \"mbot\" xmlns:xacro= \"http://www.ros.org/wiki/xacro\" > <!-- PROPERTY LIST --> <xacro:property name= \"M_PI\" value= \"3.1415926\" /> <xacro:property name= \"base_mass\" value= \"1\" /> <xacro:property name= \"base_radius\" value= \"0.20\" /> <xacro:property name= \"base_length\" value= \"0.16\" /> <xacro:property name= \"wheel_mass\" value= \"0.2\" /> <xacro:property name= \"wheel_radius\" value= \"0.06\" /> <xacro:property name= \"wheel_length\" value= \"0.025\" /> <xacro:property name= \"wheel_joint_y\" value= \"0.19\" /> <xacro:property name= \"wheel_joint_z\" value= \"0.05\" /> <xacro:property name= \"caster_mass\" value= \"0.2\" /> <xacro:property name= \"caster_radius\" value= \"0.015\" /> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) --> <xacro:property name= \"caster_joint_x\" value= \"0.18\" /> <!-- Defining the colors used in this robot --> <material name= \"yellow\" > <color rgba= \"1 0.4 0 1\" /> </material> <material name= \"black\" > <color rgba= \"0 0 0 0.95\" /> </material> <material name= \"gray\" > <color rgba= \"0.75 0.75 0.75 1\" /> </material> <!-- Macro for inertia matrix --> <xacro:macro name= \"sphere_inertial_matrix\" params= \"m r\" > <inertial> <mass value= \"${m}\" /> <inertia ixx= \"${2*m*r*r/5}\" ixy= \"0\" ixz= \"0\" iyy= \"${2*m*r*r/5}\" iyz= \"0\" izz= \"${2*m*r*r/5}\" /> </inertial> </xacro:macro> <xacro:macro name= \"cylinder_inertial_matrix\" params= \"m r h\" > <inertial> <mass value= \"${m}\" /> <inertia ixx= \"${m*(3*r*r+h*h)/12}\" ixy = \"0\" ixz = \"0\" iyy= \"${m*(3*r*r+h*h)/12}\" iyz = \"0\" izz= \"${m*r*r/2}\" /> </inertial> </xacro:macro> <!-- Macro for robot wheel --> <xacro:macro name= \"wheel\" params= \"prefix reflect\" > <joint name= \"${prefix}_wheel_joint\" type= \"continuous\" > <origin xyz= \"0 ${reflect*wheel_joint_y} ${-wheel_joint_z}\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"${prefix}_wheel_link\" /> <axis xyz= \"0 1 0\" /> </joint> <link name= \"${prefix}_wheel_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"${M_PI/2} 0 0\" /> <geometry> <cylinder radius= \"${wheel_radius}\" length = \"${wheel_length}\" /> </geometry> <material name= \"gray\" /> </visual> <collision> <origin xyz= \"0 0 0\" rpy= \"${M_PI/2} 0 0\" /> <geometry> <cylinder radius= \"${wheel_radius}\" length = \"${wheel_length}\" /> </geometry> </collision> <xacro:cylinder_inertial_matrix m= \"${wheel_mass}\" r= \"${wheel_radius}\" h= \"${wheel_length}\" /> </link> <gazebo reference= \"${prefix}_wheel_link\" > <material> Gazebo/Gray </material> </gazebo> <!-- Transmission is important to link the joints and the controller --> <transmission name= \"${prefix}_wheel_joint_trans\" > <type> transmission_interface/SimpleTransmission </type> <joint name= \"${prefix}_wheel_joint\" > <hardwareInterface> hardware_interface/VelocityJointInterface </hardwareInterface> </joint> <actuator name= \"${prefix}_wheel_joint_motor\" > <hardwareInterface> hardware_interface/VelocityJointInterface </hardwareInterface> <mechanicalReduction> 1 </mechanicalReduction> </actuator> </transmission> </xacro:macro> <!-- Macro for robot caster --> <xacro:macro name= \"caster\" params= \"prefix reflect\" > <joint name= \"${prefix}_caster_joint\" type= \"fixed\" > <origin xyz= \"${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}\" rpy= \"0 0 0\" /> <parent link= \"base_link\" /> <child link= \"${prefix}_caster_link\" /> </joint> <link name= \"${prefix}_caster_link\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"${caster_radius}\" /> </geometry> <material name= \"black\" /> </visual> <collision> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <sphere radius= \"${caster_radius}\" /> </geometry> </collision> <xacro:sphere_inertial_matrix m= \"${caster_mass}\" r= \"${caster_radius}\" /> </link> <gazebo reference= \"${prefix}_caster_link\" > <material> Gazebo/Black </material> </gazebo> </xacro:macro> <xacro:macro name= \"mbot_base_gazebo\" > <link name= \"base_footprint\" > <visual> <origin xyz= \"0 0 0\" rpy= \"0 0 0\" /> <geometry> <box size= \"0.001 0.001 0.001\" /> </geometry> </visual> </link> <gazebo reference= \"base_footprint\" > <turnGravityOff> false </turnGravityOff> </gazebo> <joint name= \"base_footprint_joint\" type= \"fixed\" > <origin xyz= \"0 0 ${base_length/2 + caster_radius*2}\" rpy= \"0 0 0\" /> <parent link= \"base_footprint\" /> <child link= \"base_link\" /> </joint> <link name= \"base_link\" > <visual> <origin xyz= \" 0 0 0\" rpy= \"0 0 0\" /> <geometry> <cylinder length= \"${base_length}\" radius= \"${base_radius}\" /> </geometry> <material name= \"yellow\" /> </visual> <collision> <origin xyz= \" 0 0 0\" rpy= \"0 0 0\" /> <geometry> <cylinder length= \"${base_length}\" radius= \"${base_radius}\" /> </geometry> </collision> <xacro:cylinder_inertial_matrix m= \"${base_mass}\" r= \"${base_radius}\" h= \"${base_length}\" /> </link> <gazebo reference= \"base_link\" > <material> Gazebo/Blue </material> </gazebo> <xacro:wheel prefix= \"left\" reflect= \"1\" /> <xacro:wheel prefix= \"right\" reflect= \"-1\" /> <xacro:caster prefix= \"front\" reflect= \"-1\" /> <xacro:caster prefix= \"back\" reflect= \"1\" /> <!-- controller --> <gazebo> <plugin name= \"differential_drive_controller\" filename= \"libgazebo_ros_diff_drive.so\" > <update_rate> 30 </update_rate> <left_joint> left_wheel_joint </left_joint> <right_joint> right_wheel_joint </right_joint> <wheel_separation> ${wheel_joint_y*2} </wheel_separation> <wheel_diameter> ${2*wheel_radius} </wheel_diameter> <max_wheel_torque> 20 </max_wheel_torque> <max_wheel_acceleration> 1.0 </max_wheel_acceleration> <command_topic> cmd_vel </command_topic> <publish_odom> true </publish_odom> <publish_odom_tf> true </publish_odom_tf> <publish_wheel_tf> true </publish_wheel_tf> <odometry_topic> odom </odometry_topic> <odometry_frame> odom </odometry_frame> <robot_base_frame> base_footprint </robot_base_frame> <odometry_source> 1 </odometry_source> </plugin> </gazebo> </xacro:macro> 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打造的一个开放式平台，官方出厂就自带了很多机器人常用的可视化显示插件，只要我们按照ROS中的消息发布对应的话题，就可以看到图形化的效果了。如果我们对显示的效果不满意，或者想添加某些新的显示项，也可以在Rviz这个平台中，开发更多可视化效果，方便打造我们自己的上位机。 运行方法 启动一个终端，使用如下命令即可启动： $ ros2 run rviz2 rviz2 彩色相机仿真与可视化 摄像头肯定是最为常用的一种传感器了，我们先来给机器人装上摄像头。 仿真插件配置 关于传感器的仿真，都需要使用Gazebo提供的插件，摄像头对应的插件叫做libgazebo_ros_camera.so，我们对照模型的代码给大家介绍这个插件的使用方法。 learning_gazebo/urdf/sensers/camera_gazebo.xacro <gazebo reference= \"${prefix}_link\" > <sensor type= \"camera\" name= \"camera_node\" > <update_rate> 30.0 </update_rate> <camera name= \"head\" > <horizontal_fov> 1.3962634 </horizontal_fov> <image> <width> 1280 </width> <height> 720 </height> <format> R8G8B8 </format> </image> <clip> <near> 0.02 </near> <far> 300 </far> </clip> <noise> <type> gaussian </type> <mean> 0.0 </mean> <stddev> 0.007 </stddev> </noise> </camera> <plugin name= \"gazebo_camera\" filename= \"libgazebo_ros_camera.so\" > <ros> <!-- <namespace>stereo</namespace> --> <remapping> ~/image_raw:=image_raw </remapping> <remapping> ~/camera_info:=camera_info </remapping> </ros> <camera_name> ${prefix} </camera_name> <frame_name> ${prefix}_link </frame_name> <hack_baseline> 0.2 </hack_baseline> </plugin> </sensor> </gazebo> 主要配置项如下： <sensor>标签：描述传感器 type：传感器类型，camera name：摄像头命名，自由设置 <camera>标签：描述摄像头参数 分辨率，编码格式，图像范围，噪音参数等 <plugin>标签：加载摄像头仿真插件 运行仿真环境 模型已经配置好啦，能不能把摄像头成功仿真出来，并且在Rviz中看到图像信息，我们拭目以待。 $ ros2 launch learning_gazebo load_mbot_camera_into_gazebo.launch.py 可以使用命令行看下仿真出来的图像话题： 图像数据可视化 我们使用Rviz可视化显示图像信息，先来启动Rviz： $ ros2 run rviz2 rviz2 启动成功后，在左侧Displays窗口中点击“Add”，找到Image显示项，OK确认后就可以加入显示列表啦，然后配置好该显示项订阅的图像话题，就可以顺利看到机器人的摄像头图像啦。 三维相机仿真与可视化 二维摄像头不过瘾，想不想试试三维相机，比如我们常用的Kinect体感传感器，或者Intel的Realsense，可以获取外部环境的点云数据。这种相机的价格比usb摄像头可贵不少，不过我们也可以通过仿真，一分钱不用，就可以玩起来。 仿真插件配置 三维相机使用的Gazebo插件也是libgazebo_ros_camera.so，配置方法如下： learning_gazebo/urdf/sensers/kinect_gazebo.xacro <gazebo reference= \"${prefix}_link\" > <sensor type= \"depth\" name= \"${prefix}\" > <always_on> true </always_on> <update_rate> 15.0 </update_rate> <pose> 0 0 0 0 0 0 </pose> <camera name= \"kinect\" > <horizontal_fov> ${60.0*M_PI/180.0} </horizontal_fov> <image> <format> R8G8B8 </format> <width> 640 </width> <height> 480 </height> </image> <clip> <near> 0.05 </near> <far> 8.0 </far> </clip> </camera> <plugin name= \"${prefix}_controller\" filename= \"libgazebo_ros_camera.so\" > <ros> <!-- <namespace>${prefix}</namespace> --> <remapping> ${prefix}/image_raw:=rgb/image_raw </remapping> <remapping> ${prefix}/image_depth:=depth/image_raw </remapping> <remapping> ${prefix}/camera_info:=rgb/camera_info </remapping> <remapping> ${prefix}/camera_info_depth:=depth/camera_info </remapping> <remapping> ${prefix}/points:=depth/points </remapping> </ros> <camera_name> ${prefix} </camera_name> <frame_name> ${prefix}_frame_optical </frame_name> <hack_baseline> 0.07 </hack_baseline> <min_depth> 0.001 </min_depth> <max_depth> 300.0 </max_depth> </plugin> </sensor> </gazebo> 运行仿真环境 使用如下命令启动仿真环境： $ ros2 launch learning_gazebo load_mbot_rgbd_into_gazebo.launch.py 启动成功后，可以看下当前的话题列表，已经产生了三维相机的相关话题。 点云数据可视化 运行Rviz： $ ros2 run rviz2 rviz2 同样的流程，点击Add，添加PointCloud2，设置订阅的点云话题，还要配置Rviz的参考系是odom，就可以看到点云数据啦，每一个点都是由xyz位置和rgb颜色组成。 激光雷达仿真与可视化 除了摄像头和三维相机，激光雷达也是很多移动机器人常备的传感器，包括自动驾驶汽车，我们也来试一试。 仿真插件配置 雷达使用的Gazebo插件是libgazebo_ros_ray_sensor.so，配置方法如下： learning_gazebo/urdf/sensers/lidar_gazebo.xacro <gazebo reference= \"${prefix}_link\" > <sensor type= \"ray\" name= \"rplidar\" > <update_rate> 20 </update_rate> <ray> <scan> <horizontal> <samples> 360 </samples> <resolution> 1 </resolution> <min_angle> -3 </min_angle> <max_angle> 3 </max_angle> </horizontal> </scan> <range> <min> 0.10 </min> <max> 30.0 </max> <resolution> 0.01 </resolution> </range> <noise> <type> gaussian </type> <mean> 0.0 </mean> <stddev> 0.01 </stddev> </noise> </ray> <plugin name= \"gazebo_rplidar\" filename= \"libgazebo_ros_ray_sensor.so\" > <ros> <namespace> / </namespace> <remapping> ~/out:=scan </remapping> </ros> <output_type> sensor_msgs/LaserScan </output_type> </plugin> </sensor> 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","即可","一个"],"title":"运行方法","title_tokens":["运行","方法"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_2","text":"摄像头肯定是最为常用的一种传感器了，我们先来给机器人装上摄像头。","text_tokens":["，","摄像","机器","先来","是","给","了","感器","。","传感","像头","装","一种","肯定","的","我们","最为","传感器","上","机器人","摄像头","常用"],"title":"彩色相机仿真与可视化","title_tokens":["可视化","与","仿真","彩色","相机","可视"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_3","text":"关于传感器的仿真，都需要使用Gazebo提供的插件，摄像头对应的插件叫做libgazebo_ros_camera.so，我们对照模型的代码给大家介绍这个插件的使用方法。 learning_gazebo/urdf/sensers/camera_gazebo.xacro <gazebo reference= \"${prefix}_link\" > <sensor type= \"camera\" name= \"camera_node\" > <update_rate> 30.0 </update_rate> <camera name= \"head\" > <horizontal_fov> 1.3962634 </horizontal_fov> <image> <width> 1280 </width> <height> 720 </height> <format> R8G8B8 </format> </image> <clip> <near> 0.02 </near> <far> 300 </far> </clip> <noise> <type> gaussian </type> <mean> 0.0 </mean> <stddev> 0.007 </stddev> </noise> </camera> <plugin name= \"gazebo_camera\" filename= \"libgazebo_ros_camera.so\" > <ros> <!-- <namespace>stereo</namespace> --> <remapping> ~/image_raw:=image_raw </remapping> <remapping> ~/camera_info:=camera_info </remapping> </ros> <camera_name> ${prefix} </camera_name> <frame_name> ${prefix}_link </frame_name> <hack_baseline> 0.2 </hack_baseline> </plugin> </sensor> </gazebo> 主要配置项如下： <sensor>标签：描述传感器 type：传感器类型，camera name：摄像头命名，自由设置 <camera>标签：描述摄像头参数 分辨率，编码格式，图像范围，噪音参数等 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\"${prefix}\" > <always_on> true </always_on> <update_rate> 15.0 </update_rate> <pose> 0 0 0 0 0 0 </pose> <camera name= \"kinect\" > <horizontal_fov> ${60.0*M_PI/180.0} </horizontal_fov> <image> <format> R8G8B8 </format> <width> 640 </width> <height> 480 </height> </image> <clip> <near> 0.05 </near> <far> 8.0 </far> </clip> </camera> <plugin name= \"${prefix}_controller\" filename= \"libgazebo_ros_camera.so\" > <ros> <!-- <namespace>${prefix}</namespace> --> <remapping> ${prefix}/image_raw:=rgb/image_raw </remapping> <remapping> ${prefix}/image_depth:=depth/image_raw </remapping> <remapping> ${prefix}/camera_info:=rgb/camera_info </remapping> <remapping> ${prefix}/camera_info_depth:=depth/camera_info </remapping> <remapping> ${prefix}/points:=depth/points </remapping> </ros> <camera_name> ${prefix} </camera_name> <frame_name> ${prefix}_frame_optical </frame_name> <hack_baseline> 0.07 </hack_baseline> <min_depth> 0.001 </min_depth> <max_depth> 300.0 </max_depth> </plugin> </sensor> 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","都","数据","一个","。","ros2","rgb","每","xyz","点击","组成","pointcloud2","看到","订阅","运行","还要","颜色","配置","的","参考系","rviz","同样","odom","参考","就","rviz2","点云"],"title":"点云数据可视化","title_tokens":["数据","点云","可视化","可视"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_10","text":"除了摄像头和三维相机，激光雷达也是很多移动机器人常备的传感器，包括自动驾驶汽车，我们也来试一试。","text_tokens":["，","包括","动机","摄像","和","除了","常备","机器","汽车","来","是","感器","自动","试一试","。","传感","激光雷达","像头","也","相机","激光","移动机器人","的","我们","很多","移动","传感器","雷达","三维","驾驶","机器人","摄像头"],"title":"激光雷达仿真与可视化","title_tokens":["激光雷达","可视化","与","仿真","雷达","可视","激光"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_11","text":"雷达使用的Gazebo插件是libgazebo_ros_ray_sensor.so，配置方法如下： learning_gazebo/urdf/sensers/lidar_gazebo.xacro <gazebo reference= \"${prefix}_link\" > <sensor type= \"ray\" name= \"rplidar\" > <update_rate> 20 </update_rate> <ray> <scan> <horizontal> <samples> 360 </samples> <resolution> 1 </resolution> <min_angle> -3 </min_angle> 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点击Add，选择Laserscan，然后配置订阅的话题名，rviz的固定坐标系依然是odom，此时就可以看到激光点啦。","text_tokens":["，","然后","话题","：","add","可以","$","run","名","啦","是","选择"," ","点","依然","。","laserscan","ros2","点击","看到","激光","订阅","配置","启动","的","rviz","坐标系","odom","就","rviz2","此时","固定","坐标"],"title":"点云数据可视化","title_tokens":["数据","点云","可视化","可视"]},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#rviz-vs-gazebo","text":"好啦，通过这几个案例，相信大家对Rviz可视化平台的使用流程已经非常熟悉了，也了解了常用传感器的仿真方法。 讲到这里，Gazebo和Rviz这两个软件的具体功能，大家是不是会有一些混淆。 我们再来强调下： Gazebo是 仿真平台 ，核心功能是 创造数据 ，我们没有机器人或者传感器，它可以帮我们做一个虚拟的； Rviz是 可视化平台 ，核心功能是 显示数据 ，如果没有数据，它也巧妇难为无米之炊。 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<p>2000\u5e74\u540e\uff0c\u8ba1\u7b97\u673a\u548c\u89c6\u89c9\u6280\u672f\u9010\u6e10\u5e94\u7528\uff0c\u673a\u5668\u4eba\u7684\u7c7b\u578b\u4e0d\u65ad\u4e30\u5bcc\uff0c\u51fa\u73b0\u4e86AGV\u3001\u89c6\u89c9\u68c0\u6d4b\u7b49\u5e94\u7528\uff0c\u6b64\u65f6\u7684\u673a\u5668\u4eba\u4f20\u611f\u5668\u66f4\u52a0\u4e30\u5bcc\uff0c\u4f46\u662f\u4f9d\u7136\u7f3a\u5c11\u81ea\u4e3b\u601d\u8003\u7684\u8fc7\u7a0b\uff0c\u667a\u80fd\u5316\u6709\u9650\uff0c\u53ea\u80fd\u611f\u77e5\u5c40\u90e8\u73af\u5883\uff0c\u8fd9\u662f\u673a\u5668\u4eba\u7684\u6570\u5b57\u65f6\u4ee3\uff0c\u4e0d\u8fc7\u8fd9\u4e5f\u662f\u673a\u5668\u4eba\u5927\u65f6\u4ee3\u7684\u524d\u591c\u3002</p> </li> <li> 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<p>\u8bf4\u5e72\u5c31\u5e72\uff0c\u521d\u671f\u7684\u673a\u5668\u4eba\u539f\u578b\u662f\u7528\u5b9e\u9a8c\u5ba4\u53ef\u4ee5\u627e\u5230\u7684\u6728\u5934\u548c\u4e00\u4e9b\u96f6\u90e8\u4ef6\u7ec4\u6210\u7684\uff0c\u540e\u671f\u6709\u4e86\u5145\u8db3\u7684\u8d44\u91d1\uff0c\u624d\u5f97\u4ee5\u5b9e\u73b0\u56fe\u4e2d\u8fd9\u6b3e\u5916\u89c2\u7cbe\u81f4\u3001\u6027\u80fd\u5f3a\u608d\u7684\u673a\u5668\u4eba\u2014\u2014PR2\uff0cPersonal Robot 2\u4ee3\u3002</p> <p></p> <p>\u5728\u4e0a\u56fe\u4e2d\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230PR2\u673a\u5668\u4eba\u5df2\u7ecf\u53ef\u4ee5\u5b8c\u6210\u53e0\u6bdb\u5dfe\u3001\u71a8\u70eb\u8863\u670d\u3001\u6253\u53f0\u7403\u3001\u526a\u5934\u53d1\u7b49\u4e00\u7cfb\u5217\u590d\u6742\u7684\u5e94\u7528\u529f\u80fd\uff0c\u4ee5\u53e0\u6bdb\u5dfe\u4e3a\u4f8b\uff0c\u8fd9\u5728\u5f53\u65f6\u662f\u8f70\u52a8\u673a\u5668\u4eba\u5708\u7684\u91cd\u8981\u7814\u7a76\uff0c\u56e0\u4e3a\u7b2c\u4e00\u6b21\u6709\u673a\u5668\u4eba\u53ef\u4ee5\u5b8c\u6210\u67d4\u6027\u7269\u4f53\u7684\u5904\u7406\uff0c\u867d\u7136\u6548\u7387\u5f88\u4f4e\uff0c\u5728100\u5206\u949f\u4e4b\u5185\u53ea\u5b8c\u6210\u4e865\u6761\u6bdb\u5dfe\u7684\u6574\u7406\uff0c\u4f46\u662f\u5728\u5b66\u672f\u5c42\u9762\u5374\u63a8\u52a8\u673a\u5668\u4eba\u5411\u524d\u8d70\u4e86\u4e00\u5927\u6b65\u3002</p> <p>\u8fd9\u6b3e\u673a\u5668\u4eba\u4e2d\u7684\u8f6f\u4ef6\u6846\u67b6\u5c31\u662fROS\u7684\u539f\u578b\uff0c\u6240\u4ee5ROS\u56e0\u8fd9\u6b3e\u4e2a\u4eba\u670d\u52a1\u673a\u5668\u4eba\u800c\u751f\uff0c\u5f88\u5feb\u4e5f\u4ece\u4e2d\u72ec\u7acb\u51fa\u6765\uff0c\u6210\u4e3a\u4e00\u6b3e\u7528\u4e8e\u66f4\u591a\u673a\u5668\u4eba\u7684\u8f6f\u4ef6\u7cfb\u7edf\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/#ros_1","title":"ROS\u7684\u53d1\u5c55","text":"<p>ROS\u8bde\u751f\u4e8e2007\u5e74\u7684\u65af\u5766\u798f\u5927\u5b66\uff0c\u8fd9\u662f\u65e9\u671fPR2\u673a\u5668\u4eba\u7684\u539f\u578b\uff0c\u8fd9\u4e2a\u9879\u76ee\u5f88\u5feb\u88ab\u4e00\u5bb6\u5546\u4e1a\u516c\u53f8Willow Garage\u770b\u4e2d\uff0c\u7c7b\u4f3c\u73b0\u5728\u7684\u98ce\u9669\u6295\u8d44\u4e00\u6837\uff0c\u4ed6\u4eec\u6295\u4e86\u4e00\u5927\u7b14\u94b1\u7ed9\u8fd9\u7fa4\u5e74\u8f7b\u4eba\uff0cPR2\u673a\u5668\u4eba\u5728\u8d44\u672c\u7684\u52a9\u63a8\u4e0b\u6210\u529f\u8bde\u751f\u3002</p> <p></p> <p>2010\u5e74\uff0c\u968f\u7740PR2\u673a\u5668\u4eba\u7684\u53d1\u5e03\uff0c\u5176\u4e2d\u7684\u8f6f\u4ef6\u6b63\u5f0f\u786e\u5b9a\u4e86\u540d\u79f0\uff0c\u5c31\u53eb\u505a\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0cRobot Operating System\uff0c\u7b80\u79f0\u4e3aROS\u3002\u540c\u5e74\uff0cROS\u4e5f\u80a9\u8d1f\u7740\u8ba9\u66f4\u591a\u4eba\u4f7f\u7528\u7684\u4f7f\u547d\uff0c\u6b63\u5f0f\u5f00\u6e90\u3002</p> <p>PR2\u673a\u5668\u4eba\u867d\u597d\uff0c\u4f46\u662f\u6210\u672c\u5c45\u9ad8\u4e0d\u4e0b\uff0c\u51e0\u767e\u4e07\u7684\u4ef7\u683c\u8ba9\u7edd\u5927\u90e8\u5206\u5f00\u53d1\u8005\u671b\u800c\u5374\u6b65\uff0c\u5b98\u65b9\u4e5f\u6ce8\u610f\u5230\u4e86\u8fd9\u4e2a\u95ee\u9898\uff0c\u6240\u4ee5\u57282011\u5e74\u53d1\u5e03\u4e86\u4e00\u6b3e\u540e\u671f\u6210\u4e3aROS\u5708\u7206\u6b3e\u7684\u673a\u5668\u4eba\u2014\u2014Turtlebot\uff0c\u8fd9\u6b3e\u673a\u5668\u4eba\u91c7\u7528\u626b\u5730\u673a\u5668\u4eba\u7684\u5e95\u76d8\uff0c\u52a0\u4e0axbox\u6e38\u620f\u673a\u4e2d\u7684\u4f53\u611f\u4f20\u611f\u5668Kinect\uff0c\u76f4\u63a5\u4f7f\u7528\u7b14\u8bb0\u672c\u7535\u8111\u5c31\u53ef\u4ee5\u63a7\u5236\uff0c\u652f\u6301ROS\u7684\u6240\u6709\u5f00\u6e90\u529f\u80fd\uff0c\u5173\u952e\u662f\u4ef7\u683c\u4fbf\u5b9c\uff0c\u968f\u7740\u8fd9\u6b3e\u673a\u5668\u4eba\u7684\u666e\u53ca\uff0c\u5927\u5927\u63a8\u52a8\u4e86ROS\u7684\u5e94\u7528\u3002</p> <p>\u4ece2012\u5e74\u5f00\u59cb\uff0c\u4f7f\u7528ROS\u7684\u4eba\u8d8a\u6765\u8d8a\u591a\uff0cROS\u5b98\u65b9\u4e5f\u5f00\u59cb\u6bcf\u5e74\u4e3e\u529e\u4e00\u5c4aROS\u5f00\u53d1\u8005\u5927\u4f1a\u2014\u2014ROS Conference\uff0c\u7b80\u79f0ROSCon\uff0c\u6765\u81ea\u5168\u7403\u7684\u5f00\u53d1\u8005\u4f1a\u9f50\u805a\u4e00\u5802\u5206\u4eab\u81ea\u5df1\u4f7f\u7528ROS\u5f00\u53d1\u7684\u673a\u5668\u4eba\u5e94\u7528\uff0c\u5176\u4e2d\u4e0d\u4e4f\u4e9a\u9a6c\u900a\u3001Intel\u3001\u5fae\u8f6f\u7b49\u5927\u516c\u53f8\u7684\u8eab\u5f71\uff0c\u8fd1\u4e24\u5e74\u56e0\u4e3a\u75ab\u60c5\u539f\u56e0\u6539\u4e3a\u7ebf\u4e0a\u4e3e\u529e\uff0c\u540d\u79f0\u4e5f\u53d8\u4e3a\u4e86ROS World\u3002</p> <p>\u7ecf\u5386\u524d\u51e0\u5e74\u91ce\u86ee\u800c\u5feb\u901f\u7684\u589e\u957f\uff0cROS\u9010\u6e10\u8fed\u4ee3\u7a33\u5b9a\uff0c2014\u5e74\u8d77\uff0cROS\u8ddf\u968fUbuntu\u7cfb\u7edf\uff0c\u6bcf\u4e24\u5e74\u63a8\u51fa\u4e00\u4e2a\u957f\u671f\u652f\u6301\u7248\uff0c\u6bcf\u4e2a\u7248\u672c\u652f\u6301\u4e94\u5e74\u65f6\u95f4\uff0c\u8fd9\u6807\u5fd7\u7740ROS\u7684\u6210\u719f\uff0c\u4e5f\u8ba9ROS\u52a0\u5feb\u4e86\u666e\u53ca\u7684\u6b65\u4f10\u3002</p> <p>\u56de\u5230\u65f6\u95f4\u8f74\u7684\u8d77\u70b9\uff0cROS\u7684\u521b\u59cb\u56e2\u961f\u539f\u672c\u53ea\u60f3\u505a\u4e00\u6b3e\u4e2a\u4eba\u670d\u52a1\u673a\u5668\u4eba\uff0c\u4e07\u4e07\u6ca1\u60f3\u5230\uff0cROS\u88ab\u8d8a\u6765\u8d8a\u591a\u673a\u5668\u4eba\u4f7f\u7528\uff0c\u53d7\u9650\u4e8e\u5f53\u521d\u8bbe\u8ba1\u7684\u5c40\u9650\u6027\uff0cROS\u7684\u95ee\u9898\u4e5f\u9010\u6e10\u66b4\u9732\u3002\u4e3a\u4e86\u80fd\u591f\u771f\u6b63\u8bbe\u8ba1\u4e00\u6b3e\u9002\u7528\u4e8e\u6240\u6709\u673a\u5668\u4eba\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0cROS2\u57282017\u5e74\u5e95\u6b63\u5f0f\u53d1\u5e03\uff0c\u5386\u7ecf\u591a\u5e74\u8fed\u4ee3\uff0c\u6211\u4eec\u7ec8\u4e8e\u57282022\u5e745\u6708\u5e95\uff0c\u8fce\u6765\u4e86ROS2\u7b2c\u4e00\u4e2a\u957f\u671f\u652f\u6301\u7248\u2014\u2014ROS2 Humble\uff0cROS2\u5df2\u7ecf\u6210\u719f\uff0c\u6211\u4eec\u4e5f\u8fdb\u5165\u4e86\u4e00\u4e2a\u5168\u65b0\u7684ROS2\u65f6\u4ee3\u3002</p> <p>\u4eceROS\u53d1\u5c55\u7684\u65f6\u95f4\u8f74\u4e2d\uff0c\u6211\u4eec\u4e0d\u4ec5\u53ef\u4ee5\u4e86\u89e3\u5230ROS\u7684\u53d1\u5c55\u8fc7\u7a0b\uff0c\u66f4\u91cd\u8981\u7684\u662f\u719f\u6089ROS\u548cROS2\u8bde\u751f\u7684\u539f\u56e0\u3002</p> <p></p> <p>\u8fd9\u91cc\u6211\u4eec\u4e5f\u628aROS2\u53d1\u5c55\u7684\u65f6\u95f4\u8f74\u5355\u72ec\u63d0\u53d6\u51fa\u6765\uff0c\u4ecb\u4e8eROS\u5728\u5404\u79cd\u5404\u6837\u673a\u5668\u4eba\u4e2d\u5e94\u7528\u7684\u95ee\u9898\uff0cROS2\u57282014\u5e74\u63d0\u51fa\uff0c2015\u5e74\u5f00\u59cb\u8fed\u4ee3\uff0c2017\u5e74\u63a8\u51fa\u7b2c\u4e00\u4e2a\u6b63\u5f0f\u7248\uff0c\u6b64\u540e\u5feb\u901f\u8fed\u4ee3\uff0c\u76f4\u52302022\u5e74\u63a8\u51fa\u4e86\u7b2c\u4e00\u4e2a\u957f\u671f\u652f\u6301\u7248\uff0c\u672c\u6559\u7a0b\u4e5f\u4f1a\u5728\u8be5\u7248\u672cROS2\u4e4b\u4e0a\u8fdb\u884c\u8bb2\u89e3\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/#ros_2","title":"ROS\u7684\u7279\u70b9","text":"<p>ROS\u6000\u63e3\u201c\u63d0\u9ad8\u673a\u5668\u4eba\u8f6f\u4ef6\u590d\u7528\u7387\u201d\u7684\u76ee\u6807\uff0c\u4fc3\u4f7f\u793e\u533a\u5feb\u901f\u53d1\u5c55\u548c\u7e41\u8363\uff0c\u65f6\u81f3\u4eca\u65e5\uff0cROS\u5df2\u7ecf\u5e7f\u6cdb\u7528\u4e8e\u5404\u79cd\u673a\u5668\u4eba\u7684\u5f00\u53d1\uff0c\u65e0\u8bba\u662f\u673a\u68b0\u81c2\u3001\u79fb\u52a8\u673a\u5668\u4eba\u3001\u6c34\u4e0b\u673a\u5668\u4eba\uff0c\u8fd8\u662f\u4eba\u5f62\u673a\u5668\u4eba\u3001\u590d\u5408\u673a\u5668\u4eba\uff0c\u7edf\u7edf\u90fd\u53ef\u4ee5\u770b\u5230ROS\u7684\u8eab\u5f71\uff0cROS\u5df2\u7ecf\u6210\u4e3a\u673a\u5668\u4eba\u9886\u57df\u7684\u666e\u904d\u6807\u51c6\u3002</p> <p></p> <p>\u63d0\u9ad8\u673a\u5668\u4eba\u8f6f\u4ef6\u590d\u7528\u7387\uff0c\u8fd9\u4e2a\u76ee\u6807\u7b80\u5355\u6765\u8bb2\u5c31\u662f\u4e0d\u8981\u91cd\u65b0\u9020\u8f6e\u5b50\u3002</p> <p></p> <p>\u6b63\u5982\u4e00\u5bb6\u505a\u6c7d\u8f66\u7684\u516c\u53f8\uff0c\u4ece\u96f6\u5236\u9020\u6c7d\u8f66\u5e76\u4e0d\u662f\u4e00\u4e2a\u660e\u667a\u7684\u505a\u6cd5\uff0c\u4ed6\u4eec\u901a\u5e38\u4f1a\u91c7\u8d2dA\u5bb6\u7684\u8f6e\u5b50\u3001B\u5bb6\u7684\u5f15\u64ce\u3001C\u5bb6\u7684\u591a\u5a92\u4f53\u7cfb\u7edf\uff0c\u6700\u540e\u628a\u8fd9\u4e9b\u6574\u5408\u5230\u4e00\u8d77\u505a\u6210\u6c7d\u8f66\u3002\u540c\u7406\uff0c\u6211\u4eec\u4e5f\u53ef\u4ee5\u5c06ROS\u793e\u533a\u4e2d\u5df2\u6709\u7684\u5404\u79cd\u8f6f\u4ef6\u96c6\u5408\u5230\u4e00\u8d77\uff0c\u5728\u6b64\u4e4b\u4e0a\u53bb\u5b9e\u73b0\u81ea\u5df1\u7684\u521b\u610f\uff0c\u540c\u65f6\u8fd8\u53ef\u4ee5\u5c06\u81ea\u5df1\u7684\u6210\u679c\u5206\u4eab\u7ed9\u522b\u4eba\uff0c\u8fd9\u6837\u5927\u5bb6\u90fd\u53ef\u4ee5\u7ad9\u5728\u5de8\u4eba\u7684\u80a9\u8180\u4e0a\uff0c\u5411\u524d\u8d70\u7684\u66f4\u8fdc\uff0c\u4e00\u6b65\u4e00\u6b65\uff0c\u667a\u80fd\u673a\u5668\u4eba\u624d\u4f1a\u6709\u66f4\u591a\u6c89\u6dc0\u548c\u66f4\u957f\u8fdc\u7684\u8fdb\u6b65\u3002</p> <p></p> <p>\u56f4\u7ed5\u8fd9\u4e2a\u6838\u5fc3\u76ee\u6807\uff0cROS\u5728\u81ea\u8eab\u7684\u8bbe\u8ba1\u4e0a\u4e5f\u5c3d\u91cf\u505a\u5230\u4e86\u6a21\u5757\u5316\uff0c\u7531\u901a\u4fe1\u673a\u5236\u3001\u5f00\u53d1\u5de5\u5177\u3001\u5e94\u7528\u529f\u80fd\u3001\u751f\u6001\u7cfb\u7edf\u56db\u5927\u90e8\u5206\u7ec4\u6210\u3002\u540c\u65f6ROS\u5177\u5907\u591a\u9879\u7279\u70b9\uff0c\u8fd9\u91cc\u7684ROS\u662fROS1\u548cROS2\u7684\u603b\u79f0\uff0c \u6bd4\u5982\uff1a</p> <ul> <li>\u793e\u533a\u662f\u5168\u7403\u5316\u7684\uff0c\u90a3\u5c31\u53ef\u4ee5\u96c6\u5408\u5168\u4eba\u7c7b\u7684\u667a\u6167\u6765\u63a8\u8fdb\u673a\u5668\u4eba\u7684\u667a\u80fd\u5316\u53d1\u5c55\uff1b</li> <li>\u8fd9\u4e9b\u667a\u6167\u7684\u7ed3\u6676\u90fd\u4f1a\u4ee5\u5404\u79cd\u5404\u6837\u7684\u5e94\u7528\u6848\u4f8b\u5728\u793e\u533a\u4e2d\u6c89\u6dc0\u4e0b\u6765\uff1b</li> <li>ROS\u672c\u8eab\u4e5f\u662f\u5b8c\u5168\u5f00\u6e90\u7684\uff0c\u5546\u4e1a\u8bb8\u53ef\u8bc1\u975e\u5e38\u5bbd\u677e\uff1b</li> <li>\u5bf9\u5546\u4e1a\u5e94\u7528\u529f\u80fd\u53cb\u597d\uff0c\u8fd9\u5c31\u4ee3\u8868\u7740\u516c\u53f8\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528ROS\u5f00\u53d1\u5546\u4e1a\u5316\u7684\u673a\u5668\u4eba\u4ea7\u54c1\uff0c\u7f29\u77ed\u4e86\u4ea7\u54c1\u7684\u4e0a\u5e02\u65f6\u95f4\uff1b</li> <li>ROS\u4e5f\u53ef\u4ee5\u8de8\u5e73\u53f0\u4f7f\u7528\uff0cLinux\u3001Windows\u3001\u5d4c\u5165\u5f0f\u7cfb\u7edf\u90fd\u53ef\u4ee5\u8dd1\uff1b</li> <li>ROS2\u4e2d\u4e5f\u65b0\u589e\u4e86\u5f88\u591a\u652f\u6301\u5de5\u4e1a\u5e94\u7528\u7684\u65b0\u7279\u6027\u548c\u65b0\u6280\u672f\uff0c\u4fc3\u4f7fROS\u5728\u8d8a\u6765\u8d8a\u591a\u9886\u57df\u4e2d\u88ab\u4f7f\u7528\u3002</li> </ul>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/#ros_3","title":"ROS\u7684\u793e\u533a","text":"<p>\u793e\u533a\u662fROS\u5feb\u901f\u53d1\u5c55\u7684\u6838\u5fc3\u52a8\u529b\uff0c\u4ec0\u4e48\u662f\u793e\u533a\u5462\uff1f\u5176\u5b9e\u5c31\u662fROS\u76f8\u5173\u8d44\u6e90\u7684\u6574\u5408\u65b9\u5f0f\uff0c\u6bd4\u5982wiki\u8bf4\u660e\u3001\u95ee\u7b54\u7f51\u7ad9\u3001\u5e94\u7528\u6e90\u7801\u3001\u8bba\u575b\u8ba8\u8bba\u7b49\u90fd\u7b97\u662f\u793e\u533a\u4e2d\u7684\u5143\u7d20\u3002</p> <p>ROS\u5168\u7403\u793e\u533a\u6709\u51e0\u4e2a\u91cd\u8981\u7f51\u7ad9\uff1a</p> <ol> <li>answers.ros.org\uff0c\u8fd9\u662f\u4e00\u4e2aROS\u95ee\u7b54\u7f51\u7ad9\uff0c\u5927\u5bb6\u53ef\u4ee5\u5728\u4e0a\u8fb9\u63d0\u51fa\u4efb\u4f55\u5173\u4e8eROS\u7684\u95ee\u9898\uff0c\u5168\u7403\u5f88\u591a\u5f00\u53d1\u8005\u90fd\u5f88\u4e50\u610f\u56de\u7b54\u6211\u4eec\u7684\u95ee\u9898\uff1b</li> <li>wiki.ros.org\uff0c\u8fd9\u662fROS\u7684\u7ef4\u57fa\u767e\u79d1\uff0c\u8bb0\u5f55\u4e86ROS\u6559\u7a0b\u548c\u5404\u79cd\u529f\u80fd\u5305\u7684\u4f7f\u7528\uff1b</li> <li>discourse.ros.org\uff0c\u8fd9\u662fROS\u8bba\u575b\uff0c\u5173\u4e8eROS\u5f00\u53d1\u7684\u65b0\u9c9c\u4e8b\u90fd\u53ef\u4ee5\u5728\u8fd9\u91cc\u53d1\u8868\u548c\u67e5\u770b\uff0c\u6bd4\u5982ROS\u7684\u6d3b\u52a8\u3001\u65b0\u529f\u80fd\u5305\u7684\u53d1\u5e03\u7b49\u7b49\u3002</li> <li>index.ros.org\uff0c\u662fROS\u5404\u79cd\u8d44\u6e90\u7684\u4e00\u4e2a\u7d22\u5f15\u7f51\u7ad9\uff1b</li> <li>packages.ros.org\uff0c\u662fROS\u529f\u80fd\u5305\u5b58\u50a8\u7684\u6570\u636e\u5e93\u3002</li> </ol> <p>\u8fd9\u51e0\u4e2a\u7f51\u7ad9\u7684\u4f7f\u7528\u60c5\u51b5\u57fa\u672c\u5c31\u53ef\u4ee5\u4ee3\u8868ROS\u793e\u533a\u7684\u6d3b\u8dc3\u5ea6\u4e86\u3002</p> <p></p> <p>\u4e0a\u56fe\u662f\u8fd1\u51e0\u5e74ROS\u793e\u533a\u9875\u9762\u6d4f\u89c8\u91cf\u7684\u589e\u957f\u66f2\u7ebf\uff0c\u4ece\u603b\u4f53\u8d8b\u52bf\u4e0a\u6765\u770b\uff0c\u5404\u9879\u589e\u957f\u901f\u5ea6\u90fd\u975e\u5e38\u5feb\uff0cwiki\u4f5c\u4e3a\u65e5\u5e38\u4f7f\u7528\u6700\u4e3a\u9891\u7e41\u7684\u7f51\u7ad9\uff0c\u4f7f\u7528\u5ea6\u65e0\u7591\u662f\u6700\u9ad8\u7684\uff0c\u73b0\u5728\u6bcf\u4e2a\u6708\u6709150\u4e07\u5de6\u53f3\u7684\u8bbf\u95ee\u91cf\uff0canswers\u548cpackages\u73b0\u5728\u5dee\u4e0d\u591a\uff0c\u6bcf\u4e2a\u6708\u670980\u4e07\u5de6\u53f3\uff0c\u5176\u4ed6\u4e24\u4e2a\u4e0d\u591a\uff0c\u56db\u9879\u52a0\u8d77\u6765\u6bcf\u4e2a\u6708\u57fa\u672c\u6709250\u4e07\u5de6\u53f3\u7684\u8bbf\u95ee\u91cf\uff0c\u5df2\u7ecf\u662f\u4e00\u4e2a\u6d3b\u8dc3\u5ea6\u975e\u5e38\u68d2\u7684\u793e\u533a\u4e86\u3002</p> <p></p> <p>\u4ece\u8bbf\u95ee\u4eba\u6570\u4e0a\u6765\u770b\uff0c\u4e0a\u8fb9\u8fd9\u5f20\u56fe\u66f4\u4e3a\u6e05\u6670\uff0cwiki\u6bcf\u4e2a\u6708\u670920\u523025\u4e07\u4eba\u4f7f\u7528\uff0canswers\u6bcf\u4e2a\u6708\u670915\u4e07\u4eba\u4ee5\u4e0a\u4f7f\u7528\uff0c\u56db\u9879\u52a0\u8d77\u6765\u6bcf\u4e2a\u6708\u5dee\u4e0d\u591a\u670940\u591a\u4e07\u7684\u4f7f\u7528\u4eba\u6570\uff0c\u8fd9\u4e9b\u7528\u6237\u7edd\u5927\u90e8\u5206\u90fd\u662f\u673a\u5668\u4eba\u5f00\u53d1\u8005\uff0c\u53ef\u4ee5\u770b\u5230ROS\u4f7f\u7528\u4eba\u6570\u662f\u8d8a\u6765\u8d8a\u591a\u4e86\u3002</p> <p>\u603b\u800c\u8a00\u4e4b\uff0c\u901a\u8fc7\u8fd9\u4e9b\u6570\u636e\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u7684\u662fROS\u53d1\u5c55\u8fc5\u731b\uff0c\u6b63\u5728\u52a9\u63a8\u673a\u5668\u4eba\u9769\u547d\u8fd9\u4e00\u6ce2\u5927\u6d6a\u6f6e\uff0c\u5927\u5bb6\u6bcf\u4e00\u4e2a\u4eba\u5728\u5176\u4e2d\u90fd\u5927\u6709\u53ef\u4e3a\u3002</p> <p>\u5982\u679c\u4f60\u5e0c\u671b\u5b66\u4e60\u673a\u5668\u4eba\u5f00\u53d1\uff0cROS\u7edd\u5bf9\u4f1a\u6210\u4e3a\u4f60\u5f00\u53d1\u673a\u5668\u4eba\u7684\u795e\u5175\u5229\u5668\uff0c\u672c\u6559\u7a0b\u4e5f\u7edd\u5bf9\u662f\u4f60\u7684\u6700\u4f73\u9009\u62e9\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/#_1","title":"\u53c2\u8003\u8d44\u6599","text":"<p>\u5173\u4e8e\u672c\u6559\u7a0b\u7684\u53c2\u8003\u8d44\u6599\uff0c\u4e3b\u8981\u63a8\u8350\u8fd9\u51e0\u4e2a\u7f51\u7ad9\u3002</p> <p></p> <p>\u9996\u5148\u662f\u6700\u4e3a\u63a8\u8350\u7684\u641c\u7d22\u4e4b\u738b\u2014\u2014Google\uff0c\u51e0\u4e4e\u6240\u6709\u95ee\u9898\uff0c\u90fd\u53ef\u4ee5\u5728\u8fd9\u91cc\u89e3\u51b3\uff0c\u4f5c\u4e3a\u5f00\u53d1\u5de5\u7a0b\u5e08\u7684\u540c\u5b66\uff0c\u4e00\u5b9a\u8981\u638c\u63e1\u8fd9\u4e2a\u91cd\u8981\u5de5\u5177\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</p> <p>\u5176\u6b21\u662f\u5f00\u6e90\u9879\u76ee\u7684\u4e3b\u9635\u5730\u2014\u2014Github\uff0cROS\u548c\u793e\u533a\u4e2d\u7684\u7edd\u5927\u90e8\u5206\u4ee3\u7801\uff0c\u90fd\u5728\u8fd9\u91cc\u6258\u7ba1\uff0c\u8fd8\u6709\u5927\u91cf\u53ef\u4ee5\u4f5c\u4e3a\u6211\u4eec\u5b66\u4e60\u53c2\u8003\u7684\u5f00\u6e90\u9879\u76ee\u90fd\u53ef\u4ee5\u5728\u8fd9\u91cc\u627e\u5230\uff0c\u4e5f\u662f\u6211\u4eec\u79bb\u4e0d\u5f00\u7684\u4e00\u4e2a\u7f51\u7ad9\u3002</p> <p>\u7136\u540e\u662f\u53e4\u6708\u5c45\u7f51\u7ad9\uff0c\u8fd9\u91cc\u6709\u5927\u91cfROS\u673a\u5668\u4eba\u5f00\u53d1\u7684\u6280\u672f\u5185\u5bb9\u548c\u89c6\u9891\u8bfe\u7a0b\uff0c\u8fd8\u53ef\u4ee5\u5728\u6ce1\u6ce1\u677f\u5757\u4e2d\u63d0\u95ee\uff0c\u4e5f\u6b22\u8fce\u5927\u5bb6\u5728\u8fd9\u91cc\u548c120\u4e07\u4eba\u5206\u4eab\u4f60\u6240\u5b66\u7684\u77e5\u8bc6\u3002</p> <p>\u6700\u540e\u662f\u672c\u6559\u7a0b\u7f51\u7ad9\uff0c\u4f1a\u63d0\u4f9b\u8be6\u7ec6\u7684ROS2\u5165\u95e8\u6559\u7a0b\uff0c\u540e\u7eed\u4e5f\u4f1a\u4e0d\u65ad\u66f4\u65b0\u548c\u6269\u5c55\uff0c\u52aa\u529b\u6210\u4e3a\u5927\u5bb6\u5b66\u4e60ROS\u673a\u5668\u4eba\u5f00\u53d1\u7684\u767e\u79d1\u5168\u4e66\uff0c\u914d\u5408\u8bfe\u7a0b\u89c6\u9891\u5b66\u4e60\uff0c\u6548\u679c\u4f1a\u66f4\u597d\u3002</p> <p>\u597d\u5566\uff0c\u6b22\u8fce\u5927\u5bb6\u6765\u5230ROS\u7684\u4e16\u754c\uff0c\u4ece\u8fd9\u91cc\u5f00\u59cb\uff0c\u6211\u4eec\u5c06\u4e00\u8d77\u8e0f\u4e0a\u4e00\u6bb5\u7f8e\u5999\u7684\u673a\u5668\u4eba\u5f00\u53d1\u4e4b\u65c5\u3002</p> <p></p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/","title":"ROS2\u5bf9\u6bd4ROS1","text":"<p>\u5728\u5b66\u4e60ROS2\u4e4b\u524d\uff0c\u4f60\u4e5f\u8bb8\u542c\u8bf4\u6216\u4f7f\u7528\u8fc7ROS1\uff0cROS2\u4ece\u540d\u79f0\u4e0a\u6765\u770b\uff0c\u4e0d\u5c31\u662f\u5728\u7b2c\u4e8c\u4ee3ROS\u4e48\uff0c\u53d8\u5316\u80fd\u6709\u591a\u5927\uff1f</p> <p></p> <p>\u6211\u4eec\u5c31ROS1\u548cROS2\u505a\u4e00\u4e2a\u5bf9\u6bd4\uff0c\u770b\u770b\u8fd9\u5176\u4e2d\u7684\u53d8\u5316\u5230\u5e95\u6709\u591a\u5927\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#ros1","title":"ROS1\u7684\u5c40\u9650\u6027","text":"<p>\u9996\u5148\u6765\u770b\u7b2c\u4e00\u4e2a\u95ee\u9898\uff1a\u4e3a\u4ec0\u4e48\u4f1a\u6709ROS2\uff1fWhy ROS2\uff1f</p> <p></p> <p>\u5f53\u7136\u662f\u56e0\u4e3aROS1\u6709\u4e00\u4e9b\u95ee\u9898\u4e86\uff0c\u5177\u4f53\u662f\u4ec0\u4e48\u95ee\u9898\u5462\uff1f\u4eceROS\u53d1\u5c55\u7684\u5386\u53f2\u4e2d\uff0c\u6211\u4eec\u4f3c\u4e4e\u53ef\u4ee5\u627e\u5230\u7b54\u6848\u3002</p> <p></p> <p>ROS\u6700\u65e9\u7684\u8bbe\u8ba1\u76ee\u6807\u5c31\u662f\u5f00\u53d1\u8fd9\u6837\u4e00\u6b3ePR2\u5bb6\u5ead\u670d\u52a1\u673a\u5668\u4eba\uff0c\u8fd9\u6b3e\u673a\u5668\u4eba\u7edd\u5927\u90e8\u5206\u65f6\u95f4\u90fd\u662f\u72ec\u7acb\u5de5\u4f5c\uff0c\u4e3a\u4e86\u8ba9\u4ed6\u5177\u5907\u5145\u8db3\u7684\u80fd\u529b\uff1a</p> <ul> <li>\u5b83\u642d\u8f7d\u4e86\u5de5\u4f5c\u7ad9\u7ea7\u522b\u7684\u8ba1\u7b97\u5e73\u53f0\u548c\u5404\u79cd\u5148\u8fdb\u7684\u901a\u4fe1\u8bbe\u5907\uff0c\u4e0d\u7528\u62c5\u5fe7\u7b97\u529b\u4e0d\u591f\uff0c\u6709\u8db3\u591f\u7684\u5b9e\u529b\u652f\u6301\u5404\u79cd\u590d\u6742\u7684\u5b9e\u65f6\u8fd0\u7b97\u548c\u5904\u7406\uff1b</li> <li>\u7531\u4e8e\u662f\u5355\u5175\u4f5c\u6218\uff0c\u901a\u4fe1\u7edd\u5927\u90e8\u5206\u90fd\u81ea\u5df1\u5185\u90e8\u5b8c\u6210\uff0c\u90a3\u5c31\u53ef\u4ee5\u7528\u6709\u7ebf\u8fde\u63a5\uff0c\u4fdd\u8bc1\u4e86\u826f\u597d\u7684\u7f51\u7edc\u8fde\u63a5\uff0c\u6ca1\u6709\u4e22\u6570\u636e\u6216\u8005\u9ed1\u5ba2\u5165\u4fb5\u7684\u98ce\u9669\uff1b</li> <li>\u8fd9\u53f0\u673a\u5668\u4eba\u6700\u7ec8\u867d\u7136\u5c0f\u6279\u91cf\u751f\u4ea7\uff0c\u4f46\u662f\u7531\u4e8e\u9ad8\u6602\u7684\u6210\u672c\u548c\u552e\u4ef7\uff0c\u4e5f\u53ea\u80fd\u7528\u4e8e\u5b66\u672f\u7814\u7a76\u3002</li> </ul> <p></p> <p>\u968f\u7740ROS\u7684\u666e\u53ca\uff0c\u5e94\u7528ROS\u7684\u673a\u5668\u4eba\u7c7b\u578b\u5df2\u7ecf\u548cPR2\u673a\u5668\u4eba\u6709\u4e86\u5929\u7ffb\u5730\u8986\u7684\u95ee\u9898\uff0c\u4e5f\u5e76\u4e0d\u5177\u5907PR2\u8fd9\u6837\u7684\u6761\u4ef6\uff0c\u90a3\u539f\u672c\u9488\u5bf9PR2\u8bbe\u8ba1\u7684\u8f6f\u4ef6\u6846\u67b6\uff0c\u5c31\u4f1a\u51fa\u73b0\u4e00\u4e9b\u95ee\u9898\uff0c\u6bd4\u5982\uff1a</p> <ul> <li>\u8981\u5728\u8d44\u6e90\u6709\u9650\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\u8fd0\u884c\uff1b</li> <li>\u8981\u5728\u6709\u5e72\u6270\u7684\u5730\u65b9\u4fdd\u8bc1\u901a\u4fe1\u7684\u53ef\u9760\u6027\uff1b</li> <li>\u8981\u505a\u6210\u4ea7\u54c1\u8d70\u5411\u5e02\u573a\uff0c\u751a\u81f3\u7528\u5728\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u548c\u822a\u5929\u673a\u5668\u4eba\u4e0a\u3002</li> </ul> <p>\u7c7b\u4f3c\u7684\u95ee\u9898\u4e0d\u65ad\u6d8c\u73b0\uff0c\u81f4\u4f7f\u66f4\u52a0\u9002\u5408\u5404\u79cd\u673a\u5668\u4eba\u5e94\u7528\u7684\u65b0\u4e00\u4ee3ROS\u8bde\u751f\u4e86\uff0c\u4e5f\u5c31\u662f\u6211\u4eec\u8bfe\u7a0b\u7684\u4e3b\u89d2\u2014\u2014ROS2\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#ros2","title":"\u5168\u65b0\u7684ROS2","text":"<p>ROS2\u6000\u63e3\u53d8\u9769\u667a\u80fd\u673a\u5668\u4eba\u65f6\u4ee3\u7684\u5386\u53f2\u4f7f\u547d\uff0c\u5728\u8bbe\u8ba1\u4e4b\u521d\uff0c\u5c31\u8003\u8651\u5230\u8981\u6ee1\u8db3\u5404\u79cd\u5404\u6837\u673a\u5668\u4eba\u5e94\u7528\u7684\u9700\u6c42\u3002</p> <p></p> <ol> <li>\u591a\u673a\u5668\u4eba\u7cfb\u7edf\uff1a\u672a\u6765\u673a\u5668\u4eba\u4e00\u5b9a\u4e0d\u4f1a\u662f\u72ec\u7acb\u7684\u4e2a\u4f53\uff0c\u673a\u5668\u4eba\u548c\u673a\u5668\u4eba\u4e4b\u95f4\u4e5f\u9700\u8981\u901a\u4fe1\u548c\u534f\u4f5c\uff0cROS2\u4e3a\u591a\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u5e94\u7528\u63d0\u4f9b\u4e86\u6807\u51c6\u65b9\u6cd5\u548c\u901a\u4fe1\u673a\u5236\u3002</li> <li>\u8de8\u5e73\u53f0\uff1a\u673a\u5668\u4eba\u5e94\u7528\u573a\u666f\u4e0d\u540c\uff0c\u4f7f\u7528\u7684\u63a7\u5236\u5e73\u53f0\u4e5f\u4f1a\u6709\u5f88\u5927\u5dee\u5f02\uff0c\u6bd4\u5982\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4e2d\u7684\u7b97\u529b\u6027\u80fd\u80af\u5b9a\u6bd4AMR\u673a\u5668\u4eba\u5f3a\u5f88\u591a\uff0c\u4e3a\u4e86\u8ba9\u6240\u6709\u673a\u5668\u4eba\u90fd\u53ef\u4ee5\u8fd0\u884cROS2\uff0cROS2\u53ef\u4ee5\u8de8\u5e73\u53f0\u8fd0\u884c\u4e8eLinux\u3001Windows\u3001MacOS\u3001RTOS\uff0c\u751a\u81f3\u662f\u6ca1\u6709\u4efb\u4f55\u7cfb\u7edf\u7684\u5fae\u63a7\u5236\u5668\uff08MCU\uff09\u4e0a\uff0c\u8fd9\u6837\u6211\u4eec\u5c31\u4e0d\u7528\u7ea0\u7ed3\u81ea\u5df1\u7684\u63a7\u5236\u5668\u80fd\u4e0d\u80fd\u7528ROS\u4e86\u3002</li> <li>\u5b9e\u65f6\u6027\uff1a\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u548c\u5f88\u591a\u884c\u4e3a\u7b56\u7565\u8981\u6c42\u673a\u5668\u4eba\u5177\u5907\u5b9e\u65f6\u6027\uff0c\u6bd4\u5982\u673a\u5668\u4eba\u8981\u53ef\u9760\u5f97\u5728100ms\u5185\u53d1\u73b0\u524d\u65b9\u7684\u884c\u4eba\uff0c\u6216\u8005\u7a33\u5b9a\u7684\u57281ms\u5468\u671f\u5185\u5b8c\u6210\u8fd0\u52a8\u5b66\u3001\u52a8\u529b\u5b66\u7684\u89e3\u7b97\uff0cROS2\u4e3a\u7c7b\u4f3c\u8fd9\u6837\u7684\u5b9e\u65f6\u6027\u9700\u6c42\u63d0\u4f9b\u4e86\u57fa\u672c\u4fdd\u969c\u3002</li> <li>\u7f51\u7edc\u8fde\u63a5\uff1a\u65e0\u8bba\u5728\u600e\u6837\u7684\u7f51\u7edc\u73af\u5883\u4e0b\uff0cROS2\u90fd\u53ef\u4ee5\u5c3d\u91cf\u4fdd\u969c\u673a\u5668\u4eba\u5927\u91cf\u6570\u636e\u7684\u5b8c\u6574\u6027\u548c\u5b89\u5168\u6027\uff0c\u6bd4\u5982\u5728wifi\u4fe1\u53f7\u4e0d\u597d\u7684\u65f6\u5019\u6570\u636e\u4e5f\u8981\u5c3d\u529b\u53d1\u9001\u8fc7\u53bb\uff0c\u5728\u6709\u9ed1\u5ba2\u5165\u4fb5\u98ce\u9669\u7684\u573a\u666f\u4e0b\u8981\u5bf9\u6570\u636e\u8fdb\u884c\u52a0\u5bc6\u89e3\u5bc6\u3002</li> <li>\u4ea7\u54c1\u5316\uff1a\uff0c\u5927\u91cf\u673a\u5668\u4eba\u5df2\u7ecf\u8d70\u5411\u6211\u4eec\u7684\u751f\u6d3b\uff0c\u672a\u6765\u8fd8\u4f1a\u8d8a\u6765\u8d8a\u591a\uff0cROS2\u4e0d\u4ec5\u53ef\u4ee5\u7528\u4e8e\u673a\u5668\u4eba\u7814\u53d1\u9636\u6bb5\uff0c\u8fd8\u53ef\u4ee5\u76f4\u63a5\u642d\u8f7d\u5728\u4ea7\u54c1\u4e2d\uff0c\u8d70\u5411\u6d88\u8d39\u5e02\u573a\uff0c\u8fd9\u5bf9ROS2\u7684\u7a33\u5b9a\u6027\u3001\u5f3a\u58ee\u6027\u4e5f\u63d0\u9664\u4e86\u5de8\u5927\u6311\u6218\u3002</li> <li>\u9879\u76ee\u7ba1\u7406\uff1a\u673a\u5668\u4eba\u5f00\u53d1\u662f\u4e00\u4e2a\u590d\u6742\u7684\u7cfb\u7edf\u5de5\u7a0b\uff0c\u8bbe\u8ba1\u3001\u5f00\u53d1\u3001\u8c03\u8bd5\u3001\u6d4b\u8bd5\u3001\u90e8\u7f72\u7b49\u5168\u6d41\u7a0b\u7684\u9879\u76ee\u7ba1\u7406\u5de5\u5177\u548c\u673a\u5236\uff0c\u4e5f\u4f1a\u5728ROS2\u4e2d\u4f53\u73b0\uff0c\u66f4\u65b9\u4fbf\u6211\u4eec\u53bb\u5f00\u53d1\u4e00\u6b3e\u673a\u5668\u4eba\u3002</li> </ol> <p>\u8981\u6ee1\u8db3\u8fd9\u4e9b\u9700\u6c42\uff0cROS2\u7684\u8bbe\u8ba1\u548c\u5f00\u53d1\u5de5\u4f5c\u5e76\u4e0d\u7b80\u5355\uff0c\u76f8\u5bf9\u624b\u673a\u8fd9\u6837\u6807\u51c6\u5316\u7684\u4ea7\u54c1\uff0cAndroid\u7cfb\u7edf\u4e5f\u53ef\u4ee5\u5c3d\u91cf\u505a\u5230\u6807\u51c6\u5316\uff0c\u4f46\u662f\u673a\u5668\u4eba\u8bfe\u65f6\u5343\u5dee\u4e07\u522b\uff0c\u5982\u4f55\u80fd\u591f\u9002\u5408\u5c3d\u91cf\u591a\u7684\u673a\u5668\u4eba\uff0c\u8fd9\u53ef\u80fd\u8fdc\u6bd4\u5f00\u53d1\u4e00\u4e2a\u624b\u673a\u7cfb\u7edf\u6216\u8005\u7535\u8111\u7cfb\u7edf\u66f4\u52a0\u590d\u6742\u3002</p> <p></p> <p>ROS\u5f00\u53d1\u8005\u9762\u5bf9\u7684\u9009\u62e9\u6709\u4e24\u4e2a\uff0c\u7b2c\u4e00\u4e2a\u662f\u5728ROS1\u7684\u67b6\u6784\u4e4b\u4e0a\uff0c\u8fdb\u884c\u4fee\u6539\u548c\u4f18\u5316\uff0c\u7c7b\u4f3c\u4e00\u4e2a\u76d6\u597d\u7684\u623f\u5b50\uff0c\u6211\u4eec\u628a\u5b83\u6253\u6210\u6bdb\u576f\u623f\uff0c\u91cd\u65b0\u88c5\u4fee\u7ffb\u65b0\u4e00\u4e0b\uff0c\u4f46\u80af\u5b9a\u4f1a\u53d7\u5236\u4e8e\u539f\u672c\u5efa\u7b51\u7684\u683c\u5c40\uff0c\u957f\u8fdc\u6765\u770b\u5e76\u4e0d\u662f\u6700\u4f73\u9009\u62e9\uff0c\u4ed6\u4eec\u6700\u7ec8\u9009\u62e9\u4e86\u7b2c\u4e8c\u79cd\u65b9\u6848\uff0c\u90a3\u5c31\u662f\u63a8\u5012\u91cd\u6765\u3002</p> <p>\u6240\u4ee5ROS2\u662f\u4e00\u4e2a\u5168\u65b0\u7684\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5728\u501f\u9274ROS1\u6210\u529f\u7ecf\u9a8c\u7684\u57fa\u7840\u4e0a\uff0c\u5bf9\u7cfb\u7edf\u67b6\u6784\u548c\u8f6f\u4ef6\u4ee3\u7801\u5168\u90e8\u8fdb\u884c\u4e86\u91cd\u65b0\u8bbe\u8ba1\u548c\u5b9e\u73b0\u3002\u4e0eROS1\u76f8\u6bd4\uff0c\u4f53\u73b0\u5728\u4ee5\u4e0b\u51e0\u70b9\uff1a</p> <p></p> <ul> <li>\u7cfb\u7edf\u67b6\u6784\u8fdb\u884c\u4e86\u98a0\u8986\u6027\u7684\u53d8\u5316\uff0cROS1\u4e2d\u6240\u6709\u8282\u70b9\u90fd\u9700\u8981\u5728\u8282\u70b9\u7ba1\u7406\u5668ROS Master\u7684\u7ba1\u7406\u4e0b\u8fdb\u884c\u5de5\u4f5c\uff0c\u4e00\u65e6Master\u51fa\u73b0\u95ee\u9898\uff0c\u7cfb\u7edf\u5c31\u9762\u4e34\u5b95\u673a\u7684\u98ce\u9669\uff0cROS2\u5b9e\u73b0\u4e86\u771f\u6b63\u7684\u5206\u5e03\u5f0f\uff0c\u4e0d\u518d\u6709Master\u8fd9\u4e2a\u89d2\u8272\uff0c\u501f\u52a9\u4e00\u79cd\u5168\u65b0\u7684\u901a\u4fe1\u6846\u67b6DDS\uff0c\u4e3a\u6240\u6709\u8282\u70b9\u7684\u901a\u4fe1\u63d0\u4f9b\u53ef\u9760\u4fdd\u969c\u3002</li> <li>\u8f6f\u4ef6API\u8fdb\u884c\u4e86\u91cd\u65b0\u8bbe\u8ba1\uff0cROS1\u539f\u6709\u7684\u63a5\u53e3\u5df2\u7ecf\u65e0\u6cd5\u6ee1\u8db3\u9700\u6c42\uff0cROS2\u7ed3\u5408C++\u6700\u65b0\u6807\u51c6\u548cPython3\u8bed\u8a00\u7279\u6027\uff0c\u8bbe\u8ba1\u4e86\u66f4\u5177\u901a\u7528\u6027\u7684API\uff0c\u867d\u7136\u5bfc\u81f4\u539f\u6709ROS1\u7684\u4ee3\u7801\u65e0\u6cd5\u76f4\u63a5\u5728ROS2\u4e2d\u8fd0\u884c\uff0c\u4f46\u662f\u5c3d\u91cf\u4fdd\u7559\u4e86\u7c7b\u4f3c\u7684\u4f7f\u7528\u65b9\u6cd5\uff0c\u540c\u65f6\u63d0\u4f9b\u4e86\u5927\u91cf\u79fb\u690d\u7684\u8bf4\u660e\u3002</li> <li>\u7f16\u8bd1\u7cfb\u7edf\u8fdb\u884c\u4e86\u5347\u7ea7\uff0cROS1\u4e2d\u4f7f\u7528\u7684rosbuild\u548ccatkin\u95ee\u9898\u8bf8\u591a\uff0c\u5c24\u5176\u662f\u9488\u5bf9\u4ee3\u7801\u8f83\u591a\u7684\u5927\u9879\u76ee\u4ee5\u53caPython\u7f16\u5199\u7684\u9879\u76ee\uff0c\u7f16\u8bd1\u3001\u94fe\u63a5\u7ecf\u5e38\u4f1a\u51fa\u9519\uff0cROS2\u5bf9\u8fd9\u4e9b\u95ee\u9898\u4e5f\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u91cd\u65b0\u4f18\u5316\u540e\u7684\u7f16\u8bd1\u7cfb\u7edf\u53eb\u505aament\u548ccolcon\uff0c\u5927\u5bb6\u5728\u540e\u7eed\u7684\u8bfe\u7a0b\u4e2d\u5c31\u4f1a\u4f53\u9a8c\u5230\u65b0\u7248\u7f16\u8bd1\u5668\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</li> </ul> <p>\u8fd9\u51e0\u70b9\u53ea\u662f\u6846\u67b6\u5c42\u9762\uff0cROS1\u548cROS2\u7684\u660e\u663e\u53d8\u5316\uff0c\u5177\u4f53\u7ec6\u8282\u5982\u4f55\u5462\uff1f\u6211\u4eec\u7ee7\u7eed\u7ed9\u5927\u5bb6\u5206\u89e3\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#ros2-vs-ros1","title":"ROS2 vs ROS1","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#_1","title":"\u7cfb\u7edf\u67b6\u6784","text":"<p>\u5728\u8fd9\u5f20\u56fe\u4e2d\uff0c\u5de6\u4fa7\u662fROS1\uff0c\u53f3\u4fa7\u662fROS2\uff0c\u5927\u5bb6\u6ce8\u610f\u770b\u4e24\u8005\u6700\u660e\u663e\u7684\u53d8\u5316\uff0c\u90a3\u5c31\u662fMaster\u3002</p> <ul> <li>\u5728ROS1\u4e2d\uff0c\u5e94\u7528\u5c42\u91ccMaster\u8fd9\u4e2a\u8282\u70b9\u7ba1\u7406\u5668\u7684\u89d2\u8272\u81f3\u5173\u91cd\u8981\uff0c\u6240\u6709\u8282\u70b9\u90fd\u5f97\u542c\u5b83\u6307\u6325\uff0c\u7c7b\u4f3c\u662f\u4e00\u4e2a\u516c\u53f8\u7684CEO\uff0c\u6709\u4e14\u53ea\u6709\u4e00\u4e2a\uff0c\u5982\u679c\u8fd9\u4e2aCEO\u7a81\u7136\u6d88\u5931\uff0c\u516c\u53f8\u80af\u5b9a\u4f1a\u6210\u4e00\u56e2\u4e71\u9ebb\u3002ROS2\u628a\u8fd9\u4e2a\u6700\u4e0d\u7a33\u5b9a\u7684\u89d2\u8272\u8bf7\u8d70\u4e86\uff0c\u8282\u70b9\u53ef\u4ee5\u901a\u8fc7\u53e6\u5916\u4e00\u5957discovery\u2014\u2014\u81ea\u53d1\u73b0\u673a\u5236\uff0c\u627e\u5230\u5f7c\u6b64\uff0c\u4ece\u800c\u5efa\u7acb\u7a33\u5b9a\u7684\u901a\u4fe1\u8fde\u63a5\u3002</li> <li>\u4e2d\u95f4\u5c42\u662fROS\u5c01\u88c5\u597d\u7684\u6807\u51c6\u901a\u4fe1\u63a5\u53e3\uff0c\u6211\u4eec\u5199\u7a0b\u5e8f\u7684\u65f6\u5019\uff0c\u4f1a\u9891\u7e41\u548c\u8fd9\u4e9b\u901a\u4fe1\u63a5\u53e3\u6253\u4ea4\u9053\uff0c\u6bd4\u5982\u53d1\u5e03\u4e00\u4e2a\u56fe\u50cf\u7684\u6570\u636e\uff0c\u63a5\u6536\u4e00\u4e2a\u96f7\u8fbe\u7684\u4fe1\u606f\uff0c\u5ba2\u6237\u7aef\u5e93\u4f1a\u518d\u8c03\u7528\u5e95\u5c42\u590d\u6742\u7684\u9a71\u52a8\u548c\u901a\u4fe1\u534f\u8bae\uff0c\u8ba9\u6211\u4eec\u7684\u5f00\u53d1\u53d8\u5f97\u66f4\u52a0\u7b80\u5355\u660e\u4e86\u3002</li> <li>\u5728ROS1\u4e2d\uff0cROS\u901a\u4fe1\u4f9d\u8d56\u5e95\u5c42\u7684TCP\u548cUDP\u534f\u8bae\uff0c\u800c\u5728ROS2\u4e2d\uff0c\u901a\u4fe1\u534f\u8bae\u66f4\u6362\u6210\u4e86\u66f4\u52a0\u590d\u6742\u4f46\u4e5f\u66f4\u52a0\u5b8c\u5584\u7684DDS\u7cfb\u7edf\u3002</li> <li>\u5982\u679c\u662f\u5728\u8fdb\u7a0b\u5185\u9700\u8981\u8fdb\u884c\u5927\u91cf\u6570\u636e\u7684\u901a\u4fe1\uff0cROS1\u548cROS2\u90fd\u63d0\u4f9b\u4e86\u57fa\u4e8e\u5171\u4eab\u5185\u5b58\u7684\u901a\u4fe1\u65b9\u6cd5\uff0c\u53ea\u4e0d\u8fc7\u540d\u5b57\u4e0d\u592a\u4e00\u6837\u800c\u5df2\u3002</li> <li>\u6700\u4e0b\u8fb9\u662f\u7cfb\u7edf\u5c42\uff0c\u4e5f\u5c31\u662f\u53ef\u4ee5\u5c06ROS\u5b89\u88c5\u5728\u54ea\u4e9b\u64cd\u4f5c\u7cfb\u7edf\u4e0a\uff0cROS1\u4e3b\u8981\u5b89\u88c5\u5728Linux\u4e0a\uff0cROS2\u7684\u53ef\u9009\u9879\u5c31\u5f88\u591a\u4e86\uff0cLinux\u3001windows\u3001MacOS\u3001RTOS\u90fd\u53ef\u4ee5\u3002</li> </ul> <p>\u901a\u8fc7\u8fd9\u6837\u5bf9\u6bd4\u7684\u65b9\u5f0f\uff0c\u6211\u4eec\u4e86\u89e3\u4e86ROS2\u7684\u6574\u4f53\u67b6\u6784\uff0c\u5982\u679c\u5927\u5bb6\u6709\u63a5\u89e6\u8fc7ROS1\uff0c\u8fd9\u4e2a\u6846\u67b6\u5e94\u8be5\u5e76\u4e0d\u96be\u7406\u89e3\uff0c\u5982\u679c\u5927\u5bb6\u662f\u4eceROS2\u5f00\u59cb\u5b66\u4e60\uff0c\u5148\u5927\u81f4\u6709\u4e00\u4e2a\u5370\u8c61\uff0c\u901a\u8fc7\u540e\u7eed\u7684\u5b66\u4e60\uff0c\u5c31\u4f1a\u6709\u66f4\u52a0\u6df1\u5165\u7684\u7406\u89e3\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#dds","title":"DDS\u901a\u4fe1","text":"<p>ROS2\u76f8\u6bd4ROS1\u6700\u5927\u7684\u53d8\u5316\uff0c\u9664\u4e86\u7701\u7565\u4e86Master\u4e4b\u5916\uff0c\u5e94\u8be5\u5c31\u662f\u901a\u4fe1\u7cfb\u7edf\u7684\u53d8\u5316\u4e86\u3002ROS1\u4e2d\u57fa\u4e8eTCP/UDP\u7684\u901a\u4fe1\u7cfb\u7edf\uff0c\u9891\u7e41\u8bdf\u75c5\u4e8e\u5ef6\u8fdf\u3001\u4e22\u6570\u636e\u3001\u65e0\u6cd5\u52a0\u5bc6\u7b49\u95ee\u9898\uff0cROS2\u4e2d\u7684DDS\u5728\u901a\u4fe1\u5c42\u9762\u7684\u529f\u80fd\u5c31\u4e30\u5bcc\u591a\u4e86\u3002</p> <p>DDS\u5176\u5b9e\u662f\u7269\u8054\u7f51\u4e2d\u5e7f\u6cdb\u5e94\u7528\u7684\u4e00\u79cd\u901a\u4fe1\u534f\u8bae\uff0c\u7c7b\u4f3c\u4e8e\u6211\u4eec\u5e38\u542c\u8bf4\u76845G\u901a\u4fe1\u4e00\u6837\uff0cDDS\u662f\u4e00\u4e2a\u56fd\u9645\u6807\u51c6\uff0c\u80fd\u591f\u5b9e\u73b0\u8be5\u6807\u51c6\u7684\u8f6f\u4ef6\u7cfb\u7edf\u5e76\u4e0d\u662f\u552f\u4e00\u7684\uff0c\u6240\u4ee5\u6211\u4eec\u53ef\u4ee5\u9009\u62e9\u591a\u4e2a\u5382\u5bb6\u63d0\u4f9b\u7684DDS\u7cfb\u7edf\uff0c\u6bd4\u5982\u8fd9\u91cc\u7684OpenSplice\u3001FastRTPS\uff0c\u8fd8\u6709\u66f4\u591a\u5382\u5bb6\u63d0\u4f9b\u7684\uff0c\u6bcf\u4e00\u5bb6\u7684\u6027\u80fd\u4e0d\u540c\uff0c\u9002\u7528\u7684\u573a\u666f\u4e5f\u4e0d\u540c\u3002</p> <p>\u4e0d\u8fc7\u8fd9\u5c31\u5e26\u6765\u4e00\u4e2a\u95ee\u9898\uff0c\u6bcf\u4e2aDDS\u5382\u5bb6\u7684\u8f6f\u4ef6\u63a5\u53e3\u80af\u5b9a\u662f\u4e0d\u4e00\u6837\u7684\uff0c\u5982\u679c\u6211\u4eec\u6309\u7167\u67d0\u4e00\u5bb6\u7684\u63a5\u53e3\u5199\u5b8c\u4e86\u7a0b\u5e8f\uff0c\u60f3\u8981\u5207\u6362\u5176\u4ed6\u5382\u5bb6\u7684DDS\uff0c\u4e0d\u662f\u8981\u91cd\u65b0\u5199\u4ee3\u7801\u4e48\uff1f\u8fd9\u5f53\u7136\u4e0d\u7b26\u5408ROS\u63d0\u9ad8\u8f6f\u4ef6\u590d\u7528\u7387\u7684\u76ee\u6807\u3002</p> <p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0cROS2\u8bbe\u8ba1\u4e86\u4e00\u4e2aROS Middleware\uff0c\u7b80\u79f0RMW\uff0c\u4e5f\u5c31\u662f\u6307\u5b9a\u4e00\u4e2a\u6807\u51c6\u7684\u63a5\u53e3\uff0c\u6bd4\u5982\u5982\u4f55\u53d1\u6570\u636e\uff0c\u5982\u4f55\u6536\u6570\u636e\uff0c\u6570\u636e\u7684\u5404\u79cd\u5c5e\u6027\u5982\u4f55\u914d\u7f6e\uff0c\u90fd\u5b9a\u4e49\u597d\u4e86\uff0c\u5982\u679c\u5382\u5bb6\u60f3\u8981\u63a5\u5165ROS\u793e\u533a\uff0c\u5c31\u5f97\u6309\u7167\u8fd9\u4e2a\u6807\u51c6\u5199\u4e00\u4e2a\u9002\u914d\u7684\u63a5\u53e3\uff0c\u628a\u81ea\u5bb6\u7684DDS\u7ed9\u79fb\u690d\u8fc7\u6765\uff0c\u8fd9\u6837\u5c31\u628a\u95ee\u9898\u4ea4\u7ed9\u4e86\u6700\u719f\u6089\u81ea\u5bb6DDS\u7684\u5382\u5546\u3002\u5bf9\u4e8e\u6211\u4eec\u8fd9\u4e9b\u7528\u6237\u6765\u8bb2\uff0c\u67d0\u4e00\u4e2aDDS\u7528\u7684\u4e0d\u723d\uff0c\u53ea\u8981\u5b89\u88c5\u53e6\u4e00\u4e2a\uff0c\u7136\u540e\u505a\u4e00\u4e2a\u7b80\u5355\u7684\u914d\u7f6e\uff0c\u7a0b\u5e8f\u4e00\u884c\u7684\u90fd\u4e0d\u7528\u6539\uff0c\u8f7b\u677e\u66f4\u6362\u5e95\u5c42\u7684\u901a\u4fe1\u7cfb\u7edf\u3002</p> <p>\u4e3e\u4e00\u4e2a\u4f8b\u5b50\uff0c\u6bd4\u5982\u6211\u4eec\u5728\u4ea7\u54c1\u5f00\u53d1\u65f6\uff0c\u53ef\u4ee5\u5148\u7528\u5f00\u6e90\u7248\u672c\u7684DDS\u6ee1\u8db3\u57fa\u672c\u9700\u6c42\uff0c\u90e8\u7f72\u4ea4\u4ed8\u7684\u4ea7\u54c1\u65f6\uff0c\u518d\u66f4\u6362\u4e3a\u5546\u4e1a\u7248\u672c\u66f4\u7a33\u5b9a\u7684DDS\uff0c\u8fd9\u6837\u53ef\u4ee5\u51cf\u5c11\u5f00\u53d1\u6210\u672c\u3002</p> <p></p> <p>\u603b\u4e4b\uff0cDDS\u7684\u52a0\u5165\uff0c\u8ba9ROS2\u7cfb\u7edf\u66f4\u52a0\u7a33\u5b9a\uff0c\u4e5f\u66f4\u52a0\u7075\u6d3b\uff0c\u5f53\u7136\u590d\u6742\u5ea6\u4e5f\u4f1a\u9ad8\u4e00\u4e9b\u3002\u8fd9\u6837\uff0c\u6211\u4eec\u4e0d\u7528\u518d\u7ea0\u7ed3ROS\u7684\u901a\u4fe1\u7cfb\u7edf\u662f\u5426\u7a33\u5b9a\u3001\u8be5\u5982\u4f55\u4f18\u5316\u7b49\u95ee\u9898\uff0c\u66f4\u591a\u7cbe\u529b\u90fd\u53ef\u4ee5\u653e\u5728\u5176\u4ed6\u4e09\u4e2a\u90e8\u5206\uff0c\u4e13\u6ce8\u4f18\u5316\u6211\u4eec\u7684\u673a\u5668\u4eba\u5e94\u7528\u529f\u80fd\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#_2","title":"\u6838\u5fc3\u6982\u5ff5","text":"<p>ROS1\u5e94\u7528\u5df2\u7ecf\u975e\u5e38\u5e7f\u6cdb\uff0c\u5168\u7403\u6709\u51e0\u767e\u4e07\u5f00\u53d1\u8005\uff0c\u5927\u5bb6\u5df2\u7ecf\u719f\u6089\u4e86ROS1\u7684\u5f00\u53d1\u65b9\u5f0f\u4ee5\u53ca\u5176\u4e2d\u7684\u5f88\u591a\u6982\u5ff5\u3002ROS2\u5c3d\u91cf\u4fdd\u7559\u4e86\u8fd9\u4e9b\u6982\u5ff5\uff0c\u4fbf\u4e8e\u5f00\u53d1\u8005\u4eceROS1\u8fc1\u79fb\u5230ROS2\u3002</p> <p></p> <p>\u5982\u679c\u5404\u4f4d\u719f\u6089ROS1\uff0c\u8fd9\u91cc\u7684\u6982\u5ff5\u5e94\u8be5\u5e76\u4e0d\u964c\u751f\uff0c\u5728ROS2\u4e2d\uff0c\u8fd9\u4e9b\u6982\u5ff5\u4f9d\u7136\u5b58\u5728\uff0c\u610f\u4e49\u4e5f\u51e0\u4e4e\u4e00\u81f4\uff0c\u5728\u672c\u8bfe\u7a0b\u7684\u7b2c\u4e8c\u4e2a\u90e8\u5206\uff0c\u6211\u4eec\u5c31\u4f1a\u4e00\u4e00\u8bb2\u89e3\u8fd9\u4e9b\u6982\u5ff5\u7684\u542b\u4e49\u548c\u4f7f\u7528\u65b9\u6cd5\uff0c\u6ca1\u6709\u5b66\u4e60\u8fc7ROS\u7684\u5c0f\u4f19\u4f34\u4e5f\u4e0d\u7528\u62c5\u5fc3\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#_3","title":"\u7f16\u7801\u65b9\u5f0f","text":"<p>\u518d\u6765\u770b\u770b\u7f16\u7801\uff0c\u540c\u6837\u662f\u4e00\u4e2a\u53d1\u5e03\u8005\u7684\u7a0b\u5e8f\uff0cROS1\u548cROS2\u7684\u5b9e\u73b0\u7248\u672c\u5982\u4e24\u4e2a\u56fe\u7247\u6240\u793a\u3002</p> <p></p> <p>\u603b\u4f53\u800c\u8a00\uff0cROS2\u4f1a\u7528\u5230\u66f4\u591a\u9762\u5411\u5bf9\u8c61\u7684\u5b9e\u73b0\u65b9\u6cd5\u548c\u8bed\u8a00\u7279\u6027\uff0c\u4ece\u7f16\u7a0b\u8bed\u8a00\u7684\u89d2\u5ea6\u6765\u8bb2\uff0c\u96be\u5ea6\u786e\u5b9e\u4f1a\u63d0\u9ad8\u4e00\u4e9b\uff0c\u4e0d\u8fc7\u5f53\u6211\u4eec\u8fc8\u8fc7\u8fd9\u9053\u574e\u4e4b\u540e\uff0c\u5c31\u4f1a\u53d1\u73b0\u6211\u4eec\u5199\u7684\u7a0b\u5e8f\u4f1a\u66f4\u5177\u5907\u53ef\u8bfb\u6027\u548c\u53ef\u79fb\u690d\u6027\uff0c\u4e5f\u4f1a\u66f4\u63a5\u63a5\u8fd1\u771f\u5b9e\u4f01\u4e1a\u4e2d\u673a\u5668\u4eba\u8f6f\u4ef6\u5f00\u53d1\u7684\u8fc7\u7a0b\u3002</p> <p>\u5177\u4f53\u5982\u4f55\u7f16\u7801\uff0c\u5927\u5bb6\u6682\u4e14\u7a0d\u5b89\u52ff\u8e81\uff0c\u5207\u8bb0\u4e0d\u8981\u642c\u6765\u4e00\u672c\u5927\u90e8\u5934\u7684\u7f16\u7a0b\u8bed\u8a00\u6559\u7a0b\uff0c\u4e00\u9875\u4e00\u9875\u5b66\u4e60\uff0c\u66f4\u597d\u7684\u65b9\u5f0f\u662f\u5728\u9879\u76ee\u5f00\u53d1\u7684\u8fc7\u7a0b\u4e2d\u4e00\u8fb9\u7528\u4e00\u8fb9\u5b66\uff0c\u540e\u7eed\u8bfe\u7a0b\u6211\u4eec\u4e5f\u4f1a\u5e26\u9886\u5927\u5bb6\u4e00\u6b65\u4e00\u6b65\u6765\u64cd\u4f5c\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/#_4","title":"\u547d\u4ee4\u884c","text":"<p>\u6700\u540e\u6211\u4eec\u518d\u5bf9\u6bd4\u4e0bROS\u5f00\u53d1\u4e2d\u6700\u4e3a\u5e38\u7528\u7684\u4e00\u79cd\u5de5\u5177\u2014\u2014\u547d\u4ee4\u884c\u3002</p> <p></p> <p>ROS1\u4e2d\u7684\u547d\u4ee4\u884c\u76f8\u5bf9\u5206\u6563\uff0c\u6bcf\u4e00\u4e2a\u529f\u80fd\u90fd\u662f\u4e00\u4e2a\u72ec\u7acb\u7684\u547d\u4ee4\uff0c\u6bd4\u5982rosrun\u542f\u52a8\u67d0\u4e00\u4e2a\u8282\u70b9\uff0crostopic\u63a7\u5236\u8bdd\u9898\u76f8\u5173\u7684\u529f\u80fd\u3002</p> <p>ROS2\u5bf9\u547d\u4ee4\u884c\u505a\u4e86\u5927\u5e45\u5ea6\u7684\u96c6\u6210\uff0c\u6240\u6709\u547d\u4ee4\u90fd\u96c6\u6210\u5728\u4e00\u4e2aros2\u7684\u4e3b\u547d\u4ee4\u4e2d\uff0c\u6bd4\u5982ros2 run\uff0c\u8868\u793a\u542f\u52a8\u67d0\u4e00\u4e2a\u8282\u70b9\uff0cros2 topic\u8868\u793a\u8bdd\u9898\u76f8\u5173\u7684\u529f\u80fd\u3002</p> <p>\u9664\u6b64\u4e4b\u5916\uff0cros2\u547d\u4ee4\u884c\u4e5f\u4f1a\u6709\u66f4\u591a\u529f\u80fd\uff0c\u6211\u4eec\u5728\u540e\u7eed\u6559\u7a0b\u4e2d\u9646\u7eed\u63ed\u79d8\u3002</p> <p>\u597d\u5566\uff0c\u4ee5\u4e0a\uff0c\u6211\u4eec\u628aROS2\u548cROS1\u505a\u4e86\u5bf9\u6bd4\uff0c\u603b\u7ed3\u800c\u8a00\u5c31\u662f\uff1a</p> <ul> <li>\u8282\u70b9\u5e72\u6389\u4e86Master</li> <li>\u901a\u4fe1\u6362\u6210\u4e86DDS</li> <li>\u6838\u5fc3\u6982\u5ff5\u6ca1\u53d8\u5316</li> <li>\u7f16\u7a0b\u96be\u5ea6\u6709\u4e0a\u5347</li> </ul> <p>\u5982\u679c\u5927\u5bb6\u521d\u6b21\u4e0a\u624b\u5c31\u9009\u62e9\u4e86ROS2\uff0c\u73b0\u6709\u4e00\u4e2a\u5927\u81f4\u5370\u8c61\u5373\u53ef\uff0c\u8ddf\u968f\u6559\u7a0b\uff0c\u4f60\u5c31\u4f1a\u6162\u6162\u7406\u89e3\u8fd9\u4e9b\u7279\u6027\u3002</p> <p></p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/","title":"ROS2\u5b89\u88c5\u65b9\u6cd5","text":"<p>\u672c\u8282\uff0c\u6211\u4eec\u4e00\u8d77\u5b89\u88c5ROS2\uff0c\u5b89\u88c5\u524d\u5148\u8981\u4e86\u89e3\u4e00\u4e0bROS2\u5e95\u5c42\u6700\u91cd\u8981\u7684\u4e00\u79cd\u64cd\u4f5c\u7cfb\u7edf\u2014\u2014Linux\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#linux","title":"Linux\u7cfb\u7edf\u7b80\u4ecb","text":"<p>\u65f6\u95f4\u56de\u52301991\u5e74\uff0c\u4e00\u4f4d\u70ed\u7231\u8ba1\u7b97\u673a\u7684\u82ac\u5170\u5927\u5b66\u751f\u6797\u7eb3\u65af\uff0c\u5728\u719f\u6089\u4e86\u64cd\u4f5c\u7cfb\u7edf\u539f\u7406\u548cunix\u7cfb\u7edf\u540e\uff0c\u51b3\u5b9a\u81ea\u5df1\u52a8\u624b\u505a\u4e00\u4e2a\uff0c\u5b9e\u8df5\u662f\u68c0\u9a8c\u771f\u7406\u7684\u552f\u4e00\u6807\u51c6\uff0c\u8bf4\u5e72\u5c31\u5e72\uff0c\u4ed6\u53c2\u8003\u5df2\u6709\u7684\u4e00\u4e9b\u901a\u7528\u6807\u51c6\uff0c\u91cd\u65b0\u8bbe\u8ba1\u4e86\u4e00\u5957\u64cd\u4f5c\u7cfb\u7edf\u5185\u6838\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u5b9e\u73b0\u591a\u7528\u6237\u3001\u591a\u4efb\u52a1\u7684\u7ba1\u7406\uff0c\u8fd8\u53ef\u4ee5\u517c\u5bb9unix\u539f\u6709\u7684\u5e94\u7528\u7a0b\u5e8f\u3002\u6700\u91cd\u8981\u7684\u662f\uff0c\u4ed6\u628a\u8fd9\u5957\u5c1a\u4e0d\u6210\u719f\u7684\u64cd\u4f5c\u7cfb\u7edf\u5206\u4eab\u5230\u4e86\u4e92\u8054\u7f51\u4e0a\uff0c\u5e76\u7528\u81ea\u5df1\u7684\u540d\u5b57\u547d\u540d\u4e86\u8fd9\u5957\u7cfb\u7edf\uff0c\u4e5f\u5c31\u662fLinux\u3002</p> <p></p> <p>\u539f\u672c\u51fa\u4e8e\u4e2a\u4eba\u7231\u597d\u7684Linux\u7cfb\u7edf\u901a\u8fc7\u4e92\u8054\u7f51\u5feb\u901f\u4f20\u64ad\uff0c\u66f4\u591a\u7231\u597d\u8005\u770b\u5230Linux\u4e4b\u540e\uff0c\u4e5f\u6fc0\u53d1\u4e86\u4e50\u4e8e\u5206\u4eab\u7684\u70ed\u60c5\uff0c\u5c31\u628a\u4f7f\u7528\u8fc7\u7a0b\u4e2d\u7684\u95ee\u9898\u548c\u4fee\u590d\u65b9\u6cd5\u505a\u4e86\u53cd\u9988\u3002</p> <p>\u4e00\u77f3\u6fc0\u8d77\u5343\u5c42\u6d6a\uff0c\u8d8a\u6765\u8d8a\u591a\u4eba\u52a0\u5165\u5230\u4e86Linux\u7ef4\u62a4\u7684\u884c\u5217\u5f53\u4e2d\uff0c\u4e00\u4e2a\u539f\u672c\u529f\u80fd\u6709\u9650\u3001bug\u5f88\u591a\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5feb\u901f\u5f3a\u5927\u8d77\u6765\uff0c\u4f34\u968f\u5176\u4e2d\u53d1\u626c\u5149\u5927\u7684\u662f\u5f00\u6e90\u7cbe\u795e\u3002</p> <p>\u4e0eWindows\u7cfb\u7edf\u6536\u8d39\uff0c\u6216MacOS\u786c\u4ef6\u7ed1\u5b9a\u7684\u6a21\u5f0f\u4e0d\u540c\uff0cLinux\u662f\u4e00\u5957\u514d\u8d39\u5e76\u4e14\u5f00\u653e\u6e90\u4ee3\u7801\u7684\u64cd\u4f5c\u7cfb\u7edf\uff0c\u4efb\u4f55\u4eba\u90fd\u53ef\u4ee5\u4f7f\u7528\u6216\u8005\u63d0\u4ea4\u53cd\u9988\uff0c\u8fd9\u5c31\u5438\u5f15\u4e86\u5927\u91cf\u7684\u5f00\u53d1\u8005\u3001\u7231\u597d\u8005\uff0c\u751a\u81f3\u5f88\u591a\u4f01\u4e1a\uff0c\u73b0\u5728\uff0c\u6bcf\u5e74\u5bf9Linux\u7cfb\u7edf\u63d0\u4ea4\u7684\u4ee3\u7801\u91cf\u5df2\u7ecf\u6210\u4e3a\u8861\u91cf\u4e00\u4e2a\u5927\u516c\u53f8\u6280\u672f\u5b9e\u529b\u7684\u91cd\u8981\u6307\u6807\u4e4b\u4e00\u3002</p> <p>Linux\u53d1\u5c55\u8fc5\u731b\uff0c\u5df2\u7ecf\u6210\u4e3a\u4e86\u6027\u80fd\u7a33\u5b9a\u7684\u591a\u7528\u6237\u64cd\u4f5c\u7cfb\u7edf\uff0c\u4e5f\u662fROS2\u4f9d\u8d56\u7684\u91cd\u8981\u5e95\u5c42\u7cfb\u7edf\u3002\u867d\u7136ROS2\u76ee\u524d\u4e5f\u652f\u6301Windows\u3001MacOS\uff0c\u4f46\u5bf9Linux\u7cfb\u7edf\u7684\u652f\u6301\u6700\u597d\uff0c\u5728\u672c\u6559\u7a0b\u4e2d\uff0c\u6211\u4eec\u4e3b\u8981\u8bb2\u89e3Linux\u4e4b\u4e0a\u7684ROS2\u4f7f\u7528\u65b9\u6cd5\uff0c\u5176\u4ed6\u7cfb\u7edf\u539f\u7406\u4e5f\u57fa\u672c\u76f8\u540c\u3002</p> <p>\u6240\u4ee5\u5728\u4f7f\u7528ROS2\u4e4b\u524d\uff0c\u6211\u4eec\u9700\u8981\u5148\u5b89\u88c5Linux\uff0c\u6b64\u65f6\u4f1a\u51fa\u73b0\u53e6\u5916\u4e00\u4e2a\u6982\u5ff5\u2014\u2014\u53d1\u884c\u7248\u3002</p> <p></p> <p>\u4ec0\u4e48\u53eb\u53d1\u884c\u7248\u5462\uff1f\u51c6\u786e\u6765\u8bb2\uff0c\u6211\u4eec\u63d0\u5230\u7684Linux\u5e94\u8be5\u53eb\u505a\u64cd\u4f5c\u7cfb\u7edf\u5185\u6838\uff0c\u5e76\u6ca1\u6709\u53ef\u89c6\u5316\u754c\u9762\uff0c\u53d1\u884c\u7248\u5c31\u662f\u7ed9\u8fd9\u4e2a\u5185\u6838\u52a0\u4e0a\u534e\u4e3d\u7684\u5916\u8863\uff0c\u628a\u64cd\u4f5c\u754c\u9762\u548c\u5404\u79cd\u5e94\u7528\u8f6f\u4ef6\u653e\u5230\u4e00\u8d77\uff0c\u6253\u5305\u6210\u6211\u4eec\u5b89\u88c5\u7cfb\u7edf\u7684\u955c\u50cf\u3002</p> <p></p> <p>\u6240\u4ee5\u4e00\u822c\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u5e38\u7528\u5230\u7684Linux\u7cfb\u7edf\uff0c\u90fd\u662f\u5404\u79cd\u5404\u6837\u7684\u53d1\u884c\u7248\uff0c\u6bd4\u5982Ubuntu\u3001Fedora\u3001RedHat\u7b49\u7b49\uff0c\u6bcf\u4e00\u4e2a\u53d1\u884c\u7248\u90fd\u6709\u5176\u9002\u7528\u7684\u573a\u666f\uff0c\u6bd4\u5982RedHat\u9002\u5408\u5546\u4e1a\u5e94\u7528\u3001CentOS\u9002\u5408\u670d\u52a1\u5668\u3001Ubuntu\u3001Fedora\u9002\u5408\u4e2a\u4eba\u4f7f\u7528\u7b49\uff0c\u6bcf\u4e00\u4e2a\u7248\u672c\u7684\u754c\u9762\u4e0d\u592a\u4e00\u6837\uff0c\u4f46\u6838\u5fc3\u90fd\u662fLinux\uff0c\u64cd\u4f5c\u65b9\u6cd5\u57fa\u672c\u76f8\u540c\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#ubuntu","title":"Ubuntu\u7cfb\u7edf\u7b80\u4ecb","text":"<p>\u6211\u4eec\u540e\u7eed\u8bfe\u7a0b\u4f7f\u7528\u5230\u7684Linux\u53d1\u884c\u7248\u5c31\u662fubuntu\u7cfb\u7edf\u3002</p> <p></p> <p>Ubuntu\u8bde\u751f\u4e8e2004\u5e7410\u6708\u4efd\uff0c\u6bcf\u516d\u4e2a\u6708\u53d1\u5e03\u4e00\u4e2a\u65b0\u7248\u672c\uff0c\u7528\u6237\u53ef\u4ee5\u4e00\u76f4\u514d\u8d39\u5347\u7ea7\u4f7f\u7528\uff0c\u6211\u4eec\u5e38\u7528\u7684\u6d4f\u89c8\u5668\u3001\u6587\u4ef6\u7f16\u8f91\u5668\u3001\u901a\u8baf\u8f6f\u4ef6\u7b49\u4e00\u5e94\u4ff1\u5168\u3002\u5728\u8f6f\u4ef6\u5f00\u53d1\u9886\u57df\uff0c\u65e0\u8bba\u662f\u4e92\u8054\u7f51\u5f00\u53d1\uff0c\u8fd8\u662f\u4eba\u5de5\u667a\u80fd\u5f00\u53d1\uff0c\u8fd8\u662f\u5927\u5bb6\u5173\u6ce8\u7684\u673a\u5668\u4eba\u5f00\u53d1\uff0cUbuntu\u90fd\u5360\u636e\u7edd\u5bf9\u91cd\u8981\u7684\u4f4d\u7f6e\u3002</p> <p>Ubuntu\u7684\u7248\u672c\u53d8\u52a8\u6bd4\u8f83\u5feb\uff0c\u5982\u4f55\u9009\u62e9\u5408\u9002\u81ea\u5df1\u4f7f\u7528\u7684\u7248\u672c\u5f88\u91cd\u8981\uff0c\u56e0\u4e3a\u5176\u4e2d\u5404\u79cd\u8f6f\u4ef6\u7248\u672c\u4e0d\u540c\u4f1a\u76f4\u63a5\u5f71\u54cd\u6211\u4eec\u4e0a\u5c42\u5e94\u7528\u7684\u79fb\u690d\u6548\u679c\u3002\u5728\u9009\u62e9\u7248\u672c\u7684\u65f6\u5019\uff0c\u5927\u5bb6\u53ef\u4ee5\u5173\u6ce8\u4e00\u4e0b\u7d27\u968f\u5176\u540e\u7684\u7f16\u53f7\uff0c\u6bd4\u5982Ubuntu22.04\u300222\u4ee3\u88682022\u5e74\uff0c04\u8868\u793a2022\u5e74\u76844\u6708\u4efd\u53d1\u5e03\uff0c\u9664\u4e8604\u8fd8\u53ef\u80fd\u4f1a\u51fa\u73b0\u7684\u662f10\uff0c\u5c31\u662f10\u6708\u4efd\u53d1\u5e03\uff0c\u6240\u4ee5\u4ece\u6570\u5b57\u7f16\u53f7\u4e0a\u5c31\u53ef\u4ee5\u770b\u51fa\u5404\u4e2a\u7248\u672c\u53d1\u5e03\u7684\u987a\u5e8f\u3002</p> <p></p> <p>\u4f46\u662f\u8fd9\u6837\u4f9d\u7136\u4f1a\u6709\u5f88\u591a\u7248\u672c\uff0c\u4e3a\u4e86\u8ba9\u66f4\u591a\u5f00\u53d1\u8005\u6709\u4e00\u4e2a\u7a33\u5b9a\u7684\u7cfb\u7edf\u73af\u5883\uff0cUbuntu\u6bcf\u9694\u4e24\u5e74\u76844\u6708\u4efd\u4f1a\u53d1\u5e03\u4e00\u4e2a\u957f\u671f\u652f\u6301\u7248\uff0c\u540e\u7f00\u4f1a\u52a0LTS\uff0c\u4fdd\u8bc15\u5e74\u4e4b\u5185\u6301\u7eed\u7ef4\u62a4\u66f4\u65b0\uff0c\u6bd4\u5982Ubuntu20.04 LTS\uff0cUbuntu22.04 LTS\uff0c\u9664\u6b64\u4e4b\u5916\u7684\u7248\u672c\u90fd\u662f\u666e\u901a\u7248\uff0c\u53ea\u7ef4\u62a418\u4e2a\u6708\uff0c\u6240\u4ee5\u5927\u5bb6\u5728\u9009\u62e9\u65f6\uff0c\u4f18\u5148\u8003\u8651\u957f\u671f\u652f\u6301\u7248\u3002</p> <p></p> <p>\u5728\u672c\u6559\u7a0b\u4e2d\uff0c\u6211\u4eec\u4ee5Ubuntu22.04\u4e3a\u4f8b\u8fdb\u884c\u8bb2\u89e3\uff0c\u5927\u5bb6\u4e5f\u53ef\u4ee5\u9009\u62e9\u5176\u4ed6\u957f\u671f\u652f\u6301\u7248\u672c\u3002</p> <p>\u597d\u4e86\uff0c\u5927\u5bb6\u4e00\u5b9a\u5df2\u7ecf\u6469\u62f3\u64e6\u638c\u60f3\u8981\u8bd5\u4e00\u8bd5Ubuntu\u4e86\uff0c\u5b89\u88c5\u65b9\u6cd5\u5f88\u591a\uff0c\u5982\u679c\u4f60\u4e4b\u524d\u5df2\u7ecf\u719f\u6089Linux\uff0c\u5efa\u8bae\u5728\u7535\u8111\u4e0a\u786c\u76d8\u5b89\u88c5Ubuntu\uff0c\u8fd9\u6837\u53ef\u4ee5\u53d1\u6325\u51fa\u786c\u4ef6\u6700\u5927\u7684\u6027\u80fd\uff0c\u5982\u679c\u4f60\u662f\u7b2c\u4e00\u6b21\u63a5\u89e6Linux\uff0c\u5efa\u8bae\u5728\u5df2\u6709\u7684windows\u4e0a\u901a\u8fc7\u865a\u62df\u673a\u5b89\u88c5\uff0c\u672a\u6765\u719f\u6089\u4e4b\u540e\u518d\u8003\u8651\u786c\u76d8\u5b89\u88c5\u3002</p> <p></p> <p>\u8fd9\u91cc\u6211\u4eec\u4e3b\u8981\u4ecb\u7ecd\u865a\u62df\u673a\u4e2d\u7684\u5b89\u88c5\u65b9\u6cd5\uff0c\u5927\u5bb6\u4e5f\u53ef\u4ee5\u53c2\u8003\u8bfe\u7a0b\u8d44\u6599\u6216\u7f51\u7edc\u8d44\u6599\uff0c\u81ea\u884c\u8003\u8651\u786c\u76d8\u5b89\u88c5\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#ubuntu_1","title":"Ubuntu\u865a\u62df\u673a\u5b89\u88c5","text":"<p>\u865a\u62df\u673a\u662f\u4e00\u4e2a\u8f6f\u4ef6\uff0c\u53ef\u4ee5\u5728\u5df2\u6709\u7cfb\u7edf\u4e4b\u4e0a\uff0c\u6784\u5efa\u53e6\u5916\u4e00\u4e2a\u865a\u62df\u7684\u7cfb\u7edf\uff0c\u8ba9\u591a\u4e2a\u64cd\u4f5c\u73af\u5883\u540c\u65f6\u8fd0\u884c\u3002</p> <p>\u8fd9\u91cc\u6211\u4eec\u91c7\u7528\u7684\u865a\u62df\u673a\u8f6f\u4ef6\u53eb\u505avmware\uff0c\u4e0b\u8f7d\u5730\u5740\u5982\u4e0b\uff0c\u5b89\u88c5\u6b65\u9aa4\u548c\u5176\u4ed6\u8f6f\u4ef6\u76f8\u540c\uff0c\u8bf7\u5927\u5bb6\u81ea\u884c\u4e0b\u8f7d\u5e76\u5b89\u88c5\uff1a</p> <p>https://www.vmware.com/products/workstation-pro/workstation-pro-evaluation.html </p> <p>\u51c6\u5907\u5de5\u4f5c\u5b8c\u6210\u540e\uff0c\u5c31\u53ef\u4ee5\u5f00\u59cb\u7cfb\u7edf\u5b89\u88c5\u5566\uff0c\u5b89\u88c5\u6b65\u9aa4\u5982\u4e0b\uff1a</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#1","title":"1. \u4e0b\u8f7d\u7cfb\u7edf\u955c\u50cf","text":"<p>\u4e0b\u8f7d\u94fe\u63a5\uff1ahttps://ubuntu.com/download/desktop </p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#2","title":"2. \u5728\u865a\u62df\u673a\u4e2d\u521b\u5efa\u7cfb\u7edf","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#3","title":"3. \u8bbe\u7f6e\u865a\u62df\u673a\u786c\u76d8\u5927\u5c0f","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#4-ubuntu","title":"4. \u8bbe\u7f6eUbuntu\u955c\u50cf\u8def\u5f84","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#5","title":"5. \u542f\u52a8\u865a\u62df\u673a","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#6","title":"6. \u8bbe\u7f6e\u7528\u6237\u540d\u548c\u5bc6\u7801","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#7","title":"7. \u7b49\u5f85\u7cfb\u7edf\u5b89\u88c5","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#8","title":"8. \u5b8c\u6210\u5b89\u88c5","text":"<p>Ubuntu\u7cfb\u7edf\u5b89\u88c5\u597d\u540e\uff0c\u5927\u5bb6\u53ef\u4ee5\u5148\u968f\u610f\u4f7f\u7528\u719f\u6089\u4e00\u4e0b\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#ros2_1","title":"ROS2\u7cfb\u7edf\u5b89\u88c5","text":"<p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u628aROS2\u5b89\u88c5\u5230Ubuntu\u7cfb\u7edf\u4e2d\u4e86\u3002\u5b89\u88c5\u6b65\u9aa4\u5982\u4e0b\uff1a</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#1_1","title":"1. \u8bbe\u7f6e\u7f16\u7801","text":"<pre><code>$ sudo apt update &amp;&amp; sudo apt install locales\n$ sudo locale-gen en_US en_US.UTF-8\n$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \n$ export LANG=en_US.UTF-8\n</code></pre>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#2_1","title":"2. \u6dfb\u52a0\u6e90","text":"<pre><code>$ sudo apt update &amp;&amp; sudo apt install curl gnupg lsb-release \n$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \n$ echo \"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release &amp;&amp; echo $UBUNTU_CODENAME) main\" | sudo tee /etc/apt/sources.list.d/ros2.list &gt; /dev/null\n</code></pre> <p>\u5982\u9047\u62a5\u9519\u201cFailed to connect to raw.githubusercontent.com\u201d\uff0c\u53ef\u53c2\u8003https://www.guyuehome.com/37844 </p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#3-ros2","title":"3. \u5b89\u88c5ROS2","text":"<pre><code>$ sudo apt update\n$ sudo apt upgrade\n$ sudo apt install ros-humble-desktop\n</code></pre>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#4","title":"4. \u8bbe\u7f6e\u73af\u5883\u53d8\u91cf","text":"<pre><code>$ source /opt/ros/humble/setup.bash\n$ echo \" source /opt/ros/humble/setup.bash\" &gt;&gt; ~/.bashrc \n</code></pre> <p>\u81f3\u6b64\uff0cROS2\u5c31\u5df2\u7ecf\u5728\u7cfb\u7edf\u4e2d\u5b89\u88c5\u597d\u4e86\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#ros2_2","title":"ROS2\u793a\u4f8b\u6d4b\u8bd5","text":"<p>\u4e3a\u4e86\u9a8c\u8bc1ROS2\u5b89\u88c5\u6210\u529f\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u793a\u4f8b\u8fdb\u884c\u6d4b\u8bd5\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#_1","title":"\u793a\u4f8b\u4e00\uff1a\u547d\u4ee4\u884c\u793a\u4f8b","text":"<p>\u5148\u6765\u8bd5\u8bd5ROS2\u6700\u4e3a\u91cd\u8981\u7684\u5e95\u5c42\u901a\u4fe1\u7cfb\u7edfDDS\u662f\u5426\u6b63\u5e38\u5427\u3002</p> <p>\u542f\u52a8\u7b2c\u4e00\u4e2a\u7ec8\u7aef\uff0c\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u4e00\u4e2a\u6570\u636e\u7684\u53d1\u5e03\u8005\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run demo_nodes_cpp talker\n</code></pre> <p></p> <p>\u542f\u52a8\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\uff0c\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u4e00\u4e2a\u6570\u636e\u7684\u8ba2\u9605\u8005\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run demo_nodes_py listener\n</code></pre> <p></p> <p>\u5982\u679c\u201cHello World\u201d\u5b57\u7b26\u4e32\u5728\u4e24\u4e2a\u7ec8\u7aef\u4e2d\u6b63\u5e38\u4f20\u8f93\uff0c\u8bf4\u660e\u901a\u4fe1\u7cfb\u7edf\u6ca1\u6709\u95ee\u9898\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/#_2","title":"\u793a\u4f8b\u4e8c\uff1a\u5c0f\u6d77\u9f9f\u4eff\u771f\u793a\u4f8b","text":"<p>\u518d\u6765\u8bd5\u4e00\u8bd5ROS\u4e2d\u7684\u7ecf\u5178\u793a\u4f8b\u2014\u2014\u5c0f\u6d77\u9f9f\u4eff\u771f\u5668\u3002</p> <p>\u542f\u52a8\u4e24\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\u5982\u4e0b\u6307\u4ee4\uff1a</p> <pre><code>$ ros2 run turtlesim turtlesim_node\n$ ros2 run turtlesim turtle_teleop_key\n</code></pre> <p>\u7b2c\u4e00\u53e5\u6307\u4ee4\u5c06\u542f\u52a8\u4e00\u4e2a\u84dd\u8272\u80cc\u666f\u7684\u6d77\u9f9f\u4eff\u771f\u5668\uff0c\u7b2c\u4e8c\u53e5\u6307\u4ee4\u5c06\u542f\u52a8\u4e00\u4e2a\u952e\u76d8\u63a7\u5236\u8282\u70b9\uff0c\u5728\u8be5\u7ec8\u7aef\u4e2d\u70b9\u51fb\u952e\u76d8\u4e0a\u7684\u201c\u4e0a\u4e0b\u5de6\u53f3\u201d\u6309\u952e\uff0c\u5c31\u53ef\u4ee5\u63a7\u5236\u5c0f\u6d77\u9f9f\u8fd0\u52a8\u5566\u3002</p> <p></p> <p>\u5173\u4e8e\u5c0f\u6d77\u9f9f\u4e2d\u8574\u85cf\u7684ROS\u5965\u4e49\uff0c\u6211\u4eec\u5728\u540e\u7eed\u6559\u7a0b\u4e2d\u5c06\u6301\u7eed\u63a2\u7d22\u3002</p> <p>\u81f3\u6b64\uff0cROS2\u5b89\u88c5\u6210\u529f\u3002</p> <p></p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/","title":"ROS2\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u5728\u4e4b\u524d\u8fd0\u884c\u5c0f\u6d77\u9f9f\u6848\u4f8b\u7684\u65f6\u5019\uff0c\u6211\u4eec\u63a5\u89e6\u5230\u4e86ROS2\u4e2d\u4e00\u79cd\u91cd\u8981\u7684\u8c03\u8bd5\u5de5\u5177\u2014\u2014\u547d\u4ee4\u884c\uff0c\u5927\u5bb6\u5982\u679c\u7b2c\u4e00\u6b21\u4f7f\u7528\uff0c\u53ef\u80fd\u4f1a\u6709\u70b9\u4e0d\u592a\u9002\u5e94\uff0c\u672c\u8282\u5c06\u5e26\u9886\u5927\u5bb6\u8fdb\u4e00\u6b65\u4f7f\u7528ROS2\u4e2d\u7684\u66f4\u591a\u547d\u4ee4\uff0c\u968f\u7740\u5b66\u4e60\u7684\u6df1\u5165\uff0c\u5927\u5bb6\u4e00\u5b9a\u53ef\u4ee5\u611f\u53d7\u5230\u547d\u4ee4\u884c\u7684\u9b45\u529b\u3002</p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#linux","title":"Linux\u4e2d\u7684\u547d\u4ee4\u884c","text":"<p>\u7c7b\u4f3c\u4e8e\u79d1\u5e7b\u7535\u5f71\u4e2d\u7684\u7247\u6bb5\uff0c\u547d\u4ee4\u884c\u64cd\u4f5c\u5f02\u5e38\u70ab\u9177\uff0c\u4f46\u662f\u5176\u4e0a\u624b\u5e76\u4e0d\u5bb9\u6613\u3002\u4e3a\u4ec0\u4e48\u8fd9\u6837\u4e00\u79cd\u64cd\u4f5c\u770b\u4f3c\u5e76\u4e0d\u4fbf\u6377\u7684\u65b9\u5f0f\u4f1a\u88ab\u4e00\u76f4\u4fdd\u7559\u81f3\u4eca\u5462\uff1f\u65e0\u8bba\u5bf9\u4e8eLinux\u8fd8\u662fROS\u6765\u8bb2\uff0c\u90fd\u662f\u5fc5\u4e0d\u53ef\u5c11\u7684\uff0c\u5927\u5bb6\u5148\u6765\u60f3\u8c61\u4e00\u79cd\u573a\u666f\u3002</p> <p></p> <p>\u6bd4\u5982\u6211\u4eec\u53bb\u5546\u573a\u4e70\u8863\u670d\uff0c\u5546\u573a\u91cc\u8fb9\u7684\u8863\u670d\u867d\u7136\u591a\uff0c\u4f46\u5e76\u4e0d\u662f\u6bcf\u6b21\u90fd\u53ef\u4ee5\u6ee1\u8db3\u6211\u4eec\u7684\u9700\u6c42\uff0c\u603b\u6709\u4e00\u4e9b\u65f6\u5019\u6211\u4eec\u901b\u6765\u901b\u53bb\u5c31\u662f\u54ea\u4e00\u4ef6\u90fd\u6ca1\u6709\u770b\u4e2d\uff0c\u6b64\u65f6\u4f60\u770b\u5230\u67d0\u4e00\u4e2a\u5546\u5bb6\u63a8\u51fa\u670d\u88c5\u5b9a\u5236\u670d\u52a1\uff0c\u53ef\u4ee5\u6839\u636e\u73b0\u6709\u7684\u6240\u6709\u6b3e\u5f0f\uff0c\u7ed3\u5408\u6211\u4eec\u81ea\u5df1\u7684\u9700\u6c42\uff0c\u81ea\u4e3b\u5b9a\u5236\uff0c\u867d\u7136\u64cd\u4f5c\u8d77\u6765\u9ebb\u70e6\u4e00\u70b9\uff0c\u4f46\u662f\u7075\u6d3b\u5ea6\u9ad8\u5440\uff0c\u4f60\u60f3\u8981\u4ec0\u4e48\u6837\u7684\u5c31\u53ef\u4ee5\u8bbe\u8ba1\u6210\u4ec0\u4e48\u6837\u7684\uff0c\u5b8c\u5168\u4e0d\u53d7\u65e2\u5b9a\u89c4\u5219\u7684\u7ea6\u675f\u3002</p> <p></p> <p>\u5728\u8fd9\u79cd\u573a\u666f\u4e2d\uff0c\u5176\u4ed6\u5546\u5bb6\u4e3a\u6211\u4eec\u5448\u73b0\u51fa\u5df2\u7ecf\u505a\u597d\u7684\u8863\u670d\uff0c\u5c31\u7c7b\u4f3c\u4e8e\u53ef\u89c6\u5316\u8f6f\u4ef6\u4e00\u6837\uff0c\u90fd\u662f\u88ab\u7cbe\u5fc3\u8bbe\u8ba1\u7684\uff0c\u4f46\u662f\u5e76\u4e0d\u4e00\u5b9a\u80fd\u591f\u5b8c\u5168\u89e3\u51b3\u6211\u4eec\u7684\u95ee\u9898\uff0c\u8fd9\u91cc\u5b9a\u5236\u670d\u52a1\u4e2d\u7684\u5404\u79cd\u5e03\u6599\u3001\u5de5\u5177\u7b49\u5c31\u7c7b\u4f3c\u547d\u4ee4\u884c\uff0c\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u8fd9\u4e9b\u6750\u6599\u548c\u5de5\u5177\u7075\u6d3b\u5b9a\u5236\u5404\u79cd\u529f\u80fd\uff0c\u7ea6\u675f\u5c31\u5c0f\u5f88\u591a\u4e86\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_1","title":"\u542f\u52a8\u65b9\u5f0f","text":"<p>\u56de\u5230\u547d\u4ee4\u884c\u6765\uff0c\u4e00\u7cfb\u5217\u7684\u547d\u4ee4\u90fd\u662f\u901a\u8fc7\u5b57\u7b26\u7684\u65b9\u5f0f\u8f93\u5165\u7684\uff0c\u600e\u4e48\u8f93\u5165\u5462\uff0c\u5e76\u4e0d\u662f\u4f7f\u7528\u5199\u5b57\u672c\uff0c\u800c\u662f\u4f7f\u7528\u4e13\u95e8\u7684\u8f6f\u4ef6\uff0c\u53eb\u505aTerminal\uff0c\u7ec8\u7aef\u3002</p> <p>\u542f\u52a8\u7ec8\u7aef\u7684\u65b9\u5f0f\u6709\u5f88\u591a\u79cd\uff1a</p> <ul> <li>\u5728\u5e94\u7528\u5217\u8868\u4e2d\u6253\u5f00</li> <li>\u5feb\u6377\u952eCtrl+Alt+T\u6253\u5f00</li> <li>\u9f20\u6807\u53f3\u952e\u9009\u62e9\u6253\u5f00\u7ec8\u7aef</li> </ul> <p></p> <p>\u6253\u5f00\u540e\u8fd9\u4e2a\u6df1\u8272\u80cc\u666f\u7684\u7a97\u53e3\u5c31\u662f\u7ec8\u7aef\uff0c\u56e0\u4e3a\u90fd\u662f\u547d\u4ee4\u7684\u8f93\u5165\uff0c\u6240\u4ee5\u6211\u4eec\u5f88\u5c11\u4f1a\u7528\u5230\u9f20\u6807\uff0c\u8fd9\u4e5f\u662f\u4e3a\u4ec0\u4e48\u79d1\u5e7b\u7535\u5f71\u4e2d\u770b\u5230\u7684\u9ed1\u5ba2\uff0c\u7b14\u8bb0\u672c\u7535\u8111\u968f\u8eab\u5e26\uff0c\u4f46\u662f\u4ece\u6765\u770b\u4e0d\u5230\u9f20\u6807\u7684\u539f\u56e0\u3002</p> <p>\u521d\u6b21\u4e0a\u624b\uff0c\u5927\u5bb6\u4e00\u5b9a\u4f1a\u89c9\u5f97\u547d\u4ee4\u884c\u65e2\u67af\u71e5\uff0c\u53c8\u96be\u4ee5\u8bb0\u5fc6\uff0c\u8fd9\u5f88\u6b63\u5e38\uff0c\u968f\u7740\u6211\u4eec\u5bf9\u8fd9\u9879\u5de5\u5177\u7684\u719f\u6089\uff0c\u5927\u5bb6\u4e00\u5b9a\u53ef\u4ee5\u6162\u6162\u4f53\u4f1a\u5230\u547d\u4ee4\u884c\u64cd\u4f5c\u7684\u9b45\u529b\u6240\u5728\u3002</p> <p>\u81f3\u4e8e\u547d\u4ee4\u884c\u6307\u4ee4\u53ca\u529f\u80fd\u53c2\u6570\u7684\u6570\u91cf\uff0c\u786e\u5b9e\u591a\u5230\u4ee4\u4eba\u53d1\u6307\uff0c\u4e0d\u8fc7\u4e0d\u7528\u6b7b\u673a\u786c\u80cc\uff0c\u6211\u4eec\u5e38\u7528\u7684\u547d\u4ee4\u4e5f\u5c31\u4e00\u4e8c\u5341\u4e2a\uff0c\u5176\u4ed6\u547d\u4ee4\u5728\u9700\u8981\u7528\u7684\u65f6\u5019\u641c\u7d22\u4e00\u4e0b\u5373\u53ef\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_2","title":"\u5e38\u7528\u547d\u4ee4\u64cd\u4f5c","text":"<p>\u6211\u4eec\u5148\u6765\u4f53\u9a8c\u4e00\u4e0bLinux\u7684\u5e38\u7528\u547d\u4ee4\uff0c\u627e\u627e\u611f\u89c9\u3002</p> <p>cd</p> <ul> <li> <p>\u8bed\u6cd5\uff1acd &lt;\u76ee\u5f55\u8def\u5f84&gt;</p> </li> <li> <p>\u529f\u80fd\uff1a\u6539\u53d8\u5de5\u4f5c\u76ee\u5f55\u3002\u82e5\u6ca1\u6709\u6307\u5b9a\u201c\u76ee\u5f55\u8def\u5f84\u201d\uff0c\u5219\u56de\u5230\u7528\u6237\u7684\u4e3b\u76ee\u5f55</p> </li> </ul> <p>pwd</p> <ul> <li>\u8bed\u6cd5\uff1apwd</li> <li>\u529f\u80fd\uff1a\u6b64\u547d\u4ee4\u663e\u793a\u51fa\u5f53\u524d\u5de5\u4f5c\u76ee\u5f55\u7684\u7edd\u5bf9\u8def\u5f84</li> </ul> <p></p> <p>mkdir</p> <ul> <li> <p>\u8bed\u6cd5\uff1amkdir [\u9009\u9879] &lt;\u76ee\u5f55\u540d\u79f0&gt;</p> </li> <li> <p>\u529f\u80fd\uff1a\u521b\u5efa\u4e00\u4e2a\u76ee\u5f55/\u6587\u4ef6\u5939</p> </li> </ul> <p>ls</p> <ul> <li> <p>\u8bed\u6cd5\uff1als [\u9009\u9879] [\u76ee\u5f55\u540d\u79f0\u2026]</p> </li> <li> <p>\u529f\u80fd\uff1a\u5217\u51fa\u76ee\u5f55/\u6587\u4ef6\u5939\u4e2d\u7684\u6587\u4ef6\u5217\u8868</p> </li> </ul> <p></p> <p>gedit</p> <ul> <li> <p>\u8bed\u6cd5\uff1agedit &lt;\u6587\u4ef6\u540d\u79f0&gt;</p> </li> <li> <p>\u529f\u80fd\uff1a\u6253\u5f00gedit\u7f16\u8f91\u5668\u7f16\u8f91\u6587\u4ef6\uff0c\u82e5\u6ca1\u6709\u6b64\u6587\u4ef6\u5219\u4f1a\u65b0\u5efa</p> </li> </ul> <p></p> <p>mv</p> <ul> <li> <p>\u8bed\u6cd5\uff1amv [\u9009\u9879] &lt;\u6e90\u6587\u4ef6\u6216\u76ee\u5f55&gt; &lt;\u76ee\u5730\u6587\u4ef6\u6216\u76ee\u5f55&gt;</p> </li> <li> <p>\u529f\u80fd\uff1a\u4e3a\u6587\u4ef6\u6216\u76ee\u5f55\u6539\u540d\u6216\u5c06\u6587\u4ef6\u7531\u4e00\u4e2a\u76ee\u5f55\u79fb\u5165\u53e6\u4e00\u4e2a\u76ee\u5f55\u4e2d</p> </li> </ul> <p>cp</p> <ul> <li> <p>\u8bed\u6cd5\uff1acp [\u9009\u9879] &lt;\u6e90\u6587\u4ef6\u540d\u79f0\u6216\u76ee\u5f55\u540d\u79f0&gt; &lt;\u76ee\u7684\u6587\u4ef6\u540d\u79f0\u6216\u76ee\u5f55\u540d\u79f0&gt;</p> </li> <li> <p>\u529f\u80fd\uff1a\u628a\u4e00\u4e2a\u6587\u4ef6\u6216\u76ee\u5f55\u62f7\u8d1d\u5230\u53e6\u4e00\u6587\u4ef6\u6216\u76ee\u5f55\u4e2d\uff0c\u6216\u8005\u628a\u591a\u4e2a\u6e90\u6587\u4ef6\u590d\u5236\u5230\u76ee\u6807\u76ee\u5f55\u4e2d</p> </li> </ul> <p></p> <p>rm</p> <ul> <li> <p>\u8bed\u6cd5\uff1arm [\u9009\u9879] &lt;\u6587\u4ef6\u540d\u79f0\u6216\u76ee\u5f55\u540d\u79f0\u2026&gt;</p> </li> <li> <p>\u529f\u80fd\uff1a\u8be5\u547d\u4ee4\u7684\u529f\u80fd\u4e3a\u5220\u9664\u4e00\u4e2a\u76ee\u5f55\u4e2d\u7684\u4e00\u4e2a\u6216\u591a\u4e2a\u6587\u4ef6\u6216\u76ee\u5f55\uff0c\u5b83\u4e5f\u53ef\u4ee5\u5c06\u67d0\u4e2a\u76ee\u5f55\u53ca\u5176\u4e0b\u7684\u6240\u6709\u6587\u4ef6\u53ca\u5b50\u76ee\u5f55\u5747\u5220\u9664\u3002\u5bf9\u4e8e\u94fe\u63a5\u6587\u4ef6\uff0c\u53ea\u662f\u5220\u9664\u4e86\u94fe\u63a5\uff0c\u539f\u6709\u6587\u4ef6\u5747\u4fdd\u6301\u4e0d\u53d8</p> </li> </ul> <p></p> <p>sudo</p> <ul> <li> <p>\u8bed\u6cd5\uff1asudo [\u9009\u9879]  [\u6307\u4ee4]</p> </li> <li> <p>\u529f\u80fd\uff1a\u4ee5\u7cfb\u7edf\u7ba1\u7406\u5458\u6743\u9650\u6765\u6267\u884c\u6307\u4ee4</p> </li> </ul> <p></p> <p>\u8fd9\u4e9b\u547d\u4ee4\u5927\u5bb6\u4e0d\u9700\u8981\u6b7b\u8bb0\u786c\u80cc\uff0c\u672a\u6765\u4e00\u8fb9\u7528\u4e00\u8fb9\u67e5\uff0c\u7528\u7684\u591a\u4e86\uff0c\u5c31\u4f1a\u719f\u6089\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#ros2_1","title":"ROS2\u4e2d\u7684\u547d\u4ee4\u884c","text":"<p>ROS2\u547d\u4ee4\u884c\u7684\u64cd\u4f5c\u673a\u5236\u4e0eLinux\u76f8\u540c\uff0c\u4e0d\u8fc7\u6240\u6709\u64cd\u4f5c\u90fd\u96c6\u6210\u5728\u4e00\u4e2aros2\u7684\u603b\u547d\u4ee4\u4e2d\uff0c\u540e\u8fb9\u7b2c\u4e00\u4e2a\u53c2\u6570\u8868\u793a\u4e0d\u540c\u7684\u64cd\u4f5c\u76ee\u7684\uff0c\u6bd4\u5982node\u8868\u793a\u5bf9\u8282\u70b9\u7684\u64cd\u4f5c\uff0ctopic\u8868\u793a\u5bf9\u8bdd\u9898\u7684\u64cd\u4f5c\uff0c\u5177\u4f53\u64cd\u4f5c\u5e72\u4ec0\u4e48\uff0c\u8fd8\u53ef\u4ee5\u5728\u540e\u8fb9\u7ee7\u7eed\u8ddf\u4e00\u7cfb\u5217\u53c2\u6570\u5185\u5bb9\u3002</p> <p></p> <p>\u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u4ee5\u5c0f\u6d77\u9f9f\u4eff\u771f\u4e3a\u4f8b\uff0c\u4e00\u8d77\u611f\u53d7\u4e0bROS2\u547d\u4ee4\u884c\u7684\u4e3b\u8981\u529f\u80fd\uff0c\u4e5f\u5bf9ROS2\u4e2d\u7684\u6838\u5fc3\u6982\u5ff5\u6709\u4e00\u4e2a\u5927\u81f4\u4e86\u89e3\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_3","title":"\u8fd0\u884c\u8282\u70b9\u7a0b\u5e8f","text":"<p>\u60f3\u8981\u8fd0\u884cROS2\u4e2d\u67d0\u4e2a\u8282\u70b9\uff0c\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528ros2 run\u547d\u4ee4\u8fdb\u884c\u64cd\u4f5c\uff0c\u4f8b\u5982\u6211\u4eec\u8981\u8fd0\u884c\u6d77\u9f9f\u4eff\u771f\u8282\u70b9\u548c\u952e\u76d8\u63a7\u5236\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run turtlesim turtlesim_node\n$ ros2 run turtlesim turtle_teleop_key\n</code></pre> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_4","title":"\u67e5\u770b\u8282\u70b9\u4fe1\u606f","text":"<p>\u5f53\u524d\u8fd0\u884c\u7684ROS\u7cfb\u7edf\u4e2d\u90fd\u6709\u54ea\u4e9b\u8282\u70b9\u5462\uff1f\u53ef\u4ee5\u8fd9\u6837\u6765\u67e5\u770b\uff1a</p> <pre><code>$ ros2 node list\n</code></pre> <p></p> <p>\u5982\u679c\u5bf9\u67d0\u4e00\u4e2a\u8282\u70b9\u611f\u5174\u8da3\uff0c\u52a0\u4e0a\u4e00\u4e2ainfo\u5b50\u547d\u4ee4\uff0c\u5c31\u53ef\u4ee5\u77e5\u9053\u5b83\u7684\u8be6\u7ec6\u4fe1\u606f\u5566\uff1a</p> <pre><code>$ ros2 node info /turtlesim \n</code></pre> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_5","title":"\u67e5\u770b\u8bdd\u9898\u4fe1\u606f","text":"<p>\u5f53\u524d\u7cfb\u7edf\u4e2d\u90fd\u6709\u8bdd\u9898\u5462\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u5373\u53ef\u67e5\u770b\uff1a</p> <pre><code>$ ros2 topic list\n</code></pre> <p></p> <p>\u8fd8\u60f3\u770b\u5230\u67d0\u4e00\u4e2a\u8bdd\u9898\u4e2d\u7684\u6d88\u606f\u6570\u636e\uff0c\u52a0\u4e0aecho\u5b50\u547d\u4ee4\u8bd5\u4e00\u8bd5\uff1a <pre><code>$ ros2 topic echo /turtle1/pose \n</code></pre></p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_6","title":"\u53d1\u5e03\u8bdd\u9898\u6d88\u606f","text":"<p>\u60f3\u8981\u63a7\u5236\u6d77\u9f9f\u52a8\u8d77\u6765\uff0c\u6211\u4eec\u8fd8\u53ef\u4ee5\u76f4\u63a5\u901a\u8fc7\u547d\u4ee4\u884c\u53d1\u5e03\u8bdd\u9898\u6307\u4ee4\uff1a <pre><code>$ ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}\"\n</code></pre></p> <p></p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_7","title":"\u53d1\u9001\u670d\u52a1\u8bf7\u6c42","text":"<p>\u4e00\u53ea\u6d77\u9f9f\u592a\u5b64\u5355\uff0c\u4eff\u771f\u5668\u8fd8\u63d0\u4f9b\u6539\u4e86\u4e00\u4e2a\u670d\u52a1\u2014\u2014\u4ea7\u751f\u6d77\u9f9f\uff0c\u6211\u4eec\u8bd5\u4e00\u8bd5\u670d\u52a1\u8c03\u7528\uff0c\u518d\u6765\u4e00\u53ea\u6d77\u9f9f\uff1a</p> <pre><code>$ ros2 service call /spawn turtlesim/srv/Spawn \"{x: 2, y: 2, theta: 0.2, name: ''}\"\n</code></pre> <p></p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_8","title":"\u53d1\u9001\u52a8\u4f5c\u76ee\u6807","text":"<p>\u60f3\u8981\u8ba9\u6d77\u9f9f\u5b8c\u6210\u4e00\u4e2a\u5177\u4f53\u52a8\u4f5c\uff0c\u6bd4\u5982\u8f6c\u5230\u6307\u5b9a\u89d2\u5ea6\uff0c\u4eff\u771f\u5668\u4e2d\u63d0\u4f9b\u7684\u8fd9\u4e2aaction\u53ef\u4ee5\u5e2e\u4e0a\u5fd9\uff0c\u901a\u8fc7\u547d\u4ee4\u884c\u8fd9\u6837\u53d1\u9001\u52a8\u4f5c\u76ee\u6807\uff1a</p> <pre><code>$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute \"theta: 3\"\n</code></pre> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/#_9","title":"\u5f55\u5236\u63a7\u5236\u547d\u4ee4","text":"<p>\u7cfb\u7edf\u8fd0\u884c\u4e2d\u7684\u6570\u636e\u6709\u5f88\u591a\uff0c\u5982\u679c\u60f3\u8981\u628a\u67d0\u6bb5\u6570\u636e\u5f55\u5236\u4e0b\u6765\uff0c\u56de\u5230\u5b9e\u9a8c\u5ba4\u518d\u590d\u73b0\u8fd9\u6bb5\u6570\u636e\u5982\u4f55\uff1fROS2\u4e2d\u7684rosbag\u529f\u80fd\u8fd8\u662f\u5f88\u597d\u7528\u7684\uff0c\u8f7b\u677e\u5b9e\u73b0\u6570\u636e\u7684\u5f55\u5236\u4e0e\u64ad\u653e\uff1a</p> <pre><code>$ ros2 bag record /turtle1/cmd_vel\n$ ros2 bag play rosbag2_2022_04_11-17_35_40/rosbag2_2022_04_11-17_35_40_0.db3\n</code></pre> <p></p> <p>\u4ee5\u4e0a\u5c31\u662fROS2\u4e2d\u6211\u4eec\u5e38\u7528\u7684\u547d\u4ee4\u5566\uff0c\u6bcf\u4e00\u4e2a\u547d\u4ee4\u7684\u5b50\u547d\u4ee4\u8fd8\u6709\u5f88\u591a\uff0c\u5927\u5bb6\u53ef\u4ee5\u81ea\u5df1\u5c1d\u8bd5\u770b\u770b\u3002</p> <p></p> <p></p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/","title":"ROS2\u5f00\u53d1\u73af\u5883\u914d\u7f6e","text":"<p>ROS\u673a\u5668\u4eba\u5f00\u53d1\u80af\u5b9a\u79bb\u4e0d\u5f00\u4ee3\u7801\u7f16\u5199\uff0c\u6211\u4eec\u8bfe\u7a0b\u4e2d\u4f1a\u7ed9\u5927\u5bb6\u63d0\u4f9b\u5927\u91cf\u793a\u4f8b\u6e90\u7801\uff0c\u8fd9\u4e9b\u4ee3\u7801\u5982\u4f55\u67e5\u770b\u3001\u7f16\u5199\u3001\u7f16\u8bd1\u5462\uff1f\u6211\u4eec\u9700\u8981\u5148\u505a\u4e00\u4e9b\u51c6\u5907\uff0c\u5b8c\u6210\u5f00\u53d1\u73af\u5883\u7684\u914d\u7f6e\uff0c\u7ed9\u5927\u5bb6\u63a8\u8350\u4e24\u6b3e\u91cd\u8981\u7684\u5f00\u53d1\u5de5\u5177\u2014\u2014vscode\u548cgit\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#git","title":"Git","text":"<p>git\u662f\u4e00\u4e2a\u7248\u672c\u7ba1\u7406\u8f6f\u4ef6\uff0c\u4e5f\u662f\u56e0Linux\u800c\u751f\u3002</p> <p></p> <p>Linux\u53d1\u5c55\u8fc5\u901f\uff0c\u6210\u5343\u4e0a\u4e07\u4eba\u90fd\u4f1a\u8d21\u732e\u4ee3\u7801\uff0c\u8fd9\u4e9b\u4ee3\u7801\u6709\u4e9b\u662f\u4fee\u590dbug\u7684\uff0c\u6709\u4e9b\u662f\u8d21\u732e\u65b0\u786c\u4ef6\u9a71\u52a8\u7684\uff0c\u6709\u4e9b\u662f\u589e\u52a0\u7cfb\u7edf\u65b0\u7279\u6027\u7684\uff0c\u51e0\u5343\u4e07\u884c\u7684\u4ee3\u7801\u4eba\u5de5\u4e00\u884c\u4e00\u884c\u5ba1\u6838\u5408\u5e76\u80af\u5b9a\u662f\u4e0d\u53ef\u80fd\u7684\uff0c\u8fd9\u5c31\u9700\u8981\u6709\u4e00\u6b3e\u8f6f\u4ef6\uff0c\u53ef\u4ee5\u9ad8\u6548\u7ba1\u7406\u6240\u6709\u63d0\u4ea4\u7684\u4ee3\u7801\uff0c\u8ba9\u5f00\u53d1\u8005\u770b\u5230\u6bcf\u6b21\u63d0\u4ea4\u53d8\u66f4\u7684\u4ee3\u7801\u5177\u4f53\u662f\u54ea\u91cc\uff0c\u81ea\u52a8\u5224\u65ad\u4f1a\u4e0d\u4f1a\u6709\u5df2\u6709\u4ee3\u7801\u51b2\u7a81\uff0c\u4ee5\u53ca\u5728\u591a\u4e2a\u4e0d\u540c\u7248\u672c\u4e4b\u95f4\u5207\u6362\u7b49\u7b49\u529f\u80fd\uff0c\u6240\u4ee5Linux\u4e4b\u7236Linus\u5c31\u8bbe\u8ba1\u5e76\u5f00\u53d1\u4e86\u8fd9\u6b3e\u7248\u672c\u7ba1\u7406\u5de5\u5177\u2014\u2014git\uff0c\u4e4b\u540e\u4e5f\u88ab\u5e7f\u6cdb\u5e94\u7528\uff0c\u6bd4\u5982\u6211\u4eec\u5e38\u542c\u5230\u7684\u5f00\u6e90\u9879\u76ee\u7f51\u7ad9Github\uff0c\u548c\u56fd\u5185\u7684\u7801\u4e91Gitee\uff0c\u90fd\u5728\u4f7f\u7528git\u5de5\u5177\u8fdb\u884c\u4f17\u591a\u5f00\u6e90\u9879\u76ee\u7684\u5185\u5bb9\u7ba1\u7406\u3002</p> <p>Linux\u4e2d\u5b89\u88c5git\u7684\u65b9\u6cd5\u975e\u5e38\u7b80\u5355\uff0c\u5927\u5bb6\u76f4\u63a5\u5728\u7ec8\u7aef\u4e2d\u4f7f\u7528\u8fd9\u4e00\u884c\u547d\u4ee4\u5c31\u53ef\u4ee5\u5b8c\u6210\u5b89\u88c5\u3002</p> <pre><code>$ sudo apt install git\n</code></pre>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#_1","title":"\u4e0b\u8f7d\u6559\u7a0b\u6e90\u7801","text":"<p>\u300aROS2\u5165\u95e821\u8bb2\u300b\u8bfe\u7a0b\u6e90\u7801\u7684\u4e0b\u8f7d\u65b9\u5f0f\uff1a</p> <pre><code>$ git clone https://gitee.com/guyuehome/ros2_21_tutorials.git\n</code></pre> <p></p> <p>\u4e0b\u8f7d\u597d\u7684\u8bfe\u7a0b\u4ee3\u7801\u662f\u8fd9\u6837\u7684\uff0c\u91cc\u8fb9\u6709\u5f88\u591a\u6587\u4ef6\u5939\uff0c\u6587\u4ef6\u5939\u4e2d\u8fd8\u4f1a\u6709\u66f4\u591a\u6587\u4ef6\u5939\u548c\u4ee3\u7801\u6587\u4ef6\uff0c\u5982\u679c\u7528\u7cfb\u7edf\u81ea\u5e26\u7684\u6587\u4ef6\u6d4f\u89c8\u5668\u548c\u8bb0\u4e8b\u672c\u67e5\u770b\uff0c\u5c31\u7565\u663e\u590d\u6742\uff0c\u8fd9\u91cc\u63a8\u8350\u53e6\u5916\u4e00\u4e2a\u96c6\u6210\u5f00\u53d1\u73af\u5883\u2014\u2014VSCode\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#vscode","title":"VSCode","text":"<p>Visual Studio Code\uff0c\u7b80\u79f0VSCode\uff0c\u662f\u5fae\u8f6f\u57282015\u5e74\u63a8\u51fa\u7684\u4e00\u4e2a\u8f7b\u91cf\u4f46\u529f\u80fd\u5f3a\u5927\u7684\u6e90\u4ee3\u7801\u7f16\u8f91\u5668\uff0c\u652f\u6301 Windows\u3001Linux\u548c macOS\u64cd\u4f5c\u7cfb\u7edf\uff0c\u6269\u5c55\u7ec4\u4ef6\u975e\u5e38\u4e30\u5bcc\uff0c\u53ef\u4ee5\u5feb\u901f\u642d\u5efa\u6210\u4e3a\u9879\u76ee\u5f00\u53d1\u7684\u795e\u5175\u5229\u5668\u3002</p> <p>\u5b98\u65b9\u7f51\u7ad9\uff1ahttps://code.visualstudio.com/ </p> <p>\u4e0b\u8f7d\u94fe\u63a5\uff1ahttps://code.visualstudio.com/Download </p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#vscode_1","title":"VSCode\u63d2\u4ef6\u914d\u7f6e","text":"<p>\u4e3a\u4e86\u4fbf\u4e8e\u540e\u7eedROS2\u7684\u5f00\u53d1\u4e0e\u8c03\u8bd5\uff0c\u6211\u4eec\u8fd8\u53ef\u4ee5\u5b89\u88c5\u4e00\u7cfb\u5217\u63d2\u4ef6\uff0c\u65e0\u9650\u6269\u5c55VSCode\u7684\u529f\u80fd\u3002</p>"},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#_2","title":"\u4e2d\u6587\u8bed\u8a00\u5305","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#python","title":"Python\u63d2\u4ef6","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#c","title":"C++\u63d2\u4ef6","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#cmake","title":"CMake\u63d2\u4ef6","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#vscode-icons","title":"vscode-icons","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#ros","title":"ROS\u63d2\u4ef6","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#msg-language-support","title":"Msg Language Support","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#visual-studio-intellicode","title":"Visual Studio IntelliCode","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#urdf","title":"URDF","text":""},{"location":"ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/#markdown-all-in-one","title":"Markdown All in One","text":"<p>VSCode\u652f\u6301\u7684\u63d2\u4ef6\u4f17\u591a\uff0c\u4ee5\u4e0a\u53ea\u4f5c\u4e3a\u4e2a\u4eba\u63a8\u8350\uff0c\u5927\u5bb6\u4e5f\u53ef\u4ee5\u5728\u7f51\u4e0a\u641c\u7d22\uff0c\u914d\u7f6e\u51fa\u81ea\u5df1\u6700\u559c\u6b22\u7684\u5f00\u53d1\u73af\u5883\u3002</p> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/","title":"DDS","text":"<p>Hello\uff0c\u5927\u5bb6\u597d\uff0c\u6b22\u8fce\u6765\u5230\u300aROS2\u5165\u95e821\u8bb2\u300b\uff0c\u6211\u662f\u4e3b\u8bb2\u4eba\u53e4\u6708\u3002</p> <p>\u7ec8\u4e8e\u8bb2\u5230ROS2\u4e2d\u6700\u4e3a\u91cd\u5927\u7684\u53d8\u5316\u2014\u2014DDS\uff0c\u6211\u4eec\u5728\u524d\u8fb9\u8bfe\u7a0b\u4e2d\u5b66\u4e60\u7684\u8bdd\u9898\u3001\u670d\u52a1\u3001\u52a8\u4f5c\uff0c\u4ed6\u4eec\u5e95\u5c42\u901a\u4fe1\u7684\u5177\u4f53\u5b9e\u73b0\u8fc7\u7a0b\uff0c\u90fd\u662f\u9760DDS\u6765\u5b8c\u6210\u7684\uff0c\u5b83\u76f8\u5f53\u4e8e\u662fROS\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u795e\u7ecf\u7f51\u7edc\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_1","title":"\u901a\u4fe1\u6a21\u578b","text":"<p>DDS\u7684\u6838\u5fc3\u662f\u901a\u4fe1\uff0c\u80fd\u591f\u5b9e\u73b0\u901a\u4fe1\u7684\u6a21\u578b\u548c\u8f6f\u4ef6\u6846\u67b6\u975e\u5e38\u591a\uff0c\u8fd9\u91cc\u6211\u4eec\u5217\u51fa\u5e38\u7528\u7684\u56db\u79cd\u6a21\u578b\u3002</p> <p></p> <ul> <li> <p>\u7b2c\u4e00\u79cd\uff0c\u70b9\u5bf9\u70b9\u6a21\u578b\uff0c\u8bb8\u591a\u5ba2\u6237\u7aef\u8fde\u63a5\u5230\u4e00\u4e2a\u670d\u52a1\u7aef\uff0c\u6bcf\u6b21\u901a\u4fe1\u65f6\uff0c\u901a\u4fe1\u53cc\u65b9\u5fc5\u987b\u5efa\u7acb\u4e00\u6761\u8fde\u63a5\u3002\u5f53\u901a\u4fe1\u8282\u70b9\u589e\u591a\u65f6\uff0c\u8fde\u63a5\u6570\u4e5f\u4f1a\u589e\u591a\u3002\u800c\u4e14\u6bcf\u4e2a\u5ba2\u6237\u7aef\u90fd\u9700\u8981\u77e5\u9053\u670d\u52a1\u5668\u7684\u5177\u4f53\u5730\u5740\u548c\u6240\u63d0\u4f9b\u7684\u670d\u52a1\uff0c\u4e00\u65e6\u670d\u52a1\u5668\u5730\u5740\u53d1\u751f\u53d8\u5316\uff0c\u6240\u6709\u5ba2\u6237\u7aef\u90fd\u4f1a\u53d7\u5230\u5f71\u54cd\u3002</p> </li> <li> <p>\u7b2c\u4e8c\u79cd\uff0cBroker\u6a21\u578b\uff0c\u9488\u5bf9\u70b9\u5bf9\u70b9\u6a21\u578b\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u7531Broker\u96c6\u4e2d\u5904\u7406\u6240\u6709\u4eba\u7684\u8bf7\u6c42\uff0c\u5e76\u8fdb\u4e00\u6b65\u627e\u5230\u771f\u6b63\u80fd\u54cd\u5e94\u8be5\u670d\u52a1\u7684\u89d2\u8272\u3002\u8fd9\u6837\u5ba2\u6237\u7aef\u5c31\u4e0d\u7528\u5173\u5fc3\u670d\u52a1\u5668\u7684\u5177\u4f53\u5730\u5740\u4e86\u3002\u4e0d\u8fc7\u95ee\u9898\u4e5f\u5f88\u660e\u663e\uff0cBroker\u4f5c\u4e3a\u6838\u5fc3\uff0c\u5b83\u7684\u5904\u7406\u901f\u5ea6\u4f1a\u5f71\u54cd\u6240\u6709\u8282\u70b9\u7684\u6548\u7387\uff0c\u5f53\u7cfb\u7edf\u89c4\u6a21\u589e\u957f\u5230\u4e00\u5b9a\u7a0b\u5ea6\uff0cBroker\u5c31\u4f1a\u6210\u4e3a\u6574\u4e2a\u7cfb\u7edf\u7684\u6027\u80fd\u74f6\u9888\u3002\u66f4\u9ebb\u70e6\u662f\uff0c\u5982\u679cBroker\u53d1\u751f\u5f02\u5e38\uff0c\u53ef\u80fd\u5bfc\u81f4\u6574\u4e2a\u7cfb\u7edf\u90fd\u65e0\u6cd5\u6b63\u5e38\u8fd0\u8f6c\u3002\u4e4b\u524d\u7684ROS1\u7cfb\u7edf\uff0c\u4f7f\u7528\u7684\u5c31\u662f\u7c7b\u4f3c\u8fd9\u6837\u7684\u67b6\u6784\u3002</p> </li> <li> <p>\u7b2c\u4e09\u79cd\uff0c\u5e7f\u64ad\u6a21\u578b\uff0c\u6240\u6709\u8282\u70b9\u90fd\u53ef\u4ee5\u5728\u901a\u9053\u4e0a\u5e7f\u64ad\u6d88\u606f\uff0c\u5e76\u4e14\u8282\u70b9\u90fd\u53ef\u4ee5\u6536\u5230\u6d88\u606f\u3002\u8fd9\u4e2a\u6a21\u578b\u89e3\u51b3\u4e86\u670d\u52a1\u5668\u5730\u5740\u7684\u95ee\u9898\uff0c\u800c\u4e14\u901a\u4fe1\u53cc\u65b9\u4e5f\u4e0d\u7528\u5355\u72ec\u5efa\u7acb\u8fde\u63a5\uff0c\u4f46\u662f\u5e7f\u64ad\u901a\u9053\u4e0a\u7684\u6d88\u606f\u592a\u591a\u4e86\uff0c\u6240\u6709\u8282\u70b9\u90fd\u5fc5\u987b\u5173\u5fc3\u6bcf\u6761\u6d88\u606f\uff0c\u5176\u5b9e\u5f88\u591a\u662f\u548c\u81ea\u5df1\u6ca1\u6709\u5173\u7cfb\u7684\u3002</p> </li> <li> <p>\u7b2c\u56db\u79cd\uff0c\u5c31\u662f\u4ee5\u6570\u636e\u4e3a\u4e2d\u5fc3\u7684DDS\u6a21\u578b\u4e86\uff0c\u8fd9\u79cd\u6a21\u578b\u4e0e\u5e7f\u64ad\u6a21\u578b\u6709\u4e9b\u7c7b\u4f3c\uff0c\u6240\u6709\u8282\u70b9\u90fd\u53ef\u4ee5\u5728DataBus\u4e0a\u53d1\u5e03\u548c\u8ba2\u9605\u6d88\u606f\u3002\u4f46\u5b83\u7684\u5148\u8fdb\u4e4b\u5904\u5728\u4e8e\uff0c\u901a\u4fe1\u4e2d\u5305\u542b\u4e86\u5f88\u591a\u5e76\u884c\u7684\u901a\u8def\uff0c\u6bcf\u4e2a\u8282\u70b9\u53ef\u4ee5\u53ea\u5173\u5fc3\u81ea\u5df1\u611f\u5174\u8da3\u7684\u6d88\u606f\uff0c\u5ffd\u7565\u4e0d\u611f\u5174\u8da3\u7684\u6d88\u606f\uff0c\u6709\u70b9\u50cf\u662f\u4e00\u4e2a\u65cb\u8f6c\u706b\u9505\uff0c\u5404\u79cd\u597d\u5403\u7684\u90fd\u5728\u8fd9\u4e2aDataBus\u4f20\u9001\uff0c\u6211\u4eec\u53ea\u9700\u8981\u62ff\u81ea\u5df1\u60f3\u5403\u7684\u5c31\u884c\uff0c\u5176\u4ed6\u7684\u548c\u6211\u4eec\u6ca1\u6709\u5173\u7cfb\u3002</p> </li> </ul> <p>\u53ef\u89c1\uff0c\u5728\u8fd9\u51e0\u79cd\u901a\u4fe1\u6a21\u578b\u4e2d\uff0cDDS\u7684\u4f18\u52bf\u66f4\u52a0\u660e\u663e\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#dds_1","title":"DDS","text":"<p>DDS\u5e76\u4e0d\u662f\u4e00\u4e2a\u65b0\u7684\u901a\u4fe1\u65b9\u5f0f\uff0c\u5728ROS2\u4e4b\u524d\uff0cDDS\u5df2\u7ecf\u5e7f\u6cdb\u5e94\u7528\u5728\u5f88\u591a\u9886\u57df\uff0c\u6bd4\u5982\u822a\u7a7a\uff0c\u56fd\u9632\uff0c\u4ea4\u901a\uff0c\u533b\u7597\uff0c\u80fd\u6e90\u7b49\u3002</p> <p></p> <p>\u6bd4\u5982\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u901a\u5e38\u4f1a\u5b58\u5728\u611f\u77e5\uff0c\u9884\u6d4b\uff0c\u51b3\u7b56\u548c\u5b9a\u4f4d\u7b49\u6a21\u5757\uff0c\u8fd9\u4e9b\u6a21\u5757\u90fd\u9700\u8981\u975e\u5e38\u9ad8\u901f\u548c\u9891\u7e41\u5730\u4ea4\u6362\u6570\u636e\u3002\u501f\u52a9DDS\uff0c\u53ef\u4ee5\u5f88\u597d\u5730\u6ee1\u8db3\u5b83\u4eec\u7684\u901a\u4fe1\u9700\u6c42\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#dds_2","title":"\u4ec0\u4e48\u662fDDS","text":"<p>\u597d\u5566\uff0c\u8bf4\u4e86\u534a\u5929DDS\uff0c\u5230\u5e95\u5565\u610f\u601d\u5462\uff1f\u6211\u4eec\u6765\u505a\u4e00\u4e2a\u5b8c\u6574\u7684\u4ecb\u7ecd</p> <p></p> <p>DDS\u7684\u5168\u79f0\u662fData Distribution 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<p>\u8fd9\u91cc\u4e5f\u63d0\u4e00\u4e0b\u5bf9\u8c61\u7ba1\u7406\u7ec4\u7ec7OMG\uff0c\u6210\u7acb\u4e8e1989\u5e74\uff0c\u5b83\u7684\u4f7f\u547d\u662f\u5f00\u53d1\u6280\u672f\u6807\u51c6\uff0c\u4e3a\u6570\u4ee5\u5343\u8ba1\u7684\u5782\u76f4\u884c\u4e1a\u63d0\u4f9b\u771f\u5b9e\u7684\u4ef7\u503c\uff0c\u6bd4\u5982\u5927\u5bb6\u8bfe\u53ef\u80fd\u542c\u8bf4\u8fc7\u7684\u7edf\u4e00\u5efa\u6a21\u8bed\u8a00SYSML\u548cUML\uff0c\u8fd8\u6709\u4e2d\u95f4\u4ef6\u6807\u51c6CORBA\u7b49\uff0c\u5f53\u7136\u8fd8\u6709DDS\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#ddsros2","title":"DDS\u5728ROS2\u4e2d\u7684\u5e94\u7528","text":"<p>DDS\u5728ROS2\u7cfb\u7edf\u4e2d\u7684\u4f4d\u7f6e\u81f3\u5173\u91cd\u8981\uff0c\u6240\u6709\u4e0a\u5c42\u5efa\u8bbe\u90fd\u5efa\u7acb\u5728DDS\u4e4b\u4e0a\u3002\u5728\u8fd9\u4e2aROS2\u7684\u67b6\u6784\u56fe\u4e2d\uff0c\u84dd\u8272\u548c\u7ea2\u8272\u90e8\u5206\u5c31\u662fDDS\u3002</p> <p></p> <p>\u521a\u624d\u6211\u4eec\u4e5f\u63d0\u5230\uff0cDDS\u662f\u4e00\u79cd\u901a\u4fe1\u7684\u6807\u51c6\uff0c\u5c31\u50cf4G\u30015G\u4e00\u6837\uff0c\u65e2\u7136\u662f\u6807\u51c6\uff0c\u90a3\u5927\u5bb6\u90fd\u53ef\u4ee5\u6309\u7167\u8fd9\u4e2a\u6807\u51c6\u6765\u5b9e\u73b0\u5bf9\u5e94\u7684\u529f\u80fd\uff0c\u6240\u4ee5\u534e\u4e3a\u3001\u9ad8\u901a\u90fd\u6709\u5f88\u591a5G\u7684\u6280\u672f\u4e13\u5229\uff0cDDS\u4e5f\u662f\u4e00\u6837\uff0c\u80fd\u591f\u6309\u7167DDS\u6807\u51c6\u5b9e\u73b0\u7684\u901a\u4fe1\u7cfb\u7edf\u5f88\u591a\uff0c\u8fd9\u91cc\u6bcf\u4e00\u4e2a\u7ea2\u8272\u6a21\u5757\uff0c\u5c31\u662f\u67d0\u4e00\u4f01\u4e1a\u6216\u7ec4\u7ec7\u5b9e\u73b0\u7684\u4e00\u79cdDDS\u7cfb\u7edf\u3002</p> <p>\u65e2\u7136\u53ef\u9009\u7528\u7684DDS\u8fd9\u4e48\u591a\uff0c\u90a3\u6211\u4eec\u8be5\u7528\u54ea\u4e00\u4e2a\u5462\uff1f\u5177\u4f53\u800c\u8a00\uff0c\u4ed6\u4eec\u80af\u5b9a\u90fd\u7b26\u5408\u57fa\u672c\u6807\u51c6\uff0c\u4f46\u8fd8\u662f\u4f1a\u6709\u6027\u80fd\u4e0a\u7684\u5dee\u522b\uff0cROS2\u7684\u539f\u5219\u5c31\u662f\u5c3d\u91cf\u517c\u5bb9\uff0c\u8ba9\u7528\u6237\u6839\u636e\u4f7f\u7528\u573a\u666f\u9009\u62e9\uff0c\u6bd4\u5982\u4e2a\u4eba\u5f00\u53d1\uff0c\u6211\u4eec\u9009\u62e9\u4e00\u4e2a\u5f00\u6e90\u7248\u672c\u7684DDS\u5c31\u884c\uff0c\u5982\u679c\u662f\u5de5\u4e1a\u5e94\u7528\uff0c\u90a3\u53ef\u80fd\u5f97\u9009\u62e9\u4e00\u4e2a\u5546\u4e1a\u6388\u6743\u7684\u7248\u672c\u4e86\u3002</p> <p>\u4e3a\u4e86\u5b9e\u73b0\u5bf9\u591a\u4e2aDDS\u7684\u517c\u5bb9\uff0cROS\u8bbe\u8ba1\u4e86\u4e00\u4e2aMiddleware\u4e2d\u95f4\u4ef6\uff0c\u4e5f\u5c31\u662f\u4e00\u4e2a\u7edf\u4e00\u7684\u6807\u51c6\uff0c\u4e0d\u7ba1\u6211\u4eec\u7528\u90a3\u4e2aDDS\uff0c\u4fdd\u8bc1\u4e0a\u5c42\u7f16\u7a0b\u4f7f\u7528\u7684\u51fd\u6570\u63a5\u53e3\u90fd\u662f\u4e00\u6837\u7684\u3002\u6b64\u65f6\u517c\u5bb9\u6027\u7684\u95ee\u9898\u5c31\u8f6c\u79fb\u7ed9\u4e86DDS\u5382\u5546\uff0c\u5982\u679c\u4ed6\u4eec\u60f3\u8ba9\u81ea\u5df1\u7684DDS\u7cfb\u7edf\u8fdb\u5165ROS\u751f\u6001\uff0c\u5c31\u5f97\u6309\u7167ROS\u7684\u63a5\u53e3\u6807\u51c6\uff0c\u5f00\u53d1\u4e00\u4e2a\u9a71\u52a8\uff0c\u4e5f\u5c31\u662f\u8fd9\u4e2a\u90e8\u5206\u3002</p> <p>\u65e0\u8bba\u5982\u4f55\uff0cROS\u7684\u5b97\u65e8\u4e0d\u53d8\uff0c\u8981\u63d0\u9ad8\u8f6f\u4ef6\u4ee3\u7801\u7684\u590d\u7528\u6027\uff0c\u4e0b\u8fb9DDS\u4efb\u4f60\u8fb9\uff0c\u4e0a\u8fb9\u7684\u8f6f\u4ef6\u6ca1\u5f71\u54cd\u3002</p> <p></p> <p>\u5728ROS\u7684\u56db\u5927\u7ec4\u6210\u90e8\u5206\u4e2d\uff0c\u7531\u4e8eDDS\u7684\u52a0\u5165\uff0c\u5927\u5927\u63d0\u9ad8\u4e86\u5206\u5e03\u5f0f\u901a\u4fe1\u7cfb\u7edf\u7684\u7efc\u5408\u80fd\u529b\uff0c\u8fd9\u6837\u6211\u4eec\u5728\u5f00\u53d1\u673a\u5668\u4eba\u7684\u8fc7\u7a0b\u4e2d\uff0c\u5c31\u4e0d\u9700\u8981\u7ea0\u7ed3\u901a\u4fe1\u7684\u95ee\u9898\uff0c\u53ef\u4ee5\u628a\u66f4\u591a\u65f6\u95f4\u653e\u5728\u5176\u4ed6\u90e8\u5206\u7684\u5e94\u7528\u5f00\u53d1\u4e0a\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#qos","title":"\u8d28\u91cf\u670d\u52a1\u7b56\u7565QoS","text":"<p>DDS\u4e3aROS\u7684\u901a\u4fe1\u7cfb\u7edf\u63d0\u4f9b\u63d0\u4f9b\u4e86\u54ea\u4e9b\u7279\u6027\u5462\uff1f\u6211\u4eec\u901a\u8fc7\u8fd9\u4e2a\u901a\u4fe1\u6a21\u578b\u56fe\u6765\u770b\u4e0b\u3002</p> <p></p> <p>DDS\u4e2d\u7684\u57fa\u672c\u7ed3\u6784\u662fDomain\uff0cDomain\u5c06\u5404\u4e2a\u5e94\u7528\u7a0b\u5e8f\u7ed1\u5b9a\u5728\u4e00\u8d77\u8fdb\u884c\u901a\u4fe1\uff0c\u56de\u5fc6\u4e0b\u4e4b\u524d\u6211\u4eec\u914d\u7f6e\u6811\u8393\u6d3e\u548c\u7535\u8111\u901a\u4fe1\u7684\u65f6\u5019\uff0c\u914d\u7f6e\u7684\u90a3\u4e2aDOMAIN ID\uff0c\u5c31\u662f\u5bf9\u5168\u5c40\u6570\u636e\u7a7a\u95f4\u7684\u5206\u7ec4\u5b9a\u4e49\uff0c\u53ea\u6709\u5904\u4e8e\u540c\u4e00\u4e2aDOMAIN\u5c0f\u7ec4\u4e2d\u7684\u8282\u70b9\u624d\u80fd\u4e92\u76f8\u901a\u4fe1\u3002\u8fd9\u6837\u53ef\u4ee5\u907f\u514d\u65e0\u7528\u6570\u636e\u5360\u7528\u7684\u8d44\u6e90\u3002</p> <p>DDS\u4e2d\u53e6\u5916\u4e00\u4e2a\u91cd\u8981\u7279\u6027\u5c31\u662f\u8d28\u91cf\u670d\u52a1\u7b56\u7565\uff0cQoS\u3002</p> <p>QoS\u662f\u4e00\u79cd\u7f51\u7edc\u4f20\u8f93\u7b56\u7565\uff0c\u5e94\u7528\u7a0b\u5e8f\u6307\u5b9a\u6240\u9700\u8981\u7684\u7f51\u7edc\u4f20\u8f93\u8d28\u91cf\u884c\u4e3a\uff0cQoS\u670d\u52a1\u5b9e\u73b0\u8fd9\u79cd\u884c\u4e3a\u8981\u6c42\uff0c\u5c3d\u53ef\u80fd\u5730\u6ee1\u8db3\u5ba2\u6237\u5bf9\u901a\u4fe1\u8d28\u91cf\u7684\u9700\u6c42\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a\u6570\u636e\u63d0\u4f9b\u8005\u548c\u63a5\u6536\u8005\u4e4b\u95f4\u7684\u5408\u7ea6\u3002</p> <p></p> <p>\u5177\u4f53\u4f1a\u6709\u54ea\u4e9b\u7b56\u7565\uff1f\u6bd4\u5982\uff1a</p> <ul> <li>DEADLINE\u7b56\u7565\uff0c\u8868\u793a\u901a\u4fe1\u6570\u636e\u5fc5\u987b\u8981\u5728\u6bcf\u6b21\u622a\u6b62\u65f6\u95f4\u5185\u5b8c\u6210\u4e00\u6b21\u901a\u4fe1\uff1b</li> <li>HISTORY\u7b56\u7565\uff0c\u8868\u793a\u9488\u5bf9\u5386\u53f2\u6570\u636e\u7684\u4e00\u4e2a\u7f13\u5b58\u5927\u5c0f\uff1b</li> <li>RELIABILITY\u7b56\u7565\uff0c\u8868\u793a\u6570\u636e\u901a\u4fe1\u7684\u6a21\u5f0f\uff0c\u914d\u7f6e\u6210BEST_EFFORT\uff0c\u5c31\u662f\u5c3d\u529b\u4f20\u8f93\u6a21\u5f0f\uff0c\u7f51\u7edc\u60c5\u51b5\u4e0d\u597d\u7684\u65f6\u5019\uff0c\u4e5f\u8981\u4fdd\u8bc1\u6570\u636e\u6d41\u7545\uff0c\u6b64\u65f6\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6570\u636e\u4e22\u5931\uff0c\u914d\u7f6e\u6210RELIABLE\uff0c\u5c31\u662f\u53ef\u4fe1\u8d56\u6a21\u5f0f\uff0c\u53ef\u4ee5\u5728\u901a\u4fe1\u4e2d\u5c3d\u91cf\u4fdd\u8bc1\u56fe\u50cf\u7684\u5b8c\u6574\u6027\uff0c\u6211\u4eec\u53ef\u4ee5\u6839\u636e\u5e94\u7528\u529f\u80fd\u573a\u666f\u9009\u62e9\u5408\u9002\u7684\u901a\u4fe1\u6a21\u5f0f\uff1b</li> <li>DURABILITY\u7b56\u7565\uff0c\u53ef\u4ee5\u914d\u7f6e\u9488\u5bf9\u665a\u52a0\u5165\u7684\u8282\u70b9\uff0c\u4e5f\u4fdd\u8bc1\u6709\u4e00\u5b9a\u7684\u5386\u53f2\u6570\u636e\u53d1\u9001\u8fc7\u53bb\uff0c\u53ef\u4ee5\u8ba9\u65b0\u8282\u70b9\u5feb\u901f\u9002\u5e94\u7cfb\u7edf\u3002</li> </ul> <p></p> <p>\u6240\u6709\u8fd9\u4e9b\u7b56\u7565\u5728ROS\u7cfb\u7edf\u4e2d\u90fd\u53ef\u4ee5\u901a\u8fc7\u7c7b\u4f3c\u8fd9\u6837\u7684\u7ed3\u6784\u4f53\u914d\u7f6e\uff0c\u5982\u679c\u4e0d\u914d\u7f6e\u7684\u8bdd\uff0c\u7cfb\u7edf\u4e5f\u4f1a\u4f7f\u7528\u9ed8\u8ba4\u7684\u53c2\u6570\u3002</p> <p>\u4e3e\u4e00\u4e2a\u673a\u5668\u4eba\u7684\u4f8b\u5b50\u4fbf\u4e8e\u5927\u5bb6\u7406\u89e3\u3002</p> <p></p> <p>\u6bd4\u5982\u6211\u4eec\u9065\u63a7\u4e00\u4e2a\u65e0\u4eba\u673a\u822a\u62cd\uff0c\u5982\u679c\u7f51\u7edc\u60c5\u51b5\u4e0d\u597d\u7684\u8bdd\uff0c\u9065\u63a7\u5668\u5411\u65e0\u4eba\u673a\u53d1\u9001\u8fd0\u52a8\u6307\u4ee4\u7684\u8fc7\u7a0b\uff0c\u53ef\u4ee5\u7528reliable\u901a\u4fe1\u6a21\u5f0f\uff0c\u4fdd\u8bc1\u6bcf\u4e00\u4e2a\u547d\u4ee4\u90fd\u53ef\u4ee5\u987a\u5229\u53d1\u9001\u7ed9\u65e0\u4eba\u673a\uff0c\u4f46\u662f\u53ef\u80fd\u4f1a\u6709\u4e00\u4e9b\u5ef6\u65f6\uff0c\u65e0\u4eba\u673a\u4f20\u8f93\u56fe\u50cf\u7684\u8fc7\u7a0b\u53ef\u4ee5\u7528best effort\u6a21\u5f0f\uff0c\u4fdd\u8bc1\u89c6\u9891\u7684\u6d41\u7545\u6027\uff0c\u4f46\u662f\u53ef\u80fd\u4f1a\u6709\u6389\u5e27\u3002</p> <p></p> <p>\u5982\u679c\u6b64\u65f6\u51fa\u73b0\u4e00\u4e2a\u9ed1\u5ba2\u9ed1\u5165\u6211\u4eec\u7684\u7f51\u7edc\uff0c\u4e5f\u6ca1\u6709\u5173\u7cfb\uff0c\u6211\u4eec\u53ef\u4ee5\u7ed9ROS2\u7684\u901a\u4fe1\u6570\u636e\u8fdb\u884c\u52a0\u5bc6\uff0c\u9ed1\u5ba2\u4e5f\u6ca1\u6709\u529e\u6cd5\u76f4\u63a5\u63a7\u5236\u65e0\u4eba\u673a\u3002</p> <p>DDS\u7684\u52a0\u5165\uff0c\u8ba9ROS2\u7684\u901a\u4fe1\u7cfb\u7edf\u7115\u7136\u4e00\u65b0\uff0c\u591a\u4f17\u591a\u6837\u7684\u901a\u4fe1\u914d\u7f6e\uff0c\u53ef\u4ee5\u66f4\u597d\u7684\u6ee1\u8db3\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u673a\u5668\u4eba\u5e94\u7528\u3002</p> <p>\u597d\u5566\uff0cDDS\u8fd9\u4e48\u597d\uff0c\u90a3\u8be5\u5982\u4f55\u914d\u7f6e\u548c\u4f7f\u7528\u5462\uff1f\u6211\u4eec\u5148\u5e26\u5927\u5bb6\u5165\u4e2a\u95e8\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#dds_3","title":"\u6848\u4f8b\u4e00\uff1a\u5728\u547d\u4ee4\u884c\u4e2d\u914d\u7f6eDDS","text":"<p>\u6211\u4eec\u5148\u6765\u8bd5\u4e00\u8bd5\u5728\u547d\u4ee4\u884c\u4e2d\u914d\u7f6eDDS\u7684\u53c2\u6570\u3002</p> <p>\u542f\u52a8\u7b2c\u4e00\u4e2a\u7ec8\u7aef\uff0c\u6211\u4eec\u4f7f\u7528best_effort\u521b\u5efa\u4e00\u4e2a\u53d1\u5e03\u8005\u8282\u70b9\uff0c\u5faa\u73af\u53d1\u5e03\u4efb\u610f\u6570\u636e\uff0c\u5728\u53e6\u5916\u4e00\u4e2a\u7ec8\u7aef\u4e2d\uff0c\u5982\u679c\u6211\u4eec\u4f7f\u7528reliable\u6a21\u578b\u8ba2\u9605\u540c\u4e00\u8bdd\u9898\uff0c\u65e0\u6cd5\u5b9e\u73b0\u6570\u636e\u901a\u4fe1\uff0c\u5982\u679c\u4fee\u6539\u4e3a\u540c\u6837\u7684best_effort\uff0c\u624d\u80fd\u5b9e\u73b0\u6570\u636e\u4f20\u8f93\u3002</p> <pre><code>$ ros2 topic pub /chatter std_msgs/msg/Int32 \"data: 42\" --qos-reliability best_effort \n$ ros2 topic echo /chatter --qos-reliability reliable\n$ ros2 topic echo /chatter --qos-reliability best_effort\n</code></pre> <p></p> <p></p> <p>\u5982\u4f55\u53bb\u67e5\u770bROS2\u7cfb\u7edf\u4e2d\u6bcf\u4e00\u4e2a\u53d1\u5e03\u8005\u6216\u8005\u8ba2\u9605\u8005\u7684QoS\u7b56\u7565\u5462\uff0c\u5728topic\u547d\u4ee4\u540e\u8fb9\u8ddf\u4e00\u4e2a\"--verbose\"\u53c2\u6570\u5c31\u884c\u4e86\u3002</p> <pre><code>$ ros2 topic info /chatter --verbose\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#dds_4","title":"\u6848\u4f8b\u4e8c\uff1aDDS\u7f16\u7a0b\u793a\u4f8b","text":"<p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c1d\u8bd5\u5728\u4ee3\u7801\u4e2d\u914d\u7f6eDDS\uff0c\u4ee5\u4e4b\u524dHello World\u8bdd\u9898\u901a\u4fe1\u4e3a\u4f8b\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_2","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e24\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run learning_qos qos_helloworld_pub\n$ ros2 run learning_qos qos_helloworld_sub\n</code></pre> <p>\u53ef\u4ee5\u770b\u5230\u4e24\u4e2a\u7ec8\u7aef\u4e2d\u7684\u901a\u4fe1\u6548\u679c\u5982\u4e0b\uff0c\u548c\u4e4b\u524d\u8c8c\u4f3c\u5e76\u6ca1\u6709\u592a\u5927\u533a\u522b\u3002</p> <p></p> <p></p> <p>\u770b\u6548\u679c\u786e\u5b9e\u5dee\u4e0d\u591a\uff0c\u4e0d\u8fc7\u5e95\u5c42\u901a\u4fe1\u673a\u7406\u4e0a\u53ef\u662f\u6709\u6240\u4e0d\u540c\u7684\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_3","title":"\u53d1\u5e03\u8005\u4ee3\u7801\u89e3\u6790","text":"<p>\u6211\u4eec\u770b\u4e0b\u5728\u4ee3\u7801\u4e2d\uff0c\u5982\u679c\u52a0\u5165QoS\u7684\u914d\u7f6e\u3002</p> <p>learning_qos/qos_helloworld_pub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2 QoS\u793a\u4f8b-\u53d1\u5e03\u201cHello World\u201d\u8bdd\u9898\n\"\"\"\n\nimport rclpy                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node      # ROS2 \u8282\u70b9\u7c7b\nfrom std_msgs.msg import String  # \u5b57\u7b26\u4e32\u6d88\u606f\u7c7b\u578b\nfrom rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy # ROS2 QoS\u7c7b\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u53d1\u5e03\u8005\u8282\u70b9\n\"\"\"\nclass PublisherNode(Node):\n\n    def __init__(self, name):\n        super().__init__(name)        # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n\n        qos_profile = QoSProfile(     # \u521b\u5efa\u4e00\u4e2aQoS\u539f\u5219\n            # reliability=QoSReliabilityPolicy.BEST_EFFORT,\n            reliability=QoSReliabilityPolicy.RELIABLE,\n            history=QoSHistoryPolicy.KEEP_LAST,\n            depth=1\n        )\n        self.pub = self.create_publisher(String, \"chatter\", qos_profile) # \u521b\u5efa\u53d1\u5e03\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001QoS\u539f\u5219\uff09\n        self.timer = self.create_timer(0.5, self.timer_callback)         # \u521b\u5efa\u4e00\u4e2a\u5b9a\u65f6\u5668\uff08\u5355\u4f4d\u4e3a\u79d2\u7684\u5468\u671f\uff0c\u5b9a\u65f6\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\uff09\n\n    def timer_callback(self):                                # \u521b\u5efa\u5b9a\u65f6\u5668\u5468\u671f\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\n        msg = String()                                       # \u521b\u5efa\u4e00\u4e2aString\u7c7b\u578b\u7684\u6d88\u606f\u5bf9\u8c61\n        msg.data = 'Hello World'                             # \u586b\u5145\u6d88\u606f\u5bf9\u8c61\u4e2d\u7684\u6d88\u606f\u6570\u636e\n        self.pub.publish(msg)                                # \u53d1\u5e03\u8bdd\u9898\u6d88\u606f\n        self.get_logger().info('Publishing: \"%s\"' % msg.data)# \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u5b8c\u6210\u8bdd\u9898\u53d1\u5e03\n\ndef main(args=None):                           # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                      # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = PublisherNode(\"qos_helloworld_pub\") # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                           # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                        # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                           # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>entry_points={\n    'console_scripts': [\n     'qos_helloworld_pub  = learning_qos.qos_helloworld_pub:main',\n},\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_4","title":"\u8ba2\u9605\u8005\u4ee3\u7801\u89e3\u6790","text":"<p>\u8ba2\u9605\u8005\u4e2d\u7684QoS\u914d\u7f6e\u548c\u53d1\u5e03\u8005\u7c7b\u4f3c\u3002</p> <p>learning_qos/qos_helloworld_sub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2 QoS\u793a\u4f8b-\u8ba2\u9605\u201cHello World\u201d\u8bdd\u9898\u6d88\u606f\n\"\"\"\n\nimport rclpy                                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                    # ROS2 \u8282\u70b9\u7c7b\nfrom std_msgs.msg import String                  # ROS2\u6807\u51c6\u5b9a\u4e49\u7684String\u6d88\u606f\nfrom rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy  # ROS2 QoS\u7c7b\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\n\"\"\"\nclass SubscriberNode(Node):\n\n    def __init__(self, name):\n        super().__init__(name)         # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n\n        qos_profile = QoSProfile(      # \u521b\u5efa\u4e00\u4e2aQoS\u539f\u5219\n            # reliability=QoSReliabilityPolicy.BEST_EFFORT,\n            reliability=QoSReliabilityPolicy.RELIABLE,\n            history=QoSHistoryPolicy.KEEP_LAST,\n            depth=1\n        )\n\n        self.sub = self.create_subscription(\\\n            String, \"chatter\", self.listener_callback, qos_profile) # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001QoS\u539f\u5219\uff09\n\n    def listener_callback(self, msg):                      # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bdd\u9898\u6d88\u606f\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        self.get_logger().info('I heard: \"%s\"' % msg.data) # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u8ba2\u9605\u6536\u5230\u7684\u8bdd\u9898\u6d88\u606f\n\ndef main(args=None):                               # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                          # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = SubscriberNode(\"qos_helloworld_sub\")    # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                               # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                            # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                               # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>entry_points={\n    'console_scripts': [\n     'qos_helloworld_pub  = learning_qos.qos_helloworld_pub:main',\n     'qos_helloworld_sub  = learning_qos.qos_helloworld_sub:main',\n    ],\n},\n</code></pre> <p>DDS\u672c\u8eab\u662f\u4e00\u4e2a\u975e\u5e38\u590d\u6742\u7684\u7cfb\u7edf\uff0cROS2\u4f7f\u7528\u7684\u4e5f\u53ea\u662f\u51b0\u5c71\u4e00\u89d2\uff0c\u6211\u4eec\u4e3b\u8981\u5e26\u9886\u5927\u5bb6\u8ba4\u8bc6DDS\uff0c\u66f4\u591a\u4f7f\u7528\u65b9\u6cd5\u548c\u76f8\u5173\u5185\u5bb9\uff0c\u5927\u5bb6\u4e5f\u53ef\u4ee5\u53c2\u8003\u4e0b\u8fb9\u7684\u94fe\u63a5\u8fdb\u884c\u5b66\u4e60\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/#_5","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://design.ros2.org/articles/ros_on_dds.html</p> <p>https://docs.ros.org/en/humble/Concepts/About-Different-Middleware-Vendors.html</p> <p>https://docs.ros.org/en/humble/How-To-Guides/Working-with-multiple-RMW-implementations.html</p> <p>https://www.bilibili.com/video/BV12z4y167w2</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/","title":"\u5de5\u4f5c\u7a7a\u95f4\uff1a\u5f00\u53d1\u8fc7\u7a0b\u7684\u5927\u672c\u8425","text":"<p>\u5927\u5bb6\u5728\u4e4b\u524d\u7684\u5b66\u4e60\u548c\u5f00\u53d1\u4e2d\uff0c\u5e94\u8be5\u6709\u63a5\u89e6\u8fc7\u67d0\u4e9b\u96c6\u6210\u5f00\u53d1\u73af\u5883\uff0c\u6bd4\u5982Visual Studio\u3001Eclipse\u3001Qt Creator\u7b49\uff0c\u5f53\u6211\u4eec\u60f3\u8981\u7f16\u5199\u7a0b\u5e8f\u4e4b\u524d\uff0c\u90fd\u4f1a\u5728\u8fd9\u4e9b\u5f00\u53d1\u73af\u5883\u7684\u5de5\u5177\u680f\u4e2d\uff0c\u70b9\u51fb\u4e00\u4e2a\u201c\u521b\u5efa\u65b0\u5de5\u7a0b\u201d\u7684\u9009\u9879\uff0c\u6b64\u65f6\u5c31\u4ea7\u751f\u4e00\u4e2a\u6587\u4ef6\u5939\uff0c\u540e\u7eed\u6240\u6709\u5de5\u4f5c\u4ea7\u751f\u7684\u6587\u4ef6\uff0c\u90fd\u4f1a\u653e\u7f6e\u5728\u8fd9\u4e2a\u6587\u4ef6\u5939\u4e2d\uff0c\u8fd9\u4e2a\u6587\u4ef6\u5939\u4ee5\u53ca\u91cc\u8fb9\u7684\u5185\u5bb9\uff0c\u5c31\u53eb\u505a\u662f\u5de5\u7a0b\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/#_2","title":"\u5de5\u4f5c\u7a7a\u95f4\u662f\u4ec0\u4e48","text":"<p>\u7c7b\u4f3c\u7684\uff0c\u5728ROS\u673a\u5668\u4eba\u5f00\u53d1\u4e2d\uff0c\u6211\u4eec\u9488\u5bf9\u673a\u5668\u4eba\u67d0\u4e9b\u529f\u80fd\u8fdb\u884c\u4ee3\u7801\u5f00\u59cb\u65f6\uff0c\u5404\u79cd\u7f16\u5199\u7684\u4ee3\u7801\u3001\u53c2\u6570\u3001\u811a\u672c\u7b49\u6587\u4ef6\uff0c\u4e5f\u9700\u8981\u653e\u7f6e\u5728\u67d0\u4e00\u4e2a\u6587\u4ef6\u5939\u91cc\u8fdb\u884c\u7ba1\u7406\uff0c\u8fd9\u4e2a\u6587\u4ef6\u5939\u5728ROS\u7cfb\u7edf\u4e2d\u5c31\u53eb\u505a\u5de5\u4f5c\u7a7a\u95f4\u3002</p> <p>\u6240\u4ee5\u5de5\u4f5c\u7a7a\u95f4\u662f\u4e00\u4e2a\u5b58\u653e\u9879\u76ee\u5f00\u53d1\u76f8\u5173\u6587\u4ef6\u7684\u6587\u4ef6\u5939\uff0c\u4e5f\u662f\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u5b58\u653e\u6240\u6709\u8d44\u6599\u7684\u5927\u672c\u8425\u3002</p> <p>ROS\u7cfb\u7edf\u4e2d\u4e00\u4e2a\u5178\u578b\u7684\u5de5\u4f5c\u7a7a\u95f4\u7ed3\u6784\u5982\u56fe\u6240\u793a\uff0c\u8fd9\u4e2adev_ws\u5c31\u662f\u5de5\u4f5c\u7a7a\u95f4\u7684\u6839\u76ee\u5f55\uff0c\u91cc\u8fb9\u4f1a\u6709\u56db\u4e2a\u5b50\u76ee\u5f55\uff0c\u6216\u8005\u53eb\u505a\u56db\u4e2a\u5b50\u7a7a\u95f4\u3002</p> <p></p> <ul> <li>src\uff0c\u4ee3\u7801\u7a7a\u95f4\uff0c\u672a\u6765\u7f16\u5199\u7684\u4ee3\u7801\u3001\u811a\u672c\uff0c\u90fd\u9700\u8981\u4eba\u4e3a\u7684\u653e\u7f6e\u5230\u8fd9\u91cc\uff1b</li> <li>build\uff0c\u7f16\u8bd1\u7a7a\u95f4\uff0c\u4fdd\u5b58\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u4ea7\u751f\u7684\u4e2d\u95f4\u6587\u4ef6\uff1b</li> <li>install\uff0c\u5b89\u88c5\u7a7a\u95f4\uff0c\u653e\u7f6e\u7f16\u8bd1\u5f97\u5230\u7684\u53ef\u6267\u884c\u6587\u4ef6\u548c\u811a\u672c\uff1b</li> <li>log\uff0c\u65e5\u5fd7\u7a7a\u95f4\uff0c\u7f16\u8bd1\u548c\u8fd0\u884c\u8fc7\u7a0b\u4e2d\uff0c\u4fdd\u5b58\u5404\u79cd\u8b66\u544a\u3001\u9519\u8bef\u3001\u4fe1\u606f\u7b49\u65e5\u5fd7\u3002</li> </ul> <p>\u603b\u4f53\u6765\u8bb2\uff0c\u8fd9\u56db\u4e2a\u7a7a\u95f4\u7684\u6587\u4ef6\u5939\uff0c\u6211\u4eec\u7edd\u5927\u90e8\u5206\u64cd\u4f5c\u90fd\u662f\u5728src\u4e2d\u8fdb\u884c\u7684\uff0c\u7f16\u8bd1\u6210\u529f\u540e\uff0c\u5c31\u4f1a\u6267\u884cinstall\u91cc\u8fb9\u7684\u7ed3\u679c\uff0cbuild\u548clog\u4e24\u4e2a\u6587\u4ef6\u5939\u7528\u7684\u5f88\u5c11\u3002</p> <p>\u8fd9\u91cc\u4e5f\u8981\u5f3a\u8c03\u4e00\u70b9\uff0c\u5de5\u4f5c\u7a7a\u95f4\u7684\u540d\u79f0\u6211\u4eec\u53ef\u4ee5\u81ea\u5df1\u5b9a\u4e49\uff0c\u6570\u91cf\u4e5f\u5e76\u4e0d\u662f\u552f\u4e00\u7684\uff0c\u6bd4\u5982\uff1a</p> <p>\u5de5\u4f5c\u7a7a\u95f41\uff1adev_w_a\uff0c\u7528\u4e8eA\u673a\u5668\u4eba\u7684\u5f00\u53d1\uff1b</p> <p>\u5de5\u4f5c\u7a7a\u95f42\uff1adev_ws_b\uff0c\u7528\u4e8eB\u673a\u5668\u4eba\u7684\u4e00\u90e8\u5206\u529f\u80fd\uff1b</p> <p>\u5de5\u4f5c\u7a7a\u95f43\uff1adev_ws_b2\uff0c\u7528\u4e8e\u5f00\u53d1B\u673a\u5668\u4eba\u53e6\u5916\u4e00\u4e9b\u529f\u80fd\u3002</p> <p>\u4ee5\u4e0a\u60c5\u51b5\u662f\u5b8c\u5168\u5141\u8bb8\u7684\uff0c\u5c31\u50cf\u662f\u6211\u4eec\u5728\u96c6\u6210\u5f00\u53d1\u73af\u5883\u4e2d\u521b\u5efa\u4e86\u591a\u4e2a\u65b0\u5de5\u7a0b\u4e00\u6837\uff0c\u90fd\u662f\u5e76\u5217\u5b58\u5728\u7684\u5173\u7cfb\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/#_3","title":"\u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4","text":"<p>\u4e86\u89e3\u4e86\u5de5\u4f5c\u7a7a\u95f4\u7684\u6982\u5ff5\u548c\u7ed3\u679c\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u521b\u5efa\u4e00\u4e2a\u5de5\u4f5c\u7a7a\u95f4\uff0c\u5e76\u4e14\u4e0b\u8f7d\u6559\u7a0b\u7684\u4ee3\u7801\uff1a</p> <pre><code>$ mkdir -p ~/dev_ws/src\n$ cd ~/dev_ws/src\n$ git clone https://gitee.com/guyuehome/ros2_21_tutorials.git\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/#_4","title":"\u81ea\u52a8\u5b89\u88c5\u4f9d\u8d56","text":"<p>\u6211\u4eec\u4ece\u793e\u533a\u4e2d\u4e0b\u8f7d\u7684\u5404\u79cd\u4ee3\u7801\uff0c\u591a\u5c11\u90fd\u4f1a\u6709\u4e00\u4e9b\u4f9d\u8d56\uff0c\u6211\u4eec\u53ef\u4ee5\u624b\u52a8\u4e00\u4e2a\u4e00\u4e2a\u5b89\u88c5\uff0c\u4e5f\u53ef\u4ee5\u4f7f\u7528rosdep\u5de5\u5177\u81ea\u52a8\u5b89\u88c5\uff1a</p> <pre><code>$ sudo apt install -y python3-pip\n$ sudo pip3 install rosdepc\n$ sudo rosdepc init\n$ rosdepc update\n$ cd ..\n$ rosdepc install -i --from-path src --rosdistro humble -y\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/#_5","title":"\u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4","text":"<p>\u4f9d\u8d56\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u5c31\u53ef\u4ee5\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4\u5566\uff0c\u5982\u679c\u6709\u7f3a\u5c11\u7684\u4f9d\u8d56\uff0c\u6216\u8005\u4ee3\u7801\u6709\u9519\u8bef\uff0c\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\u4f1a\u6709\u62a5\u9519\uff0c\u5426\u5219\u7f16\u8bd1\u8fc7\u7a0b\u5e94\u8be5\u4e0d\u4f1a\u51fa\u73b0\u4efb\u4f55\u9519\u8bef\uff1a</p> <pre><code>$ sudo apt install python3-colcon-ros\n$ cd ~/dev_ws/\n$ colcon build\n</code></pre> <p>\u7f16\u8bd1\u6210\u529f\u540e\uff0c\u5c31\u53ef\u4ee5\u5728\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u770b\u5230\u81ea\u52a8\u751f\u4ea7\u7684build\u3001log\u3001install\u6587\u4ef6\u5939\u4e86\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/#_6","title":"\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf","text":"<p>\u7f16\u8bd1\u6210\u529f\u540e\uff0c\u4e3a\u4e86\u8ba9\u7cfb\u7edf\u80fd\u591f\u627e\u5230\u6211\u4eec\u7684\u529f\u80fd\u5305\u548c\u53ef\u6267\u884c\u6587\u4ef6\uff0c\u8fd8\u9700\u8981\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf\uff1a</p> <pre><code>$ source install/local_setup.sh # \u4ec5\u5728\u5f53\u524d\u7ec8\u7aef\u751f\u6548\n$ echo \" source ~/dev_ws/install/local_setup.sh\" &gt;&gt; ~/.bashrc # \u6240\u6709\u7ec8\u7aef\u5747\u751f\u6548\n</code></pre> <p>\u81f3\u6b64\uff0c\u6211\u4eec\u5c31\u5b8c\u6210\u4e86\u5de5\u4f5c\u7a7a\u95f4\u7684\u521b\u5efa\u3001\u7f16\u8bd1\u548c\u914d\u7f6e\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/#_7","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/","title":"\u529f\u80fd\u5305\uff1a\u5f00\u53d1\u8fc7\u7a0b\u7684\u5927\u672c\u8425","text":"<p>\u5728\u4e0b\u8f7d\u7684\u6559\u7a0b\u4ee3\u7801\u4e2d\uff0c\u5927\u5bb6\u53ef\u4ee5\u770b\u5230\u6709\u5f88\u591a\u4e0d\u540c\u540d\u79f0\u7684\u6587\u4ef6\u5939\uff0c\u8fd9\u4e9b\u5728ROS2\u5e76\u4e0d\u662f\u666e\u901a\u7684\u6587\u4ef6\u5939\uff0c\u800c\u662f\u53eb\u505a\u529f\u80fd\u5305\u3002</p> <p>\u6bcf\u4e2a\u673a\u5668\u4eba\u53ef\u80fd\u6709\u5f88\u591a\u529f\u80fd\uff0c\u6bd4\u5982\u79fb\u52a8\u63a7\u5236\u3001\u89c6\u89c9\u611f\u77e5\u3001\u81ea\u4e3b\u5bfc\u822a\u7b49\uff0c\u5982\u679c\u6211\u4eec\u628a\u8fd9\u4e9b\u529f\u80fd\u7684\u6e90\u7801\u90fd\u653e\u5230\u4e00\u8d77\u5f53\u7136\u4e5f\u662f\u53ef\u4ee5\u7684\uff0c\u4f46\u662f\u5f53\u6211\u4eec\u60f3\u628a\u5176\u4e2d\u67d0\u4e9b\u529f\u80fd\u5206\u4eab\u7ed9\u522b\u4eba\u65f6\uff0c\u5c31\u4f1a\u53d1\u73b0\u4ee3\u7801\u90fd\u6df7\u5408\u5230\u4e86\u4e00\u8d77\uff0c\u5f88\u96be\u62c6\u5206\u51fa\u6765\u3002</p> <p></p> <p>\u4e3e\u4e2a\u4f8b\u5b50\uff0c\u6211\u4eec\u624b\u4e0a\u6709\u5f88\u591a\u7ea2\u8c46\u3001\u7eff\u8c46\u3001\u9ec4\u8c46\uff0c\u5047\u8bbe\u90fd\u653e\u5728\u4e00\u4e2a\u888b\u5b50\u91cc\uff0c\u5982\u679c\u53ea\u60f3\u628a\u9ec4\u8c46\u90fd\u62ff\u51fa\u6765\uff0c\u662f\u4e0d\u662f\u5f97\u5728\u4e94\u989c\u516d\u8272\u7684\u8c46\u5b50\u91cc\u4e00\u9897\u4e00\u9897\u90fd\u627e\u51fa\u6765\uff0c\u6570\u91cf\u8d8a\u591a\uff0c\u4f60\u5c31\u8d8a\u5934\u75bc\uff1b\u5982\u679c\u6211\u4eec\u628a\u4e0d\u540c\u989c\u8272\u7684\u8c46\u5b50\u653e\u5728\u4e0d\u540c\u7684\u4e09\u4e2a\u888b\u5b50\u91cc\uff0c\u9700\u8981\u62ff\u51fa\u67d0\u79cd\u8c46\u5b50\u7684\u65f6\u5019\uff0c\u4e0d\u5c31\u7acb\u523b\u53ef\u4ee5\u627e\u51fa\u6765\u4e86\u4e48\u3002</p> <p>\u529f\u80fd\u5305\u5c31\u662f\u8fd9\u4e2a\u539f\u7406\uff0c\u6211\u4eec\u628a\u4e0d\u540c\u529f\u80fd\u7684\u4ee3\u7801\u5212\u5206\u5230\u4e0d\u540c\u7684\u529f\u80fd\u5305\u4e2d\uff0c\u5c3d\u91cf\u964d\u4f4e\u4ed6\u4eec\u4e4b\u95f4\u7684\u8026\u5408\u5173\u7cfb\uff0c\u5f53\u9700\u8981\u5728ROS\u793e\u533a\u4e2d\u5206\u4eab\u7ed9\u522b\u4eba\u7684\u65f6\u5019\uff0c\u53ea\u9700\u8981\u8bf4\u660e\u8fd9\u4e2a\u529f\u80fd\u5305\u8be5\u5982\u4f55\u4f7f\u7528\uff0c\u522b\u4eba\u5f88\u5feb\u5c31\u53ef\u4ee5\u7528\u8d77\u6765\u4e86\u3002</p> <p>\u6240\u4ee5\u529f\u80fd\u5305\u7684\u673a\u5236\uff0c\u662f\u63d0\u9ad8ROS\u4e2d\u8f6f\u4ef6\u590d\u7528\u7387\u7684\u91cd\u8981\u65b9\u6cd5\u4e4b\u4e00\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/#_2","title":"\u521b\u5efa\u529f\u80fd\u5305","text":"<p>\u5982\u4f55\u5728ROS2\u4e2d\u521b\u5efa\u4e00\u4e2a\u529f\u80fd\u5305\u5462\uff1f\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u8fd9\u4e2a\u6307\u4ee4\uff1a</p> <pre><code>$ ros2 pkg create --build-type &lt;build-type&gt; &lt;package_name&gt;\n</code></pre> <p>ros2\u547d\u4ee4\u4e2d\uff1a</p> <ul> <li>pkg\uff1a\u8868\u793a\u529f\u80fd\u5305\u76f8\u5173\u7684\u529f\u80fd\uff1b</li> <li>create\uff1a\u8868\u793a\u521b\u5efa\u529f\u80fd\u5305\uff1b</li> <li>build-type\uff1a\u8868\u793a\u65b0\u521b\u5efa\u7684\u529f\u80fd\u5305\u662fC++\u8fd8\u662fPython\u7684\uff0c\u5982\u679c\u4f7f\u7528C++\u6216\u8005C\uff0c\u90a3\u8fd9\u91cc\u5c31\u8ddfament_cmake\uff0c\u5982\u679c\u4f7f\u7528Python\uff0c\u5c31\u8ddfament_python\uff1b</li> <li>package_name\uff1a\u65b0\u5efa\u529f\u80fd\u5305\u7684\u540d\u5b57\u3002</li> </ul> <p>\u6bd4\u5982\u5728\u7ec8\u7aef\u4e2d\u5206\u522b\u521b\u5efaC++\u548cPython\u7248\u672c\u7684\u529f\u80fd\u5305\uff1a</p> <pre><code>$ cd ~/dev_ws/src\n$ ros2 pkg create --build-type ament_cmake learning_pkg_c               # C++\n$ ros2 pkg create --build-type ament_python learning_pkg_python # Python\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/#_3","title":"\u7f16\u8bd1\u529f\u80fd\u5305","text":"<p>\u5728\u521b\u5efa\u597d\u7684\u529f\u80fd\u5305\u4e2d\uff0c\u6211\u4eec\u53ef\u4ee5\u7ee7\u7eed\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\uff0c\u4e4b\u540e\u9700\u8981\u7f16\u8bd1\u548c\u914d\u7f6e\u73af\u5883\u53d8\u91cf\uff0c\u624d\u80fd\u6b63\u5e38\u8fd0\u884c\uff1a</p> <pre><code>$ cd ~/dev_ws\n$ colcon build   # \u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4\u6240\u6709\u529f\u80fd\u5305\n$ source install/local_setup.bash\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/#_4","title":"\u529f\u80fd\u5305\u7684\u7ed3\u6784","text":"<p>\u529f\u80fd\u5305\u5e76\u4e0d\u662f\u666e\u901a\u7684\u6587\u4ef6\u5939\uff0c\u90a3\u5982\u4f55\u5224\u65ad\u4e00\u4e2a\u6587\u4ef6\u5939\u662f\u5426\u662f\u529f\u80fd\u5305\u5462\uff1f\u6211\u4eec\u6765\u5206\u6790\u4e0b\u521a\u624d\u65b0\u521b\u5efa\u4e24\u4e2a\u529f\u80fd\u5305\u7684\u7ed3\u6784\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/#c","title":"C++\u529f\u80fd\u5305","text":"<p>\u9996\u5148\u770b\u4e0bC++\u7c7b\u578b\u7684\u529f\u80fd\u5305\uff0c\u5176\u4e2d\u5fc5\u7136\u5b58\u5728\u4e24\u4e2a\u6587\u4ef6\uff1apackage.xml\u548cCMakerLists.txt\u3002</p> <p></p> <p>package.xml\u6587\u4ef6\u7684\u4e3b\u8981\u5185\u5bb9\u5982\u4e0b\uff0c\u5305\u542b\u529f\u80fd\u5305\u7684\u7248\u6743\u63cf\u8ff0\uff0c\u548c\u5404\u79cd\u4f9d\u8d56\u7684\u58f0\u660e\u3002</p> <p></p> <p>CMakeLists.txt\u6587\u4ef6\u662f\u7f16\u8bd1\u89c4\u5219\uff0cC++\u4ee3\u7801\u9700\u8981\u7f16\u8bd1\u624d\u80fd\u8fd0\u884c\uff0c\u6240\u4ee5\u5fc5\u987b\u8981\u5728\u8be5\u6587\u4ef6\u4e2d\u8bbe\u7f6e\u5982\u4f55\u7f16\u8bd1\uff0c\u4f7f\u7528CMake\u8bed\u6cd5\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/#python","title":"Python\u529f\u80fd\u5305","text":"<p>C++\u529f\u80fd\u5305\u9700\u8981\u5c06\u6e90\u7801\u7f16\u8bd1\u6210\u53ef\u6267\u884c\u6587\u4ef6\uff0c\u4f46\u662fPython\u8bed\u8a00\u662f\u89e3\u6790\u578b\u7684\uff0c\u4e0d\u9700\u8981\u7f16\u8bd1\uff0c\u6240\u4ee5\u4f1a\u6709\u4e00\u4e9b\u4e0d\u540c\uff0c\u4f46\u4e5f\u4f1a\u6709\u8fd9\u4e24\u4e2a\u6587\u4ef6\uff1apackage.xml\u548csetup.py\u3002</p> <p></p> <p>package.xml\u6587\u4ef6\u7684\u4e3b\u8981\u5185\u5bb9\u548cC++\u7248\u672c\u529f\u80fd\u5305\u4e00\u6837\uff0c\u5305\u542b\u529f\u80fd\u5305\u7684\u7248\u6743\u63cf\u8ff0\uff0c\u548c\u5404\u79cd\u4f9d\u8d56\u7684\u58f0\u660e\u3002</p> <p></p> <p>setup.py\u6587\u4ef6\u91cc\u8fb9\u4e5f\u5305\u542b\u4e00\u4e9b\u7248\u6743\u4fe1\u606f\uff0c\u9664\u6b64\u4e4b\u5916\uff0c\u8fd8\u6709\u201centry_points\u201d\u914d\u7f6e\u7684\u7a0b\u5e8f\u5165\u53e3\uff0c\u5728\u540e\u7eed\u7f16\u7a0b\u8bb2\u89e3\u4e2d\uff0c\u6211\u4eec\u4f1a\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u5982\u4f55\u4f7f\u7528\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/#_5","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Workspace/Creating-A-Workspace.html</p> <p>https://docs.ros.org/en/humble/Tutorials/Creating-Your-First-ROS2-Package.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/","title":"\u8282\u70b9","text":"<p>\u673a\u5668\u4eba\u662f\u5404\u79cd\u529f\u80fd\u7684\u7efc\u5408\u4f53\uff0c\u6bcf\u4e00\u9879\u529f\u80fd\u5c31\u50cf\u673a\u5668\u4eba\u7684\u4e00\u4e2a\u5de5\u4f5c\u7ec6\u80de\uff0c\u4f17\u591a\u7ec6\u80de\u901a\u8fc7\u4e00\u4e9b\u673a\u5236\u8fde\u63a5\u5230\u4e00\u8d77\uff0c\u6210\u4e3a\u4e86\u4e00\u4e2a\u673a\u5668\u4eba\u6574\u4f53\u3002</p> <p>\u5728ROS\u4e2d\uff0c\u6211\u4eec\u7ed9\u8fd9\u4e9b \u201c\u7ec6\u80de\u201d\u53d6\u4e86\u4e00\u4e2a\u540d\u5b57\uff0c\u90a3\u5c31\u662f\u8282\u70b9\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_2","title":"\u901a\u4fe1\u6a21\u578b","text":"<p>\u5b8c\u6574\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u53ef\u80fd\u5e76\u4e0d\u662f\u4e00\u4e2a\u7269\u7406\u4e0a\u7684\u6574\u4f53\uff0c\u6bd4\u5982\u8fd9\u6837\u4e00\u4e2a\u7684\u673a\u5668\u4eba\uff1a</p> <p></p> <p>\u5728\u673a\u5668\u4eba\u8eab\u4f53\u91cc\u642d\u8f7d\u4e86\u4e00\u53f0\u8ba1\u7b97\u673aA\uff0c\u5b83\u53ef\u4ee5\u901a\u8fc7\u673a\u5668\u4eba\u7684\u773c\u775b\u2014\u2014\u6444\u50cf\u5934\uff0c\u83b7\u53d6\u5916\u754c\u73af\u5883\u7684\u4fe1\u606f\uff0c\u4e5f\u53ef\u4ee5\u63a7\u5236\u673a\u5668\u4eba\u7684\u817f\u2014\u2014\u8f6e\u5b50\uff0c\u8ba9\u673a\u5668\u4eba\u79fb\u52a8\u5230\u60f3\u8981\u53bb\u7684\u5730\u65b9\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u53ef\u80fd\u8fd8\u4f1a\u6709\u53e6\u5916\u4e00\u53f0\u8ba1\u7b97\u673aB\uff0c\u653e\u5728\u4f60\u7684\u684c\u5b50\u4e0a\uff0c\u5b83\u53ef\u4ee5\u8fdc\u7a0b\u76d1\u63a7\u673a\u5668\u4eba\u770b\u5230\u7684\u4fe1\u606f\uff0c\u4e5f\u53ef\u4ee5\u8fdc\u7a0b\u914d\u7f6e\u673a\u5668\u4eba\u7684\u901f\u5ea6\u548c\u67d0\u4e9b\u53c2\u6570\uff0c\u8fd8\u53ef\u4ee5\u8fde\u63a5\u4e00\u4e2a\u6447\u6746\uff0c\u4eba\u4e3a\u63a7\u5236\u673a\u5668\u4eba\u524d\u540e\u5de6\u53f3\u8fd0\u52a8\u3002</p> <p>\u8fd9\u4e9b\u529f\u80fd\u867d\u7136\u4f4d\u4e8e\u4e0d\u540c\u7684\u8ba1\u7b97\u673a\u4e2d\uff0c\u4f46\u90fd\u662f\u8fd9\u6b3e\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u7ec6\u80de\uff0c\u4e5f\u5c31\u662f\u8282\u70b9\uff0c\u4ed6\u4eec\u5171\u540c\u7ec4\u6210\u4e86\u4e00\u4e2a\u5b8c\u6574\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u3002</p> <ul> <li>\u8282\u70b9\u5728\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u804c\u8d23\u5c31\u662f\u6267\u884c\u67d0\u4e9b\u5177\u4f53\u7684\u4efb\u52a1\uff0c\u4ece\u8ba1\u7b97\u673a\u64cd\u4f5c\u7cfb\u7edf\u7684\u89d2\u5ea6\u6765\u770b\uff0c\u4e5f\u53eb\u505a\u8fdb\u7a0b\uff1b</li> <li>\u6bcf\u4e2a\u8282\u70b9\u90fd\u662f\u4e00\u4e2a\u53ef\u4ee5\u72ec\u7acb\u8fd0\u884c\u7684\u53ef\u6267\u884c\u6587\u4ef6\uff0c\u6bd4\u5982\u6267\u884c\u67d0\u4e00\u4e2apython\u7a0b\u5e8f\uff0c\u6216\u8005\u6267\u884cC++\u7f16\u8bd1\u751f\u6210\u7684\u7ed3\u679c\uff0c\u90fd\u7b97\u662f\u8fd0\u884c\u4e86\u4e00\u4e2a\u8282\u70b9\uff1b</li> <li>\u65e2\u7136\u6bcf\u4e2a\u8282\u70b9\u90fd\u662f\u72ec\u7acb\u7684\u6267\u884c\u6587\u4ef6\uff0c\u90a3\u81ea\u7136\u5c31\u53ef\u4ee5\u60f3\u5230\uff0c\u5f97\u5230\u8fd9\u4e2a\u6267\u884c\u6587\u4ef6\u7684\u7f16\u7a0b\u8bed\u8a00\u53ef\u4ee5\u662f\u4e0d\u540c\u7684\uff0c\u6bd4\u5982C++\u3001Python\uff0c\u4e43\u81f3Java\u3001Ruby\u7b49\u66f4\u591a\u8bed\u8a00\u3002</li> <li>\u8fd9\u4e9b\u8282\u70b9\u662f\u529f\u80fd\u5404\u4e0d\u76f8\u540c\u7684\u7ec6\u80de\uff0c\u6839\u636e\u7cfb\u7edf\u8bbe\u8ba1\u7684\u4e0d\u540c\uff0c\u53ef\u80fd\u4f4d\u4e8e\u8ba1\u7b97\u673aA\uff0c\u4e5f\u53ef\u80fd\u4f4d\u4e8e\u8ba1\u7b97\u673aB\uff0c\u8fd8\u6709\u53ef\u80fd\u8fd0\u884c\u5728\u4e91\u7aef\uff0c\u8fd9\u53eb\u505a\u5206\u5e03\u5f0f\uff0c\u4e5f\u5c31\u662f\u53ef\u4ee5\u5206\u5e03\u5728\u4e0d\u540c\u7684\u786c\u4ef6\u8f7d\u4f53\u4e0a\uff1b</li> <li>\u6bcf\u4e00\u4e2a\u8282\u70b9\u90fd\u9700\u8981\u6709\u552f\u4e00\u7684\u547d\u540d\uff0c\u5f53\u6211\u4eec\u60f3\u8981\u53bb\u627e\u5230\u67d0\u4e00\u4e2a\u8282\u70b9\u7684\u65f6\u5019\uff0c\u6216\u8005\u60f3\u8981\u67e5\u8be2\u67d0\u4e00\u4e2a\u8282\u70b9\u7684\u72b6\u6001\u65f6\uff0c\u53ef\u4ee5\u901a\u8fc7\u8282\u70b9\u7684\u540d\u79f0\u6765\u505a\u67e5\u8be2\u3002</li> </ul> <p>\u8282\u70b9\u4e5f\u53ef\u4ee5\u6bd4\u55bb\u662f\u4e00\u4e2a\u4e00\u4e2a\u7684\u5de5\u4eba\uff0c\u5206\u522b\u5b8c\u6210\u4e0d\u540c\u7684\u4efb\u52a1\uff0c\u4ed6\u4eec\u6709\u7684\u5728\u4e00\u7ebf\u5382\u623f\u5de5\u4f5c\uff0c\u6709\u7684\u5728\u540e\u52e4\u90e8\u95e8\u63d0\u4f9b\u4fdd\u969c\uff0c\u4ed6\u4eec\u4e92\u76f8\u53ef\u80fd\u5e76\u4e0d\u8ba4\u8bc6\uff0c\u4f46\u5374\u4e00\u8d77\u63a8\u52a8\u673a\u5668\u4eba\u8fd9\u5ea7\u201c\u5de5\u5382\u201d\uff0c\u5b8c\u6210\u66f4\u4e3a\u590d\u6742\u7684\u4efb\u52a1\u3002</p> <p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c31\u6765\u770b\u770b\uff0c \u8282\u70b9\u8fd9\u4e2a\u5de5\u4f5c\u7ec6\u80de\uff0c\u5230\u5e95\u8be5\u5982\u4f55\u5b9e\u73b0\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#hello-world","title":"\u6848\u4f8b\u4e00\uff1aHello World\u8282\u70b9\uff08\u9762\u5411\u8fc7\u7a0b\uff09","text":"<p>ROS2\u4e2d\u8282\u70b9\u7684\u5b9e\u73b0\u5f53\u7136\u662f\u9700\u8981\u7f16\u5199\u7a0b\u5e8f\u4e86\uff0c\u6211\u4eec\u4eceHello World\u4f8b\u7a0b\u5f00\u59cb\uff0c\u5148\u6765\u5b9e\u73b0\u4e00\u4e2a\u6700\u4e3a\u7b80\u5355\u7684\u8282\u70b9\uff0c\u529f\u80fd\u5e76\u4e0d\u590d\u6742\uff0c\u5c31\u662f\u5faa\u73af\u6253\u5370\u4e00\u4e2a\u201cHello World\u201d\u5b57\u7b26\u4e32\u5230\u7ec8\u7aef\u4e2d\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_3","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u5927\u5bb6\u5148\u4e0d\u8981\u7740\u6025\u770b\u4ee3\u7801\uff0c\u662f\u9aa1\u5b50\u662f\u9a6c\uff0c\u5148\u62c9\u51fa\u6765\u6e9c\u6e9c\uff0c\u6211\u4eec\u901a\u8fc7ros2 run\u547d\u4ee4\uff0c\u8fd0\u884c\u7f16\u8bd1\u597d\u7684\u8bfe\u7a0b\u4ee3\u7801\uff0c\u770b\u4e0b\u8fd9\u4e2a\u8282\u70b9\u6267\u884c\u7684\u6548\u679c\u5982\u4f55\uff0c\u7136\u540e\u518d\u6765\u5206\u6790\u4ee3\u7801\u7684\u5b9e\u73b0\u8fc7\u7a0b\uff0c\u505a\u5230\u77e5\u5176\u7136\u4e5f\u77e5\u5176\u6240\u4ee5\u7136\u3002</p> <pre><code>$ ros2 run learning_node node_helloworld\n</code></pre> <p>\u8fd0\u884c\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u5728\u7ec8\u7aef\u4e2d\u770b\u5230\u5faa\u73af\u6253\u5370\u201cHello World\u201d\u5b57\u7b26\u4e32\u7684\u6548\u679c\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_4","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u8fd9\u4e2a\u8282\u70b9\u662f\u5982\u4f55\u5b9e\u73b0\u7684\u5462\uff1f\u6211\u4eec\u6765\u770b\u4e0b\u4ee3\u7801\u3002</p> <p>learning_node/node_helloworld.py</p> <pre><code>#!/usr/bin/env python3 \n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8282\u70b9\u793a\u4f8b-\u53d1\u5e03\u201cHello World\u201d\u65e5\u5fd7\u4fe1\u606f, \u4f7f\u7528\u9762\u5411\u8fc7\u7a0b\u7684\u5b9e\u73b0\u65b9\u5f0f\n\"\"\"\n\nimport rclpy                                   # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                    # ROS2 \u8282\u70b9\u7c7b\nimport time\n\ndef main(args=None):                           # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                      # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = Node(\"node_helloworld\")             # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n\n    while rclpy.ok():                          # ROS2\u7cfb\u7edf\u662f\u5426\u6b63\u5e38\u8fd0\u884c\n        node.get_logger().info(\"Hello World\")  # ROS2\u65e5\u5fd7\u8f93\u51fa\n        time.sleep(0.5)                        # \u4f11\u7720\u63a7\u5236\u5faa\u73af\u65f6\u95f4\n\n    node.destroy_node()                        # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61    \n    rclpy.shutdown()                           # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'node_helloworld       = learning_node.node_helloworld:main',\n        ],\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_5","title":"\u521b\u5efa\u8282\u70b9\u6d41\u7a0b","text":"<p>\u4ee3\u7801\u4e2d\u51fa\u73b0\u7684\u51fd\u6570\u5927\u5bb6\u672a\u6765\u4f1a\u7ecf\u5e38\u7528\u5230\uff0c\u5927\u5bb6\u5148\u4e0d\u7528\u7ea0\u7ed3\u51fd\u6570\u7684\u5177\u4f53\u4f7f\u7528\u65b9\u6cd5\uff0c\u66f4\u91cd\u8981\u7684\u662f\u7406\u89e3\u8282\u70b9\u7684\u7f16\u7801\u6d41\u7a0b\u3002</p> <p>\u603b\u7ed3\u4e00\u4e0b\uff0c\u60f3\u8981\u5b9e\u73b0\u4e00\u4e2a\u8282\u70b9\uff0c\u4ee3\u7801\u7684\u5b9e\u73b0\u6d41\u7a0b\u662f\u8fd9\u6837\u505a\uff1a</p> <ul> <li>\u7f16\u7a0b\u63a5\u53e3\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u8282\u70b9\u5e76\u521d\u59cb\u5316</li> <li>\u5b9e\u73b0\u8282\u70b9\u529f\u80fd</li> <li>\u9500\u6bc1\u8282\u70b9\u5e76\u5173\u95ed\u63a5\u53e3</li> </ul> <p>\u5927\u5bb6\u5982\u679c\u6709\u5b66\u4e60\u8fc7C++\u6216\u8005Pyhton\u7684\u8bdd\uff0c\u5e94\u8be5\u53ef\u4ee5\u53d1\u73b0\u8fd9\u91cc\u6211\u4eec\u4f7f\u7528\u7684\u662f\u9762\u5411\u8fc7\u7a0b\u7684\u7f16\u7a0b\u65b9\u6cd5\uff0c\u8fd9\u79cd\u65b9\u5f0f\u867d\u7136\u5b9e\u73b0\u7b80\u5355\uff0c\u4f46\u662f\u5bf9\u4e8e\u7a0d\u5fae\u590d\u6742\u4e00\u70b9\u7684\u673a\u5668\u4eba\u7cfb\u7edf\uff0c\u5c31\u5f88\u96be\u505a\u5230\u6a21\u5757\u5316\u7f16\u7801\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#hello-world_1","title":"\u6848\u4f8b\u4e8c\uff1aHello World\u8282\u70b9\uff08\u9762\u5411\u5bf9\u8c61\uff09","text":"<p>\u6240\u4ee5\u5728ROS2\u7684\u5f00\u53d1\u4e2d\uff0c\u6211\u4eec\u66f4\u63a8\u8350\u5927\u5bb6\u4f7f\u7528\u9762\u5411\u5bf9\u8c61\u7684\u7f16\u7a0b\u65b9\u5f0f\uff0c\u6bd4\u5982\u521a\u624d\u7684\u4ee3\u7801\u5c31\u53ef\u4ee5\u6539\u6210\u8fd9\u6837\uff0c\u867d\u7136\u770b\u4e0a\u53bb\u590d\u6742\u4e86\u4e00\u4e9b\uff0c\u4f46\u662f\u4ee3\u7801\u4f1a\u5177\u5907\u66f4\u597d\u7684\u53ef\u8bfb\u6027\u548c\u53ef\u79fb\u690d\u6027\uff0c\u8c03\u8bd5\u8d77\u6765\u4e5f\u4f1a\u66f4\u52a0\u65b9\u4fbf\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_6","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u63a5\u4e0b\u6765\u8fd0\u884c\u4e00\u4e0b\u8c03\u6574\u540e\u7684\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run learning_node node_helloworld_class\n</code></pre> <p>\u8fd0\u884c\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u8fd8\u662f\u53ef\u4ee5\u5728\u7ec8\u7aef\u4e2d\u770b\u5230\u5faa\u73af\u6253\u5370\u201cHello World\u201d\u5b57\u7b26\u4e32\u7684\u6548\u679c\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_7","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u529f\u80fd\u867d\u7136\u4e00\u6837\uff0c\u4f46\u662f\u7a0b\u5e8f\u7684\u7ed3\u6784\u53d1\u751f\u4e86\u53d8\u5316\uff0c\u6211\u4eec\u5177\u4f53\u770b\u4e00\u4e0b\u8fd9\u4efd\u4ee3\u7801\u3002</p> <p>learning_node/node_helloworld_class.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8282\u70b9\u793a\u4f8b-\u53d1\u5e03\u201cHello World\u201d\u65e5\u5fd7\u4fe1\u606f, \u4f7f\u7528\u9762\u5411\u5bf9\u8c61\u7684\u5b9e\u73b0\u65b9\u5f0f\n\"\"\"\n\nimport rclpy                                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                      # ROS2 \u8282\u70b9\u7c7b\nimport time\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2aHelloWorld\u8282\u70b9, \u521d\u59cb\u5316\u65f6\u8f93\u51fa\u201chello world\u201d\u65e5\u5fd7\n\"\"\"\nclass HelloWorldNode(Node):\n    def __init__(self, name):\n        super().__init__(name)                     # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        while rclpy.ok():                          # ROS2\u7cfb\u7edf\u662f\u5426\u6b63\u5e38\u8fd0\u884c\n            self.get_logger().info(\"Hello World\")  # ROS2\u65e5\u5fd7\u8f93\u51fa\n            time.sleep(0.5)                        # \u4f11\u7720\u63a7\u5236\u5faa\u73af\u65f6\u95f4\n\ndef main(args=None):                               # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                          # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = HelloWorldNode(\"node_helloworld_class\") # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                               # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                            # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                               # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'node_helloworld       = learning_node.node_helloworld:main',\n         'node_helloworld_class = learning_node.node_helloworld_class:main',\n        ],\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_8","title":"\u521b\u5efa\u8282\u70b9\u6d41\u7a0b","text":"<p>\u6240\u4ee5\u603b\u4f53\u800c\u8a00\uff0c\u8282\u70b9\u7684\u5b9e\u73b0\u65b9\u5f0f\u4f9d\u7136\u662f\u8fd9\u56db\u4e2a\u6b65\u9aa4\uff0c\u53ea\u4e0d\u8fc7\u7f16\u7801\u65b9\u5f0f\u505a\u4e86\u4e00\u4e9b\u6539\u53d8\u800c\u5df2\u3002</p> <ul> <li>\u7f16\u7a0b\u63a5\u53e3\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u8282\u70b9\u5e76\u521d\u59cb\u5316</li> <li>\u5b9e\u73b0\u8282\u70b9\u529f\u80fd</li> <li>\u9500\u6bc1\u8282\u70b9\u5e76\u5173\u95ed\u63a5\u53e3</li> </ul> <p>\u5230\u8fd9\u91cc\u4e3a\u6b62\uff0c\u5927\u5bb6\u662f\u4e0d\u662f\u5fc3\u91cc\u8fd8\u6709\u4e00\u4e2a\u7591\u60d1\uff0c\u673a\u5668\u4eba\u4e2d\u7684\u8282\u70b9\u4e0d\u80fd\u53ea\u662f\u6253\u5370Hello World\u5427\uff0c\u662f\u4e0d\u662f\u5f97\u5b8c\u6210\u4e00\u4e9b\u5177\u4f53\u7684\u4efb\u52a1\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_9","title":"\u6848\u4f8b\u4e09\uff1a\u7269\u4f53\u8bc6\u522b\u8282\u70b9","text":"<p>\u6ca1\u9519\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u4ee5\u673a\u5668\u89c6\u89c9\u7684\u4efb\u52a1\u4e3a\u4f8b\uff0c\u6a21\u62df\u5b9e\u9645\u673a\u5668\u4eba\u4e2d\u8282\u70b9\u7684\u5b9e\u73b0\u8fc7\u7a0b\u3002</p> <p></p> <p>\u6211\u4eec\u5148\u4ece\u7f51\u4e0a\u627e\u5230\u4e00\u5f20\u82f9\u679c\u7684\u56fe\u7247\uff0c\u901a\u8fc7\u7f16\u5199\u4e00\u4e2a\u8282\u70b9\u6765\u8bc6\u522b\u56fe\u7247\u4e2d\u7684\u82f9\u679c\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_10","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u5728\u8fd9\u4e2a\u4f8b\u7a0b\u4e2d\uff0c\u6211\u4eec\u5c06\u7528\u5230\u4e00\u4e2a\u56fe\u50cf\u5904\u7406\u7684\u5e93\u2014\u2014OpenCV\uff0c\u8fd0\u884c\u524d\u8bf7\u4f7f\u7528\u5982\u4e0b\u6307\u4ee4\u5b89\u88c5\uff1a</p> <pre><code>$ sudo apt install python3-opencv\n</code></pre> <p>\u7136\u540e\u5c31\u53ef\u4ee5\u8fd0\u884c\u4f8b\u7a0b\u5566\uff1a</p> <pre><code>$ ros2 run learning_node node_object    #\u6ce8\u610f\u4fee\u6539\u56fe\u7247\u8def\u5f84\u540e\u91cd\u65b0\u7f16\u8bd1\n</code></pre> Attention <p>\u8fd0\u884c\u524d\u9700\u8981\u5c06learning_node/node_object.py\u4ee3\u7801\u4e2d\u7684\u56fe\u7247\u8def\u5f84\uff0c\u4fee\u6539\u4e3a\u5b9e\u9645\u8def\u5f84\uff0c\u4fee\u6539\u540e\u91cd\u65b0\u7f16\u8bd1\u8fd0\u884c\u5373\u53ef\uff1a</p> <p>image = cv2.imread('/home/hcx/dev_ws/src/ros2_21_tutorials/learning_node/learning_node/apple.jpg')  </p> <p>\u4f8b\u7a0b\u8fd0\u884c\u6210\u529f\u540e\uff0c\u4f1a\u5f39\u51fa\u4e00\u4e2a\u53ef\u89c6\u5316\u7a97\u53e3\uff0c\u53ef\u4ee5\u770b\u5230\u82f9\u679c\u88ab\u6210\u529f\u8bc6\u522b\u5566\uff0c\u4e00\u4e2a\u7eff\u8272\u6846\u4f1a\u628a\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\uff0c\u4e2d\u95f4\u7684\u7eff\u70b9\u8868\u793a\u4e2d\u5fc3\u70b9\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_11","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u5728\u8fd9\u4e2a\u4f8b\u7a0b\u4e2d\uff0c\u6211\u4eec\u52a0\u5165\u4e86\u56fe\u50cf\u8bc6\u522b\u7684\u5904\u7406\u8fc7\u7a0b\uff0c\u6a21\u62df\u4e00\u4e2a\u8282\u70b9\u7684\u529f\u80fd\uff0c\u5173\u4e8e\u56fe\u50cf\u5904\u7406\u7684\u5177\u4f53\u5b9e\u73b0\uff0c\u5e76\u4e0d\u662f\u6b64\u5904\u7684\u91cd\u70b9\uff0c\u5927\u5bb6\u66f4\u591a\u8981\u5173\u6ce8\u6211\u4eec\u662f\u5982\u4f55\u901a\u8fc7\u8282\u70b9\u7684\u6982\u5ff5\u6765\u5b9e\u73b0\u4e00\u4e2a\u5177\u4f53\u7684\u673a\u5668\u4eba\u529f\u80fd\u3002</p> <p>learning_node/node_object.py</p> <pre><code>#!/usr/bin/env python3 \n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8282\u70b9\u793a\u4f8b-\u901a\u8fc7\u989c\u8272\u8bc6\u522b\u68c0\u6d4b\u56fe\u7247\u4e2d\u51fa\u73b0\u7684\u82f9\u679c\n\"\"\"\n\nimport rclpy                            # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node             # ROS2 \u8282\u70b9\u7c7b\n\nimport cv2                              # OpenCV\u56fe\u50cf\u5904\u7406\u5e93\nimport numpy as np                      # Python\u6570\u503c\u8ba1\u7b97\u5e93\n\nlower_red = np.array([0, 90, 128])     # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0b\u9650\nupper_red = np.array([180, 255, 255])  # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0a\u9650\n\ndef object_detect(image):\n    hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)      # \u56fe\u50cf\u4eceBGR\u989c\u8272\u6a21\u578b\u8f6c\u6362\u4e3aHSV\u6a21\u578b\n    mask_red = cv2.inRange(hsv_img, lower_red, upper_red) # \u56fe\u50cf\u4e8c\u503c\u5316\n\n    contours, hierarchy = cv2.findContours(mask_red, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) # \u56fe\u50cf\u4e2d\u8f6e\u5ed3\u68c0\u6d4b\n\n    for cnt in contours:                                  # \u53bb\u9664\u4e00\u4e9b\u8f6e\u5ed3\u9762\u79ef\u592a\u5c0f\u7684\u566a\u58f0\n        if cnt.shape[0] &lt; 150:\n            continue\n\n        (x, y, w, h) = cv2.boundingRect(cnt)              # \u5f97\u5230\u82f9\u679c\u6240\u5728\u8f6e\u5ed3\u7684\u5de6\u4e0a\u89d2xy\u50cf\u7d20\u5750\u6807\u53ca\u8f6e\u5ed3\u8303\u56f4\u7684\u5bbd\u548c\u9ad8\n        cv2.drawContours(image, [cnt], -1, (0, 255, 0), 2)# \u5c06\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\n        cv2.circle(image, (int(x+w/2), int(y+h/2)), 5, (0, 255, 0), -1)# \u5c06\u82f9\u679c\u7684\u56fe\u50cf\u4e2d\u5fc3\u70b9\u753b\u51fa\u6765\n\n    cv2.imshow(\"object\", image)                           # \u4f7f\u7528OpenCV\u663e\u793a\u5904\u7406\u540e\u7684\u56fe\u50cf\u6548\u679c\n    cv2.waitKey(0)\n    cv2.destroyAllWindows()\n\ndef main(args=None):                                      # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                                 # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = Node(\"node_object\")                            # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.get_logger().info(\"ROS2\u8282\u70b9\u793a\u4f8b\uff1a\u68c0\u6d4b\u56fe\u7247\u4e2d\u7684\u82f9\u679c\")\n\n    image = cv2.imread('/home/hcx/dev_ws/src/ros2_21_tutorials/learning_node/learning_node/apple.jpg')  # \u8bfb\u53d6\u56fe\u50cf\n    object_detect(image)                                   # \u82f9\u679c\u68c0\u6d4b\n    rclpy.spin(node)                                       # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                    # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                       # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>entry_points={\n    'console_scripts': [\n     'node_helloworld       = learning_node.node_helloworld:main',\n     'node_helloworld_class = learning_node.node_helloworld_class:main',\n     'node_object           = learning_node.node_object:main',\n    ],\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_12","title":"\u6848\u4f8b\u56db\uff1a\u673a\u5668\u89c6\u89c9\u8bc6\u522b\u8282\u70b9","text":"<p>\u7528\u56fe\u7247\u8fdb\u884c\u8bc6\u522b\u597d\u50cf\u8fd8\u4e0d\u592a\u5408\u7406\uff0c\u673a\u5668\u4eba\u5e94\u8be5\u6709\u773c\u775b\u5440\uff0c\u6ca1\u95ee\u9898\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u8ba9\u8282\u70b9\u8bfb\u53d6\u6444\u50cf\u5934\u7684\u56fe\u50cf\uff0c\u52a8\u6001\u8bc6\u522b\u5176\u4e2d\u7684\u82f9\u679c\uff0c\u6216\u8005\u7c7b\u4f3c\u989c\u8272\u7684\u7269\u4f53\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_13","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\u5982\u4e0b\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run learning_node node_object_webcam #\u6ce8\u610f\u8bbe\u7f6e\u6444\u50cf\u5934\n</code></pre> Attention <p>\u5982\u679c\u662f\u5728\u865a\u62df\u673a\u4e2d\u64cd\u4f5c\uff0c\u9700\u8981\u8fdb\u884c\u4ee5\u4e0b\u8bbe\u7f6e\uff1a 1. \u628a\u865a\u62df\u673a\u8bbe\u7f6e\u4e3a\u517c\u5bb9USB3.1\uff1b 2. \u5728\u53ef\u79fb\u52a8\u8bbe\u5907\u4e2d\u5c06\u6444\u50cf\u5934\u8fde\u63a5\u81f3\u865a\u62df\u673a\u3002</p> <p>\u8fd0\u884c\u6210\u529f\u540e\uff0c\u8be5\u8282\u70b9\u5c31\u53ef\u4ee5\u9a71\u52a8\u6444\u50cf\u5934\uff0c\u5e76\u4e14\u5b9e\u65f6\u8bc6\u522b\u6444\u50cf\u5934\u4e2d\u7684\u7ea2\u8272\u7269\u4f53\u5566\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_14","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u76f8\u6bd4\u4e4b\u524d\u7684\u7a0b\u5e8f\uff0c\u8fd9\u91cc\u6700\u5927\u7684\u53d8\u5316\u662f\u4fee\u6539\u4e86\u56fe\u7247\u7684\u6765\u6e90\uff0c\u4f7f\u7528OpenCV\u4e2d\u7684VideoCapture()\u6765\u9a71\u52a8\u76f8\u673a\uff0c\u5e76\u4e14\u5468\u671fread\u6444\u50cf\u5934\u7684\u4fe1\u606f\uff0c\u5e76\u8fdb\u884c\u8bc6\u522b\u3002</p> <p>learning_node/node_object_webcam.py</p> <pre><code>#!/usr/bin/env python3 \n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8282\u70b9\u793a\u4f8b-\u901a\u8fc7\u6444\u50cf\u5934\u8bc6\u522b\u68c0\u6d4b\u56fe\u7247\u4e2d\u51fa\u73b0\u7684\u82f9\u679c\n\"\"\"\n\nimport rclpy                            # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node             # ROS2 \u8282\u70b9\u7c7b\n\nimport cv2                              # OpenCV\u56fe\u50cf\u5904\u7406\u5e93\nimport numpy as np                      # Python\u6570\u503c\u8ba1\u7b97\u5e93\n\nlower_red = np.array([0, 90, 128])     # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0b\u9650\nupper_red = np.array([180, 255, 255])  # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0a\u9650\n\ndef object_detect(image):\n    hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)       # \u56fe\u50cf\u4eceBGR\u989c\u8272\u6a21\u578b\u8f6c\u6362\u4e3aHSV\u6a21\u578b\n    mask_red = cv2.inRange(hsv_img, lower_red, upper_red)  # \u56fe\u50cf\u4e8c\u503c\u5316\n\n    contours, hierarchy = cv2.findContours(mask_red, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) # \u56fe\u50cf\u4e2d\u8f6e\u5ed3\u68c0\u6d4b\n\n    for cnt in contours:                                   # \u53bb\u9664\u4e00\u4e9b\u8f6e\u5ed3\u9762\u79ef\u592a\u5c0f\u7684\u566a\u58f0\n        if cnt.shape[0] &lt; 150:\n            continue\n\n        (x, y, w, h) = cv2.boundingRect(cnt)               # \u5f97\u5230\u82f9\u679c\u6240\u5728\u8f6e\u5ed3\u7684\u5de6\u4e0a\u89d2xy\u50cf\u7d20\u5750\u6807\u53ca\u8f6e\u5ed3\u8303\u56f4\u7684\u5bbd\u548c\u9ad8\n        cv2.drawContours(image, [cnt], -1, (0, 255, 0), 2) # \u5c06\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\n        cv2.circle(image, (int(x+w/2), int(y+h/2)), 5, (0, 255, 0), -1)    # \u5c06\u82f9\u679c\u7684\u56fe\u50cf\u4e2d\u5fc3\u70b9\u753b\u51fa\u6765\n\n    cv2.imshow(\"object\", image)                            # \u4f7f\u7528OpenCV\u663e\u793a\u5904\u7406\u540e\u7684\u56fe\u50cf\u6548\u679c\n    cv2.waitKey(50)\n\ndef main(args=None):                                       # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                                  # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = Node(\"node_object_webcam\")                      # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.get_logger().info(\"ROS2\u8282\u70b9\u793a\u4f8b\uff1a\u68c0\u6d4b\u56fe\u7247\u4e2d\u7684\u82f9\u679c\")\n\n    cap = cv2.VideoCapture(0)\n\n\n    while rclpy.ok():\n        ret, image = cap.read()          # \u8bfb\u53d6\u4e00\u5e27\u56fe\u50cf\n\n        if ret == True:\n            object_detect(image)         # \u82f9\u679c\u68c0\u6d4b\n\n    node.destroy_node()                  # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                     # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>entry_points={\n    'console_scripts': [\n     'node_helloworld       = learning_node.node_helloworld:main',\n     'node_helloworld_class = learning_node.node_helloworld_class:main',\n     'node_object           = learning_node.node_object:main',\n     'node_object_webcam    = learning_node.node_object_webcam:main',\n    ],\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_15","title":"\u8282\u70b9\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u8282\u70b9\u547d\u4ee4\u7684\u5e38\u7528\u64cd\u4f5c\u5982\u4e0b\uff1a</p> <pre><code>$ ros2 node list               # \u67e5\u770b\u8282\u70b9\u5217\u8868\n$ ros2 node info &lt;node_name&gt;   # \u67e5\u770b\u8282\u70b9\u4fe1\u606f\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_16","title":"\u601d\u8003\u9898","text":"<p>\u73b0\u5728\uff0c\u5927\u5bb6\u5e94\u8be5\u719f\u6089\u8282\u70b9\u8fd9\u4e2a\u5de5\u4f5c\u7ec6\u80de\u7684\u6982\u5ff5\u548c\u5b9e\u73b0\u65b9\u6cd5\u4e86\uff0c\u56de\u5230\u8fd9\u4e2a\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u6846\u67b6\u56fe\uff0c\u6211\u4eec\u8fd8\u4f1a\u53d1\u73b0\u53e6\u5916\u4e00\u4e2a\u95ee\u9898\u3002</p> <p></p> <p>\u7535\u8111B\u4e2d\u7684\u6447\u6746\uff0c\u8981\u63a7\u5236\u673a\u5668\u4eba\u8fd0\u52a8\uff0c\u8fd9\u4e24\u4e2a\u8282\u70b9\u5c82\u4e0d\u662f\u5e94\u8be5\u6709\u67d0\u79cd\u8fde\u63a5\uff0c\u6bd4\u5982\u6447\u6746\u8282\u70b9\u53d1\u9001\u4e00\u4e2a\u901f\u5ea6\u6307\u4ee4\u7ed9\u8fd0\u52a8\u8282\u70b9\uff0c\u6536\u5230\u540e\u673a\u5668\u4eba\u5f00\u59cb\u8fd0\u52a8\u3002</p> <p>\u540c\u7406\uff0c\u5982\u679c\u6211\u4eec\u60f3\u8981\u6539\u53d8\u673a\u5668\u4eba\u7684\u901f\u5ea6\uff0c\u8d1f\u8d23\u914d\u7f6e\u53c2\u6570\u7684\u8282\u70b9\u5c31\u5f97\u53d1\u9001\u4e00\u4e2a\u6307\u4ee4\u7ed9\u8fd0\u52a8\u8282\u70b9\uff0c\u5982\u679c\u7535\u8111B\u60f3\u8981\u663e\u793a\u673a\u5668\u4eba\u770b\u5230\u7684\u56fe\u50cf\uff0c\u7535\u8111A\u4e2d\u7684\u6444\u50cf\u5934\u8282\u70b9\u5c31\u5f97\u628a\u56fe\u50cf\u53d1\u9001\u8fc7\u6765\u3002</p> <p>\u6ca1\u9519\uff0c\u5728\u4e00\u4e2aROS\u673a\u5668\u4eba\u7684\u7cfb\u7edf\u4e2d\uff0c\u8282\u70b9\u5e76\u4e0d\u662f\u5b64\u7acb\u7684\uff0c\u4ed6\u4eec\u4e4b\u95f4\u4f1a\u6709\u5f88\u591a\u79cd\u673a\u5236\u4fdd\u6301\u8054\u7cfb\uff0c\u4e0b\u4e00\u8282\uff0c\u6211\u4eec\u5c06\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u8fd9\u4e9b\u673a\u5236\u4e2d\u6700\u4e3a\u5e38\u7528\u7684\u4e00\u79cd\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/#_17","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Understanding-ROS2-Nodes.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/","title":"\u8bdd\u9898","text":"<p>\u8282\u70b9\u5b9e\u73b0\u4e86\u673a\u5668\u4eba\u5404\u79cd\u5404\u6837\u7684\u529f\u80fd\uff0c\u4f46\u8fd9\u4e9b\u529f\u80fd\u5e76\u4e0d\u662f\u72ec\u7acb\u7684\uff0c\u4e4b\u95f4\u4f1a\u6709\u5343\u4e1d\u4e07\u7f15\u7684\u8054\u7cfb\uff0c\u5176\u4e2d\u6700\u91cd\u8981\u7684\u4e00\u79cd\u8054\u7cfb\u65b9\u5f0f\u5c31\u662f\u8bdd\u9898\uff0c\u5b83\u662f\u8282\u70b9\u95f4\u4f20\u9012\u6570\u636e\u7684\u6865\u6881\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_2","title":"\u901a\u4fe1\u6a21\u578b","text":"<p>\u4ee5\u4e24\u4e2a\u673a\u5668\u4eba\u8282\u70b9\u4e3a\u4f8b\u3002A\u8282\u70b9\u7684\u529f\u80fd\u662f\u9a71\u52a8\u76f8\u673a\u8fd9\u4e2a\u786c\u4ef6\u8bbe\u5907\uff0c\u83b7\u53d6\u5f97\u5230\u76f8\u673a\u62cd\u6444\u7684\u56fe\u50cf\u4fe1\u606f\uff0cB\u8282\u70b9\u7684\u529f\u80fd\u662f\u89c6\u9891\u76d1\u63a7\uff0c\u5c06\u76f8\u673a\u62cd\u6444\u5230\u7684\u56fe\u50cf\u5b9e\u65f6\u663e\u793a\u7ed9\u7528\u6237\u67e5\u770b\u3002</p> <p></p> <p>\u5927\u5bb6\u53ef\u4ee5\u60f3\u4e00\u4e0b\uff0c\u8fd9\u4e24\u4e2a\u8282\u70b9\u662f\u4e0d\u662f\u5fc5\u7136\u5b58\u5728\u67d0\u79cd\u5173\u7cfb\uff1f\u6ca1\u9519\uff0c\u8282\u70b9A\u8981\u5c06\u83b7\u53d6\u7684\u56fe\u50cf\u6570\u636e\u4f20\u8f93\u7ed9\u8282\u70b9B\uff0c\u6709\u4e86\u6570\u636e\uff0c\u8282\u70b9B\u624d\u80fd\u505a\u8fd9\u6837\u53ef\u89c6\u5316\u7684\u6e32\u67d3\u3002</p> <p>\u6b64\u65f6\u4ece\u8282\u70b9A\u5230\u8282\u70b9B\u4f20\u9012\u56fe\u50cf\u6570\u636e\u7684\u65b9\u5f0f\uff0c\u5728ROS\u4e2d\uff0c\u6211\u4eec\u5c31\u79f0\u4e4b\u4e3a\u8bdd\u9898\uff0c\u5b83\u4f5c\u4e3a\u4e00\u4e2a\u6865\u6881\uff0c\u5b9e\u73b0\u4e86\u8282\u70b9\u4e4b\u95f4\u67d0\u4e00\u4e2a\u65b9\u5411\u4e0a\u7684\u6570\u636e\u4f20\u8f93\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_3","title":"\u53d1\u5e03/\u8ba2\u9605\u6a21\u578b","text":"<p>\u4ece\u8bdd\u9898\u672c\u8eab\u7684\u5b9e\u73b0\u89d2\u5ea6\u6765\u770b\uff0c\u4f7f\u7528\u4e86\u57fa\u4e8eDDS\u7684\u53d1\u5e03/\u8ba2\u9605\u6a21\u578b\uff0c\u4ec0\u4e48\u53eb\u53d1\u5e03\u548c\u8ba2\u9605\u5462\uff1f</p> <p></p> <p>\u8bdd\u9898\u6570\u636e\u4f20\u8f93\u7684\u7279\u6027\u662f\u4ece\u4e00\u4e2a\u8282\u70b9\u5230\u53e6\u5916\u4e00\u4e2a\u8282\u70b9\uff0c\u53d1\u9001\u6570\u636e\u7684\u5bf9\u8c61\u79f0\u4e4b\u4e3a\u53d1\u5e03\u8005\uff0c\u63a5\u6536\u6570\u636e\u7684\u5bf9\u8c61\u79f0\u4e4b\u4e3a\u8ba2\u9605\u8005\uff0c\u6bcf\u4e00\u4e2a\u8bdd\u9898\u90fd\u9700\u8981\u6709\u4e00\u4e2a\u540d\u5b57\uff0c\u4f20\u8f93\u7684\u6570\u636e\u4e5f\u9700\u8981\u6709\u56fa\u5b9a\u7684\u6570\u636e\u7c7b\u578b\u3002</p> <p></p> <p>\u6253\u4e00\u4e2a\u6bd4\u65b9\uff0c\u5927\u5bb6\u5e73\u65f6\u5e94\u8be5\u4e5f\u4f1a\u770b\u5fae\u4fe1\u516c\u4f17\u53f7\uff0c\u6bd4\u5982\u6709\u4e00\u4e2a\u516c\u4f17\u53f7\uff0c\u5b83\u7684\u540d\u5b57\u53eb\u505a\u201c\u53e4\u6708\u5c45\u201d\uff0c\u8fd9\u4e2a\u53e4\u6708\u5c45\u5c31\u662f\u8bdd\u9898\u540d\u79f0\uff0c\u516c\u4f17\u53f7\u7684\u53d1\u5e03\u8005\u662f\u53e4\u6708\u5c45\u7684\u5c0f\u7f16\uff0c\u4ed6\u4f1a\u628a\u7ec4\u7ec7\u597d\u7684\u673a\u5668\u4eba\u77e5\u8bc6\u6392\u7248\u6210\u8981\u6c42\u683c\u5f0f\u7684\u516c\u4f17\u53f7\u6587\u7ae0\uff0c\u53d1\u5e03\u51fa\u53bb\uff0c\u8fd9\u4e2a\u6587\u7ae0\u683c\u5f0f\uff0c\u5c31\u662f\u8bdd\u9898\u7684\u6570\u636e\u7c7b\u578b\u3002\u5982\u679c\u5927\u5bb6\u5bf9\u8fd9\u4e2a\u8bdd\u9898\u611f\u5174\u8da3\uff0c\u5c31\u53ef\u4ee5\u8ba2\u9605\u201c\u53e4\u6708\u5c45\u201d\uff0c\u6210\u4e3a\u8ba2\u9605\u8005\u4e4b\u540e\u81ea\u7136\u5c31\u53ef\u4ee5\u6536\u5230\u53e4\u6708\u5c45\u7684\u516c\u4f17\u53f7\u6587\u7ae0\uff0c\u6ca1\u6709\u8ba2\u9605\u7684\u8bdd\uff0c\u4e5f\u5c31\u65e0\u6cd5\u6536\u5230\u3002</p> <p>\u7c7b\u4f3c\u8fd9\u6837\u7684\u53d1\u5e03/\u8ba2\u9605\u6a21\u578b\u5728\u751f\u6d3b\u4e2d\u968f\u5904\u53ef\u89c1\uff0c\u6bd4\u5982\u8ba2\u9605\u62a5\u7eb8\u3001\u8ba2\u9605\u6742\u5fd7\u7b49\u7b49\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_4","title":"\u591a\u5bf9\u591a\u901a\u4fe1","text":"<p>\u5927\u5bb6\u518d\u4ed4\u7ec6\u60f3\u4e0b\u8fd9\u4e9b\u53ef\u4ee5\u8ba2\u9605\u7684\u4e1c\u897f\uff0c\u662f\u4e0d\u662f\u5e76\u4e0d\u662f\u552f\u4e00\u7684\uff0c\u6211\u4eec\u6bcf\u4e2a\u4eba\u53ef\u4ee5\u8ba2\u9605\u5f88\u591a\u516c\u4f17\u53f7\u3001\u62a5\u7eb8\u3001\u6742\u5fd7\uff0c\u8fd9\u4e9b\u516c\u4f17\u53f7\u3001\u62a5\u7eb8\u3001\u6742\u5fd7\u4e5f\u53ef\u4ee5\u88ab\u5f88\u591a\u4eba\u8ba2\u9605\uff0c\u6ca1\u9519\uff0cROS\u91cc\u7684\u8bdd\u9898\u4e5f\u662f\u4e00\u6837\uff0c\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u7684\u6570\u91cf\u5e76\u4e0d\u662f\u552f\u4e00\u7684\uff0c\u53ef\u4ee5\u79f0\u4e4b\u4e3a\u662f\u591a\u5bf9\u591a\u7684\u901a\u4fe1\u6a21\u578b\u3002</p> <p>\u56e0\u4e3a\u8bdd\u9898\u662f\u591a\u5bf9\u591a\u7684\u6a21\u578b\uff0c\u53d1\u5e03\u63a7\u5236\u6307\u4ee4\u7684\u6447\u6746\u53ef\u4ee5\u6709\u4e00\u4e2a\uff0c\u4e5f\u53ef\u4ee5\u67092\u4e2a\u30013\u4e2a\uff0c\u8ba2\u9605\u63a7\u5236\u6307\u4ee4\u7684\u673a\u5668\u4eba\u53ef\u4ee5\u67091\u4e2a\uff0c\u4e5f\u53ef\u4ee5\u67092\u4e2a\u30013\u4e2a\uff0c\u5927\u5bb6\u53ef\u4ee5\u60f3\u8c61\u4e00\u4e0b\u8fd9\u4e2a\u753b\u9762\uff0c\u4f3c\u4e4e\u8fd8\u662f\u633a\u9b54\u6027\u7684\uff0c\u5982\u679c\u5b58\u5728\u591a\u4e2a\u53d1\u9001\u6307\u4ee4\u7684\u8282\u70b9\uff0c\u5efa\u8bae\u5927\u5bb6\u8981\u6ce8\u610f\u533a\u5206\u4f18\u5148\u7ea7\uff0c\u4e0d\u7136\u673a\u5668\u4eba\u53ef\u80fd\u4e0d\u77e5\u9053\u8be5\u542c\u8c01\u7684\u4e86\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_5","title":"\u5f02\u6b65\u901a\u4fe1","text":"<p>\u8bdd\u9898\u901a\u4fe1\u8fd8\u6709\u4e00\u4e2a\u7279\u6027\uff0c\u90a3\u5c31\u662f\u5f02\u6b65\uff0c\u8fd9\u4e2a\u8bcd\u53ef\u80fd\u6709\u540c\u5b66\u662f\u7b2c\u4e00\u6b21\u542c\u8bf4\uff1f\u6240\u8c13\u5f02\u6b65\uff0c\u53ea\u8981\u662f\u6307\u53d1\u5e03\u8005\u53d1\u51fa\u6570\u636e\u540e\uff0c\u5e76\u4e0d\u77e5\u9053\u8ba2\u9605\u8005\u4ec0\u4e48\u65f6\u5019\u53ef\u4ee5\u6536\u5230\uff0c\u7c7b\u4f3c\u53e4\u6708\u5c45\u516c\u4f17\u53f7\u53d1\u5e03\u4e00\u7bc7\u6587\u7ae0\uff0c\u4f60\u4ec0\u4e48\u65f6\u5019\u9605\u8bfb\u7684\uff0c\u53e4\u6708\u5c45\u6839\u672c\u4e0d\u77e5\u9053\uff0c\u62a5\u793e\u53d1\u51fa\u4e00\u4efd\u62a5\u7eb8\uff0c\u4f60\u4ec0\u4e48\u65f6\u5019\u6536\u5230\uff0c\u62a5\u793e\u4e5f\u662f\u4e0d\u77e5\u9053\u7684\u3002\u8fd9\u5c31\u53eb\u505a\u5f02\u6b65\u3002</p> <p>\u5f02\u6b65\u7684\u7279\u6027\u4e5f\u8ba9\u8bdd\u9898\u66f4\u9002\u5408\u7528\u4e8e\u4e00\u4e9b\u5468\u671f\u53d1\u5e03\u7684\u6570\u636e\uff0c\u6bd4\u5982\u4f20\u611f\u5668\u7684\u6570\u636e\uff0c\u8fd0\u52a8\u63a7\u5236\u7684\u6307\u4ee4\u7b49\u7b49\uff0c\u5982\u679c\u67d0\u4e9b\u903b\u8f91\u6027\u8f83\u5f3a\u7684\u6307\u4ee4\uff0c\u6bd4\u5982\u4fee\u6539\u67d0\u4e00\u4e2a\u53c2\u6570\uff0c\u7528\u8bdd\u9898\u4f20\u8f93\u5c31\u4e0d\u592a\u5408\u9002\u4e86\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_6","title":"\u6d88\u606f\u63a5\u53e3","text":"<p>\u6700\u540e\uff0c\u65e2\u7136\u662f\u6570\u636e\u4f20\u8f93\uff0c\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u5c31\u5f97\u7edf\u4e00\u6570\u636e\u7684\u63cf\u8ff0\u683c\u5f0f\uff0c\u4e0d\u80fd\u4e00\u4e2a\u8bf4\u82f1\u6587\uff0c\u4e00\u4e2a\u7406\u89e3\u6210\u4e86\u4e2d\u6587\u3002\u5728ROS\u4e2d\uff0c\u8bdd\u9898\u901a\u4fe1\u6570\u636e\u7684\u63cf\u8ff0\u683c\u5f0f\u79f0\u4e4b\u4e3a\u6d88\u606f\uff0c\u5bf9\u5e94\u7f16\u7a0b\u8bed\u8a00\u4e2d\u6570\u636e\u7ed3\u6784\u7684\u6982\u5ff5\u3002\u6bd4\u5982\u8fd9\u91cc\u7684\u4e00\u4e2a\u56fe\u50cf\u6570\u636e\uff0c\u5c31\u4f1a\u5305\u542b\u56fe\u50cf\u7684\u957f\u5bbd\u50cf\u7d20\u503c\u3001\u6bcf\u4e2a\u50cf\u7d20\u7684RGB\u7b49\u7b49\uff0c\u5728ROS\u4e2d\u90fd\u6709\u6807\u51c6\u5b9a\u4e49\u3002</p> <p>\u6d88\u606f\u662fROS\u4e2d\u7684\u4e00\u79cd\u63a5\u53e3\u5b9a\u4e49\u65b9\u5f0f\uff0c\u4e0e\u7f16\u7a0b\u8bed\u8a00\u65e0\u5173\uff0c\u6211\u4eec\u4e5f\u53ef\u4ee5\u901a\u8fc7.msg\u540e\u7f00\u7684\u6587\u4ef6\u81ea\u884c\u5b9a\u4e49\uff0c\u6709\u4e86\u8fd9\u6837\u7684\u63a5\u53e3\uff0c\u5404\u79cd\u8282\u70b9\u5c31\u50cf\u79ef\u6728\u5757\u4e00\u6837\uff0c\u901a\u8fc7\u5404\u79cd\u5404\u6837\u7684\u63a5\u53e3\u8fdb\u884c\u62fc\u63a5\uff0c\u7ec4\u6210\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#hello-world","title":"\u6848\u4f8b\u4e00\uff1aHello World\u8bdd\u9898\u901a\u4fe1","text":"<p>\u4e86\u89e3\u4e86\u8bdd\u9898\u7684\u57fa\u672c\u539f\u7406\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u8981\u5f00\u59cb\u7f16\u5199\u4ee3\u7801\u5566\u3002</p> <p></p> <p>\u8fd8\u662f\u4eceHello World\u4f8b\u7a0b\u5f00\u59cb\uff0c\u6211\u4eec\u6765\u521b\u5efa\u4e00\u4e2a\u53d1\u5e03\u8005\uff0c\u53d1\u5e03\u8bdd\u9898\u201cchatter\u201d\uff0c\u5468\u671f\u53d1\u9001\u201cHello World\u201d\u8fd9\u4e2a\u5b57\u7b26\u4e32\uff0c\u6d88\u606f\u7c7b\u578b\u662fROS\u4e2d\u6807\u51c6\u5b9a\u4e49\u7684String\uff0c\u518d\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\uff0c\u8ba2\u9605\u201cchatter\u201d\u8fd9\u4e2a\u8bdd\u9898\uff0c\u4ece\u800c\u63a5\u6536\u5230\u201cHello World\u201d\u8fd9\u4e2a\u5b57\u7b26\u4e32\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_7","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u7b2c\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\u8bdd\u9898\u7684\u53d1\u5e03\u8005\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run learning_topic topic_helloworld_pub\n</code></pre> <p></p> <p>\u542f\u52a8\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\u8bdd\u9898\u7684\u8ba2\u9605\u8005\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run learning_topic topic_helloworld_sub\n</code></pre> <p></p> <p>\u53ef\u4ee5\u770b\u5230\u53d1\u5e03\u8005\u5faa\u73af\u53d1\u5e03\u201cHello World\u201d\u5b57\u7b26\u4e32\u6d88\u606f\uff0c\u8ba2\u9605\u8005\u4e5f\u4ee5\u51e0\u4e4e\u540c\u6837\u7684\u9891\u7387\u6536\u5230\u8be5\u8bdd\u9898\u7684\u6d88\u606f\u6570\u636e\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_8","title":"\u53d1\u5e03\u8005\u4ee3\u7801\u89e3\u6790","text":"<p>\u6211\u4eec\u6765\u770b\u4e0b\u53d1\u5e03\u8005\u7684\u5b9e\u73b0\u65b9\u6cd5\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_9","title":"\u7a0b\u5e8f\u5b9e\u73b0","text":"<p>learning_topic/topic_helloworld_pub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8bdd\u9898\u793a\u4f8b-\u53d1\u5e03\u201cHello World\u201d\u8bdd\u9898\n\"\"\"\n\nimport rclpy                                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                      # ROS2 \u8282\u70b9\u7c7b\nfrom std_msgs.msg import String                  # \u5b57\u7b26\u4e32\u6d88\u606f\u7c7b\u578b\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u53d1\u5e03\u8005\u8282\u70b9\n\"\"\"\nclass PublisherNode(Node):\n\n    def __init__(self, name):\n        super().__init__(name)                                    # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.pub = self.create_publisher(String, \"chatter\", 10)   # \u521b\u5efa\u53d1\u5e03\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u961f\u5217\u957f\u5ea6\uff09\n        self.timer = self.create_timer(0.5, self.timer_callback)  # \u521b\u5efa\u4e00\u4e2a\u5b9a\u65f6\u5668\uff08\u5355\u4f4d\u4e3a\u79d2\u7684\u5468\u671f\uff0c\u5b9a\u65f6\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\uff09\n\n    def timer_callback(self):                                     # \u521b\u5efa\u5b9a\u65f6\u5668\u5468\u671f\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\n        msg = String()                                            # \u521b\u5efa\u4e00\u4e2aString\u7c7b\u578b\u7684\u6d88\u606f\u5bf9\u8c61\n        msg.data = 'Hello World'                                  # \u586b\u5145\u6d88\u606f\u5bf9\u8c61\u4e2d\u7684\u6d88\u606f\u6570\u636e\n        self.pub.publish(msg)                                     # \u53d1\u5e03\u8bdd\u9898\u6d88\u606f\n        self.get_logger().info('Publishing: \"%s\"' % msg.data)     # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u5b8c\u6210\u8bdd\u9898\u53d1\u5e03\n\ndef main(args=None):                                 # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                            # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = PublisherNode(\"topic_helloworld_pub\")     # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                 # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'topic_helloworld_pub  = learning_topic.topic_helloworld_pub:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_10","title":"\u6d41\u7a0b\u603b\u7ed3","text":"<p>\u5bf9\u4ee5\u4e0a\u7a0b\u5e8f\u8fdb\u884c\u5206\u6790\uff0c\u5982\u679c\u6211\u4eec\u60f3\u8981\u5b9e\u73b0\u4e00\u4e2a\u53d1\u5e03\u8005\uff0c\u6d41\u7a0b\u5982\u4e0b\uff1a</p> <ul> <li>\u7f16\u7a0b\u63a5\u53e3\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u8282\u70b9\u5e76\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u53d1\u5e03\u8005\u5bf9\u8c61</li> <li>\u521b\u5efa\u5e76\u586b\u5145\u8bdd\u9898\u6d88\u606f</li> <li>\u53d1\u5e03\u8bdd\u9898\u6d88\u606f</li> <li>\u9500\u6bc1\u8282\u70b9\u5e76\u5173\u95ed\u63a5\u53e3</li> </ul>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_11","title":"\u8ba2\u9605\u8005\u4ee3\u7801\u89e3\u6790","text":"<p>\u6211\u4eec\u518d\u6765\u770b\u4e0b\u8ba2\u9605\u8005\u7684\u5b9e\u73b0\u65b9\u6cd5\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_12","title":"\u7a0b\u5e8f\u5b9e\u73b0","text":"<p>learning_topic/topic_helloworld_sub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8bdd\u9898\u793a\u4f8b-\u8ba2\u9605\u201cHello World\u201d\u8bdd\u9898\u6d88\u606f\n\"\"\"\n\nimport rclpy                      # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node     # ROS2 \u8282\u70b9\u7c7b\nfrom std_msgs.msg import String   # ROS2\u6807\u51c6\u5b9a\u4e49\u7684String\u6d88\u606f\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\n\"\"\"\nclass SubscriberNode(Node):\n\n    def __init__(self, name):\n        super().__init__(name)                             # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.sub = self.create_subscription(\\\n            String, \"chatter\", self.listener_callback, 10) # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001\u961f\u5217\u957f\u5ea6\uff09\n\n    def listener_callback(self, msg):                      # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bdd\u9898\u6d88\u606f\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        self.get_logger().info('I heard: \"%s\"' % msg.data) # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u8ba2\u9605\u6536\u5230\u7684\u8bdd\u9898\u6d88\u606f\n\ndef main(args=None):                               # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                          # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = SubscriberNode(\"topic_helloworld_sub\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                               # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                            # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                               # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'topic_helloworld_pub  = learning_topic.topic_helloworld_pub:main',\n         'topic_helloworld_sub  = learning_topic.topic_helloworld_sub:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_13","title":"\u6d41\u7a0b\u603b\u7ed3","text":"<p>\u5bf9\u4ee5\u4e0a\u7a0b\u5e8f\u8fdb\u884c\u5206\u6790\uff0c\u5982\u679c\u6211\u4eec\u60f3\u8981\u5b9e\u73b0\u4e00\u4e2a\u8ba2\u9605\u8005\uff0c\u6d41\u7a0b\u5982\u4e0b\uff1a</p> <ul> <li>\u7f16\u7a0b\u63a5\u53e3\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u8282\u70b9\u5e76\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61</li> <li>\u56de\u8c03\u51fd\u6570\u5904\u7406\u8bdd\u9898\u6570\u636e</li> <li>\u9500\u6bc1\u8282\u70b9\u5e76\u5173\u95ed\u63a5\u53e3</li> </ul> <p>\u597d\u5566\uff0cHello World\u4f8b\u7a0b\u5927\u5bb6\u4e00\u5b9a\u8fd8\u4e0d\u8fc7\u763e\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u57fa\u4e8e\u8bdd\u9898\u901a\u4fe1\uff0c\u7ee7\u7eed\u4f18\u5316\u4e0b\u4e4b\u524d\u7684\u673a\u5668\u89c6\u89c9\u4f8b\u7a0b\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_14","title":"\u6848\u4f8b\u4e8c\uff1a\u673a\u5668\u89c6\u89c9\u8bc6\u522b","text":"<p>\u5728\u8282\u70b9\u6982\u5ff5\u7684\u8bb2\u89e3\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u901a\u8fc7\u4e00\u4e2a\u8282\u70b9\u9a71\u52a8\u4e86\u76f8\u673a\uff0c\u5e76\u4e14\u5b9e\u73b0\u4e86\u5bf9\u7ea2\u8272\u7269\u4f53\u7684\u8bc6\u522b\u3002\u529f\u80fd\u867d\u7136\u6ca1\u95ee\u9898\uff0c\u4f46\u662f\u5bf9\u4e8e\u673a\u5668\u4eba\u5f00\u53d1\u6765\u8bb2\uff0c\u5e76\u6ca1\u6709\u505a\u5230\u7a0b\u5e8f\u7684\u6a21\u5757\u5316\uff0c\u66f4\u597d\u7684\u65b9\u5f0f\u662f\u5c06\u76f8\u673a\u9a71\u52a8\u548c\u89c6\u89c9\u8bc6\u522b\u505a\u6210\u4e24\u4e2a\u8282\u70b9\uff0c\u8282\u70b9\u95f4\u7684\u8054\u7cfb\u5c31\u662f\u8fd9\u4e2a\u56fe\u50cf\u6570\u636e\uff0c\u901a\u8fc7\u8bdd\u9898\u5468\u671f\u4f20\u8f93\u5373\u53ef\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_15","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u8fd9\u4e2a\u56fe\u50cf\u6d88\u606f\u5728ROS\u4e2d\u662f\u6807\u51c6\u5b9a\u4e49\u597d\u7684\uff0c\u5982\u679c\u672a\u6765\u8981\u66f4\u6362\u53e6\u4e00\u4e2a\u76f8\u673a\uff0c\u53ea\u9700\u8981\u4fee\u6539\u9a71\u52a8\u8282\u70b9\uff0c\u89c6\u89c9\u8bc6\u522b\u8282\u70b9\u5b8c\u5168\u662f\u8f6f\u4ef6\u529f\u80fd\uff0c\u5c31\u53ef\u4ee5\u4fdd\u6301\u4e0d\u53d8\u4e86\uff0c\u8fd9\u79cd\u6a21\u5757\u5316\u7684\u8bbe\u8ba1\u601d\u60f3\uff0c\u53ef\u4ee5\u66f4\u597d\u7684\u4fdd\u8bc1\u8f6f\u4ef6\u7684\u53ef\u79fb\u690d\u6027\u3002</p> <p>\u597d\u5566\uff0c\u8bf4\u5e72\u5c31\u5e72\uff0c\u6211\u4eec\u5148\u6765\u770b\u4e0b\u6548\u679c\u5982\u4f55\uff1f</p> <p>\u542f\u52a8\u4e24\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\u4ee5\u4e0b\u4e24\u4e2a\u8282\u70b9\uff0c\u7b2c\u4e00\u4e2a\u8282\u70b9\u9a71\u52a8\u76f8\u673a\u5e76\u53d1\u5e03\u56fe\u50cf\u8bdd\u9898\uff0c\u7b2c\u4e8c\u4e2a\u8282\u70b9\u8ba2\u9605\u56fe\u50cf\u8bdd\u9898\u5e76\u5b9e\u73b0\u89c6\u89c9\u8bc6\u522b\u3002</p> <pre><code>$ ros2 run learning_topic topic_webcam_pub\n$ ros2 run learning_topic topic_webcam_sub\n</code></pre> <p>\u5c06\u7ea2\u8272\u7269\u4f53\u653e\u5165\u76f8\u673a\u8303\u56f4\u5185\uff0c\u5373\u53ef\u770b\u5230\u8bc6\u522b\u6548\u679c\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_16","title":"\u53d1\u5e03\u8005\u4ee3\u7801\u89e3\u6790","text":"<p>learning_topic/topic_webcam_pub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8bdd\u9898\u793a\u4f8b-\u53d1\u5e03\u56fe\u50cf\u8bdd\u9898\n\"\"\"\n\nimport rclpy                        # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node         # ROS2 \u8282\u70b9\u7c7b\nfrom sensor_msgs.msg import Image   # \u56fe\u50cf\u6d88\u606f\u7c7b\u578b\nfrom cv_bridge import CvBridge      # ROS\u4e0eOpenCV\u56fe\u50cf\u8f6c\u6362\u7c7b\nimport cv2                          # Opencv\u56fe\u50cf\u5904\u7406\u5e93\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u53d1\u5e03\u8005\u8282\u70b9\n\"\"\"\nclass ImagePublisher(Node):\n\n    def __init__(self, name):\n        super().__init__(name)                                           # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.publisher_ = self.create_publisher(Image, 'image_raw', 10)  # \u521b\u5efa\u53d1\u5e03\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u961f\u5217\u957f\u5ea6\uff09\n        self.timer = self.create_timer(0.1, self.timer_callback)         # \u521b\u5efa\u4e00\u4e2a\u5b9a\u65f6\u5668\uff08\u5355\u4f4d\u4e3a\u79d2\u7684\u5468\u671f\uff0c\u5b9a\u65f6\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\uff09\n        self.cap = cv2.VideoCapture(0)                                   # \u521b\u5efa\u4e00\u4e2a\u89c6\u9891\u91c7\u96c6\u5bf9\u8c61\uff0c\u9a71\u52a8\u76f8\u673a\u91c7\u96c6\u56fe\u50cf\uff08\u76f8\u673a\u8bbe\u5907\u53f7\uff09\n        self.cv_bridge = CvBridge()                                      # \u521b\u5efa\u4e00\u4e2a\u56fe\u50cf\u8f6c\u6362\u5bf9\u8c61\uff0c\u7528\u4e8e\u7a0d\u540e\u5c06OpenCV\u7684\u56fe\u50cf\u8f6c\u6362\u6210ROS\u7684\u56fe\u50cf\u6d88\u606f\n\n    def timer_callback(self):\n        ret, frame = self.cap.read()                         # \u4e00\u5e27\u4e00\u5e27\u8bfb\u53d6\u56fe\u50cf\n\n        if ret == True:                                      # \u5982\u679c\u56fe\u50cf\u8bfb\u53d6\u6210\u529f\n            self.publisher_.publish(\n                self.cv_bridge.cv2_to_imgmsg(frame, 'bgr8')) # \u53d1\u5e03\u56fe\u50cf\u6d88\u606f\n\n        self.get_logger().info('Publishing video frame')     # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u5b8c\u6210\u56fe\u50cf\u8bdd\u9898\u53d1\u5e03\n\ndef main(args=None):                                 # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                            # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = ImagePublisher(\"topic_webcam_pub\")        # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                 # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'topic_helloworld_pub  = learning_topic.topic_helloworld_pub:main',\n         'topic_helloworld_sub  = learning_topic.topic_helloworld_sub:main',\n         'topic_webcam_pub      = learning_topic.topic_webcam_pub:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_17","title":"\u8ba2\u9605\u8005\u4ee3\u7801\u89e3\u6790","text":"<p>learning_topic/topic_webcam_sub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u8bdd\u9898\u793a\u4f8b-\u8ba2\u9605\u56fe\u50cf\u8bdd\u9898\n\"\"\"\n\nimport rclpy                            # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node             # ROS2 \u8282\u70b9\u7c7b\nfrom sensor_msgs.msg import Image       # \u56fe\u50cf\u6d88\u606f\u7c7b\u578b\nfrom cv_bridge import CvBridge          # ROS\u4e0eOpenCV\u56fe\u50cf\u8f6c\u6362\u7c7b\nimport cv2                              # Opencv\u56fe\u50cf\u5904\u7406\u5e93\nimport numpy as np                      # Python\u6570\u503c\u8ba1\u7b97\u5e93\n\nlower_red = np.array([0, 90, 128])      # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0b\u9650\nupper_red = np.array([180, 255, 255])   # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0a\u9650\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\n\"\"\"\nclass ImageSubscriber(Node):\n    def __init__(self, name):\n        super().__init__(name)                                # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.sub = self.create_subscription(\n            Image, 'image_raw', self.listener_callback, 10)   # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001\u961f\u5217\u957f\u5ea6\uff09\n        self.cv_bridge = CvBridge()                           # \u521b\u5efa\u4e00\u4e2a\u56fe\u50cf\u8f6c\u6362\u5bf9\u8c61\uff0c\u7528\u4e8eOpenCV\u56fe\u50cf\u4e0eROS\u7684\u56fe\u50cf\u6d88\u606f\u7684\u4e92\u76f8\u8f6c\u6362\n\n    def object_detect(self, image):\n        hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)      # \u56fe\u50cf\u4eceBGR\u989c\u8272\u6a21\u578b\u8f6c\u6362\u4e3aHSV\u6a21\u578b\n        mask_red = cv2.inRange(hsv_img, lower_red, upper_red) # \u56fe\u50cf\u4e8c\u503c\u5316\n        contours, hierarchy = cv2.findContours(\n            mask_red, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)   # \u56fe\u50cf\u4e2d\u8f6e\u5ed3\u68c0\u6d4b\n\n        for cnt in contours:                                  # \u53bb\u9664\u4e00\u4e9b\u8f6e\u5ed3\u9762\u79ef\u592a\u5c0f\u7684\u566a\u58f0\n            if cnt.shape[0] &lt; 150:\n                continue\n\n            (x, y, w, h) = cv2.boundingRect(cnt)              # \u5f97\u5230\u82f9\u679c\u6240\u5728\u8f6e\u5ed3\u7684\u5de6\u4e0a\u89d2xy\u50cf\u7d20\u5750\u6807\u53ca\u8f6e\u5ed3\u8303\u56f4\u7684\u5bbd\u548c\u9ad8\n            cv2.drawContours(image, [cnt], -1, (0, 255, 0), 2)# \u5c06\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\n            cv2.circle(image, (int(x+w/2), int(y+h/2)), 5,\n                       (0, 255, 0), -1)                       # \u5c06\u82f9\u679c\u7684\u56fe\u50cf\u4e2d\u5fc3\u70b9\u753b\u51fa\u6765\n\n        cv2.imshow(\"object\", image)                           # \u4f7f\u7528OpenCV\u663e\u793a\u5904\u7406\u540e\u7684\u56fe\u50cf\u6548\u679c\n        cv2.waitKey(10)\n\n    def listener_callback(self, data):\n        self.get_logger().info('Receiving video frame')     # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u8fdb\u5165\u56de\u8c03\u51fd\u6570\n        image = self.cv_bridge.imgmsg_to_cv2(data, 'bgr8')  # \u5c06ROS\u7684\u56fe\u50cf\u6d88\u606f\u8f6c\u5316\u6210OpenCV\u56fe\u50cf\n        self.object_detect(image)                           # \u82f9\u679c\u68c0\u6d4b\n\n\ndef main(args=None):                            # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                       # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = ImageSubscriber(\"topic_webcam_sub\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                            # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                         # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                            # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'topic_helloworld_pub  = learning_topic.topic_helloworld_pub:main',\n         'topic_helloworld_sub  = learning_topic.topic_helloworld_sub:main',\n         'topic_webcam_pub      = learning_topic.topic_webcam_pub:main',\n         'topic_webcam_sub      = learning_topic.topic_webcam_sub:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_18","title":"\u6848\u4f8b\u4e09\uff1a\u673a\u5668\u89c6\u89c9\u8bc6\u522b\u4f18\u5316","text":"<p>\u901a\u8fc7\u8bdd\u9898\u5bf9\u539f\u672c\u8282\u70b9\u529f\u80fd\u7684\u89e3\u8026\uff0c\u4f3c\u4e4e\u8ba9\u89c6\u89c9\u8bc6\u522b\u7684\u4f8b\u7a0b\u7115\u7136\u4e00\u65b0\u4e86\uff0c\u4e0d\u8fc7\u4f3c\u4e4e\u8fd8\u6709\u54ea\u91cc\u4e0d\u592a\u5bf9\u52b2\uff0c\u5927\u5bb6\u6709\u611f\u89c9\u5230\u4e48\uff1f</p> <p>ROS\u7684\u76ee\u6807\u4e0d\u662f\u63d0\u9ad8\u8f6f\u4ef6\u590d\u7528\u7387\u4e48\uff0c\u73b0\u5728\u89c6\u89c9\u8bc6\u522b\u7684\u8282\u70b9\u53ef\u4ee5\u590d\u7528\u4e86\uff0c\u76f8\u673a\u9a71\u52a8\u8282\u70b9\u597d\u50cf\u4e0d\u884c\u5440\uff0c\u6bcf\u6362\u4e00\u4e2a\u76f8\u673a\uff0c\u662f\u4e0d\u662f\u90fd\u5f97\u6362\u4e00\u4e2a\u9a71\u52a8\u8282\u70b9\uff1f\u8fd9\u5f53\u7136\u662f\u4e0d\u53ef\u80fd\u7684\uff01</p> <p>\u5e38\u7528\u7684usb\u76f8\u673a\u9a71\u52a8\u4e00\u822c\u90fd\u662f\u901a\u7528\u7684\uff0cROS\u4e2d\u4e5f\u96c6\u6210\u4e86usb\u76f8\u673a\u7684\u6807\u51c6\u9a71\u52a8\uff0c\u6211\u4eec\u53ea\u9700\u8981\u901a\u8fc7\u8fd9\u6837\u4e00\u884c\u6307\u4ee4\uff0c\u5c31\u53ef\u4ee5\u5b89\u88c5\u597d\uff0c\u65e0\u8bba\u4f60\u7528\u4ec0\u4e48\u6837\u7684\u76f8\u673a\uff0c\u53ea\u8981\u7b26\u5408usb\u63a5\u53e3\u534f\u8bae\uff0c\u5c31\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528ROS\u4e2d\u7684\u76f8\u673a\u9a71\u52a8\u8282\u70b9\uff0c\u53d1\u5e03\u6807\u51c6\u7684\u56fe\u50cf\u8bdd\u9898\u4e86\u3002</p> <pre><code>$ sudo apt install ros-humble-usb-cam\n</code></pre> <p>\u8fd9\u6837\uff0c\u6211\u4eec\u7684\u4ee3\u7801\u53c8\u5f97\u5230\u4e86\u8fdb\u4e00\u6b65\u7cbe\u7b80\uff0c\u521a\u624d\u81ea\u5df1\u5199\u7684\u56fe\u50cf\u53d1\u5e03\u8282\u70b9\u6362\u6210\u4e86\u8fd9\u6837\u4e00\u53e5\u6307\u4ee4\uff0c\u89c6\u89c9\u8bc6\u522b\u8282\u70b9\u4e0d\u9700\u8981\u505a\u4efb\u4f55\u53d8\u5316\u3002</p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe\n$ ros2 run learning_topic topic_webcam_sub\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_19","title":"\u8bdd\u9898\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u8bdd\u9898\u547d\u4ee4\u7684\u5e38\u7528\u64cd\u4f5c\u5982\u4e0b\uff1a</p> <pre><code>$ ros2 topic list                # \u67e5\u770b\u8bdd\u9898\u5217\u8868\n$ ros2 topic info &lt;topic_name&gt;   # \u67e5\u770b\u8bdd\u9898\u4fe1\u606f\n$ ros2 topic hz &lt;topic_name&gt;     # \u67e5\u770b\u8bdd\u9898\u53d1\u5e03\u9891\u7387\n$ ros2 topic bw &lt;topic_name&gt;     # \u67e5\u770b\u8bdd\u9898\u4f20\u8f93\u5e26\u5bbd\n$ ros2 topic echo &lt;topic_name&gt;   # \u67e5\u770b\u8bdd\u9898\u6570\u636e\n$ ros2 topic pub &lt;topic_name&gt; &lt;msg_type&gt; &lt;msg_data&gt;   # \u53d1\u5e03\u8bdd\u9898\u6d88\u606f\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_20","title":"\u601d\u8003\u9898","text":"<p>\u5173\u4e8e\u8bdd\u9898\u901a\u4fe1\u7684\u539f\u7406\u548c\u5b9e\u73b0\u65b9\u6cd5\u6211\u4eec\u5c31\u8bb2\u5230\u8fd9\u91cc\uff0c\u7ed9\u5927\u5bb6\u7559\u4e00\u4e2a\u601d\u8003\u9898\uff1a\u8bdd\u9898\u901a\u4fe1\u7684\u7279\u6027\u662f\u5355\u5411\u4f20\u8f93\uff0c\u9002\u5408\u5468\u671f\u6027\u7684\u6570\u636e\u4f20\u9012\uff0c\u5bf9\u4e8e\u4e00\u4e2a\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u6765\u8bb2\uff0c\u8fd9\u79cd\u7279\u6027\u80af\u5b9a\u65e0\u6cd5\u6ee1\u8db3\u6240\u6709\u6570\u636e\u4f20\u8f93\u7684\u9700\u6c42\uff0c\u5927\u5bb6\u662f\u5426\u80fd\u591f\u4e3e\u51e0\u4e2a\u4f8b\u5b50\uff0c\u662f\u8bdd\u9898\u901a\u4fe1\u65e0\u6cd5\u5b8c\u6210\u7684\u5462\uff1f</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/#_21","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Topics/Understanding-ROS2-Topics.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/","title":"\u670d\u52a1","text":"<p>\u8bdd\u9898\u901a\u4fe1\u53ef\u4ee5\u5b9e\u73b0\u591a\u4e2aROS\u8282\u70b9\u4e4b\u95f4\u6570\u636e\u7684\u5355\u5411\u4f20\u8f93\uff0c\u4f7f\u7528\u8fd9\u79cd\u5f02\u6b65\u901a\u4fe1\u673a\u5236\uff0c\u53d1\u5e03\u8005\u65e0\u6cd5\u51c6\u786e\u77e5\u9053\u8ba2\u9605\u8005\u662f\u5426\u6536\u5230\u6d88\u606f\uff0c\u672c\u8bb2\u6211\u4eec\u5c06\u4e00\u8d77\u5b66\u4e60ROS\u53e6\u5916\u4e00\u79cd\u5e38\u7528\u7684\u901a\u4fe1\u65b9\u6cd5\u2014\u2014\u670d\u52a1\uff0c\u53ef\u4ee5\u5b9e\u73b0\u7c7b\u4f3c\u4f60\u95ee\u6211\u7b54\u7684\u540c\u6b65\u901a\u4fe1\u6548\u679c\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_2","title":"\u901a\u4fe1\u6a21\u578b","text":"<p>\u5728\u4e4b\u524d\u7684\u8bfe\u7a0b\u4e2d\uff0c\u6211\u4eec\u901a\u8fc7\u4e00\u4e2a\u8282\u70b9\u9a71\u52a8\u76f8\u673a\uff0c\u53d1\u5e03\u56fe\u50cf\u8bdd\u9898\uff0c\u53e6\u5916\u4e00\u4e2a\u8282\u70b9\u8ba2\u9605\u56fe\u50cf\u8bdd\u9898\uff0c\u5e76\u5b9e\u73b0\u5bf9\u5176\u4e2d\u7ea2\u8272\u7269\u4f53\u7684\u8bc6\u522b\uff0c\u6b64\u65f6\u6211\u4eec\u53ef\u4ee5\u6309\u7167\u56fe\u50cf\u8bc6\u522b\u7684\u9891\u7387\uff0c\u5468\u671f\u5f97\u5230\u7269\u4f53\u7684\u4f4d\u7f6e\u3002</p> <p></p> <p>\u8fd9\u4e2a\u4f4d\u7f6e\u4fe1\u606f\u53ef\u4ee5\u7ee7\u7eed\u53d1\u7ed9\u673a\u5668\u4eba\u7684\u4e0a\u5c42\u5e94\u7528\u4f7f\u7528\uff0c\u6bd4\u5982\u53ef\u4ee5\u8ddf\u968f\u76ee\u6807\u8fd0\u52a8\uff0c\u6216\u8005\u8fd0\u52a8\u5230\u76ee\u6807\u4f4d\u7f6e\u9644\u8fd1\u3002\u6b64\u65f6\uff0c\u6211\u4eec\u5e76\u4e0d\u9700\u8981\u8fd9\u4e48\u9ad8\u7684\u9891\u7387\u4e00\u76f4\u8ba2\u9605\u7269\u4f53\u7684\u4f4d\u7f6e\uff0c\u800c\u662f\u66f4\u5e0c\u671b\u5728\u9700\u8981\u8fd9\u4e2a\u6570\u636e\u7684\u65f6\u5019\uff0c\u53d1\u4e00\u4e2a\u67e5\u8be2\u7684\u8bf7\u6c42\uff0c\u7136\u540e\u5c3d\u5feb\u5f97\u5230\u6b64\u65f6\u76ee\u6807\u7684\u6700\u65b0\u4f4d\u7f6e\u3002</p> <p>\u8fd9\u6837\u7684\u901a\u4fe1\u6a21\u578b\u548c\u8bdd\u9898\u5355\u5411\u4f20\u8f93\u6709\u6240\u4e0d\u540c\uff0c\u53d8\u6210\u4e86\u53d1\u9001\u4e00\u4e2a\u8bf7\u6c42\uff0c\u53cd\u9988\u4e00\u4e2a\u5e94\u7b54\u7684\u5f62\u5f0f\uff0c\u597d\u50cf\u662f\u4f60\u95ee\u6211\u7b54\u4e00\u6837\uff0c\u8fd9\u79cd\u901a\u4fe1\u673a\u5236\u5728ROS\u4e2d\u6210\u4e3a\u670d\u52a1\uff0cService\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_3","title":"\u5ba2\u6237\u7aef/\u670d\u52a1\u5668\u6a21\u578b","text":"<p>\u4ece\u670d\u52a1\u7684\u5b9e\u73b0\u673a\u5236\u4e0a\u6765\u770b\uff0c\u8fd9\u79cd\u4f60\u95ee\u6211\u7b54\u7684\u5f62\u5f0f\u53eb\u505a\u5ba2\u6237\u7aef/\u670d\u52a1\u5668\u6a21\u578b\uff0c\u7b80\u79f0\u4e3aCS\u6a21\u578b\uff0c\u5ba2\u6237\u7aef\u5728\u9700\u8981\u67d0\u4e9b\u6570\u636e\u7684\u65f6\u5019\uff0c\u9488\u5bf9\u67d0\u4e2a\u5177\u4f53\u7684\u670d\u52a1\uff0c\u53d1\u9001\u8bf7\u6c42\u4fe1\u606f\uff0c\u670d\u52a1\u5668\u7aef\u6536\u5230\u8bf7\u6c42\u4e4b\u540e\uff0c\u5c31\u4f1a\u8fdb\u884c\u5904\u7406\u5e76\u53cd\u9988\u5e94\u7b54\u4fe1\u606f\u3002</p> <p></p> 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<p></p> <p>\u5f53\u6211\u4eec\u9700\u8981\u8ba1\u7b97\u4e24\u4e2a\u52a0\u6570\u7684\u6c42\u548c\u7ed3\u679c\u65f6\uff0c\u5c31\u901a\u8fc7\u5ba2\u6237\u7aef\u8282\u70b9\uff0c\u5c06\u4e24\u4e2a\u52a0\u6570\u5c01\u88c5\u6210\u8bf7\u6c42\u6570\u636e\uff0c\u9488\u5bf9\u670d\u52a1\u201cadd_two_ints\u201d\u53d1\u9001\u51fa\u53bb\uff0c\u63d0\u4f9b\u8fd9\u4e2a\u670d\u52a1\u7684\u670d\u52a1\u5668\u7aef\u8282\u70b9\uff0c\u6536\u5230\u8bf7\u6c42\u6570\u636e\u540e\uff0c\u5f00\u59cb\u8fdb\u884c\u52a0\u6cd5\u8ba1\u7b97\uff0c\u5e76\u5c06\u6c42\u548c\u7ed3\u679c\u5c01\u88c5\u6210\u5e94\u7b54\u6570\u636e\uff0c\u53cd\u9988\u7ed9\u5ba2\u6237\u7aef\uff0c\u4e4b\u540e\u5ba2\u6237\u7aef\u5c31\u53ef\u4ee5\u5f97\u5230\u60f3\u8981\u7684\u7ed3\u679c\u5566\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_8","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u6211\u4eec\u4e00\u8d77\u64cd\u4f5c\u4e0b\u8fd9\u4e2a\u4f8b\u7a0b\uff0c\u5e76\u4e14\u770b\u4e0b\u4ee3\u7801\u7684\u5b9e\u73b0\u539f\u7406\u3002</p> <p>\u542f\u52a8\u4e24\u4e2a\u7ec8\u7aef\uff0c\u5e76\u8fd0\u884c\u5982\u4e0b\u8282\u70b9\uff0c\u7b2c\u4e00\u4e2a\u8282\u70b9\u662f\u670d\u52a1\u7aef\uff0c\u7b49\u5f85\u8bf7\u6c42\u6570\u636e\u5e76\u63d0\u4f9b\u6c42\u548c\u529f\u80fd\uff0c\u7b2c\u4e8c\u4e2a\u8282\u70b9\u662f\u5ba2\u6237\u7aef\uff0c\u53d1\u9001\u4f20\u5165\u7684\u4e24\u4e2a\u52a0\u6570\u5e76\u7b49\u5f85\u6c42\u548c\u7ed3\u679c\u3002</p> <pre><code>$ ros2 run learning_service service_adder_server\n$ ros2 run learning_service service_adder_client 2 3\n</code></pre> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_9","title":"\u5ba2\u6237\u7aef\u4ee3\u7801\u89e3\u6790","text":"<p>\u6211\u4eec\u6765\u770b\u4e0b\u5ba2\u6237\u7aef\u7684\u5b9e\u73b0\u65b9\u6cd5\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_10","title":"\u7a0b\u5e8f\u5b9e\u73b0","text":"<p>learning_service/service_adder_client.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u670d\u52a1\u793a\u4f8b-\u53d1\u9001\u4e24\u4e2a\u52a0\u6570\uff0c\u8bf7\u6c42\u52a0\u6cd5\u5668\u8ba1\u7b97\n\"\"\"\n\nimport sys\n\nimport rclpy                                  # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                 # ROS2 \u8282\u70b9\u7c7b\nfrom learning_interface.srv import AddTwoInts # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nclass adderClient(Node):\n    def __init__(self, name):\n        super().__init__(name)                                       # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.client = self.create_client(AddTwoInts, 'add_two_ints') # \u521b\u5efa\u670d\u52a1\u5ba2\u6237\u7aef\u5bf9\u8c61\uff08\u670d\u52a1\u63a5\u53e3\u7c7b\u578b\uff0c\u670d\u52a1\u540d\uff09\n        while not self.client.wait_for_service(timeout_sec=1.0):     # \u5faa\u73af\u7b49\u5f85\u670d\u52a1\u5668\u7aef\u6210\u529f\u542f\u52a8\n            self.get_logger().info('service not available, waiting again...') \n        self.request = AddTwoInts.Request()                          # \u521b\u5efa\u670d\u52a1\u8bf7\u6c42\u7684\u6570\u636e\u5bf9\u8c61\n\n    def send_request(self):                                          # \u521b\u5efa\u4e00\u4e2a\u53d1\u9001\u670d\u52a1\u8bf7\u6c42\u7684\u51fd\u6570\n        self.request.a = int(sys.argv[1])\n        self.request.b = int(sys.argv[2])\n        self.future = self.client.call_async(self.request)           # \u5f02\u6b65\u65b9\u5f0f\u53d1\u9001\u670d\u52a1\u8bf7\u6c42\n\ndef main(args=None):\n    rclpy.init(args=args)                        # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = adderClient(\"service_adder_client\")   # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.send_request()                          # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42\n\n    while rclpy.ok():                            # ROS2\u7cfb\u7edf\u6b63\u5e38\u8fd0\u884c\n        rclpy.spin_once(node)                    # \u5faa\u73af\u6267\u884c\u4e00\u6b21\u8282\u70b9\n\n        if node.future.done():                   # \u6570\u636e\u662f\u5426\u5904\u7406\u5b8c\u6210\n            try:\n                response = node.future.result()  # \u63a5\u6536\u670d\u52a1\u5668\u7aef\u7684\u53cd\u9988\u6570\u636e\n            except Exception as e:\n                node.get_logger().info(\n                    'Service call failed %r' % (e,))\n            else:\n                node.get_logger().info(          # \u5c06\u6536\u5230\u7684\u53cd\u9988\u4fe1\u606f\u6253\u5370\u8f93\u51fa\n                    'Result of add_two_ints: for %d + %d = %d' % \n                    (node.request.a, node.request.b, response.sum))\n            break\n\n    node.destroy_node()                          # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                             # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'service_adder_client  = learning_service.service_adder_client:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_11","title":"\u6d41\u7a0b\u603b\u7ed3","text":"<p>\u5bf9\u4ee5\u4e0a\u7a0b\u5e8f\u8fdb\u884c\u5206\u6790\uff0c\u5982\u679c\u6211\u4eec\u60f3\u8981\u5b9e\u73b0\u4e00\u4e2a\u5ba2\u6237\u7aef\uff0c\u6d41\u7a0b\u5982\u4e0b\uff1a</p> <ul> <li>\u7f16\u7a0b\u63a5\u53e3\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u8282\u70b9\u5e76\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u5ba2\u6237\u7aef\u5bf9\u8c61</li> <li>\u521b\u5efa\u5e76\u53d1\u9001\u8bf7\u6c42\u6570\u636e</li> <li>\u7b49\u5f85\u670d\u52a1\u5668\u7aef\u5e94\u7b54\u6570\u636e</li> <li>\u9500\u6bc1\u8282\u70b9\u5e76\u5173\u95ed\u63a5\u53e3</li> </ul>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_12","title":"\u670d\u52a1\u7aef\u4ee3\u7801\u89e3\u6790","text":"<p>\u81f3\u4e8e\u670d\u52a1\u5668\u7aef\u7684\u5b9e\u73b0\uff0c\u6709\u70b9\u7c7b\u4f3c\u8bdd\u9898\u901a\u4fe1\u4e2d\u7684\u8ba2\u9605\u8005\uff0c\u5e76\u4e0d\u77e5\u9053\u8bf7\u6c42\u6570\u636e\u4ec0\u4e48\u65f6\u95f4\u51fa\u73b0\uff0c\u4e5f\u7528\u5230\u4e86\u56de\u8c03\u51fd\u6570\u673a\u5236\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_13","title":"\u7a0b\u5e8f\u5b9e\u73b0","text":"<p>learning_service/service_adder_server.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u670d\u52a1\u793a\u4f8b-\u63d0\u4f9b\u52a0\u6cd5\u5668\u7684\u670d\u52a1\u5668\u5904\u7406\u529f\u80fd\n\"\"\"\n\nimport rclpy                                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                    # ROS2 \u8282\u70b9\u7c7b\nfrom learning_interface.srv import AddTwoInts    # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nclass adderServer(Node):\n    def __init__(self, name):\n        super().__init__(name)                                                           # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.adder_callback)  # \u521b\u5efa\u670d\u52a1\u5668\u5bf9\u8c61\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u670d\u52a1\u540d\u3001\u670d\u52a1\u5668\u56de\u8c03\u51fd\u6570\uff09\n\n    def adder_callback(self, request, response):   # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bf7\u6c42\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        response.sum = request.a + request.b       # \u5b8c\u6210\u52a0\u6cd5\u6c42\u548c\u8ba1\u7b97\uff0c\u5c06\u7ed3\u679c\u653e\u5230\u53cd\u9988\u7684\u6570\u636e\u4e2d\n        self.get_logger().info('Incoming request\\na: %d b: %d' % (request.a, request.b))   # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u5b8c\u6210\u52a0\u6cd5\u6c42\u548c\u8ba1\u7b97\n        return response                          # \u53cd\u9988\u5e94\u7b54\u4fe1\u606f\n\ndef main(args=None):                             # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                        # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = adderServer(\"service_adder_server\")   # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                             # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                          # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                             # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'service_adder_client  = learning_service.service_adder_client:main',\n         'service_adder_server  = learning_service.service_adder_server:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_14","title":"\u6d41\u7a0b\u603b\u7ed3","text":"<p>\u5bf9\u4ee5\u4e0a\u7a0b\u5e8f\u8fdb\u884c\u5206\u6790\uff0c\u5982\u679c\u6211\u4eec\u60f3\u8981\u5b9e\u73b0\u4e00\u4e2a\u670d\u52a1\u7aef\uff0c\u6d41\u7a0b\u5982\u4e0b\uff1a</p> <ul> <li>\u7f16\u7a0b\u63a5\u53e3\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u8282\u70b9\u5e76\u521d\u59cb\u5316</li> <li>\u521b\u5efa\u670d\u52a1\u5668\u7aef\u5bf9\u8c61</li> <li>\u901a\u8fc7\u56de\u8c03\u51fd\u6570\u5904\u8fdb\u884c\u670d\u52a1</li> <li>\u5411\u5ba2\u6237\u7aef\u53cd\u9988\u5e94\u7b54\u7ed3\u679c</li> <li>\u9500\u6bc1\u8282\u70b9\u5e76\u5173\u95ed\u63a5\u53e3</li> </ul>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_15","title":"\u6848\u4f8b\u4e8c\uff1a\u673a\u5668\u89c6\u89c9\u8bc6\u522b","text":"<p>\u597d\u5566\uff0c\u52a0\u6cd5\u6c42\u89e3\u5668\u5df2\u7ecf\u5b9e\u73b0\u4e86\uff0c\u56de\u60f3\u4e0b\u521a\u624d\u6211\u4eec\u63d0\u5230\u7684\u89c6\u89c9\u8bc6\u522b\u6d41\u7a0b\uff0c\u5f53\u6211\u4eec\u9700\u8981\u77e5\u9053\u76ee\u6807\u7269\u4f53\u4f4d\u7f6e\u7684\u65f6\u5019\uff0c\u901a\u8fc7\u670d\u52a1\u901a\u4fe1\u7684\u673a\u5236\uff0c\u5c82\u4e0d\u662f\u66f4\u52a0\u5408\u7406\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_16","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u6b64\u65f6\u4f1a\u6709\u4e09\u4e2a\u8282\u70b9\u51fa\u73b0\uff1a</p> <ol> <li>\u76f8\u673a\u9a71\u52a8\u8282\u70b9\uff0c\u53d1\u5e03\u56fe\u50cf\u6570\u636e\uff1b</li> <li>\u89c6\u89c9\u8bc6\u522b\u8282\u70b9\uff0c\u8ba2\u9605\u56fe\u50cf\u6570\u636e\uff0c\u5e76\u4e14\u96c6\u6210\u4e86\u4e00\u4e2a\u670d\u52a1\u5668\u7aef\u5bf9\u8c61\uff0c\u968f\u65f6\u51c6\u5907\u63d0\u4f9b\u76ee\u6807\u4f4d\u7f6e\uff1b</li> <li>\u5ba2\u6237\u7aef\u8282\u70b9\uff0c\u6211\u4eec\u53ef\u4ee5\u8ba4\u4e3a\u662f\u4e00\u4e2a\u673a\u5668\u4eba\u76ee\u6807\u8ddf\u8e2a\u7684\u8282\u70b9\uff0c\u5f53\u9700\u8981\u6839\u636e\u76ee\u6807\u8fd0\u52a8\u65f6\uff0c\u5c31\u53d1\u9001\u4e00\u6b21\u8bf7\u6c42\uff0c\u7136\u540e\u62ff\u5230\u4e00\u4e2a\u5f53\u524d\u7684\u76ee\u6807\u4f4d\u7f6e\u3002</li> </ol> <p>\u542f\u52a8\u4e09\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\u4e0a\u8ff0\u4e09\u4e2a\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe\n$ ros2 run learning_service service_object_server\n$ ros2 run learning_service service_object_client\n</code></pre> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_17","title":"\u5ba2\u6237\u7aef\u4ee3\u7801\u89e3\u6790","text":"<p>learning_service/service_object_client.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u670d\u52a1\u793a\u4f8b-\u8bf7\u6c42\u76ee\u6807\u8bc6\u522b\uff0c\u7b49\u5f85\u76ee\u6807\u4f4d\u7f6e\u5e94\u7b54\n\"\"\"\n\nimport rclpy                                            # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                           # ROS2 \u8282\u70b9\u7c7b\nfrom learning_interface.srv import GetObjectPosition    # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nclass objectClient(Node):\n    def __init__(self, name):\n        super().__init__(name)                          # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.client = self.create_client(GetObjectPosition, 'get_target_position')\n        while not self.client.wait_for_service(timeout_sec=1.0):\n            self.get_logger().info('service not available, waiting again...')\n        self.request = GetObjectPosition.Request()\n\n    def send_request(self):\n        self.request.get = True\n        self.future = self.client.call_async(self.request)\n\ndef main(args=None):\n    rclpy.init(args=args)                             # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = objectClient(\"service_object_client\")      # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.send_request()\n\n    while rclpy.ok():\n        rclpy.spin_once(node)\n\n        if node.future.done():\n            try:\n                response = node.future.result()\n            except Exception as e:\n                node.get_logger().info(\n                    'Service call failed %r' % (e,))\n            else:\n                node.get_logger().info(\n                    'Result of object position:\\n x: %d y: %d' %\n                    (response.x, response.y))\n            break\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'service_adder_client  = learning_service.service_adder_client:main',\n         'service_adder_server  = learning_service.service_adder_server:main',\n         'service_object_client = learning_service.service_object_client:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_18","title":"\u670d\u52a1\u7aef\u4ee3\u7801\u89e3\u6790","text":"<p>learning_service/service_object_server.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u670d\u52a1\u793a\u4f8b-\u63d0\u4f9b\u76ee\u6807\u8bc6\u522b\u670d\u52a1\n\"\"\"\n\nimport rclpy                                           # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                            # ROS2 \u8282\u70b9\u7c7b\nfrom sensor_msgs.msg import Image                      # \u56fe\u50cf\u6d88\u606f\u7c7b\u578b\nimport numpy as np                                     # Python\u6570\u503c\u8ba1\u7b97\u5e93\nfrom cv_bridge import CvBridge                         # ROS\u4e0eOpenCV\u56fe\u50cf\u8f6c\u6362\u7c7b\nimport cv2                                             # Opencv\u56fe\u50cf\u5904\u7406\u5e93\nfrom learning_interface.srv import GetObjectPosition   # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nlower_red = np.array([0, 90, 128])     # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0b\u9650\nupper_red = np.array([180, 255, 255])  # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0a\u9650\n\nclass ImageSubscriber(Node):\n    def __init__(self, name):\n        super().__init__(name)                              # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.sub = self.create_subscription(\n            Image, 'image_raw', self.listener_callback, 10) # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001\u961f\u5217\u957f\u5ea6\uff09\n        self.cv_bridge = CvBridge()                         # \u521b\u5efa\u4e00\u4e2a\u56fe\u50cf\u8f6c\u6362\u5bf9\u8c61\uff0c\u7528\u4e8eOpenCV\u56fe\u50cf\u4e0eROS\u7684\u56fe\u50cf\u6d88\u606f\u7684\u4e92\u76f8\u8f6c\u6362\n\n        self.srv = self.create_service(GetObjectPosition,   # \u521b\u5efa\u670d\u52a1\u5668\u5bf9\u8c61\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u670d\u52a1\u540d\u3001\u670d\u52a1\u5668\u56de\u8c03\u51fd\u6570\uff09\n                                       'get_target_position',\n                                       self.object_position_callback)    \n        self.objectX = 0\n        self.objectY = 0                              \n\n    def object_detect(self, image):\n        hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)      # \u56fe\u50cf\u4eceBGR\u989c\u8272\u6a21\u578b\u8f6c\u6362\u4e3aHSV\u6a21\u578b\n        mask_red = cv2.inRange(hsv_img, lower_red, upper_red) # \u56fe\u50cf\u4e8c\u503c\u5316\n        contours, hierarchy = cv2.findContours(\n            mask_red, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)   # \u56fe\u50cf\u4e2d\u8f6e\u5ed3\u68c0\u6d4b\n\n        for cnt in contours:                                  # \u53bb\u9664\u4e00\u4e9b\u8f6e\u5ed3\u9762\u79ef\u592a\u5c0f\u7684\u566a\u58f0\n            if cnt.shape[0] &lt; 150:\n                continue\n\n            (x, y, w, h) = cv2.boundingRect(cnt)              # \u5f97\u5230\u82f9\u679c\u6240\u5728\u8f6e\u5ed3\u7684\u5de6\u4e0a\u89d2xy\u50cf\u7d20\u5750\u6807\u53ca\u8f6e\u5ed3\u8303\u56f4\u7684\u5bbd\u548c\u9ad8\n            cv2.drawContours(image, [cnt], -1, (0, 255, 0), 2)# \u5c06\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\n            cv2.circle(image, (int(x+w/2), int(y+h/2)), 5,\n                       (0, 255, 0), -1)                       # \u5c06\u82f9\u679c\u7684\u56fe\u50cf\u4e2d\u5fc3\u70b9\u753b\u51fa\u6765\n\n            self.objectX = int(x+w/2)\n            self.objectY = int(y+h/2)\n\n        cv2.imshow(\"object\", image)                            # \u4f7f\u7528OpenCV\u663e\u793a\u5904\u7406\u540e\u7684\u56fe\u50cf\u6548\u679c\n        cv2.waitKey(50)\n\n    def listener_callback(self, data):\n        self.get_logger().info('Receiving video frame')        # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u8fdb\u5165\u56de\u8c03\u51fd\u6570\n        image = self.cv_bridge.imgmsg_to_cv2(data, 'bgr8')     # \u5c06ROS\u7684\u56fe\u50cf\u6d88\u606f\u8f6c\u5316\u6210OpenCV\u56fe\u50cf\n        self.object_detect(image)                              # \u82f9\u679c\u68c0\u6d4b\n\n    def object_position_callback(self, request, response):     # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bf7\u6c42\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        if request.get == True:\n            response.x = self.objectX                          # \u76ee\u6807\u7269\u4f53\u7684XY\u5750\u6807\n            response.y = self.objectY\n            self.get_logger().info('Object position\\nx: %d y: %d' %\n                                   (response.x, response.y))   # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u53cd\u9988\n        else:\n            response.x = 0\n            response.y = 0\n            self.get_logger().info('Invalid command')          # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u53cd\u9988\n        return response\n\n\ndef main(args=None):                                 # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                            # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = ImageSubscriber(\"service_object_server\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                 # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'service_adder_client  = learning_service.service_adder_client:main',\n         'service_adder_server  = learning_service.service_adder_server:main',\n         'service_object_client = learning_service.service_object_client:main',\n         'service_object_server = learning_service.service_object_server:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_19","title":"\u670d\u52a1\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u670d\u52a1\u547d\u4ee4\u7684\u5e38\u7528\u64cd\u4f5c\u5982\u4e0b\uff1a</p> <pre><code>$ ros2 service list                  # \u67e5\u770b\u670d\u52a1\u5217\u8868\n$ ros2 service type &lt;service_name&gt;   # \u67e5\u770b\u670d\u52a1\u6570\u636e\u7c7b\u578b\n$ ros2 service call &lt;service_name&gt; &lt;service_type&gt; &lt;service_data&gt;   # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_20","title":"\u601d\u8003\u9898","text":"<p>\u8bdd\u9898\u548c\u670d\u52a1\u662fROS\u4e2d\u6700\u4e3a\u5e38\u7528\u7684\u4e24\u79cd\u6570\u636e\u901a\u4fe1\u65b9\u6cd5\uff0c\u524d\u8005\u9002\u5408\u4f20\u611f\u5668\u3001\u63a7\u5236\u6307\u4ee4\u7b49\u5468\u671f\u6027\u3001\u5355\u5411\u4f20\u8f93\u7684\u6570\u636e\uff0c\u540e\u8005\u9002\u5408\u4e00\u95ee\u4e00\u7b54\uff0c\u540c\u6b65\u6027\u8981\u6c42\u66f4\u9ad8\u7684\u6570\u636e\uff0c\u6bd4\u5982\u83b7\u53d6\u673a\u5668\u89c6\u89c9\u8bc6\u522b\u5230\u7684\u76ee\u6807\u4f4d\u7f6e\u3002</p> <p></p> <p>\u5728\u673a\u5668\u4eba\u5f00\u53d1\u8fc7\u7a0b\u4e2d\uff0c\u7c7b\u4f3c\u7684\u901a\u4fe1\u5e94\u7528\u6bd4\u6bd4\u7686\u662f\uff0cROS\u9488\u5bf9\u7edd\u5927\u90e8\u5206\u901a\u7528\u573a\u666f\uff0c\u90fd\u8bbe\u8ba1\u4e86\u6807\u51c6\u7684\u8bdd\u9898\u548c\u670d\u52a1\u6570\u636e\u7c7b\u578b\uff0c\u6bd4\u5982\u56fe\u50cf\u6570\u636e\u3001\u96f7\u8fbe\u6570\u636e\u3001\u91cc\u7a0b\u8ba1\u6570\u636e\u7b49\u7b49\uff0c\u4e0d\u8fc7\u673a\u5668\u4eba\u8f6f\u786c\u4ef6\u7e41\u6742\uff0c\u5f88\u591a\u65f6\u5019\u8fd9\u4e9b\u6807\u51c6\u5b9a\u4e49\u4e5f\u65e0\u6cd5\u6ee1\u8db3\u6211\u4eec\u7684\u9700\u6c42\uff0c\u8fd9\u4e2a\u65f6\u5019\uff0c\u6211\u4eec\u5c31\u8981\u81ea\u5b9a\u4e49\u901a\u4fe1\u63a5\u53e3\u4e86\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/#_21","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Services/Understanding-ROS2-Services.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/","title":"\u901a\u4fe1\u63a5\u53e3","text":"<p>\u5728ROS\u7cfb\u7edf\u4e2d\uff0c\u65e0\u8bba\u8bdd\u9898\u8fd8\u662f\u670d\u52a1\uff0c\u6216\u8005\u6211\u4eec\u540e\u7eed\u5c06\u8981\u5b66\u4e60\u7684\u52a8\u4f5c\uff0c\u90fd\u4f1a\u7528\u5230\u4e00\u4e2a\u91cd\u8981\u7684\u6982\u5ff5\u2014\u2014\u901a\u4fe1\u63a5\u53e3\u3002</p> <p>\u901a\u4fe1\u5e76\u4e0d\u662f\u4e00\u4e2a\u4eba\u81ea\u8a00\u81ea\u8bed\uff0c\u800c\u662f\u4e24\u4e2a\u751a\u81f3\u66f4\u591a\u4e2a\u4eba\uff0c\u4f60\u6765\u6211\u5f80\u7684\u4ea4\u6d41\uff0c\u4ea4\u6d41\u7684\u5185\u5bb9\u662f\u4ec0\u4e48\u5462\uff1f\u4e3a\u4e86\u8ba9\u5927\u5bb6\u90fd\u597d\u7406\u89e3\uff0c\u6211\u4eec\u53ef\u4ee5\u7ed9\u4f20\u9012\u7684\u6570\u636e\u5b9a\u4e49\u4e00\u4e2a\u6807\u51c6\u7684\u7ed3\u6784\uff0c\u8fd9\u5c31\u662f\u901a\u4fe1\u63a5\u53e3\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_2","title":"\u63a5\u53e3\u7684\u5b9a\u4e49","text":"<p>\u63a5\u53e3\u7684\u6982\u5ff5\u5728\u5404\u4e2a\u9886\u57df\u968f\u5904\u53ef\u89c1\uff0c\u65e0\u8bba\u662f\u786c\u4ef6\u7ed3\u6784\u8fd8\u662f\u8f6f\u4ef6\u5f00\u53d1\uff0c\u90fd\u6709\u5e7f\u6cdb\u7684\u5e94\u7528\u3002</p> <p></p> <p>\u6bd4\u5982\u751f\u6d3b\u4e2d\u6700\u4e3a\u5e38\u89c1\u7684\u63d2\u5934\u548c\u63d2\u5ea7\uff0c\u4e24\u8005\u5fc5\u987b\u5339\u914d\u624d\u80fd\u4f7f\u7528\uff0c\u7535\u8111\u548c\u624b\u673a\u4e0a\u7684USB\u63a5\u53e3\u4e5f\u662f\uff0c\u4ec0\u4e48Micro-USB\u3001TypeC\u7b49\u7b49\uff0c\u90fd\u662f\u5173\u4e8e\u63a5\u53e3\u7684\u5177\u4f53\u5b9a\u4e49\u3002</p> <p></p> <p>\u8f6f\u4ef6\u5f00\u53d1\u4e2d\uff0c\u63a5\u53e3\u7684\u4f7f\u7528\u5c31\u66f4\u591a\u4e86\uff0c\u6bd4\u5982\u6211\u4eec\u5728\u7f16\u5199\u7a0b\u5e8f\u65f6\uff0c\u4f7f\u7528\u7684\u51fd\u6570\u548c\u51fd\u6570\u7684\u8f93\u5165\u8f93\u51fa\u4e5f\u79f0\u4e4b\u4e3a\u63a5\u53e3\uff0c\u6bcf\u4e00\u6b21\u8c03\u7528\u51fd\u6570\u7684\u65f6\u5019\uff0c\u5c31\u50cf\u662f\u628a\u4e3b\u7a0b\u5e8f\u548c\u8c03\u7528\u51fd\u6570\u901a\u8fc7\u8fd9\u4e2a\u63a5\u53e3\u8fde\u63a5\u5230\u4e00\u8d77\uff0c\u7cfb\u7edf\u624d\u80fd\u6b63\u5e38\u5de5\u4f5c\u3002</p> <p>\u66f4\u4e3a\u5f62\u8c61\u7684\u662f\u56fe\u5f62\u5316\u7f16\u7a0b\u4e2d\u4f7f\u7528\u7684\u7a0b\u5e8f\u6a21\u5757\uff0c\u6bcf\u4e00\u4e2a\u6a21\u5757\u90fd\u6709\u56fa\u5b9a\u7684\u7ed3\u6784\u548c\u5f62\u72b6\uff0c\u53ea\u6709\u4e24\u4e2a\u6a21\u5757\u76f8\u4e92\u5339\u914d\uff0c\u624d\u80fd\u5728\u4e00\u8d77\u5de5\u4f5c\uff0c\u8fd9\u5c31\u5f88\u597d\u7684\u8bb2\u4ee3\u7801\u5f62\u8c61\u5316\u4e86\u3002</p> <p>\u6240\u4ee5\u4ec0\u4e48\u662f\u63a5\u53e3\uff0c\u5b83\u662f\u4e00\u79cd\u76f8\u4e92\u5173\u7cfb\uff0c\u53ea\u6709\u5f7c\u6b64\u5339\u914d\uff0c\u624d\u80fd\u5efa\u7acb\u8fde\u63a5\u3002</p> <p></p> <p>\u56de\u5230ROS\u7684\u901a\u4fe1\u7cfb\u7edf\uff0c\u5b83\u7684\u4e3b\u8981\u76ee\u7684\u5c31\u662f\u4f20\u8f93\u6570\u636e\uff0c\u90a3\u5c31\u5f97\u8ba9\u5927\u5bb6\u9ad8\u6548\u7684\u5efa\u7acb\u8fde\u63a5\uff0c\u5e76\u4e14\u51c6\u786e\u5305\u88c5\u548c\u89e3\u6790\u4f20\u8f93\u7684\u6570\u636e\u5185\u5bb9\uff0c\u8bdd\u9898\u3001\u670d\u52a1\u7b49\u673a\u5236\u4e5f\u5c31\u8bde\u751f\u4e86\uff0c\u4ed6\u4eec\u4f20\u8f93\u7684\u6570\u636e\uff0c\u90fd\u8981\u7b26\u5408\u901a\u4fe1\u63a5\u53e3\u7684\u6807\u51c6\u5b9a\u4e49\u3002</p> <p>\u6bd4\u5982\u6444\u50cf\u5934\u9a71\u52a8\u53d1\u5e03\u7684\u56fe\u50cf\u8bdd\u9898\uff0c\u7531\u6bcf\u4e2a\u50cf\u7d20\u70b9\u7684R\u3001G\u3001B\u4e09\u539f\u8272\u503c\u7ec4\u6210\uff0c\u63a7\u5236\u673a\u5668\u4eba\u8fd0\u52a8\u7684\u901f\u5ea6\u6307\u4ee4\uff0c\u7531\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\u7ec4\u6210\uff0c\u8fdb\u884c\u673a\u5668\u4eba\u914d\u7f6e\u7684\u670d\u52a1\uff0c\u6709\u914d\u7f6e\u7684\u53c2\u6570\u548c\u53cd\u9988\u7684\u7ed3\u679c\u7ec4\u6210\u7b49\u7b49\uff0c\u7c7b\u4f3c\u8fd9\u4e9b\u5e38\u7528\u7684\u5b9a\u4e49\uff0c\u5728ROS\u7cfb\u7edf\u4e2d\u90fd\u6709\u63d0\u4f9b\uff0c\u6211\u4eec\u4e5f\u53ef\u4ee5\u81ea\u5df1\u5f00\u53d1\u3002</p> <p>\u8fd9\u4e9b\u63a5\u53e3\u770b\u4e0a\u53bb\u50cf\u662f\u7ed9\u6211\u4eec\u52a0\u4e86\u4e00\u4e9b\u7ea6\u675f\uff0c\u4f46\u5374\u662fROS\u7cfb\u7edf\u7684\u7cbe\u9ad3\u6240\u5728\u3002\u4e3e\u4e2a\u4f8b\u5b50\uff0c\u6211\u4eec\u4f7f\u7528\u76f8\u673a\u9a71\u52a8\u8282\u70b9\u7684\u65f6\u5019\uff0c\u5b8c\u5168\u4e0d\u7528\u5173\u6ce8\u5b83\u662f\u5982\u4f55\u9a71\u52a8\u76f8\u673a\u7684\uff0c\u53ea\u8981\u4e00\u53e5\u8bdd\u8fd0\u884c\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u77e5\u9053\u53d1\u5e03\u51fa\u6765\u7684\u56fe\u50cf\u6570\u636e\u662f\u4ec0\u4e48\u6837\u7684\u4e86\uff0c\u76f4\u63a5\u5f00\u59cb\u6211\u4eec\u7684\u5e94\u7528\u5f00\u53d1\uff1b\u7c7b\u4f3c\u7684\uff0c\u952e\u76d8\u63a7\u5236\u6211\u4eec\u4e5f\u53ef\u4ee5\u5b89\u88c5\u4e00\u4e2aROS\u5305\uff0c\u5982\u4f55\u5b9e\u73b0\u7684\u5462\uff1f\u4e0d\u7528\u5173\u5fc3\uff0c\u53cd\u6b63\u5b83\u53d1\u5e03\u51fa\u6765\u7684\u80af\u5b9a\u662f\u7ebf\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#ros","title":"ROS\u901a\u4fe1\u63a5\u53e3","text":"<p>\u63a5\u53e3\u53ef\u4ee5\u8ba9\u7a0b\u5e8f\u4e4b\u95f4\u7684\u4f9d\u8d56\u964d\u4f4e\uff0c\u4fbf\u4e8e\u6211\u4eec\u4f7f\u7528\u522b\u4eba\u7684\u4ee3\u7801\uff0c\u4e5f\u65b9\u4fbf\u522b\u4eba\u4f7f\u7528\u6211\u4eec\u7684\u4ee3\u7801\uff0c\u8fd9\u5c31\u662fROS\u7684\u6838\u5fc3\u76ee\u6807\uff0c\u51cf\u5c11\u91cd\u590d\u9020\u8f6e\u5b50\u3002</p> <p></p> <p>ROS\u6709\u4e09\u79cd\u5e38\u7528\u7684\u901a\u4fe1\u673a\u5236\uff0c\u5206\u522b\u662f\u8bdd\u9898\u3001\u670d\u52a1\u3001\u52a8\u4f5c\uff0c\u901a\u8fc7\u6bcf\u4e00\u79cd\u901a\u4fe1\u79cd\u5b9a\u4e49\u7684\u63a5\u53e3\uff0c\u5404\u79cd\u8282\u70b9\u624d\u80fd\u6709\u673a\u7684\u8054\u7cfb\u5230\u4e00\u8d77\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_3","title":"\u8bed\u8a00\u65e0\u5173","text":"<p>\u4e3a\u4e86\u4fdd\u8bc1\u6bcf\u4e00\u4e2a\u8282\u70b9\u53ef\u4ee5\u4f7f\u7528\u4e0d\u540c\u8bed\u8a00\u7f16\u7a0b\uff0cROS\u5c06\u8fd9\u4e9b\u63a5\u53e3\u7684\u8bbe\u8ba1\u505a\u6210\u4e86\u548c\u8bed\u8a00\u65e0\u5173\u7684\uff0c\u6bd4\u5982\u8fd9\u91cc\u770b\u5230\u7684int32\u8868\u793a32\u4f4d\u7684\u6574\u578b\u6570\uff0cint64\u8868\u793a64\u4f4d\u7684\u6574\u578b\u6570\uff0cbool\u8868\u793a\u5e03\u5c14\u503c\uff0c\u8fd8\u53ef\u4ee5\u5b9a\u4e49\u6570\u7ec4\u3001\u7ed3\u6784\u4f53\uff0c\u8fd9\u4e9b\u5b9a\u4e49\u5728\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\uff0c\u4f1a\u81ea\u52a8\u751f\u6210\u5bf9\u5e94\u5230C++\u3001Python\u7b49\u8bed\u8a00\u91cc\u7684\u6570\u636e\u7ed3\u6784\u3002</p> <p></p> <ul> <li> <p>\u8bdd\u9898\u901a\u4fe1\u63a5\u53e3\u7684\u5b9a\u4e49\u4f7f\u7528\u7684\u662f.msg\u6587\u4ef6\uff0c\u7531\u4e8e\u662f\u5355\u5411\u4f20\u8f93\uff0c\u53ea\u9700\u8981\u63cf\u8ff0\u4f20\u8f93\u7684\u6bcf\u4e00\u5e27\u6570\u636e\u662f\u4ec0\u4e48\u5c31\u884c\uff0c\u6bd4\u5982\u5728\u8fd9\u4e2a\u5b9a\u4e49\u91cc\uff0c\u4f1a\u4f20\u8f93\u4e24\u4e2a32\u4f4d\u7684\u6574\u578b\u6570\uff0cx\u3001y\uff0c\u6211\u4eec\u53ef\u4ee5\u7528\u6765\u4f20\u8f93\u4e8c\u7ef4\u5750\u6807\u7684\u6570\u503c\u3002</p> </li> <li> <p>\u670d\u52a1\u901a\u4fe1\u63a5\u53e3\u7684\u5b9a\u4e49\u4f7f\u7528\u7684\u662f.srv\u6587\u4ef6\uff0c\u5305\u542b\u8bf7\u6c42\u548c\u5e94\u7b54\u4e24\u90e8\u5206\u5b9a\u4e49\uff0c\u901a\u8fc7\u4e2d\u95f4\u7684\u201c---\u201d\u533a\u5206\uff0c\u6bd4\u5982\u4e4b\u524d\u6211\u4eec\u5b66\u4e60\u7684\u52a0\u6cd5\u6c42\u548c\u529f\u80fd\uff0c\u8bf7\u6c42\u6570\u636e\u662f\u4e24\u4e2a64\u4f4d\u6574\u578b\u6570a\u548cb\uff0c\u5e94\u7b54\u662f\u6c42\u548c\u7684\u7ed3\u679csum\u3002</p> </li> <li> <p>\u52a8\u4f5c\u662f\u53e6\u5916\u4e00\u79cd\u901a\u4fe1\u673a\u5236\uff0c\u7528\u6765\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u4e00\u4e2a\u8fd0\u52a8\u8fc7\u7a0b\uff0c\u4f7f\u7528.action\u6587\u4ef6\u5b9a\u4e49\uff0c\u6bd4\u5982\u6211\u4eec\u8ba9\u5c0f\u6d77\u9f9f\u8f6c90\u5ea6\uff0c\u4e00\u8fb9\u8f6c\u4e00\u8fb9\u5468\u671f\u53cd\u9988\u5f53\u524d\u7684\u72b6\u6001\uff0c\u6b64\u65f6\u63a5\u53e3\u7684\u5b9a\u4e49\u5206\u6210\u4e86\u4e09\u4e2a\u90e8\u5206\uff0c\u5206\u522b\u662f\u52a8\u4f5c\u7684\u76ee\u6807\uff0c\u6bd4\u5982\u662f\u5f00\u59cb\u8fd0\u52a8\uff0c\u8fd0\u52a8\u7684\u7ed3\u679c\uff0c\u6700\u7ec8\u65cb\u8f6c\u768490\u5ea6\u662f\u5426\u5b8c\u6210\uff0c\u8fd8\u6709\u4e00\u4e2a\u5468\u671f\u53cd\u9988\uff0c\u6bd4\u5982\u6bcf\u96941s\u53cd\u9988\u4e00\u4e0b\u5f53\u524d\u8f6c\u5230\u7b2c10\u5ea6\u300120\u5ea6\u8fd8\u662f30\u5ea6\u4e86\uff0c\u8ba9\u6211\u4eec\u77e5\u9053\u8fd0\u52a8\u7684\u8fdb\u5ea6\u3002</p> </li> </ul>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_4","title":"\u6807\u51c6\u63a5\u53e3","text":"<p>\u5927\u5bb6\u53ef\u80fd\u597d\u5947ROS\u7cfb\u7edf\u5230\u5e95\u7ed9\u6211\u4eec\u5b9a\u4e49\u4e86\u54ea\u4e9b\u63a5\u53e3\u5462\uff1f\u6211\u4eec\u53ef\u4ee5\u5728ROS\u5b89\u88c5\u8def\u5f84\u4e2d\u7684share\u6587\u4ef6\u5939\u4e2d\u627e\u5230\uff0c\u6db5\u76d6\u4f17\u591a\u6807\u51c6\u5b9a\u4e49\uff0c\u5927\u5bb6\u53ef\u4ee5\u6253\u5f00\u51e0\u4e2a\u770b\u770b\u3002</p> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_5","title":"\u6848\u4f8b\u4e00\uff1a\u670d\u52a1\u63a5\u53e3\u7684\u5b9a\u4e49\u4e0e\u4f7f\u7528","text":"<p>\u4e86\u89e3\u4e86\u901a\u4fe1\u63a5\u53e3\u7684\u6982\u5ff5\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u518d\u4ece\u4ee3\u7801\u5b9e\u73b0\u7684\u89d2\u5ea6\uff0c\u7814\u7a76\u4e0b\u5982\u4f55\u5b9a\u4e49\u4ee5\u53ca\u4f7f\u7528\u4e00\u4e2a\u63a5\u53e3\u3002</p> <p>\u5728\u4e4b\u524d\u670d\u52a1\u6982\u5ff5\u8bb2\u89e3\u7684\u8bfe\u7a0b\u4e2d\uff0c\u6211\u4eec\u7f16\u5199\u4e86\u8fd9\u6837\u4e00\u4e2a\u4f8b\u7a0b\uff0c\u6211\u4eec\u518d\u6765\u56de\u987e\u4e0b\u3002</p> <p></p> <p>\u6709\u4e09\u4e2a\u8282\u70b9\uff0c\u7b2c\u4e00\u4e2a\u9a71\u52a8\u76f8\u673a\u53d1\u5e03\u56fe\u50cf\u8bdd\u9898\uff0c\u7b2c\u4e8c\u4e2a\u662f\u673a\u5668\u89c6\u89c9\u8bc6\u522b\u8282\u70b9\uff0c\u5c01\u88c5\u4e86\u4e00\u4e2a\u670d\u52a1\u7684\u670d\u52a1\u7aef\u5bf9\u8c61\uff0c\u63d0\u4f9b\u76ee\u6807\u8bc6\u522b\u4f4d\u7f6e\u7684\u67e5\u8be2\u670d\u52a1\uff0c\u7b2c\u4e09\u4e2a\u8282\u70b9\u5728\u9700\u8981\u76ee\u6807\u4f4d\u7f6e\u7684\u65f6\u5019\uff0c\u5c31\u53ef\u4ee5\u53d1\u9001\u8bf7\u6c42\uff0c\u6536\u5230\u4f4d\u7f6e\u8fdb\u884c\u4f7f\u7528\u4e86\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_6","title":"\u63a5\u53e3\u5b9a\u4e49","text":"<p>\u5728\u8fd9\u4e2a\u4f8b\u7a0b\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528GetObjectPosition.srv\u5b9a\u4e49\u4e86\u670d\u52a1\u901a\u4fe1\u7684\u63a5\u53e3\uff1a</p> <p>learning_interface/srv/GetObjectPosition.srv</p> <pre><code>bool get      # \u83b7\u53d6\u76ee\u6807\u4f4d\u7f6e\u7684\u6307\u4ee4\n---\nint32 x       # \u76ee\u6807\u7684X\u5750\u6807\nint32 y       # \u76ee\u6807\u7684Y\u5750\u6807\n</code></pre> <p>\u5b9a\u4e49\u4e2d\u6709\u4e24\u4e2a\u90e8\u5206\uff0c\u4e0a\u8fb9\u662f\u83b7\u53d6\u76ee\u6807\u4f4d\u7f6e\u7684\u6307\u4ee4\uff0cget\u4e3atrue\u7684\u8bdd\uff0c\u5c31\u8868\u793a\u6211\u4eec\u9700\u8981\u4e00\u6b21\u4f4d\u7f6e\uff0c\u670d\u52a1\u7aef\u5c31\u4f1a\u53cd\u9988\u8fd9\u4e2ax\u3001y\u5750\u6807\u4e86\u3002</p> <p>\u5b8c\u6210\u5b9a\u4e49\u540e\uff0c\u8fd8\u9700\u8981\u5728\u529f\u80fd\u5305\u7684CMakeLists.txt\u4e2d\u914d\u7f6e\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7f16\u8bd1\u5668\u5728\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\uff0c\u6839\u636e\u63a5\u53e3\u5b9a\u4e49\uff0c\u81ea\u52a8\u751f\u6210\u4e0d\u540c\u8bed\u8a00\u7684\u4ee3\u7801\uff1a</p> <pre><code>...\n\nfind_package(rosidl_default_generators REQUIRED)\n\nrosidl_generate_interfaces(${PROJECT_NAME}\n  \"srv/GetObjectPosition.srv\"\n)\n\n...\n</code></pre> <p>\u529f\u80fd\u5305\u7684package.xml\u6587\u4ef6\u4e2d\u4e5f\u9700\u8981\u6dfb\u52a0\u4ee3\u7801\u751f\u6210\u7684\u529f\u80fd\u4f9d\u8d56\uff1a</p> <pre><code> ...\n\n &lt;build_depend&gt;rosidl_default_generators&lt;/build_depend&gt;\n &lt;exec_depend&gt;rosidl_default_runtime&lt;/exec_depend&gt;\n &lt;member_of_group&gt;rosidl_interface_packages&lt;/member_of_group&gt;\n\n ...\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_7","title":"\u7a0b\u5e8f\u8c03\u7528","text":"<p>\u6211\u4eec\u5728\u4ee3\u7801\u4e2d\u518d\u6765\u91cd\u70b9\u770b\u4e0b\u63a5\u53e3\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_8","title":"\u5ba2\u6237\u7aef\u63a5\u53e3\u8c03\u7528","text":"<p>learning_service/service_object_client.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u670d\u52a1\u793a\u4f8b-\u8bf7\u6c42\u76ee\u6807\u8bc6\u522b\uff0c\u7b49\u5f85\u76ee\u6807\u4f4d\u7f6e\u5e94\u7b54\n\"\"\"\n\nimport rclpy                                            # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                           # ROS2 \u8282\u70b9\u7c7b\nfrom learning_interface.srv import GetObjectPosition    # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nclass objectClient(Node):\n    def __init__(self, name):\n        super().__init__(name)                          # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.client = self.create_client(GetObjectPosition, 'get_target_position')\n        while not self.client.wait_for_service(timeout_sec=1.0):\n            self.get_logger().info('service not available, waiting again...')\n        self.request = GetObjectPosition.Request()\n\n    def send_request(self):\n        self.request.get = True\n        self.future = self.client.call_async(self.request)\n\ndef main(args=None):\n    rclpy.init(args=args)                             # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = objectClient(\"service_object_client\")      # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.send_request()\n\n    while rclpy.ok():\n        rclpy.spin_once(node)\n\n        if node.future.done():\n            try:\n                response = node.future.result()\n            except Exception as e:\n                node.get_logger().info(\n                    'Service call failed %r' % (e,))\n            else:\n                node.get_logger().info(\n                    'Result of object position:\\n x: %d y: %d' %\n                    (response.x, response.y))\n            break\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_9","title":"\u670d\u52a1\u7aef\u63a5\u53e3\u8c03\u7528","text":"<p>learning_service/service_object_server.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u670d\u52a1\u793a\u4f8b-\u63d0\u4f9b\u76ee\u6807\u8bc6\u522b\u670d\u52a1\n\"\"\"\n\nimport rclpy                                           # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                            # ROS2 \u8282\u70b9\u7c7b\nfrom sensor_msgs.msg import Image                      # \u56fe\u50cf\u6d88\u606f\u7c7b\u578b\nimport numpy as np                                     # Python\u6570\u503c\u8ba1\u7b97\u5e93\nfrom cv_bridge import CvBridge                         # ROS\u4e0eOpenCV\u56fe\u50cf\u8f6c\u6362\u7c7b\nimport cv2                                             # Opencv\u56fe\u50cf\u5904\u7406\u5e93\nfrom learning_interface.srv import GetObjectPosition   # \u81ea\u5b9a\u4e49\u7684\u670d\u52a1\u63a5\u53e3\n\nlower_red = np.array([0, 90, 128])     # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0b\u9650\nupper_red = np.array([180, 255, 255])  # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0a\u9650\n\nclass ImageSubscriber(Node):\n    def __init__(self, name):\n        super().__init__(name)                              # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.sub = self.create_subscription(\n            Image, 'image_raw', self.listener_callback, 10) # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001\u961f\u5217\u957f\u5ea6\uff09\n        self.cv_bridge = CvBridge()                         # \u521b\u5efa\u4e00\u4e2a\u56fe\u50cf\u8f6c\u6362\u5bf9\u8c61\uff0c\u7528\u4e8eOpenCV\u56fe\u50cf\u4e0eROS\u7684\u56fe\u50cf\u6d88\u606f\u7684\u4e92\u76f8\u8f6c\u6362\n\n        self.srv = self.create_service(GetObjectPosition,   # \u521b\u5efa\u670d\u52a1\u5668\u5bf9\u8c61\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u670d\u52a1\u540d\u3001\u670d\u52a1\u5668\u56de\u8c03\u51fd\u6570\uff09\n                                       'get_target_position',\n                                       self.object_position_callback)    \n        self.objectX = 0\n        self.objectY = 0                              \n\n    def object_detect(self, image):\n        hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)      # \u56fe\u50cf\u4eceBGR\u989c\u8272\u6a21\u578b\u8f6c\u6362\u4e3aHSV\u6a21\u578b\n        mask_red = cv2.inRange(hsv_img, lower_red, upper_red) # \u56fe\u50cf\u4e8c\u503c\u5316\n        contours, hierarchy = cv2.findContours(\n            mask_red, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)   # \u56fe\u50cf\u4e2d\u8f6e\u5ed3\u68c0\u6d4b\n\n        for cnt in contours:                                  # \u53bb\u9664\u4e00\u4e9b\u8f6e\u5ed3\u9762\u79ef\u592a\u5c0f\u7684\u566a\u58f0\n            if cnt.shape[0] &lt; 150:\n                continue\n\n            (x, y, w, h) = cv2.boundingRect(cnt)              # \u5f97\u5230\u82f9\u679c\u6240\u5728\u8f6e\u5ed3\u7684\u5de6\u4e0a\u89d2xy\u50cf\u7d20\u5750\u6807\u53ca\u8f6e\u5ed3\u8303\u56f4\u7684\u5bbd\u548c\u9ad8\n            cv2.drawContours(image, [cnt], -1, (0, 255, 0), 2)# \u5c06\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\n            cv2.circle(image, (int(x+w/2), int(y+h/2)), 5,\n                       (0, 255, 0), -1)                       # \u5c06\u82f9\u679c\u7684\u56fe\u50cf\u4e2d\u5fc3\u70b9\u753b\u51fa\u6765\n\n            self.objectX = int(x+w/2)\n            self.objectY = int(y+h/2)\n\n        cv2.imshow(\"object\", image)                            # \u4f7f\u7528OpenCV\u663e\u793a\u5904\u7406\u540e\u7684\u56fe\u50cf\u6548\u679c\n        cv2.waitKey(50)\n\n    def listener_callback(self, data):\n        self.get_logger().info('Receiving video frame')        # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u8fdb\u5165\u56de\u8c03\u51fd\u6570\n        image = self.cv_bridge.imgmsg_to_cv2(data, 'bgr8')     # \u5c06ROS\u7684\u56fe\u50cf\u6d88\u606f\u8f6c\u5316\u6210OpenCV\u56fe\u50cf\n        self.object_detect(image)                              # \u82f9\u679c\u68c0\u6d4b\n\n    def object_position_callback(self, request, response):     # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bf7\u6c42\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        if request.get == True:\n            response.x = self.objectX                          # \u76ee\u6807\u7269\u4f53\u7684XY\u5750\u6807\n            response.y = self.objectY\n            self.get_logger().info('Object position\\nx: %d y: %d' %\n                                   (response.x, response.y))   # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u53cd\u9988\n        else:\n            response.x = 0\n            response.y = 0\n            self.get_logger().info('Invalid command')          # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u7ecf\u53cd\u9988\n        return response\n\n\ndef main(args=None):                                 # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                            # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = ImageSubscriber(\"service_object_server\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                 # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_10","title":"\u6848\u4f8b\u4e8c\uff1a\u8bdd\u9898\u63a5\u53e3\u7684\u5b9a\u4e49\u4e0e\u4f7f\u7528","text":"<p>\u8bdd\u9898\u901a\u4fe1\u63a5\u53e3\u7684\u5b9a\u4e49\u4e5f\u662f\u7c7b\u4f3c\u7684\uff0c\u7ee7\u7eed\u4ece\u4e4b\u524d\u7684\u673a\u5668\u89c6\u89c9\u6848\u4f8b\u4e2d\u6765\u884d\u751f\uff0c\u6211\u4eec\u60f3\u628a\u670d\u52a1\u6362\u6210\u8bdd\u9898\uff0c\u5468\u671f\u53d1\u5e03\u76ee\u6807\u8bc6\u522b\u7684\u4f4d\u7f6e\uff0c\u4e0d\u7ba1\u6709\u6ca1\u6709\u4eba\u9700\u8981\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_11","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u73b0\u5728\u6211\u4eec\u4f1a\u8fd0\u884c\u4e09\u4e2a\u8282\u70b9\uff1a</p> <ul> <li>\u7b2c\u4e00\u4e2a\u8282\u70b9\uff0c\u5c06\u9a71\u52a8\u76f8\u673a\u5e76\u53d1\u5e03\u56fe\u50cf\u8bdd\u9898\uff0c\u6b64\u65f6\u7684\u8bdd\u9898\u6570\u636e\u4f7f\u7528\u7684\u662fROS\u4e2d\u6807\u51c6\u5b9a\u4e49\u7684Image\u56fe\u50cf\u6d88\u606f\uff1b</li> <li>\u7b2c\u4e8c\u4e2a\u8282\u70b9\uff0c\u4f1a\u8fd0\u884c\u89c6\u89c9\u8bc6\u522b\u529f\u80fd\uff0c\u8bc6\u522b\u76ee\u6807\u7684\u4f4d\u7f6e\uff0c\u8fd9\u4e2a\u4f4d\u7f6e\u6211\u4eec\u5e0c\u671b\u5c01\u88c5\u6210\u8bdd\u9898\u6d88\u606f\uff0c\u53d1\u5e03\u51fa\u53bb\uff0c\u8c01\u9700\u8981\u4f7f\u7528\u8c01\u5c31\u6765\u8ba2\u9605\uff1b</li> <li>\u7b2c\u4e09\u4e2a\u8282\u70b9\uff0c\u8ba2\u9605\u4f4d\u7f6e\u8bdd\u9898\uff0c\u6253\u5370\u5230\u7ec8\u7aef\u4e2d\u3002</li> </ul> <p>\u542f\u52a8\u4e09\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\u4ee5\u4e0a\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe\n$ ros2 run learning_topic interface_object_pub\n$ ros2 run learning_topic interface_object_sub\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_12","title":"\u63a5\u53e3\u5b9a\u4e49","text":"<p>\u5728\u8fd9\u4e2a\u4f8b\u7a0b\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528ObjectPosition.msg\u5b9a\u4e49\u4e86\u670d\u52a1\u901a\u4fe1\u7684\u63a5\u53e3\uff1a</p> <p>learning_interface/msg/ObjectPosition.msg</p> <pre><code>int32 x      # \u8868\u793a\u76ee\u6807\u7684X\u5750\u6807\nint32 y      # \u8868\u793a\u76ee\u6807\u7684Y\u5750\u6807\n</code></pre> <p>\u8bdd\u9898\u6d88\u606f\u7684\u5185\u5bb9\u662f\u4e00\u4e2a\u4f4d\u7f6e\uff0c\u6211\u4eec\u4f7f\u7528x\u3001y\u5750\u6807\u503c\u8fdb\u884c\u63cf\u8ff0\u3002</p> <p>\u5b8c\u6210\u5b9a\u4e49\u540e\uff0c\u8fd8\u9700\u8981\u5728\u529f\u80fd\u5305\u7684CMakeLists.txt\u4e2d\u914d\u7f6e\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7f16\u8bd1\u5668\u5728\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\uff0c\u6839\u636e\u63a5\u53e3\u5b9a\u4e49\uff0c\u81ea\u52a8\u751f\u6210\u4e0d\u540c\u8bed\u8a00\u7684\u4ee3\u7801\uff1a</p> <pre><code>...\n\nfind_package(rosidl_default_generators REQUIRED)\n\nrosidl_generate_interfaces(${PROJECT_NAME}\n  \"msg/ObjectPosition.msg\"\n)\n\n...\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_13","title":"\u7a0b\u5e8f\u8c03\u7528","text":"<p>\u6211\u4eec\u5728\u4ee3\u7801\u4e2d\u518d\u6765\u91cd\u70b9\u770b\u4e0b\u63a5\u53e3\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_14","title":"\u53d1\u5e03\u8005\u63a5\u53e3\u8c03\u7528","text":"<p>learning_topic/interface_object_pub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u63a5\u53e3\u793a\u4f8b-\u53d1\u5e03\u76ee\u6807\u4f4d\u7f6e\n\"\"\"\n\nimport rclpy                                       # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                        # ROS2 \u8282\u70b9\u7c7b\nfrom sensor_msgs.msg import Image                  # \u56fe\u50cf\u6d88\u606f\u7c7b\u578b\nfrom cv_bridge import CvBridge                     # ROS\u4e0eOpenCV\u56fe\u50cf\u8f6c\u6362\u7c7b\nimport cv2                                         # Opencv\u56fe\u50cf\u5904\u7406\u5e93\nimport numpy as np                                 # Python\u6570\u503c\u8ba1\u7b97\u5e93\nfrom learning_interface.msg import ObjectPosition  # \u81ea\u5b9a\u4e49\u7684\u76ee\u6807\u4f4d\u7f6e\u6d88\u606f\n\nlower_red = np.array([0, 90, 128])                 # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0b\u9650\nupper_red = np.array([180, 255, 255])              # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0a\u9650\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\n\"\"\"\nclass ImageSubscriber(Node):\n\n    def __init__(self, name):\n        super().__init__(name)                                  # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.sub = self.create_subscription(\n            Image, 'image_raw', self.listener_callback, 10)     # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001\u961f\u5217\u957f\u5ea6\uff09\n        self.pub = self.create_publisher(\n            ObjectPosition, \"object_position\", 10)              # \u521b\u5efa\u53d1\u5e03\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u961f\u5217\u957f\u5ea6\uff09\n        self.cv_bridge = CvBridge()                             # \u521b\u5efa\u4e00\u4e2a\u56fe\u50cf\u8f6c\u6362\u5bf9\u8c61\uff0c\u7528\u4e8eOpenCV\u56fe\u50cf\u4e0eROS\u7684\u56fe\u50cf\u6d88\u606f\u7684\u4e92\u76f8\u8f6c\u6362\n\n        self.objectX = 0\n        self.objectY = 0   \n\n    def object_detect(self, image):      \n        hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)        # \u56fe\u50cf\u4eceBGR\u989c\u8272\u6a21\u578b\u8f6c\u6362\u4e3aHSV\u6a21\u578b\n        mask_red = cv2.inRange(hsv_img, lower_red, upper_red)   # \u56fe\u50cf\u4e8c\u503c\u5316\n        contours, hierarchy = cv2.findContours(\n            mask_red, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)     # \u56fe\u50cf\u4e2d\u8f6e\u5ed3\u68c0\u6d4b\n        for cnt in contours:                                    # \u53bb\u9664\u4e00\u4e9b\u8f6e\u5ed3\u9762\u79ef\u592a\u5c0f\u7684\u566a\u58f0\n            if cnt.shape[0] &lt; 150:\n                continue\n\n            (x, y, w, h) = cv2.boundingRect(cnt)                # \u5f97\u5230\u82f9\u679c\u6240\u5728\u8f6e\u5ed3\u7684\u5de6\u4e0a\u89d2xy\u50cf\u7d20\u5750\u6807\u53ca\u8f6e\u5ed3\u8303\u56f4\u7684\u5bbd\u548c\u9ad8\n\n            cv2.drawContours(image, [cnt], -1, (0, 255, 0), 2)  # \u5c06\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\n            cv2.circle(image, (int(x+w/2), int(y+h/2)), 5,      # \u5c06\u82f9\u679c\u7684\u56fe\u50cf\u4e2d\u5fc3\u70b9\u753b\u51fa\u6765\n                       (0, 255, 0), -1)   \n\n            self.objectX = int(x+w/2)\n            self.objectY = int(y+h/2)\n\n        cv2.imshow(\"object\", image)                             # \u4f7f\u7528OpenCV\u663e\u793a\u5904\u7406\u540e\u7684\u56fe\u50cf\u6548\u679c\n        cv2.waitKey(50)\n\n    def listener_callback(self, data):\n        self.get_logger().info('Receiving video frame')         # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u8fdb\u5165\u56de\u8c03\u51fd\u6570\n        image = self.cv_bridge.imgmsg_to_cv2(data, 'bgr8')      # \u5c06ROS\u7684\u56fe\u50cf\u6d88\u606f\u8f6c\u5316\u6210OpenCV\u56fe\u50cf\n        position = ObjectPosition()\n        self.object_detect(image)                               # \u82f9\u679c\u68c0\u6d4b\n        position.x, position.y = int(self.objectX), int(self.objectY)\n        self.pub.publish(position)                              # \u53d1\u5e03\u76ee\u6807\u4f4d\u7f6e\n\ndef main(args=None):                                        # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                                   # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = ImageSubscriber(\"topic_webcam_sub\")              # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                        # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                     # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                        # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_15","title":"\u8ba2\u9605\u8005\u63a5\u53e3\u8c03\u7528","text":"<p>learning_topic/interface_object_sub.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u63a5\u53e3\u793a\u4f8b-\u8ba2\u9605\u76ee\u6807\u4f4d\u7f6e\n\"\"\"\n\nimport rclpy                                       # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                      # ROS2 \u8282\u70b9\u7c7b\nfrom std_msgs.msg import String                    # \u5b57\u7b26\u4e32\u6d88\u606f\u7c7b\u578b\nfrom learning_interface.msg import ObjectPosition  # \u81ea\u5b9a\u4e49\u7684\u76ee\u6807\u4f4d\u7f6e\u6d88\u606f\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\n\"\"\"\nclass SubscriberNode(Node):\n    def __init__(self, name):\n        super().__init__(name)                                                # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.sub = self.create_subscription(\\\n            ObjectPosition, \"/object_position\", self.listener_callback, 10)   # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001\u961f\u5217\u957f\u5ea6\n\n    def listener_callback(self, msg):                                         # \u521b\u5efa\u56de\u8c03\u51fd\u6570\uff0c\u6267\u884c\u6536\u5230\u8bdd\u9898\u6d88\u606f\u540e\u5bf9\u6570\u636e\u7684\u5904\u7406\n        self.get_logger().info('Target Position: \"(%d, %d)\"' % (msg.x, msg.y))# \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u8ba2\u9605\u6536\u5230\u7684\u8bdd\u9898\u6d88\u606f\n\n\ndef main(args=None):                                 # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                            # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = SubscriberNode(\"interface_position_sub\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                 # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_16","title":"\u63a5\u53e3\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u63a5\u53e3\u547d\u4ee4\u7684\u5e38\u7528\u64cd\u4f5c\u5982\u4e0b\uff1a</p> <pre><code>$ ros2 interface list                    # \u67e5\u770b\u7cfb\u7edf\u63a5\u53e3\u5217\u8868\n$ ros2 interface show &lt;interface_name&gt;   # \u67e5\u770b\u67d0\u4e2a\u63a5\u53e3\u7684\u8be6\u7ec6\u5b9a\u4e49\n$ ros2 interface package &lt;package_name&gt;  # \u67e5\u770b\u67d0\u4e2a\u529f\u80fd\u5305\u4e2d\u7684\u63a5\u53e3\u5b9a\u4e49\n</code></pre> <p></p> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/#_17","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Concepts/About-ROS-Interfaces.html</p> <p>https://docs.ros.org/en/humble/Tutorials/Single-Package-Define-And-Use-Interface.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/","title":"\u52a8\u4f5c","text":"<p>\u673a\u5668\u4eba\u662f\u4e00\u4e2a\u590d\u6742\u7684\u667a\u80fd\u7cfb\u7edf\uff0c\u5e76\u4e0d\u4ec5\u4ec5\u662f\u952e\u76d8\u9065\u63a7\u8fd0\u52a8\u3001\u8bc6\u522b\u67d0\u4e2a\u76ee\u6807\u8fd9\u4e48\u7b80\u5355\uff0c\u6211\u4eec\u9700\u8981\u5b9e\u73b0\u7684\u662f\u9001\u9910\u3001\u9001\u8d27\u3001\u5206\u62e3\u7b49\u6ee1\u8db3\u5177\u4f53\u573a\u666f\u9700\u6c42\u7684\u673a\u5668\u4eba\u3002</p> <p>\u5728\u8fd9\u4e9b\u5e94\u7528\u529f\u80fd\u7684\u5b9e\u73b0\u4e2d\uff0c\u53e6\u5916\u4e00\u79cdROS\u901a\u4fe1\u673a\u5236\u4e5f\u4f1a\u88ab\u5e38\u5e38\u7528\u5230\u2014\u2014\u90a3\u5c31\u662f\u52a8\u4f5c\u3002\u4ece\u8fd9\u4e2a\u540d\u5b57\u4e0a\u5c31\u53ef\u4ee5\u5f88\u597d\u7406\u89e3\u8fd9\u4e2a\u6982\u5ff5\u7684\u542b\u4e49\uff0c\u8fd9\u79cd\u901a\u4fe1\u673a\u5236\u7684\u76ee\u7684\u5c31\u662f\u4fbf\u4e8e\u5bf9\u673a\u5668\u4eba\u67d0\u4e00\u5b8c\u6574\u884c\u4e3a\u7684\u6d41\u7a0b\u8fdb\u884c\u7ba1\u7406\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_2","title":"\u901a\u4fe1\u6a21\u578b","text":"<p>\u4e3e\u4e2a\u4f8b\u5b50\uff0c\u6bd4\u5982\u6211\u4eec\u60f3\u8ba9\u673a\u5668\u4eba\u8f6c\u4e2a\u5708\uff0c\u8fd9\u80af\u5b9a\u4e0d\u662f\u4e00\u4e0b\u5c31\u53ef\u4ee5\u5b8c\u6210\u7684\uff0c\u673a\u5668\u4eba\u5f97\u4e00\u70b9\u4e00\u70b9\u65cb\u8f6c\uff0c\u76f4\u5230360\u5ea6\u624d\u80fd\u7ed3\u675f\uff0c\u5047\u8bbe\u673a\u5668\u4eba\u5e76\u4e0d\u5728\u6211\u4eec\u773c\u524d\uff0c\u53d1\u51fa\u6307\u4ee4\u540e\uff0c\u6211\u4eec\u6839\u672c\u4e0d\u77e5\u9053\u673a\u5668\u4eba\u5230\u5e95\u6709\u6ca1\u6709\u5f00\u59cb\u8f6c\u5708\uff0c\u8f6c\u5230\u54ea\u91cc\u4e86\uff1f</p> <p></p> <p>OK\uff0c\u73b0\u5728\u6211\u4eec\u9700\u8981\u7684\u662f\u4e00\u4e2a\u53cd\u9988\uff0c\u6bd4\u5982\u6bcf\u96941s\uff0c\u544a\u8bc9\u6211\u4eec\u5f53\u524d\u8f6c\u5230\u591a\u5c11\u5ea6\u4e86\uff0c10\u5ea6\u300120\u5ea6\u300130\u5ea6\uff0c\u4e00\u6bb5\u65f6\u95f4\u4e4b\u540e\uff0c\u5230\u4e86360\u5ea6\uff0c\u518d\u53d1\u9001\u4e00\u4e2a\u4fe1\u606f\uff0c\u8868\u793a\u52a8\u4f5c\u6267\u884c\u5b8c\u6210\u3002</p> <p>\u8fd9\u6837\u4e00\u4e2a\u9700\u8981\u6267\u884c\u4e00\u6bb5\u65f6\u95f4\u7684\u884c\u4e3a\uff0c\u4f7f\u7528\u52a8\u4f5c\u7684\u901a\u4fe1\u673a\u5236\u5c31\u66f4\u4e3a\u5408\u9002\uff0c\u5c31\u50cf\u88c5\u4e86\u4e00\u4e2a\u8fdb\u5ea6\u6761\uff0c\u6211\u4eec\u53ef\u4ee5\u968f\u65f6\u628a\u63a7\u8fdb\u5ea6\uff0c\u5982\u679c\u8fd0\u52a8\u8fc7\u7a0b\u5f53\u4e2d\uff0c\u6211\u4eec\u8fd8\u53ef\u4ee5\u968f\u65f6\u53d1\u9001\u4e00\u4e2a\u53d6\u6d88\u8fd0\u52a8\u7684\u547d\u4ee4\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_3","title":"\u5ba2\u6237\u7aef/\u670d\u52a1\u5668\u6a21\u578b","text":"<p>\u52a8\u4f5c\u548c\u670d\u52a1\u7c7b\u4f3c\uff0c\u4f7f\u7528\u7684\u4e5f\u662f\u5ba2\u6237\u7aef\u548c\u670d\u52a1\u5668\u6a21\u578b\uff0c\u5ba2\u6237\u7aef\u53d1\u9001\u52a8\u4f5c\u7684\u76ee\u6807\uff0c\u60f3\u8ba9\u673a\u5668\u4eba\u5e72\u4ec0\u4e48\uff0c\u670d\u52a1\u5668\u7aef\u6267\u884c\u52a8\u4f5c\u8fc7\u7a0b\uff0c \u63a7\u5236\u673a\u5668\u4eba\u8fbe\u5230\u8fd0\u52a8\u7684\u76ee\u6807\uff0c\u540c\u65f6\u5468\u671f\u53cd\u9988\u52a8\u4f5c\u6267\u884c\u8fc7\u7a0b\u4e2d\u7684\u72b6\u6001\u3002</p> <p></p> <p>\u5ba2\u6237\u7aef\u53d1\u9001\u4e00\u4e2a\u8fd0\u52a8\u7684\u76ee\u6807\uff0c\u60f3\u8ba9\u673a\u5668\u4eba\u52a8\u8d77\u6765\uff0c\u670d\u52a1\u5668\u7aef\u6536\u5230\u4e4b\u540e\uff0c\u5c31\u5f00\u59cb\u63a7\u5236\u673a\u5668\u4eba\u8fd0\u52a8\uff0c\u4e00\u8fb9\u8fd0\u52a8\uff0c\u4e00\u8fb9\u53cd\u9988\u5f53\u524d\u7684\u72b6\u6001\uff0c\u5982\u679c\u662f\u4e00\u4e2a\u5bfc\u822a\u52a8\u4f5c\uff0c\u8fd9\u4e2a\u53cd\u9988\u53ef\u80fd\u662f\u5f53\u524d\u6240\u5904\u7684\u5750\u6807\uff0c\u5982\u679c\u662f\u673a\u68b0\u81c2\u6293\u53d6\uff0c\u8fd9\u4e2a\u53cd\u9988\u53ef\u80fd\u53c8\u662f\u673a\u68b0\u81c2\u7684\u5b9e\u65f6\u59ff\u6001\u3002\u5f53\u8fd0\u52a8\u6267\u884c\u7ed3\u675f\u540e\uff0c\u670d\u52a1\u5668\u518d\u53cd\u9988\u4e00\u4e2a\u52a8\u4f5c\u7ed3\u675f\u7684\u4fe1\u606f\u3002\u6574\u4e2a\u901a\u4fe1\u8fc7\u7a0b\u5c31\u6b64\u7ed3\u675f\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_4","title":"\u4e00\u5bf9\u591a\u901a\u4fe1","text":"<p>\u548c\u670d\u52a1\u4e00\u6837\uff0c\u52a8\u4f5c\u901a\u4fe1\u4e2d\u7684\u5ba2\u6237\u7aef\u53ef\u4ee5\u6709\u591a\u4e2a\uff0c\u5927\u5bb6\u90fd\u53ef\u4ee5\u53d1\u9001\u8fd0\u52a8\u547d\u4ee4\uff0c\u4f46\u662f\u670d\u52a1\u5668\u7aef\u53ea\u80fd\u6709\u4e00\u4e2a\uff0c\u6bd5\u7adf\u53ea\u6709\u4e00\u4e2a\u673a\u5668\u4eba\uff0c\u5148\u6267\u884c\u5b8c\u6210\u4e00\u4e2a\u52a8\u4f5c\uff0c\u624d\u80fd\u6267\u884c\u4e0b\u4e00\u4e2a\u52a8\u4f5c\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_5","title":"\u540c\u6b65\u901a\u4fe1","text":"<p>\u65e2\u7136\u6709\u53cd\u9988\uff0c\u90a3\u52a8\u4f5c\u4e5f\u662f\u4e00\u79cd\u540c\u6b65\u901a\u4fe1\u673a\u5236\uff0c\u4e4b\u524d\u6211\u4eec\u4e5f\u4ecb\u7ecd\u8fc7\uff0c\u52a8\u4f5c\u8fc7\u7a0b\u4e2d\u7684\u6570\u636e\u901a\u4fe1\u63a5\u53e3\uff0c\u4f7f\u7528.action\u6587\u4ef6\u8fdb\u884c\u5b9a\u4e49\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_6","title":"\u7531\u670d\u52a1\u548c\u8bdd\u9898\u5408\u6210","text":"<p>\u5927\u5bb6\u518d\u4ed4\u7ec6\u770b\u4e0b\u4e0a\u8fb9\u7684\u52a8\u56fe\uff0c\u662f\u4e0d\u662f\u8fd8\u4f1a\u53d1\u73b0\u4e00\u4e2a\u9690\u85cf\u7684\u79d8\u5bc6\u3002</p> <p>\u52a8\u4f5c\u7684\u4e09\u4e2a\u901a\u4fe1\u6a21\u5757\uff0c\u7adf\u7136\u6709\u4e24\u4e2a\u662f\u670d\u52a1\uff0c\u4e00\u4e2a\u662f\u8bdd\u9898\uff0c\u5f53\u5ba2\u6237\u7aef\u53d1\u9001\u8fd0\u52a8\u76ee\u6807\u65f6\uff0c\u4f7f\u7528\u7684\u662f\u670d\u52a1\u7684\u8bf7\u6c42\u8c03\u7528\uff0c\u670d\u52a1\u5668\u7aef\u4e5f\u4f1a\u53cd\u9988\u4e00\u4e2a\u5e94\u5e26\uff0c\u8868\u793a\u6536\u5230\u547d\u4ee4\u3002\u52a8\u4f5c\u7684\u53cd\u9988\u8fc7\u7a0b\uff0c\u5176\u5b9e\u5c31\u662f\u4e00\u4e2a\u8bdd\u9898\u7684\u5468\u671f\u53d1\u5e03\uff0c\u670d\u52a1\u5668\u7aef\u662f\u53d1\u5e03\u8005\uff0c\u5ba2\u6237\u7aef\u662f\u8ba2\u9605\u8005\u3002</p> <p>\u6ca1\u9519\uff0c\u52a8\u4f5c\u662f\u4e00\u79cd\u5e94\u7528\u5c42\u7684\u901a\u4fe1\u673a\u5236\uff0c\u5176\u5e95\u5c42\u5c31\u662f\u57fa\u4e8e\u8bdd\u9898\u548c\u670d\u52a1\u6765\u5b9e\u73b0\u7684\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_7","title":"\u6848\u4f8b\u4e00\uff1a\u5c0f\u6d77\u9f9f\u7684\u52a8\u4f5c","text":"<p>\u6211\u4eec\u518d\u7528\u5c0f\u6d77\u9f9f\u7684\u6848\u4f8b\u52a0\u6df1\u5bf9\u52a8\u4f5c\u6982\u5ff5\u7684\u7406\u89e3\u3002</p> <p>\u6309\u7167\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u5c0f\u6d77\u9f9f\u4eff\u771f\u5668\uff0c\u63a5\u4e0b\u6765\u4f7f\u7528action\u547d\u4ee4\u63a7\u5236\u5c0f\u6d77\u9f9f\u7684\u52a8\u4f5c\uff0c\u53ef\u4ee5\u8ba9\u6d77\u9f9f\u8fd0\u52a8\u5230\u67d0\u4e00\u6307\u5b9a\u7684\u59ff\u6001\uff1a</p> <pre><code>$ ros2 run turtlesim turtlesim_node\n$ ros2 run turtlesim turtle_teleop_key\n$ ros2 action info /turtle1/rotate_absolute\n$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute \"{theta: -1.57}\"\n$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute \"{theta: -1.57}\" --feedback\n</code></pre> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_8","title":"\u6848\u4f8b\u4e8c\uff1a\u673a\u5668\u4eba\u753b\u5706","text":"<p>\u5982\u4f55\u901a\u8fc7\u4ee3\u7801\u6765\u5b9e\u73b0\u52a8\u4f5c\u7684\u7f16\u7a0b\u5462\uff1f</p> <p>\u52a8\u4f5c\u867d\u7136\u662f\u57fa\u4e8e\u8bdd\u9898\u548c\u670d\u52a1\u5b9e\u73b0\u7684\uff0c\u4f46\u5728\u5b9e\u9645\u4f7f\u7528\u4e2d\uff0c\u5e76\u4e0d\u4f1a\u76f4\u63a5\u4f7f\u7528\u8bdd\u9898\u548c\u670d\u52a1\u7684\u7f16\u7a0b\u65b9\u6cd5\uff0c\u800c\u662f\u6709\u4e00\u5957\u9488\u5bf9\u52a8\u4f5c\u7279\u6027\u5c01\u88c5\u597d\u7684\u7f16\u7a0b\u63a5\u53e3\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u4e00\u8d77\u8bd5\u4e00\u8bd5\u3002</p> <p></p> <p>\u5047\u8bbe\u6211\u4eec\u6709\u4e00\u4e2a\u673a\u5668\u4eba\uff0c\u6211\u4eec\u5e0c\u671b\u901a\u8fc7\u52a8\u4f5c\u7684\u901a\u4fe1\u65b9\u6cd5\uff0c\u8ba9\u673a\u5668\u4eba\u8f6c\u4e2a\u5708\uff0c\u8bf7\u7f16\u7a0b\u5b9e\u73b0\u52a8\u4f5c\u901a\u4fe1\u4e2d\uff0c\u5ba2\u6237\u7aef\u548c\u670d\u52a1\u5668\u7aef\u7684\u5b9e\u73b0\u8fc7\u7a0b\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_9","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e24\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\u4e00\u4e0b\u547d\u4ee4\uff0c\u542f\u52a8\u52a8\u4f5c\u793a\u4f8b\u7684\u670d\u52a1\u7aef\u548c\u5ba2\u6237\u7aef\uff1a</p> <pre><code>$ ros2 run learning_action action_move_server \n$ ros2 run learning_action action_move_client\n</code></pre> <p></p> <p></p> <p>\u7ec8\u7aef\u4e2d\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u5ba2\u6237\u7aef\u53d1\u9001\u52a8\u4f5c\u76ee\u6807\u4e4b\u540e\uff0c\u670d\u52a1\u5668\u7aef\u5f00\u59cb\u6a21\u62df\u673a\u5668\u4eba\u8fd0\u52a8\uff0c\u6bcf30\u5ea6\u53d1\u9001\u4e00\u6b21\u53cd\u9988\u4fe1\u606f\uff0c\u6700\u7ec8\u5b8c\u6210\u8fd0\u52a8\uff0c\u5e76\u53cd\u9988\u7ed3\u675f\u8fd0\u52a8\u7684\u4fe1\u606f\u3002</p> <p>\u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u5206\u6790\u4e0b\u8fd9\u4e2a\u4f8b\u7a0b\u5b9e\u73b0\u80cc\u540e\u7684\u539f\u7406\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_10","title":"\u63a5\u53e3\u5b9a\u4e49","text":"<p>\u4f8b\u7a0b\u4f7f\u7528\u7684\u52a8\u4f5c\u5e76\u4e0d\u662fROS\u4e2d\u7684\u6807\u51c6\u5b9a\u4e49\uff0c\u6211\u4eec\u901a\u8fc7MoveCircle.action\u8fdb\u884c\u81ea\u5b9a\u4e49\uff1a</p> <p>learning_interface/action/MoveCircle.action</p> <pre><code>bool enable     # \u5b9a\u4e49\u52a8\u4f5c\u7684\u76ee\u6807\uff0c\u8868\u793a\u52a8\u4f5c\u5f00\u59cb\u7684\u6307\u4ee4\n---\nbool finish     # \u5b9a\u4e49\u52a8\u4f5c\u7684\u7ed3\u679c\uff0c\u8868\u793a\u662f\u5426\u6210\u529f\u6267\u884c\n---\nint32 state     # \u5b9a\u4e49\u52a8\u4f5c\u7684\u53cd\u9988\uff0c\u8868\u793a\u5f53\u524d\u6267\u884c\u5230\u7684\u4f4d\u7f6e\n</code></pre> <p>\u5305\u542b\u4e09\u4e2a\u90e8\u5206\uff1a</p> <ul> <li>\u7b2c\u4e00\u5757\u662f\u52a8\u4f5c\u7684\u76ee\u6807\uff0cenable\u4e3atrue\u65f6\uff0c\u8868\u793a\u5f00\u59cb\u8fd0\u52a8\uff1b</li> <li>\u7b2c\u4e8c\u5757\u662f\u52a8\u4f5c\u7684\u6267\u884c\u7ed3\u679c\uff0cfinish\u4e3atrue\uff0c\u8868\u793a\u52a8\u4f5c\u6267\u884c\u5b8c\u6210\uff1b</li> <li>\u7b2c\u4e09\u5757\u662f\u52a8\u4f5c\u7684\u5468\u671f\u53cd\u9988\uff0c\u8868\u793a\u5f53\u524d\u673a\u5668\u4eba\u65cb\u8f6c\u5230\u7684\u89d2\u5ea6\u3002</li> </ul> <p>\u5b8c\u6210\u5b9a\u4e49\u540e\uff0c\u8fd8\u9700\u8981\u5728\u529f\u80fd\u5305\u7684CMakeLists.txt\u4e2d\u914d\u7f6e\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7f16\u8bd1\u5668\u5728\u7f16\u8bd1\u8fc7\u7a0b\u4e2d\uff0c\u6839\u636e\u63a5\u53e3\u5b9a\u4e49\uff0c\u81ea\u52a8\u751f\u6210\u4e0d\u540c\u8bed\u8a00\u7684\u4ee3\u7801\uff1a</p> <pre><code>...\n\nfind_package(rosidl_default_generators REQUIRED)\n\nrosidl_generate_interfaces(${PROJECT_NAME}\n  \"action/MoveCircle.action\"\n)\n\n...\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_11","title":"\u901a\u4fe1\u6a21\u578b","text":"<p>\u901a\u4fe1\u6a21\u578b\u5c31\u662f\u8fd9\u6837\uff0c\u5ba2\u6237\u7aef\u53d1\u9001\u7ed9\u4e00\u4e2a\u52a8\u4f5c\u76ee\u6807\uff0c\u670d\u52a1\u5668\u63a7\u5236\u673a\u5668\u4eba\u5f00\u59cb\u8fd0\u52a8\uff0c\u5e76\u5468\u671f\u53cd\u9988\uff0c\u7ed3\u675f\u540e\u53cd\u9988\u7ed3\u675f\u4fe1\u606f\u3002</p> <p></p> <p>\u601d\u8def\u7406\u6e05\u695a\uff0c\u63a5\u4e0b\u6765\u5f00\u59cb\u5199\u4ee3\u7801\u3002\u76f8\u6bd4\u4e4b\u524d\u8bdd\u9898\u548c\u670d\u52a1\u7684\u7a0b\u5e8f\uff0c\u52a8\u4f5c\u901a\u4fe1\u7684\u4f8b\u7a0b\u76f8\u5bf9\u8f83\u957f\uff0c\u6211\u4eec\u4e00\u8d77\u6765\u8fd0\u884c\u5e76\u5206\u6790\u4e00\u4e0b\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_12","title":"\u670d\u52a1\u7aef\u4ee3\u7801\u89e3\u6790","text":"<p>learning_action/action_move_server.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u52a8\u4f5c\u793a\u4f8b-\u8d1f\u8d23\u6267\u884c\u5706\u5468\u8fd0\u52a8\u52a8\u4f5c\u7684\u670d\u52a1\u7aef\n\"\"\"\n\nimport time\n\nimport rclpy                                      # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                     # ROS2 \u8282\u70b9\u7c7b\nfrom rclpy.action import ActionServer             # ROS2 \u52a8\u4f5c\u670d\u52a1\u5668\u7c7b\nfrom learning_interface.action import MoveCircle  # \u81ea\u5b9a\u4e49\u7684\u5706\u5468\u8fd0\u52a8\u63a5\u53e3\n\nclass MoveCircleActionServer(Node):\n    def __init__(self, name):\n        super().__init__(name)                   # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self._action_server = ActionServer(      # \u521b\u5efa\u52a8\u4f5c\u670d\u52a1\u5668\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u52a8\u4f5c\u540d\u3001\u56de\u8c03\u51fd\u6570\uff09\n            self,\n            MoveCircle,\n            'move_circle',\n            self.execute_callback)\n\n    def execute_callback(self, goal_handle):            # \u6267\u884c\u6536\u5230\u52a8\u4f5c\u76ee\u6807\u4e4b\u540e\u7684\u5904\u7406\u51fd\u6570\n        self.get_logger().info('Moving circle...')\n        feedback_msg = MoveCircle.Feedback()            # \u521b\u5efa\u4e00\u4e2a\u52a8\u4f5c\u53cd\u9988\u4fe1\u606f\u7684\u6d88\u606f\n\n        for i in range(0, 360, 30):                     # \u4ece0\u5230360\u5ea6\uff0c\u6267\u884c\u5706\u5468\u8fd0\u52a8\uff0c\u5e76\u5468\u671f\u53cd\u9988\u4fe1\u606f\n            feedback_msg.state = i                      # \u521b\u5efa\u53cd\u9988\u4fe1\u606f\uff0c\u8868\u793a\u5f53\u524d\u6267\u884c\u5230\u7684\u89d2\u5ea6\n            self.get_logger().info('Publishing feedback: %d' % feedback_msg.state)\n            goal_handle.publish_feedback(feedback_msg)  # \u53d1\u5e03\u53cd\u9988\u4fe1\u606f\n            time.sleep(0.5)\n\n        goal_handle.succeed()                           # \u52a8\u4f5c\u6267\u884c\u6210\u529f\n        result = MoveCircle.Result()                    # \u521b\u5efa\u7ed3\u679c\u6d88\u606f\n        result.finish = True                            \n        return result                                   # \u53cd\u9988\u6700\u7ec8\u52a8\u4f5c\u6267\u884c\u7684\u7ed3\u679c\n\ndef main(args=None):                                    # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                               # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = MoveCircleActionServer(\"action_move_server\") # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                    # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                 # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                    # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'action_move_server    = learning_action.action_move_server:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_13","title":"\u5ba2\u6237\u7aef\u4ee3\u7801\u89e3\u6790","text":"<p>learning_action/action_move_client.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u52a8\u4f5c\u793a\u4f8b-\u8bf7\u6c42\u6267\u884c\u5706\u5468\u8fd0\u52a8\u52a8\u4f5c\u7684\u5ba2\u6237\u7aef\n\"\"\"\n\nimport rclpy                                      # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                     # ROS2 \u8282\u70b9\u7c7b\nfrom rclpy.action import ActionClient             # ROS2 \u52a8\u4f5c\u5ba2\u6237\u7aef\u7c7b\n\nfrom learning_interface.action import MoveCircle  # \u81ea\u5b9a\u4e49\u7684\u5706\u5468\u8fd0\u52a8\u63a5\u53e3\n\nclass MoveCircleActionClient(Node):\n    def __init__(self, name):\n        super().__init__(name)                   # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self._action_client = ActionClient(      # \u521b\u5efa\u52a8\u4f5c\u5ba2\u6237\u7aef\uff08\u63a5\u53e3\u7c7b\u578b\u3001\u52a8\u4f5c\u540d\uff09\n            self, MoveCircle, 'move_circle') \n\n    def send_goal(self, enable):                 # \u521b\u5efa\u4e00\u4e2a\u53d1\u9001\u52a8\u4f5c\u76ee\u6807\u7684\u51fd\u6570\n        goal_msg = MoveCircle.Goal()             # \u521b\u5efa\u4e00\u4e2a\u52a8\u4f5c\u76ee\u6807\u7684\u6d88\u606f\n        goal_msg.enable = enable                 # \u8bbe\u7f6e\u52a8\u4f5c\u76ee\u6807\u4e3a\u4f7f\u80fd\uff0c\u5e0c\u671b\u673a\u5668\u4eba\u5f00\u59cb\u8fd0\u52a8\n\n        self._action_client.wait_for_server()    # \u7b49\u5f85\u52a8\u4f5c\u7684\u670d\u52a1\u5668\u7aef\u542f\u52a8\n        self._send_goal_future = self._action_client.send_goal_async(   # \u5f02\u6b65\u65b9\u5f0f\u53d1\u9001\u52a8\u4f5c\u7684\u76ee\u6807\n            goal_msg,                                                   # \u52a8\u4f5c\u76ee\u6807\n            feedback_callback=self.feedback_callback)                   # \u5904\u7406\u5468\u671f\u53cd\u9988\u6d88\u606f\u7684\u56de\u8c03\u51fd\u6570\n\n        self._send_goal_future.add_done_callback(self.goal_response_callback) # \u8bbe\u7f6e\u4e00\u4e2a\u670d\u52a1\u5668\u6536\u5230\u76ee\u6807\u4e4b\u540e\u53cd\u9988\u65f6\u7684\u56de\u8c03\u51fd\u6570\n\n    def goal_response_callback(self, future):           # \u521b\u5efa\u4e00\u4e2a\u670d\u52a1\u5668\u6536\u5230\u76ee\u6807\u4e4b\u540e\u53cd\u9988\u65f6\u7684\u56de\u8c03\u51fd\u6570\n        goal_handle = future.result()                   # \u63a5\u6536\u52a8\u4f5c\u7684\u7ed3\u679c\n        if not goal_handle.accepted:                    # \u5982\u679c\u52a8\u4f5c\u88ab\u62d2\u7edd\u6267\u884c\n            self.get_logger().info('Goal rejected :(')\n            return\n\n        self.get_logger().info('Goal accepted :)')                            # \u52a8\u4f5c\u88ab\u987a\u5229\u6267\u884c\n\n        self._get_result_future = goal_handle.get_result_async()              # \u5f02\u6b65\u83b7\u53d6\u52a8\u4f5c\u6700\u7ec8\u6267\u884c\u7684\u7ed3\u679c\u53cd\u9988\n        self._get_result_future.add_done_callback(self.get_result_callback)   # \u8bbe\u7f6e\u4e00\u4e2a\u6536\u5230\u6700\u7ec8\u7ed3\u679c\u7684\u56de\u8c03\u51fd\u6570 \n\n    def get_result_callback(self, future):                                    # \u521b\u5efa\u4e00\u4e2a\u6536\u5230\u6700\u7ec8\u7ed3\u679c\u7684\u56de\u8c03\u51fd\u6570\n        result = future.result().result                                       # \u8bfb\u53d6\u52a8\u4f5c\u6267\u884c\u7684\u7ed3\u679c\n        self.get_logger().info('Result: {%d}' % result.finish)                # \u65e5\u5fd7\u8f93\u51fa\u6267\u884c\u7ed3\u679c\n\n    def feedback_callback(self, feedback_msg):                                # \u521b\u5efa\u5904\u7406\u5468\u671f\u53cd\u9988\u6d88\u606f\u7684\u56de\u8c03\u51fd\u6570\n        feedback = feedback_msg.feedback                                      # \u8bfb\u53d6\u53cd\u9988\u7684\u6570\u636e\n        self.get_logger().info('Received feedback: {%d}' % feedback.state) \n\ndef main(args=None):                                       # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                                  # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = MoveCircleActionClient(\"action_move_client\")    # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    node.send_goal(True)                                   # \u53d1\u9001\u52a8\u4f5c\u76ee\u6807\n    rclpy.spin(node)                                       # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                    # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                       # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n         'action_move_client    = learning_action.action_move_client:main',\n         'action_move_server    = learning_action.action_move_server:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_14","title":"\u52a8\u4f5c\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u52a8\u4f5c\u547d\u4ee4\u7684\u5e38\u7528\u64cd\u4f5c\u5982\u4e0b\uff1a</p> <pre><code>$ ros2 action list                  # \u67e5\u770b\u670d\u52a1\u5217\u8868\n$ ros2 action info &lt;action_name&gt;    # \u67e5\u770b\u670d\u52a1\u6570\u636e\u7c7b\u578b\n$ ros2 action send_goal &lt;action_name&gt; &lt;action_type&gt; &lt;action_data&gt;   # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/#_15","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Understanding-ROS2-Actions.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/","title":"\u53c2\u6570","text":"<p>\u8bdd\u9898\u3001\u670d\u52a1\u3001\u52a8\u4f5c\uff0c\u4e0d\u77e5\u9053\u8fd9\u4e09\u79cd\u901a\u4fe1\u673a\u5236\u5927\u5bb6\u662f\u5426\u5df2\u7ecf\u4e86\u89e3\u6e05\u695a\uff0c\u672c\u8282\u6211\u4eec\u518d\u6765\u4ecb\u7ecd\u4e00\u79cdROS\u7cfb\u7edf\u4e2d\u5e38\u7528\u7684\u6570\u636e\u4f20\u8f93\u65b9\u5f0f\u2014\u2014\u53c2\u6570\u3002</p> <p>\u7c7b\u4f3cC++\u7f16\u7a0b\u4e2d\u7684\u5168\u5c40\u53d8\u91cf\uff0c\u53ef\u4ee5\u4fbf\u4e8e\u5728\u591a\u4e2a\u7a0b\u5e8f\u4e2d\u5171\u4eab\u67d0\u4e9b\u6570\u636e\uff0c\u53c2\u6570\u662fROS\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u5168\u5c40\u5b57\u5178\uff0c\u53ef\u4ee5\u8fd0\u884c\u591a\u4e2a\u8282\u70b9\u4e2d\u5171\u4eab\u6570\u636e\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_2","title":"\u901a\u4fe1\u6a21\u578b","text":"<p>\u6bd4\u5982\u5728\u673a\u5668\u89c6\u89c9\u8bc6\u522b\u7684\u65f6\u5019\uff0c\u6709\u5f88\u591a\u53c2\u6570\u90fd\u4f1a\u5f71\u54cd\u89c6\u89c9\u8bc6\u522b\u7684\u6548\u679c\u3002</p> <p></p> <p>\u5728NodeA\u76f8\u673a\u9a71\u52a8\u8282\u70b9\u4e2d\uff0c\u5c31\u9700\u8981\u8003\u8651\u5f88\u591a\u95ee\u9898\uff0c\u76f8\u673a\u8fde\u63a5\u5230\u54ea\u4e2ausb\u7aef\u53e3\uff0c\u4f7f\u7528\u7684\u56fe\u50cf\u5206\u8fa8\u7387\u662f\u591a\u5c11\uff0c\u66dd\u5149\u5ea6\u548c\u7f16\u7801\u683c\u5f0f\u5206\u522b\u662f\u4ec0\u4e48\uff0c\u8fd9\u4e9b\u90fd\u53ef\u4ee5\u901a\u8fc7\u53c2\u6570\u8bbe\u7f6e\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u914d\u7f6e\u6587\u4ef6\u6216\u8005\u7a0b\u5e8f\u8fdb\u884c\u8bbe\u7f6e\u3002</p> <p>NodeB\u8282\u70b9\u4e2d\u4e5f\u662f\u4e00\u6837\uff0c\u56fe\u50cf\u8bc6\u522b\u4f7f\u7528\u7684\u9608\u503c\u662f\u591a\u5c11\uff0c\u6574\u4e2a\u56fe\u50cf\u9762\u79ef\u5f88\u5927\uff0c\u90a3\u4e2a\u90e8\u5206\u662f\u6211\u4eec\u5173\u6ce8\u7684\u6838\u5fc3\u533a\u57df\uff0c\u8bc6\u522b\u8fc7\u7a0b\u662f\u5426\u9700\u8981\u7f8e\u989c\u7b49\u7b49\uff0c\u5c31\u50cf\u6211\u4eec\u4f7f\u7528\u7f8e\u989c\u76f8\u673a\u4e00\u6837\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u6ed1\u52a8\u6761\u6216\u8005\u8f93\u5165\u6846\u8bbe\u7f6e\u5f88\u591a\u53c2\u6570\uff0c\u4e0d\u540c\u53c2\u6570\u8bbe\u7f6e\u540e\uff0c\u90fd\u4f1a\u6539\u53d8\u6267\u884c\u529f\u80fd\u7684\u4e00\u4e9b\u6548\u679c\u3002</p> <p>\u8fd9\u5c31\u662f\u53c2\u6570\u7684\u4f5c\u7528\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_3","title":"\u5168\u5c40\u5b57\u5178","text":"<p>\u5728ROS\u7cfb\u7edf\u4e2d\uff0c\u53c2\u6570\u662f\u4ee5\u5168\u5c40\u5b57\u5178\u7684\u5f62\u6001\u5b58\u5728\u7684\uff0c\u4ec0\u4e48\u53eb\u5b57\u5178\uff1f\u5c31\u50cf\u771f\u5b9e\u7684\u5b57\u5178\u4e00\u6837\uff0c\u7531\u540d\u79f0\u548c\u6570\u503c\u7ec4\u6210\uff0c\u4e5f\u53eb\u505a\u952e\u548c\u503c\uff0c\u5408\u6210\u952e\u503c\u3002\u6216\u8005\u6211\u4eec\u4e5f\u53ef\u4ee5\u7406\u89e3\u4e3a\uff0c\u5c31\u50cf\u7f16\u7a0b\u4e2d\u7684\u53c2\u6570\u4e00\u6837\uff0c\u6709\u4e00\u4e2a\u53c2\u6570\u540d \uff0c\u7136\u540e\u8ddf\u4e00\u4e2a\u7b49\u53f7\uff0c\u540e\u8fb9\u5c31\u662f\u53c2\u6570\u503c\u4e86\uff0c\u5728\u4f7f\u7528\u7684\u65f6\u5019\uff0c\u8bbf\u95ee\u8fd9\u4e2a\u53c2\u6570\u540d\u5373\u53ef\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_4","title":"\u53ef\u52a8\u6001\u76d1\u63a7","text":"<p>\u5728ROS2\u4e2d\uff0c\u53c2\u6570\u7684\u7279\u6027\u975e\u5e38\u4e30\u5bcc\uff0c\u6bd4\u5982\u67d0\u4e00\u4e2a\u8282\u70b9\u5171\u4eab\u4e86\u4e00\u4e2a\u53c2\u6570\uff0c\u5176\u4ed6\u8282\u70b9\u90fd\u53ef\u4ee5\u8bbf\u95ee\uff0c\u5982\u679c\u67d0\u4e00\u4e2a\u8282\u70b9\u5bf9\u53c2\u6570\u8fdb\u884c\u4e86\u4fee\u6539\uff0c\u5176\u4ed6\u8282\u70b9\u4e5f\u6709\u529e\u6cd5\u7acb\u523b\u77e5\u9053\uff0c\u4ece\u800c\u83b7\u53d6\u6700\u65b0\u7684\u6570\u503c\u3002\u8fd9\u5728\u53c2\u6570\u7684\u9ad8\u7ea7\u7f16\u7a0b\u4e2d\uff0c\u5927\u5bb6\u90fd\u53ef\u80fd\u4f1a\u7528\u5230\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_5","title":"\u6848\u4f8b\u4e00\uff1a\u5c0f\u6d77\u9f9f\u4f8b\u7a0b\u4e2d\u7684\u53c2\u6570","text":"<p>\u5728\u5c0f\u6d77\u9f9f\u7684\u4f8b\u7a0b\u4e2d\uff0c\u4eff\u771f\u5668\u4e5f\u63d0\u4f9b\u4e86\u4e0d\u5c11\u53c2\u6570\uff0c\u6211\u4eec\u4e00\u8d77\u6765\u901a\u8fc7\u8fd9\u4e2a\u4f8b\u7a0b\uff0c\u719f\u6089\u4e0b\u53c2\u6570\u7684\u542b\u4e49\u548c\u547d\u4ee4\u884c\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</p> <p>\u542f\u52a8\u4e24\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\u5c0f\u6d77\u9f9f\u4eff\u771f\u5668\u548c\u952e\u76d8\u63a7\u5236\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run turtlesim turtlesim_node\n$ ros2 run turtlesim turtle_teleop_key\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_6","title":"\u67e5\u770b\u53c2\u6570\u5217\u8868","text":"<p>\u5f53\u524d\u7cfb\u7edf\u4e2d\u6709\u54ea\u4e9b\u53c2\u6570\u5462\uff1f\u6211\u4eec\u53ef\u4ee5\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u5e76\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u67e5\u8be2\uff1a</p> <pre><code>$ ros2 param list\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_7","title":"\u53c2\u6570\u67e5\u8be2\u4e0e\u4fee\u6539","text":"<p>\u5982\u679c\u60f3\u8981\u67e5\u8be2\u6216\u8005\u4fee\u6539\u67d0\u4e2a\u53c2\u6570\u7684\u503c\uff0c\u53ef\u4ee5\u5728param\u547d\u4ee4\u540e\u8fb9\u8ddfget\u6216\u8005set\u5b50\u547d\u4ee4\uff1a</p> <pre><code>$ ros2 param describe turtlesim background_b   # \u67e5\u770b\u67d0\u4e2a\u53c2\u6570\u7684\u63cf\u8ff0\u4fe1\u606f\n$ ros2 param get turtlesim background_b        # \u67e5\u8be2\u67d0\u4e2a\u53c2\u6570\u7684\u503c\n$ ros2 param set turtlesim background_b 10     # \u4fee\u6539\u67d0\u4e2a\u53c2\u6570\u7684\u503c\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_8","title":"\u53c2\u6570\u6587\u4ef6\u4fdd\u5b58\u4e0e\u52a0\u8f7d","text":"<p>\u4e00\u4e2a\u4e00\u4e2a\u67e5\u8be2/\u4fee\u6539\u53c2\u6570\u592a\u9ebb\u70e6\u4e86\uff0c\u4e0d\u5982\u8bd5\u4e00\u8bd5\u53c2\u6570\u6587\u4ef6\uff0cROS\u4e2d\u7684\u53c2\u6570\u6587\u4ef6\u4f7f\u7528yaml\u683c\u5f0f\uff0c\u53ef\u4ee5\u5728param\u547d\u4ee4\u540e\u8fb9\u8ddfdump\u5b50\u547d\u4ee4\uff0c\u5c06\u67d0\u4e2a\u8282\u70b9\u7684\u53c2\u6570\u90fd\u4fdd\u5b58\u5230\u6587\u4ef6\u4e2d\uff0c\u6216\u8005\u901a\u8fc7load\u547d\u4ee4\u4e00\u6b21\u6027\u52a0\u8f7d\u67d0\u4e2a\u53c2\u6570\u6587\u4ef6\u4e2d\u7684\u6240\u6709\u5185\u5bb9\uff1a</p> <pre><code>$ ros2 param dump turtlesim &gt;&gt; turtlesim.yaml  # \u5c06\u67d0\u4e2a\u8282\u70b9\u7684\u53c2\u6570\u4fdd\u5b58\u5230\u53c2\u6570\u6587\u4ef6\u4e2d\n$ ros2 param load turtlesim turtlesim.yaml     # \u4e00\u6b21\u6027\u52a0\u8f7d\u67d0\u4e00\u4e2a\u6587\u4ef6\u4e2d\u7684\u6240\u6709\u53c2\u6570\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_9","title":"\u6848\u4f8b\u4e8c\uff1a\u53c2\u6570\u7f16\u7a0b","text":"<p>\u63a5\u4e0b\u6765\u5c31\u8981\u5f00\u59cb\u5199\u7a0b\u5e8f\u4e86\uff0c\u5728\u7a0b\u5e8f\u4e2d\u8bbe\u7f6e\u53c2\u6570\u548c\u8bfb\u53d6\u53c2\u6570\u90fd\u6bd4\u8f83\u7b80\u5355\uff0c\u4e00\u4e24\u53e5\u51fd\u6570\u5c31\u53ef\u4ee5\u5b9e\u73b0\uff0c\u6211\u4eec\u5148\u6765\u4f53\u9a8c\u4e00\u4e0b\u8fd9\u51e0\u4e2a\u51fd\u6570\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_10","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u5148\u8fd0\u884c\u7b2c\u4e00\u53e5\u6307\u4ee4\uff0c\u542f\u52a8param_declare\u8282\u70b9\uff0c\u7ec8\u7aef\u4e2d\u53ef\u4ee5\u770b\u5230\u5faa\u73af\u6253\u5370\u7684\u65e5\u5fd7\u4fe1\u606f\uff0c\u5176\u4e2d\u7684\u201cmbot\u201d\u5c31\u662f\u6211\u4eec\u8bbe\u7f6e\u7684\u4e00\u4e2a\u53c2\u6570\u503c\uff0c\u53c2\u6570\u540d\u79f0\u662f\u201crobot_name\u201d\uff0c\u901a\u8fc7\u547d\u4ee4\u884c\u4fee\u6539\u8fd9\u4e2a\u53c2\u6570\uff0c\u770b\u4e0b\u7ec8\u7aef\u4e2d\u4f1a\u53d1\u751f\u4ec0\u4e48\uff1f</p> <pre><code>$ ros2 run learning_parameter param_declare\n$ ros2 param set param_declare robot_name turtle\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_11","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u6211\u4eec\u6765\u770b\u4e0b\u5728\u4ee3\u7801\u4e2d\uff0c\u5982\u4f55\u58f0\u660e\u3001\u521b\u5efa\u3001\u4fee\u6539\u4e00\u4e2a\u53c2\u6570\u7684\u503c\u3002</p> <p>learning_parameter/param_declare.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u53c2\u6570\u793a\u4f8b-\u521b\u5efa\u3001\u8bfb\u53d6\u3001\u4fee\u6539\u53c2\u6570\n\"\"\"\n\nimport rclpy                                     # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node   import Node                    # ROS2 \u8282\u70b9\u7c7b\n\nclass ParameterNode(Node):\n    def __init__(self, name):\n        super().__init__(name)                                    # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.timer = self.create_timer(2, self.timer_callback)    # \u521b\u5efa\u4e00\u4e2a\u5b9a\u65f6\u5668\uff08\u5355\u4f4d\u4e3a\u79d2\u7684\u5468\u671f\uff0c\u5b9a\u65f6\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\uff09\n        self.declare_parameter('robot_name', 'mbot')              # \u521b\u5efa\u4e00\u4e2a\u53c2\u6570\uff0c\u5e76\u8bbe\u7f6e\u53c2\u6570\u7684\u9ed8\u8ba4\u503c\n\n    def timer_callback(self):                                      # \u521b\u5efa\u5b9a\u65f6\u5668\u5468\u671f\u6267\u884c\u7684\u56de\u8c03\u51fd\u6570\n        robot_name_param = self.get_parameter('robot_name').get_parameter_value().string_value   # \u4eceROS2\u7cfb\u7edf\u4e2d\u8bfb\u53d6\u53c2\u6570\u7684\u503c\n\n        self.get_logger().info('Hello %s!' % robot_name_param)     # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u6253\u5370\u8bfb\u53d6\u5230\u7684\u53c2\u6570\u503c\n\n        new_name_param = rclpy.parameter.Parameter('robot_name',   # \u91cd\u65b0\u5c06\u53c2\u6570\u503c\u8bbe\u7f6e\u4e3a\u6307\u5b9a\u503c\n                            rclpy.Parameter.Type.STRING, 'mbot')\n        all_new_parameters = [new_name_param]\n        self.set_parameters(all_new_parameters)                    # \u5c06\u91cd\u65b0\u521b\u5efa\u7684\u53c2\u6570\u5217\u8868\u53d1\u9001\u7ed9ROS2\u7cfb\u7edf\n\ndef main(args=None):                                 # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                            # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = ParameterNode(\"param_declare\")            # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                 # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                              # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                 # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>entry_points={\n    'console_scripts': [\n     'param_declare          = learning_parameter.param_declare:main',\n    ],\n},\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_12","title":"\u6848\u4f8b\u4e09\uff1a\u673a\u5668\u89c6\u89c9\u5e94\u7528","text":"<p>\u53c2\u6570\u5927\u5bb6\u5df2\u7ecf\u4f1a\u4f7f\u7528\u4e86\uff0c\u5982\u4f55\u5728\u673a\u5668\u4eba\u4e2d\u5e94\u7528\u5462\uff1f</p> <p>\u7ee7\u7eed\u4f18\u5316\u673a\u5668\u89c6\u89c9\u7684\u793a\u4f8b\uff0c\u7269\u4f53\u8bc6\u522b\u5bf9\u5149\u7ebf\u6bd4\u8f83\u654f\u611f\uff0c\u4e0d\u540c\u7684\u73af\u5883\u5927\u5bb6\u4f7f\u7528\u7684\u9608\u503c\u4e5f\u662f\u4e0d\u540c\u7684\uff0c\u6bcf\u6b21\u5728\u4ee3\u7801\u4e2d\u4fee\u6539\u9608\u503c\u8fd8\u633a\u9ebb\u70e6\uff0c\u4e0d\u5982\u6211\u4eec\u5c31\u628a\u9608\u503c\u63d0\u70bc\u6210\u53c2\u6570\uff0c\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u5c31\u53ef\u4ee5\u52a8\u6001\u8bbe\u7f6e\uff0c\u4e0d\u662f\u5927\u5927\u63d0\u9ad8\u4e86\u7a0b\u5e8f\u7684\u6613\u7528\u6027\u4e48\uff1f</p> <p>\u8bf4\u5e72\u5c31\u5e72\uff0c\u6211\u4eec\u5148\u6765\u770b\u4e0b\u6548\u679c\u5982\u4f55\uff0c\u518d\u770b\u4e0b\u4ee3\u7801\u4e2d\u7684\u53d8\u5316\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_13","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e09\u4e2a\u7ec8\u7aef\uff0c\u5206\u522b\u8fd0\u884c\uff1a</p> <ol> <li>\u76f8\u673a\u9a71\u52a8\u8282\u70b9</li> <li>\u89c6\u89c9\u8bc6\u522b\u8282\u70b9</li> <li>\u4fee\u6539\u7ea2\u8272\u9608\u503c</li> </ol> <pre><code>$ ros2 run usb_cam usb_cam_node_exe \n$ ros2 run learning_parameter param_object_detect\n$ ros2 param set param_object_detect red_h_upper 180\n</code></pre> <p>\u5728\u542f\u52a8\u7684\u89c6\u89c9\u8bc6\u522b\u8282\u70b9\u4e2d\uff0c\u6211\u4eec\u6545\u610f\u5c06\u89c6\u89c9\u8bc6\u522b\u4e2d\u7ea2\u8272\u9608\u503c\u7684\u4e0a\u9650\u8bbe\u7f6e\u4e3a0\uff0c\u5982\u679c\u4e0d\u4fee\u6539\u53c2\u6570\uff0c\u5c06\u65e0\u6cd5\u5b9e\u73b0\u76ee\u6807\u8bc6\u522b\u3002</p> <p></p> <p>\u4e3a\u4e86\u4fbf\u4e8e\u8c03\u6574\u9608\u503c\uff0c\u6211\u4eec\u5728\u8282\u70b9\u4e2d\u5c06\u7ea2\u8272\u9608\u503c\u7684\u9650\u4f4d\u4fee\u6539\u4e3a\u4e86ROS\u53c2\u6570\uff0c\u901a\u8fc7\u547d\u4ee4\u884c\u4fee\u6539\u8be5\u53c2\u6570\u7684\u503c\uff0c\u5c31\u53ef\u4ee5\u5b9e\u73b0\u89c6\u89c9\u8bc6\u522b\u5566\u3002</p> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_14","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u6211\u4eec\u6765\u770b\u4e0b\u5728\u89c6\u89c9\u8bc6\u522b\u7684\u4ee3\u7801\u4e2d\uff0c\u662f\u5982\u4f55\u901a\u8fc7\u53c2\u6570\u6765\u8bbe\u7f6e\u9608\u503c\u7684\u3002</p> <p>learning_parameter/param_object_detect.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2\u53c2\u6570\u793a\u4f8b-\u8bbe\u7f6e\u76ee\u6807\u8bc6\u522b\u7684\u989c\u8272\u9608\u503c\u53c2\u6570\n\"\"\"\n\nimport rclpy                      # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node       # ROS2 \u8282\u70b9\u7c7b\nfrom sensor_msgs.msg import Image # \u56fe\u50cf\u6d88\u606f\u7c7b\u578b\nfrom cv_bridge import CvBridge    # ROS\u4e0eOpenCV\u56fe\u50cf\u8f6c\u6362\u7c7b\nimport cv2                        # Opencv\u56fe\u50cf\u5904\u7406\u5e93\nimport numpy as np                # Python\u6570\u503c\u8ba1\u7b97\u5e93\n\nlower_red = np.array([0, 90, 128])     # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0b\u9650\nupper_red = np.array([180, 255, 255])  # \u7ea2\u8272\u7684HSV\u9608\u503c\u4e0a\u9650\n\n\"\"\"\n\u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\n\"\"\"\nclass ImageSubscriber(Node):\n  def __init__(self, name):\n    super().__init__(name)                                  # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316    \n    self.sub = self.create_subscription(Image,              # \u521b\u5efa\u8ba2\u9605\u8005\u5bf9\u8c61\uff08\u6d88\u606f\u7c7b\u578b\u3001\u8bdd\u9898\u540d\u3001\u8ba2\u9605\u8005\u56de\u8c03\u51fd\u6570\u3001\u961f\u5217\u957f\u5ea6\uff09     \n                  'image_raw', self.listener_callback, 10) \n    self.cv_bridge = CvBridge()                             # \u521b\u5efa\u4e00\u4e2a\u56fe\u50cf\u8f6c\u6362\u5bf9\u8c61\uff0c\u7528\u4e8eOpenCV\u56fe\u50cf\u4e0eROS\u7684\u56fe\u50cf\u6d88\u606f\u7684\u4e92\u76f8\u8f6c\u6362\n\n    self.declare_parameter('red_h_upper', 0)                # \u521b\u5efa\u4e00\u4e2a\u53c2\u6570\uff0c\u8868\u793a\u9608\u503c\u4e0a\u9650\n    self.declare_parameter('red_h_lower', 0)                # \u521b\u5efa\u4e00\u4e2a\u53c2\u6570\uff0c\u8868\u793a\u9608\u503c\u4e0b\u9650\n\n  def object_detect(self, image):\n    upper_red[0] = self.get_parameter('red_h_upper').get_parameter_value().integer_value    # \u8bfb\u53d6\u9608\u503c\u4e0a\u9650\u7684\u53c2\u6570\u503c\n    lower_red[0] = self.get_parameter('red_h_lower').get_parameter_value().integer_value    # \u8bfb\u53d6\u9608\u503c\u4e0b\u9650\u7684\u53c2\u6570\u503c\n    self.get_logger().info('Get Red H Upper: %d, Lower: %d' % (upper_red[0], lower_red[0])) # \u901a\u8fc7\u65e5\u5fd7\u6253\u5370\u8bfb\u53d6\u5230\u7684\u53c2\u6570\u503c\n\n    hsv_img = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)                                        # \u56fe\u50cf\u4eceBGR\u989c\u8272\u6a21\u578b\u8f6c\u6362\u4e3aHSV\u6a21\u578b\n    mask_red = cv2.inRange(hsv_img, lower_red, upper_red)                                   # \u56fe\u50cf\u4e8c\u503c\u5316\n    contours, hierarchy = cv2.findContours(mask_red, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)  # \u56fe\u50cf\u4e2d\u8f6e\u5ed3\u68c0\u6d4b\n    for cnt in contours:                                                                    # \u53bb\u9664\u4e00\u4e9b\u8f6e\u5ed3\u9762\u79ef\u592a\u5c0f\u7684\u566a\u58f0\n        if cnt.shape[0] &lt; 150:\n            continue\n\n        (x, y, w, h) = cv2.boundingRect(cnt)                            # \u5f97\u5230\u82f9\u679c\u6240\u5728\u8f6e\u5ed3\u7684\u5de6\u4e0a\u89d2xy\u50cf\u7d20\u5750\u6807\u53ca\u8f6e\u5ed3\u8303\u56f4\u7684\u5bbd\u548c\u9ad8\n        cv2.drawContours(image, [cnt], -1, (0, 255, 0), 2)              # \u5c06\u82f9\u679c\u7684\u8f6e\u5ed3\u52fe\u52d2\u51fa\u6765\n        cv2.circle(image, (int(x+w/2), int(y+h/2)), 5, (0, 255, 0), -1) # \u5c06\u82f9\u679c\u7684\u56fe\u50cf\u4e2d\u5fc3\u70b9\u753b\u51fa\u6765\n\n    cv2.imshow(\"object\", image)                                         # \u4f7f\u7528OpenCV\u663e\u793a\u5904\u7406\u540e\u7684\u56fe\u50cf\u6548\u679c\n    cv2.waitKey(50)\n\n  def listener_callback(self, data):\n    self.get_logger().info('Receiving video frame')     # \u8f93\u51fa\u65e5\u5fd7\u4fe1\u606f\uff0c\u63d0\u793a\u5df2\u8fdb\u5165\u56de\u8c03\u51fd\u6570\n    image = self.cv_bridge.imgmsg_to_cv2(data, \"bgr8\")  # \u5c06ROS\u7684\u56fe\u50cf\u6d88\u606f\u8f6c\u5316\u6210OpenCV\u56fe\u50cf\n    self.object_detect(image)                            # \u82f9\u679c\u68c0\u6d4b\n\ndef main(args=None):                                    # ROS2\u8282\u70b9\u4e3b\u5165\u53e3main\u51fd\u6570\n    rclpy.init(args=args)                               # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = ImageSubscriber(\"param_object_detect\")       # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                    # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                 # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                    # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>entry_points={\n    'console_scripts': [\n     'param_declare          = learning_parameter.param_declare:main',\n     'param_object_detect    = learning_parameter.param_object_detect:main',\n    ],\n},\n</code></pre>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/#_15","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Parameters/Understanding-ROS2-Parameters.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/","title":"\u5206\u5e03\u5f0f\u901a\u4fe1","text":"<p>\u667a\u80fd\u673a\u5668\u4eba\u7684\u529f\u80fd\u7e41\u591a\uff0c\u5168\u90fd\u653e\u5728\u4e00\u4e2a\u8ba1\u7b97\u673a\u91cc\uff0c\u7ecf\u5e38\u4f1a\u9047\u5230\u8ba1\u7b97\u80fd\u529b\u4e0d\u591f\u3001\u5904\u7406\u51fa\u73b0\u5361\u987f\u7b49\u60c5\u51b5\uff0c\u5982\u679c\u53ef\u4ee5\u5c06\u8fd9\u4e9b\u4efb\u52a1\u62c6\u89e3\uff0c\u5206\u914d\u5230\u591a\u4e2a\u8ba1\u7b97\u673a\u4e2d\u8fd0\u884c\u5c82\u4e0d\u662f\u53ef\u4ee5\u51cf\u8f7b\u538b\u529b\uff1f</p> <p>\u8fd9\u5c31\u662f\u5206\u5e03\u5f0f\u7cfb\u7edf\uff0c\u53ef\u4ee5\u5b9e\u73b0\u591a\u8ba1\u7b97\u5e73\u53f0\u4e0a\u7684\u4efb\u52a1\u5206\u914d\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_2","title":"\u5206\u5e03\u5f0f\u901a\u4fe1","text":"<p>\u4ec0\u4e48\u53eb\u5206\u5e03\u5f0f\uff1f</p> <p>\u4e4b\u524d\u6211\u4eec\u4e5f\u8bb2\u8fc7\uff0c\u5728ROS\u7cfb\u7edf\u4e2d\uff0c\u673a\u5668\u4eba\u529f\u80fd\u662f\u7531\u5404\u79cd\u8282\u70b9\u7ec4\u6210\u7684\uff0c\u8fd9\u4e9b\u8282\u70b9\u53ef\u80fd\u4f4d\u4e8e\u4e0d\u540c\u7684\u8ba1\u7b97\u673a\u4e2d\uff0c\u8fd9\u79cd\u7ed3\u6784\u53ef\u4ee5\u5c06\u539f\u672c\u8d44\u6e90\u6d88\u8017\u8f83\u591a\u7684\u4efb\u52a1\uff0c\u5206\u914d\u5230\u4e0d\u540c\u7684\u5e73\u53f0\u4e0a\uff0c\u51cf\u8f7b\u8ba1\u7b97\u538b\u529b\uff0c\u8fd9\u5c31\u662f\u5206\u5e03\u5f0f\u901a\u4fe1\u6846\u67b6\u7684\u5178\u578b\u5e94\u7528\u4e4b\u4e00\u3002</p> <p></p> 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<p>\u4e24\u4e2a\u7535\u8111\u4e4b\u95f4\u7684\u901a\u4fe1\uff0c\u770b\u4e0a\u53bb\u8fd8\u6709\u70b9\u590d\u6742\uff0c\u6bd5\u7adf\u76f8\u4e92\u4f20\u8f93\u7684\u6570\u636e\u8fd8\u633a\u591a\u7684\uff0c\u4e0d\u8fc7ROS\u7cfb\u7edf\u90fd\u5df2\u7ecf\u4e3a\u6211\u4eec\u8bbe\u8ba1\u597d\u4e86\uff0c\u6211\u4eec\u53ea\u9700\u8981\u5728\u6bcf\u4e00\u4e2a\u7535\u8111\u4e0a\u914d\u7f6e\u597dROS\u73af\u5883\uff0c\u529f\u80fd\u5f00\u53d1\u4e0a\u5b8c\u5168\u4e0d\u9700\u8981\u505a\u4efb\u4f55\u53d8\u5316\uff0c\u5b9e\u73b0\u975e\u5e38\u65b9\u4fbf\u3002</p> 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Mate\u9488\u5bf9\u6811\u8393\u6d3e\u7684\u955c\u50cf\uff0c\u4e0b\u8f7d\u955c\u50cf\u4e4b\u540e\uff0c\u70e7\u5199\u5230\u6811\u8393\u6d3e\u7684SD\u5361\u4e2d\u5c31\u53ef\u4ee5\u542f\u52a8\u7cfb\u7edf\u4e86\u3002</p> <p>Ubuntu MATE\u955c\u50cf\u4e0b\u8f7d\u94fe\u63a5\uff1ahttps://ubuntu-mate.org/download/</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#ros2","title":"\u5b89\u88c5ROS2","text":"<p>\u5728\u5b89\u88c5\u597d\u7684Ubuntu Mate\u7cfb\u7edf\u4e2d\uff0c\u5b89\u88c5ROS2\uff0c\u548c\u7535\u8111\u7aef\u5b89\u88c5\u7684\u6d41\u7a0b\u4e00\u6837\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_6","title":"\u7f16\u8bd1\u4ee3\u7801","text":"<p>\u5c06\u6211\u4eec\u8bfe\u7a0b\u7684\u4ee3\u7801\u4e5f\u4e0b\u8f7d\u5230\u6811\u8393\u6d3e\u4e2d\uff0c\u8fdb\u884c\u7f16\u8bd1\u3002</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_7","title":"\u8fdc\u7a0b\u684c\u9762","text":"<p>\u5982\u679c\u5927\u5bb6\u6709\u663e\u793a\u5668\uff0c\u53ef\u4ee5\u76f4\u63a5\u5728\u6811\u8393\u6d3e\u4e0a\u8fde\u63a5\u952e\u76d8\u9f20\u6807\u663e\u793a\u5668\u4f7f\u7528\uff0c\u5982\u679c\u4f7f\u7528\u4e0d\u65b9\u4fbf\u7684\u8bdd\uff0c\u4e5f\u53ef\u4ee5\u5728\u6811\u8393\u6d3e\u4e0a\u914d\u7f6e\u597d\u8fdc\u7a0b\u684c\u9762\uff0c\u5c31\u53ef\u4ee5\u901a\u8fc7\u7f51\u7edc\u8bbf\u95ee\u6811\u8393\u6d3e\u7684\u684c\u9762\u7cfb\u7edf\u4e86\u3002</p> <p></p> <p>\u4ee5\u4e0a\u6b65\u9aa4\u7684\u6574\u4f53\u6d41\u7a0b\u548c\u7535\u8111\u7aef\u64cd\u4f5c\u57fa\u672c\u4e00\u81f4\uff0c\u5927\u5bb6\u4e5f\u53ef\u4ee5\u53c2\u8003\u5982\u4e0b\u94fe\u63a5\u914d\u7f6e\u6811\u8393\u6d3e\uff1a</p> <p>https://blog.csdn.net/qq_52785580/article/details/122599728</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_8","title":"\u5206\u5e03\u5f0f\u6570\u636e\u4f20\u8f93","text":"<p>\u6811\u8393\u6d3e\u914d\u7f6e\u5b8c\u6210\u540e\uff0c\u786e\u4fdd\u5df2\u7ecf\u548c\u4f60\u6240\u4f7f\u7528\u7684\u7535\u8111\u8fde\u63a5\u5230\u4e86\u540c\u4e00\u4e2a\u5c40\u57df\u7f51\u7edc\u4e2d\u3002\u63a5\u4e0b\u6765\u6211\u4eec\u6253\u901a\u4e24\u4e2a\u8ba1\u7b97\u5e73\u53f0\u7684\u901a\u4fe1\u80fd\u529b\u3002\u5177\u4f53\u9700\u8981\u505a\u4ec0\u4e48\u5462\uff1f</p> <p>\u7b80\u800c\u8a00\u4e4b\uff0c\u4ec0\u4e48\u90fd\u4e0d\u9700\u8981\u505a\u3002\u6211\u4eec\u76f4\u63a5\u7528\u547d\u4ee4\u884c\u6d4b\u8bd5\u4e00\u4e0b\u8bdd\u9898\u901a\u4fe1\u7684\u6548\u679c\u3002</p> Attention <p>\u5982\u4f7f\u7528\u865a\u62df\u673a\uff0c\u8bf7\u5c06\u865a\u62df\u673a\u7f51\u7edc\u4fee\u6539\u4e3a\u6865\u63a5\u6a21\u5f0f</p> <p>\u5728\u6811\u8393\u6d3e\u7aef\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u542f\u52a8\u4e00\u4e2a\u53d1\u5e03\u8005\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run demo_nodes_cpp talker  #\u6811\u8393\u6d3e\u7aef\n</code></pre> <p></p> <p>\u63a5\u4e0b\u6765\u5728\u7535\u8111\u7aef\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u542f\u52a8\u4e00\u4e2a\u8ba2\u9605\u8005\u8282\u70b9\uff1a</p> <pre><code>$ ros2 run demo_nodes_py listener #PC\u7aef\n</code></pre> <p></p> <p>\u795e\u5947\u7684\u4e8b\u60c5\u5c31\u8fd9\u6837\u53d1\u751f\u4e86\uff0c\u53ea\u8981\u4e24\u4e2a\u8ba1\u7b97\u673a\u5b89\u88c5\u597dROS2\uff0c\u5e76\u4e14\u5904\u4e8e\u540c\u4e00\u7f51\u7edc\u4e2d\uff0c\u4ed6\u4eec\u5c31\u53ef\u4ee5\u5b9e\u73b0\u4e4b\u524d\u8bb2\u8fc7\u7684\u8bdd\u9898\u3001\u670d\u52a1\u3001\u52a8\u4f5c\u7b49\u901a\u4fe1\u4e86\uff0c\u611f\u89c9\u5c31\u50cf\u5728\u4e00\u4e2a\u7535\u8111\u91cc\u4e00\u6837\u3002</p> <p>\u4e0d\u8fc7\u8fd9\u4e5f\u4f1a\u5e26\u6765\u4e00\u4e2a\u95ee\u9898\uff0c\u5982\u679c\u4e00\u4e2a\u7f51\u7edc\u4e2d\u6709\u5f88\u591a\u4e2a\u8ba1\u7b97\u673a\uff0c\u6211\u4eec\u5e76\u4e0d\u5e0c\u671b\u4ed6\u4eec\u90fd\u53ef\u4ee5\u4e92\u901a\u4e92\u8054\uff0c\u800c\u662f\u53ef\u4ee5\u5206\u7ec4\u901a\u4fe1\uff0c\u5c0f\u7ec4\u4e4b\u95f4\u662f\u65e0\u6cd5\u5b9e\u73b0\u901a\u4fe1\u7684\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_9","title":"\u5206\u5e03\u5f0f\u7f51\u7edc\u5206\u7ec4","text":"<p>\u6ca1\u95ee\u9898\uff0cROS2\u63d0\u4f9b\u4e86\u4e00\u4e2aDOMAIN\u7684\u673a\u5236\uff0c\u5c31\u7c7b\u4f3c\u5206\u7ec4\u4e00\u6837\uff0c\u5904\u4e8e\u540c\u4e00\u4e2aDOMAIN\u4e2d\u7684\u8ba1\u7b97\u673a\u624d\u80fd\u901a\u4fe1\uff0c\u6211\u4eec\u53ef\u4ee5\u5728\u7535\u8111\u548c\u6811\u8393\u6d3e\u7aef\u7684.bashrc\u4e2d\u52a0\u5165\u8fd9\u6837\u4e00\u53e5\u914d\u7f6e\uff0c\u5373\u53ef\u5c06\u4e24\u8005\u5206\u914d\u5230\u4e00\u4e2a\u5c0f\u7ec4\u4e2d\uff1a</p> <pre><code>$ export ROS_DOMAIN_ID=&lt;your_domain_id&gt;\n</code></pre> <p></p> <p>\u5982\u679c\u5206\u914d\u7684ID\u4e0d\u540c\uff0c\u5219\u4e24\u8005\u65e0\u6cd5\u5b9e\u73b0\u901a\u4fe1\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_10","title":"\u6848\u4f8b\u4e00\uff1a\u5c0f\u6d77\u9f9f\u5206\u5e03\u5f0f\u63a7\u5236","text":"<p>\u5206\u5e03\u5f0f\u901a\u4fe1\u7f51\u7edc\u4f3c\u4e4e\u5df2\u7ecf\u5efa\u7acb\u6210\u529f\u4e86\uff0c\u662f\u5426\u771f\u6709\u6211\u4eec\u60f3\u7684\u8fd9\u4e48\u795e\u5947\uff0c\u6211\u4eec\u7ee7\u7eed\u6d4b\u8bd5\u4e4b\u524d\u5b66\u4e60\u8fc7\u7684\u4e00\u4e9b\u4f8b\u7a0b\u3002</p> <p>\u5148\u6765\u8bd5\u8bd5ROS\u4e2d\u7684\u7ecf\u5178\u6848\u4f8b\u2014\u2014\u5c0f\u6d77\u9f9f\u3002</p> <p>\u6211\u4eec\u53ef\u4ee5\u5728\u7535\u8111\u7aef\u542f\u52a8\u5c0f\u6d77\u9f9f\u4eff\u771f\u5668\uff0c\u6811\u8393\u6d3e\u4e0a\u542f\u52a8\u952e\u76d8\u63a7\u5236\u8282\u70b9\uff0c\u6216\u8005\u53cd\u8fc7\u6765\u4e5f\u53ef\u4ee5\uff0c\u4f9d\u7136\u53ef\u4ee5\u6d41\u7545\u7684\u63a7\u5236\u5c0f\u6d77\u9f9f\u8fd0\u52a8\uff1a</p> <pre><code>$ ros2 run turtlesim turtlesim_node      # PC\u7aef\n$ ros2 run turtlesim turtle_teleop_key   # \u6811\u8393\u6d3e\u7aef\n</code></pre> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_11","title":"\u6848\u4f8b\u4e8c\uff1a\u8bdd\u9898\u5206\u5e03\u5f0f\u901a\u4fe1","text":"<p>\u6211\u4eec\u4e4b\u524d\u7f16\u5199\u7684\u4f8b\u7a0b\u662f\u5426\u53ef\u4ee5\u5728\u4e0d\u4fee\u6539\u4efb\u4f55\u4ee3\u7801\u7684\u60c5\u51b5\u4e0b\uff0c\u76f4\u63a5\u4f7f\u7528\u5462\uff1f</p> <p></p> <p>\u5148\u8bd5\u8bd5\u8bdd\u9898\u901a\u4fe1\uff0c\u6811\u8393\u6d3e\u4f5c\u4e3a\u53d1\u5e03\u8005\uff0c\u53d1\u5e03Hello World\u5b57\u7b26\u4e32\uff0c\u7535\u8111\u4f5c\u4e3a\u8ba2\u9605\u8005\uff0c\u8ba2\u9605Hello World\u5b57\u7b26\u4e32\uff1a</p> <pre><code>$ ros2 run learning_topic topic_helloworld_pub  # \u6811\u8393\u6d3e\u7aef\n$ ros2 run learning_topic topic_helloworld_sub  # PC\u7aef\n</code></pre> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_12","title":"\u6848\u4f8b\u4e09\uff1a\u670d\u52a1\u5206\u5e03\u5f0f\u901a\u4fe1","text":"<p>\u8bdd\u9898\u6ca1\u6709\u95ee\u9898\uff0c\u670d\u52a1\u4e5f\u4e0d\u5728\u8bdd\u4e0b\u3002</p> <p></p> <p>\u6211\u4eec\u7535\u8111\u7aef\u8fd0\u884c\u670d\u52a1\u5668\u7a0b\u5e8f\uff0c\u6811\u8393\u6d3e\u7aef\u8fd0\u884c\u5ba2\u6237\u7aef\u7a0b\u5e8f\uff0c\u8fd8\u662f\u53ef\u4ee5\u987a\u5229\u5b9e\u73b0\u52a0\u6cd5\u6c42\u548c\u529f\u80fd\uff1a</p> <pre><code>$ ros2 run learning_service service_adder_server        # PC\u7aef\n$ ros2 run learning_service service_adder_client 2 3    # \u6811\u8393\u6d3e\u7aef\n</code></pre> <p></p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_13","title":"\u6848\u4f8b\u56db\uff1a\u673a\u5668\u89c6\u89c9\u5206\u5e03\u5f0f\u5e94\u7528","text":"<p>\u4ee5\u4e0a\u8fd9\u4e9b\u529f\u80fd\u8fd8\u4e0d\u591f\u590d\u6742\uff1f\u6ca1\u95ee\u9898\uff0c\u89c6\u89c9\u8bc6\u522b\u7684\u4f8b\u7a0b\u5b89\u6392\u4e0a\u3002</p> <p></p> <p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c06\u4f7f\u7528\u6811\u8393\u6d3e\u8fde\u63a5\u6444\u50cf\u5934\uff0c\u6a21\u62df\u4e00\u4e2a\u5c0f\u578b\u673a\u5668\u4eba\uff0c\u53ef\u4ee5\u91c7\u96c6\u5b9e\u65f6\u56fe\u50cf\uff0c\u7136\u540e\u518d\u901a\u8fc7\u5206\u5e03\u5f0f\u7f51\u7edc\uff0c\u5c06\u56fe\u50cf\u53d1\u7ed9\u7535\u8111\u7aef\u7684\u5904\u7406\u8282\u70b9\uff0c\u8bc6\u522b\u56fe\u50cf\u4e2d\u7684\u7ea2\u8272\u7269\u4f53\uff1a</p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe           # \u6811\u8393\u6d3e\u7aef\n$ ros2 run learning_topic topic_webcam_sub    # PC\u7aef\n</code></pre> <p>\u6ca1\u6709\u4efb\u4f55\u95ee\u9898\uff0c\u89c6\u89c9\u8bc6\u522b\u7684\u6548\u679c\u5982\u4e0b\u3002</p> <p></p> <p>\u597d\u5566\uff0c\u6211\u4eec\u5728\u5206\u5e03\u5f0f\u7f51\u7edc\u4e2d\u6d4b\u8bd5\u4e86ROS\u4e00\u7cfb\u5217\u4f8b\u7a0b\uff0c\u90fd\u6ca1\u6709\u4efb\u4f55\u95ee\u9898\uff0c\u5728\u5b9e\u9645\u7684\u673a\u5668\u4eba\u5f00\u53d1\u4e2d\uff0c\u7c7b\u4f3c\u7684\u65b9\u6cd5\u4f1a\u9891\u7e41\u7528\u5230\uff0cROS\u4e3a\u5206\u5e03\u5f0f\u7f51\u7edc\u7684\u642d\u5efa\u63d0\u4f9b\u4e86\u975e\u5e38\u53cb\u597d\u7684\u652f\u6301\uff0c\u6211\u4eec\u51e0\u4e4e\u4e0d\u9700\u8981\u4efb\u4f55\u914d\u7f6e\uff0c\u4ee3\u7801\u4e5f\u4e0d\u9700\u8981\u505a\u4efb\u4f55\u4fee\u6539\uff0c\u53ea\u8981\u4f7f\u7528ROS\u7cfb\u7edf\uff0c\u4e00\u5207\u90fd\u4f1a\u53d8\u5f97\u5982\u6b64\u8f7b\u677e\u3002</p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/#_14","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html</p> <p></p>"},{"location":"ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/","title":"\u6982\u5ff5\u603b\u89c8","text":"<p>\u4ece\u672c\u8282\u5f00\u59cb\uff0c\u6211\u4eec\u5c06\u8fdb\u5165\u7b2c\u4e8c\u4e2a\u7bc7\u7ae0\uff0c\u4ee5ROS2\u7684\u6838\u5fc3\u6982\u5ff5\u4e3a\u7ebf\u7d22\uff0c\u8be6\u7ec6\u8bb2\u89e3ROS2\u7684\u5e94\u7528\u5f00\u53d1\u65b9\u6cd5\u3002</p> <p></p> <p></p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/","title":"Launch\uff1a\u591a\u8282\u70b9\u542f\u52a8\u4e0e\u914d\u7f6e\u811a\u672c","text":"<p>\u5230\u76ee\u524d\u4e3a\u6b62\uff0c\u6bcf\u5f53\u6211\u4eec\u8fd0\u884c\u4e00\u4e2aROS\u8282\u70b9\uff0c\u90fd\u9700\u8981\u6253\u5f00\u4e00\u4e2a\u65b0\u7684\u7ec8\u7aef\u8fd0\u884c\u4e00\u4e2a\u547d\u4ee4\u3002\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u8282\u70b9\u5f88\u591a\uff0c\u6bcf\u6b21\u90fd\u8fd9\u6837\u542f\u52a8\u597d\u9ebb\u70e6\u5440\u3002\u6709\u6ca1\u6709\u4e00\u79cd\u65b9\u5f0f\u53ef\u4ee5\u4e00\u6b21\u6027\u542f\u52a8\u6240\u6709\u8282\u70b9\u5462\uff1f\u7b54\u6848\u5f53\u7136\u662f\u80af\u5b9a\u7684\uff0c\u90a3\u5c31\u662fLaunch\u542f\u52a8\u6587\u4ef6\uff0c\u5b83\u662fROS\u7cfb\u7edf\u4e2d\u591a\u8282\u70b9\u542f\u52a8\u4e0e\u914d\u7f6e\u7684\u4e00\u79cd\u811a\u672c\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#launch_1","title":"Launch\u6587\u4ef6","text":"<p>\u8fd9\u662f\u4e00\u4e2a\u5b8c\u6574\u7684Launch\u6587\u4ef6\uff0c\u4e4d\u770b\u4e0a\u53bb\uff0c\u597d\u50cfPython\u4ee3\u7801\u5440\uff0c\u6ca1\u9519\uff0cROS2\u4e2d\u7684Launch\u6587\u4ef6\u5c31\u662f\u57fa\u4e8ePython\u63cf\u8ff0\u7684\u3002</p> <p>Launch\u7684\u6838\u5fc3\u76ee\u7684\u662f\u542f\u52a8\u8282\u70b9\uff0c\u6211\u4eec\u5728\u547d\u4ee4\u884c\u4e2d\u8f93\u5165\u7684\u5404\u79cd\u53c2\u6570\uff0c\u5728Launch\u6587\u4ef6\u4e2d\uff0c\u901a\u8fc7\u7c7b\u4f3c\u8fd9\u6837\u7684\u5f88\u591a\u4ee3\u7801\u6a21\u7248\uff0c\u4e5f\u53ef\u4ee5\u8fdb\u884c\u914d\u7f6e\uff0c\u751a\u81f3\u8fd8\u53ef\u4ee5\u4f7f\u7528Python\u539f\u6709\u7684\u7f16\u7a0b\u529f\u80fd\uff0c\u5927\u5927\u4e30\u5bcc\u4e86\u542f\u52a8\u8fc7\u7a0b\u4e2d\u7684\u591a\u6837\u5316\u914d\u7f6e\u3002</p> <p>Launch\u6587\u4ef6\u5728ROS\u7cfb\u7edf\u4e2d\u51fa\u73b0\u7684\u9891\u6b21\u76f8\u5f53\u4e4b\u9ad8\uff0c\u5b83\u5c31\u50cf\u7c98\u5408\u5242\u4e00\u6837\uff0c\u53ef\u4ee5\u81ea\u7531\u7ec4\u88c5\u548c\u914d\u7f6e\u5404\u4e2a\u8282\u70b9\uff0c\u90a3\u5982\u4f55\u7f16\u5199\u6216\u8005\u9605\u8bfb\u4e00\u4e2aLaunch\u6587\u4ef6\u5462\uff0c\u6211\u4eec\u901a\u8fc7\u4e00\u7cfb\u5217\u4f8b\u7a0b\u5e26\u9886\u5927\u5bb6\u6765\u4e86\u89e3\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_1","title":"\u591a\u8282\u70b9\u542f\u52a8","text":"<p>\u5148\u6765\u770b\u770b\u5982\u4f55\u542f\u52a8\u591a\u4e2a\u8282\u70b9\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_2","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u7ec8\u7aef\uff0c\u4f7f\u7528ros2\u4e2d\u7684launch\u547d\u4ee4\u6765\u542f\u52a8\u7b2c\u4e00\u4e2alaunch\u6587\u4ef6\u793a\u4f8b\uff1a</p> <pre><code>$ ros2 launch learning_launch simple.launch.py\n</code></pre> <p>\u8fd0\u884c\u6210\u529f\u540e\uff0c\u5c31\u53ef\u4ee5\u5728\u7ec8\u7aef\u4e2d\u770b\u5230\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u4e24\u4e2a\u8282\u70b9\u7684\u65e5\u5fd7\u4fe1\u606f\u5566\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_3","title":"\u6587\u4ef6\u89e3\u6790","text":"<p>\u8fd9\u4e24\u4e2a\u8282\u70b9\u662f\u5982\u4f55\u542f\u52a8\u7684\u5462\uff1f\u6211\u4eec\u6765\u5206\u6790\u4e0b\u8fd9\u4e2alaunch\u6587\u4ef6\u3002</p> <p>learning_launch/simple.launch.py</p> <pre><code>from launch import LaunchDescription           # launch\u6587\u4ef6\u7684\u63cf\u8ff0\u7c7b\nfrom launch_ros.actions import Node            # \u8282\u70b9\u542f\u52a8\u7684\u63cf\u8ff0\u7c7b\n\ndef generate_launch_description():             # \u81ea\u52a8\u751f\u6210launch\u6587\u4ef6\u7684\u51fd\u6570\n    return LaunchDescription([                 # \u8fd4\u56delaunch\u6587\u4ef6\u7684\u63cf\u8ff0\u4fe1\u606f\n        Node(                                  # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n            package='learning_topic',          # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n            executable='topic_helloworld_pub', # \u8282\u70b9\u7684\u53ef\u6267\u884c\u6587\u4ef6\n        ),\n        Node(                                  # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n            package='learning_topic',          # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n            executable='topic_helloworld_sub', # \u8282\u70b9\u7684\u53ef\u6267\u884c\u6587\u4ef6\u540d\n        ),\n    ])\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_4","title":"\u547d\u4ee4\u884c\u53c2\u6570\u914d\u7f6e","text":"<p>\u6211\u4eec\u4f7f\u7528ros2\u547d\u4ee4\u5728\u7ec8\u7aef\u4e2d\u542f\u52a8\u8282\u70b9\u65f6\uff0c\u8fd8\u53ef\u4ee5\u5728\u547d\u4ee4\u540e\u914d\u7f6e\u4e00\u4e9b\u4f20\u5165\u7a0b\u5e8f\u7684\u53c2\u6570\uff0c\u4f7f\u7528launch\u6587\u4ef6\u4e00\u6837\u53ef\u4ee5\u505a\u5230\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_5","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u6bd4\u5982\u6211\u4eec\u60f3\u8981\u8fd0\u884c\u4e00\u4e2aRviz\u53ef\u89c6\u5316\u4e0a\u4f4d\u673a\uff0c\u5e76\u4e14\u52a0\u8f7d\u67d0\u4e00\u4e2a\u914d\u7f6e\u6587\u4ef6\uff0c\u4f7f\u7528\u547d\u4ee4\u884c\u7684\u8bdd\uff0c\u662f\u8fd9\u6837\u7684\uff1a</p> <pre><code>$ ros2 run rviz2 rviz2 -d &lt;PACKAGE-PATH&gt;/rviz/turtle_rviz.rviz\n</code></pre> <p>\u547d\u4ee4\u540e\u8fb9\u8fd8\u5f97\u8ddf\u4e00\u957f\u4e32\u914d\u7f6e\u6587\u4ef6\u7684\u8def\u5f84\uff0c\u5982\u679c\u653e\u5728launch\u6587\u4ef6\u91cc\uff0c\u542f\u52a8\u5c31\u4f18\u96c5\u5f88\u591a\u4e86\uff1a</p> <pre><code>$ ros2 launch learning_launch rviz.launch.py\n</code></pre> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_6","title":"\u6587\u4ef6\u89e3\u6790","text":"<p>\u547d\u4ee4\u884c\u540e\u8fb9\u7684\u53c2\u6570\u662f\u5982\u4f55\u901a\u8fc7launch\u4f20\u5165\u8282\u70b9\u7684\u5462\uff1f\u6765\u770b\u4e0b\u8fd9\u4e2alaunch\u6587\u4ef6\u3002</p> <p>learning_launch/rviz.launch.py</p> <pre><code>import os\n\nfrom ament_index_python.packages import get_package_share_directory # \u67e5\u8be2\u529f\u80fd\u5305\u8def\u5f84\u7684\u65b9\u6cd5\n\nfrom launch import LaunchDescription    # launch\u6587\u4ef6\u7684\u63cf\u8ff0\u7c7b\nfrom launch_ros.actions import Node     # \u8282\u70b9\u542f\u52a8\u7684\u63cf\u8ff0\u7c7b\n\n\ndef generate_launch_description():      # \u81ea\u52a8\u751f\u6210launch\u6587\u4ef6\u7684\u51fd\u6570\n   rviz_config = os.path.join(          # \u627e\u5230\u914d\u7f6e\u6587\u4ef6\u7684\u5b8c\u6574\u8def\u5f84\n      get_package_share_directory('learning_launch'),\n      'rviz',\n      'turtle_rviz.rviz'\n      )\n\n   return LaunchDescription([           # \u8fd4\u56delaunch\u6587\u4ef6\u7684\u63cf\u8ff0\u4fe1\u606f\n      Node(                             # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n         package='rviz2',               # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n         executable='rviz2',            # \u8282\u70b9\u7684\u53ef\u6267\u884c\u6587\u4ef6\u540d\n         name='rviz2',                  # \u5bf9\u8282\u70b9\u91cd\u65b0\u547d\u540d\n         arguments=['-d', rviz_config]  # \u52a0\u8f7d\u547d\u4ee4\u884c\u53c2\u6570\n      )\n   ])\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_7","title":"\u8d44\u6e90\u91cd\u6620\u5c04","text":"<p>ROS\u793e\u533a\u4e2d\u7684\u8d44\u6e90\u975e\u5e38\u591a\uff0c\u5f53\u6211\u4eec\u4f7f\u7528\u522b\u4eba\u4ee3\u7801\u7684\u65f6\u5019\uff0c\u7ecf\u5e38\u4f1a\u53d1\u73b0\u901a\u4fe1\u7684\u8bdd\u9898\u540d\u79f0\u4e0d\u592a\u7b26\u5408\u6211\u4eec\u7684\u8981\u6c42\uff0c\u80fd\u5426\u5bf9\u7c7b\u4f3c\u7684\u8d44\u6e90\u91cd\u65b0\u547d\u540d\u5462\uff1f</p> <p>\u4e3a\u4e86\u63d0\u9ad8\u8f6f\u4ef6\u7684\u590d\u7528\u6027\uff0cROS\u63d0\u4f9b\u4e86\u8d44\u6e90\u91cd\u6620\u5c04\u7684\u673a\u5236\uff0c\u53ef\u4ee5\u5e2e\u52a9\u6211\u4eec\u89e3\u51b3\u7c7b\u4f3c\u7684\u95ee\u9898\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_8","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\u5982\u4e0b\u4f8b\u7a0b\uff0c\u5f88\u5feb\u4f1a\u770b\u5230\u51fa\u73b0\u4e86\u4e24\u4e2a\u5c0f\u6d77\u9f9f\u4eff\u771f\u5668\u754c\u9762\uff1b\u518d\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u53d1\u5e03\u5982\u4e0b\u8bdd\u9898\uff0c\u8ba9\u6d77\u9f9f1\u52a8\u8d77\u6765\uff0c\u6d77\u9f9f2\u4e5f\u4f1a\u4e00\u8d77\u8fd0\u52a8\uff1a</p> <pre><code>$ ros2 launch learning_launch rviz.launch.py\n$ ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}\"\n</code></pre> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_9","title":"\u6587\u4ef6\u89e3\u6790","text":"<p>\u4e3a\u4ec0\u4e48\u4e24\u4e2a\u6d77\u9f9f\u90fd\u4f1a\u52a8\u5462\uff1f\u8fd9\u91cc\u8981\u7528\u5230turtlesim\u529f\u80fd\u5305\u91cc\u53e6\u5916\u4e00\u4e2a\u8282\u70b9\uff0c\u53eb\u505amimic\uff0c\u5b83\u7684\u529f\u80fd\u662f\u8ba2\u9605\u67d0\u4e00\u4e2a\u6d77\u9f9f\u7684Pose\u4f4d\u7f6e\uff0c\u901a\u8fc7\u8ba1\u7b97\uff0c\u53d8\u6362\u6210\u4e00\u4e2a\u540c\u6837\u8fd0\u52a8\u7684\u901f\u5ea6\u6307\u4ee4\uff0c\u53d1\u5e03\u51fa\u53bb\u3002</p> <p>\u81f3\u4e8emimic\u8282\u70b9\u8ba2\u9605\u6216\u8005\u53d1\u5e03\u7684\u8bdd\u9898\u540d\u53eb\u4ec0\u4e48\u5462\uff1f\u6211\u4eec\u5c31\u53ef\u4ee5\u901a\u8fc7\u91cd\u6620\u5c04\u4fee\u6539\u6210\u5bf9\u5e94\u4efb\u610f\u6d77\u9f9f\u7684\u540d\u5b57\u3002</p> <p>learning_launch/remapping.launch.py</p> <pre><code>from launch import LaunchDescription      # launch\u6587\u4ef6\u7684\u63cf\u8ff0\u7c7b\nfrom launch_ros.actions import Node       # \u8282\u70b9\u542f\u52a8\u7684\u63cf\u8ff0\u7c7b\n\ndef generate_launch_description():        # \u81ea\u52a8\u751f\u6210launch\u6587\u4ef6\u7684\u51fd\u6570\n    return LaunchDescription([            # \u8fd4\u56delaunch\u6587\u4ef6\u7684\u63cf\u8ff0\u4fe1\u606f\n        Node(                             # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n            package='turtlesim',          # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n            namespace='turtlesim1',       # \u8282\u70b9\u6240\u5728\u7684\u547d\u540d\u7a7a\u95f4\n            executable='turtlesim_node',  # \u8282\u70b9\u7684\u53ef\u6267\u884c\u6587\u4ef6\u540d\n            name='sim'                    # \u5bf9\u8282\u70b9\u91cd\u65b0\u547d\u540d\n        ),\n        Node(                             # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n            package='turtlesim',          # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n            namespace='turtlesim2',       # \u8282\u70b9\u6240\u5728\u7684\u547d\u540d\u7a7a\u95f4\n            executable='turtlesim_node',  # \u8282\u70b9\u7684\u53ef\u6267\u884c\u6587\u4ef6\u540d\n            name='sim'                    # \u5bf9\u8282\u70b9\u91cd\u65b0\u547d\u540d\n        ),\n        Node(                             # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n            package='turtlesim',          # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n            executable='mimic',           # \u8282\u70b9\u7684\u53ef\u6267\u884c\u6587\u4ef6\u540d\n            name='mimic',                 # \u5bf9\u8282\u70b9\u91cd\u65b0\u547d\u540d\n            remappings=[                  # \u8d44\u6e90\u91cd\u6620\u5c04\u5217\u8868\n                ('/input/pose', '/turtlesim1/turtle1/pose'),         # \u5c06/input/pose\u8bdd\u9898\u540d\u4fee\u6539\u4e3a/turtlesim1/turtle1/pose\n                ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),  # \u5c06/output/cmd_vel\u8bdd\u9898\u540d\u4fee\u6539\u4e3a/turtlesim2/turtle1/cmd_vel\n            ]\n        )\n    ])\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#ros","title":"ROS\u53c2\u6570\u8bbe\u7f6e","text":"<p>ROS\u7cfb\u7edf\u4e2d\u7684\u53c2\u6570\uff0c\u4e5f\u53ef\u4ee5\u5728Launch\u6587\u4ef6\u4e2d\u8bbe\u7f6e\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_10","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\u5982\u4e0b\u547d\u4ee4\uff1a</p> <pre><code>$ ros2 launch learning_launch parameters.launch.py\n</code></pre> <p>\u5728\u542f\u52a8\u7684\u6d77\u9f9f\u4eff\u771f\u5668\u4e2d\uff0c\u6211\u4eec\u770b\u5230\u80cc\u666f\u989c\u8272\u88ab\u6539\u53d8\u4e86\uff0c\u8fd9\u4e2a\u989c\u8272\u53c2\u6570\u7684\u8bbe\u7f6e\u5c31\u662f\u5728launch\u6587\u4ef6\u4e2d\u5b8c\u6210\u7684\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_11","title":"\u6587\u4ef6\u89e3\u6790","text":"<p>\u6211\u4eec\u770b\u4e0b\u5728launch\u6587\u4ef6\u4e2d\u5982\u4f55\u6765\u8bbe\u7f6e\u53c2\u6570\u7684\u3002</p> <p>learning_launch/parameters.launch.py</p> <pre><code>from launch import LaunchDescription                   # launch\u6587\u4ef6\u7684\u63cf\u8ff0\u7c7b\nfrom launch.actions import DeclareLaunchArgument       # \u58f0\u660elaunch\u6587\u4ef6\u5185\u4f7f\u7528\u7684Argument\u7c7b\nfrom launch.substitutions import LaunchConfiguration, TextSubstitution\n\nfrom launch_ros.actions import Node                    # \u8282\u70b9\u542f\u52a8\u7684\u63cf\u8ff0\u7c7b\n\n\ndef generate_launch_description():                     # \u81ea\u52a8\u751f\u6210launch\u6587\u4ef6\u7684\u51fd\u6570\n   background_r_launch_arg = DeclareLaunchArgument(\n      'background_r', default_value=TextSubstitution(text='0')     # \u521b\u5efa\u4e00\u4e2aLaunch\u6587\u4ef6\u5185\u53c2\u6570\uff08arg\uff09background_r\n   )\n   background_g_launch_arg = DeclareLaunchArgument(\n      'background_g', default_value=TextSubstitution(text='84')    # \u521b\u5efa\u4e00\u4e2aLaunch\u6587\u4ef6\u5185\u53c2\u6570\uff08arg\uff09background_g\n   )\n   background_b_launch_arg = DeclareLaunchArgument(\n      'background_b', default_value=TextSubstitution(text='122')   # \u521b\u5efa\u4e00\u4e2aLaunch\u6587\u4ef6\u5185\u53c2\u6570\uff08arg\uff09background_b\n   )\n\n   return LaunchDescription([                                      # \u8fd4\u56delaunch\u6587\u4ef6\u7684\u63cf\u8ff0\u4fe1\u606f\n      background_r_launch_arg,                                     # \u8c03\u7528\u4ee5\u4e0a\u521b\u5efa\u7684\u53c2\u6570\uff08arg\uff09\n      background_g_launch_arg,\n      background_b_launch_arg,\n      Node(                                                        # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n         package='turtlesim',\n         executable='turtlesim_node',                              # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n         name='sim',                                               # \u5bf9\u8282\u70b9\u91cd\u65b0\u547d\u540d\n         parameters=[{                                             # ROS\u53c2\u6570\u5217\u8868\n            'background_r': LaunchConfiguration('background_r'),   # \u521b\u5efa\u53c2\u6570background_r\n            'background_g': LaunchConfiguration('background_g'),   # \u521b\u5efa\u53c2\u6570background_g\n            'background_b': LaunchConfiguration('background_b'),   # \u521b\u5efa\u53c2\u6570background_b\n         }]\n      ),\n   ])\n</code></pre> Attention <p>launch\u6587\u4ef6\u4e2d\u51fa\u73b0\u7684argument\u548cparameter\uff0c\u867d\u90fd\u8bd1\u4e3a\u201c\u53c2\u6570\u201d\uff0c\u4f46\u542b\u4e49\u4e0d\u540c\uff1a - argument\uff1a\u4ec5\u9650launch\u6587\u4ef6\u5185\u90e8\u4f7f\u7528\uff0c\u65b9\u4fbf\u5728launch\u4e2d\u8c03\u7528\u67d0\u4e9b\u6570\u503c\uff1b - parameter\uff1aROS\u7cfb\u7edf\u7684\u53c2\u6570\uff0c\u65b9\u4fbf\u5728\u8282\u70b9\u89c1\u4f7f\u7528\u67d0\u4e9b\u6570\u503c\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_12","title":"\u52a0\u8f7d\u53c2\u6570\u6587\u4ef6","text":"<p>\u4ee5\u4e0a\u4f8b\u7a0b\u6211\u4eec\u5728launch\u6587\u4ef6\u4e2d\u4e00\u4e2a\u4e00\u4e2a\u7684\u8bbe\u7f6e\u53c2\u6570\uff0c\u7565\u663e\u9ebb\u70e6\uff0c\u5f53\u53c2\u6570\u6bd4\u8f83\u591a\u7684\u65f6\u5019\uff0c\u5efa\u8bae\u4f7f\u7528\u53c2\u6570\u6587\u4ef6\u8fdb\u884c\u52a0\u8f7d\u3002</p> <p>learning_launch/parameters_yaml.launch.py</p> <pre><code>import os\n\nfrom ament_index_python.packages import get_package_share_directory  # \u67e5\u8be2\u529f\u80fd\u5305\u8def\u5f84\u7684\u65b9\u6cd5\n\nfrom launch import LaunchDescription   # launch\u6587\u4ef6\u7684\u63cf\u8ff0\u7c7b\nfrom launch_ros.actions import Node    # \u8282\u70b9\u542f\u52a8\u7684\u63cf\u8ff0\u7c7b\n\n\ndef generate_launch_description():     # \u81ea\u52a8\u751f\u6210launch\u6587\u4ef6\u7684\u51fd\u6570\n   config = os.path.join(              # \u627e\u5230\u53c2\u6570\u6587\u4ef6\u7684\u5b8c\u6574\u8def\u5f84\n      get_package_share_directory('learning_launch'),\n      'config',\n      'turtlesim.yaml'\n      )\n\n   return LaunchDescription([          # \u8fd4\u56delaunch\u6587\u4ef6\u7684\u63cf\u8ff0\u4fe1\u606f\n      Node(                            # \u914d\u7f6e\u4e00\u4e2a\u8282\u70b9\u7684\u542f\u52a8\n         package='turtlesim',          # \u8282\u70b9\u6240\u5728\u7684\u529f\u80fd\u5305\n         executable='turtlesim_node',  # \u8282\u70b9\u7684\u53ef\u6267\u884c\u6587\u4ef6\u540d\n         namespace='turtlesim2',       # \u8282\u70b9\u6240\u5728\u7684\u547d\u540d\u7a7a\u95f4\n         name='sim',                   # \u5bf9\u8282\u70b9\u91cd\u65b0\u547d\u540d\n         parameters=[config]           # \u52a0\u8f7d\u53c2\u6570\u6587\u4ef6\n      )\n   ])\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#launch_2","title":"Launch\u6587\u4ef6\u5305\u542b","text":"<p>\u5728\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\uff0claunch\u6587\u4ef6\u4e5f\u4f1a\u6709\u5f88\u591a\uff0c\u6b64\u65f6\u6211\u4eec\u53ef\u4ee5\u4f7f\u7528\u7c7b\u4f3c\u7f16\u7a0b\u4e2d\u7684include\u673a\u5236\uff0c\u8ba9launch\u6587\u4ef6\u4e92\u76f8\u5305\u542b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_13","title":"\u6587\u4ef6\u89e3\u6790","text":"<p>learning_launch/namespaces.launch.py</p> <pre><code>import os\n\nfrom ament_index_python.packages import get_package_share_directory  # \u67e5\u8be2\u529f\u80fd\u5305\u8def\u5f84\u7684\u65b9\u6cd5\n\nfrom launch import LaunchDescription                 # launch\u6587\u4ef6\u7684\u63cf\u8ff0\u7c7b\nfrom launch.actions import IncludeLaunchDescription  # \u8282\u70b9\u542f\u52a8\u7684\u63cf\u8ff0\u7c7b\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\nfrom launch.actions import GroupAction               # launch\u6587\u4ef6\u4e2d\u7684\u6267\u884c\u52a8\u4f5c\nfrom launch_ros.actions import PushRosNamespace      # ROS\u547d\u540d\u7a7a\u95f4\u914d\u7f6e\n\ndef generate_launch_description():                   # \u81ea\u52a8\u751f\u6210launch\u6587\u4ef6\u7684\u51fd\u6570\n   parameter_yaml = IncludeLaunchDescription(        # \u5305\u542b\u6307\u5b9a\u8def\u5f84\u4e0b\u7684\u53e6\u5916\u4e00\u4e2alaunch\u6587\u4ef6\n      PythonLaunchDescriptionSource([os.path.join(\n         get_package_share_directory('learning_launch'), 'launch'),\n         '/parameters_nonamespace.launch.py'])\n      )\n\n   parameter_yaml_with_namespace = GroupAction(      # \u5bf9\u6307\u5b9alaunch\u6587\u4ef6\u4e2d\u542f\u52a8\u7684\u529f\u80fd\u52a0\u4e0a\u547d\u540d\u7a7a\u95f4\n      actions=[\n         PushRosNamespace('turtlesim2'),\n         parameter_yaml]\n      )\n\n   return LaunchDescription([                        # \u8fd4\u56delaunch\u6587\u4ef6\u7684\u63cf\u8ff0\u4fe1\u606f\n      parameter_yaml_with_namespace\n   ])\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_14","title":"\u529f\u80fd\u5305\u7f16\u8bd1\u914d\u7f6e","text":"<pre><code>    ...\n\n    data_files=[\n        ('share/ament_index/resource_index/packages',\n            ['resource/' + package_name]),\n        ('share/' + package_name, ['package.xml']),\n        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*.launch.py'))),\n        (os.path.join('share', package_name, 'config'), glob(os.path.join('config', '*.*'))),\n        (os.path.join('share', package_name, 'rviz'), glob(os.path.join('rviz', '*.*'))),\n    ],\n\n    ...\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/#_15","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Launch/Launch-Main.html</p> <p>https://docs.ros.org/en/humble/Tutorials/Launch/Using-ROS2-Launch-For-Large-Projects.html</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/","title":"TF\uff1a\u673a\u5668\u4eba\u5750\u6807\u7cfb\u7ba1\u7406\u795e\u5668","text":"<p>\u5750\u6807\u7cfb\u662f\u6211\u4eec\u975e\u5e38\u719f\u6089\u7684\u4e00\u4e2a\u6982\u5ff5\uff0c\u4e5f\u662f\u673a\u5668\u4eba\u5b66\u4e2d\u7684\u91cd\u8981\u57fa\u7840\uff0c\u5728\u4e00\u4e2a\u5b8c\u6574\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\uff0c\u4f1a\u5b58\u5728\u5f88\u591a\u5750\u6807\u7cfb\uff0c\u8fd9\u4e9b\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u4f4d\u7f6e\u5173\u7cfb\u8be5\u5982\u4f55\u7ba1\u7406\uff1f</p> <p>ROS\u7ed9\u6211\u4eec\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5750\u6807\u7cfb\u7684\u7ba1\u7406\u795e\u5668\u2014\u2014TF\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_1","title":"\u673a\u5668\u4eba\u4e2d\u7684\u5750\u6807\u7cfb","text":"<p>\u673a\u5668\u4eba\u4e2d\u90fd\u6709\u54ea\u4e9b\u5750\u6807\u7cfb\u5462\uff1f</p> <p></p> <p>\u6bd4\u5982\u5728\u673a\u68b0\u81c2\u5f62\u6001\u7684\u673a\u5668\u4eba\u4e2d\uff0c\u673a\u5668\u4eba\u5b89\u88c5\u7684\u4f4d\u7f6e\u53eb\u505a\u57fa\u5750\u6807\u7cfbBase Frame\uff0c\u673a\u5668\u4eba\u5b89\u88c5\u4f4d\u7f6e\u5728\u5916\u90e8\u73af\u5883\u4e0b\u7684\u53c2\u8003\u7cfb\u53eb\u505a\u4e16\u754c\u5750\u6807\u7cfbWorld Frame\uff0c\u673a\u5668\u4eba\u672b\u7aef\u5939\u722a\u7684\u4f4d\u7f6e\u53eb\u505a\u5de5\u5177\u5750\u6807\u7cfb\uff0c\u5916\u90e8\u88ab\u64cd\u4f5c\u7269\u4f53\u7684\u4f4d\u7f6e\u53eb\u505a\u5de5\u4ef6\u5750\u6807\u7cfb\uff0c\u5728\u673a\u68b0\u81c2\u6293\u53d6\u5916\u90e8\u7269\u4f53\u7684\u8fc7\u7a0b\u4e2d\uff0c\u8fd9\u4e9b\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u5173\u7cfb\u4e5f\u5728\u8ddf\u968f\u53d8\u5316\u3002</p> <p></p> <p>\u5728\u79fb\u52a8\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\uff0c\u5750\u6807\u7cfb\u4e00\u6837\u81f3\u5173\u91cd\u8981\uff0c\u6bd4\u5982\u4e00\u4e2a\u79fb\u52a8\u673a\u5668\u4eba\u7684\u4e2d\u5fc3\u70b9\u662f\u57fa\u5750\u6807\u7cfbBase Link\uff0c\u96f7\u8fbe\u6240\u5728\u7684\u4f4d\u7f6e\u53eb\u505a\u96f7\u8fbe\u5750\u6807\u7cfblaser link\uff0c\u673a\u5668\u4eba\u8981\u79fb\u52a8\uff0c\u91cc\u7a0b\u8ba1\u4f1a\u7d2f\u79ef\u4f4d\u7f6e\uff0c\u8fd9\u4e2a\u4f4d\u7f6e\u7684\u53c2\u8003\u7cfb\u53eb\u505a\u91cc\u7a0b\u8ba1\u5750\u6807\u7cfbodom\uff0c\u91cc\u7a0b\u8ba1\u53c8\u4f1a\u6709\u7d2f\u79ef\u8bef\u5dee\u548c\u6f02\u79fb\uff0c\u7edd\u5bf9\u4f4d\u7f6e\u7684\u53c2\u8003\u7cfb\u53eb\u505a\u5730\u56fe\u5750\u6807\u7cfbmap\u3002</p> <p>\u4e00\u5c42\u4e00\u5c42\u5750\u6807\u7cfb\u4e4b\u95f4\u5173\u7cfb\u590d\u6742\uff0c\u6709\u4e00\u4e9b\u662f\u76f8\u5bf9\u56fa\u5b9a\u7684\uff0c\u4e5f\u6709\u4e00\u4e9b\u662f\u4e0d\u65ad\u53d8\u5316\u7684\uff0c\u770b\u4f3c\u7b80\u5355\u7684\u5750\u6807\u7cfb\u4e5f\u5728\u7a7a\u95f4\u8303\u56f4\u5185\u53d8\u5f97\u590d\u6742\uff0c\u826f\u597d\u7684\u5750\u6807\u7cfb\u7ba1\u7406\u7cfb\u7edf\u5c31\u663e\u5f97\u683c\u5916\u91cd\u8981\u3002</p> <p></p> <p>\u5173\u4e8e\u5750\u6807\u7cfb\u53d8\u6362\u5173\u7cfb\u7684\u57fa\u672c\u7406\u8bba\uff0c\u5728\u6bcf\u4e00\u672c\u673a\u5668\u4eba\u5b66\u7684\u6559\u6750\u4e2d\u90fd\u4f1a\u6709\u8bb2\u89e3\uff0c\u53ef\u4ee5\u5206\u89e3\u4e3a\u5e73\u79fb\u548c\u65cb\u8f6c\u4e24\u4e2a\u90e8\u5206\uff0c\u901a\u8fc7\u4e00\u4e2a\u56db\u4e58\u56db\u7684\u77e9\u9635\u8fdb\u884c\u63cf\u8ff0\uff0c\u5728\u7a7a\u95f4\u4e2d\u753b\u51fa\u5750\u6807\u7cfb\uff0c\u90a3\u4e24\u8005\u4e4b\u95f4\u7684\u53d8\u6362\u5173\u7cfb\uff0c\u5176\u5b9e\u5c31\u662f\u5411\u91cf\u7684\u6570\u5b66\u63cf\u8ff0\u3002</p> <p>ROS\u4e2dTF\u529f\u80fd\u7684\u5e95\u5c42\u539f\u7406\uff0c\u5c31\u662f\u5bf9\u8fd9\u4e9b\u6570\u5b66\u53d8\u6362\u8fdb\u884c\u4e86\u5c01\u88c5\uff0c\u8be6\u7ec6\u7684\u7406\u8bba\u77e5\u8bc6\u5927\u5bb6\u53ef\u4ee5\u53c2\u8003\u673a\u5668\u4eba\u5b66\u7684\u6559\u6750\uff0c\u6211\u4eec\u4e3b\u8981\u8bb2\u89e3TF\u5750\u6807\u7ba1\u7406\u7cfb\u7edf\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#tf_1","title":"TF\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>ROS\u4e2d\u7684TF\u8be5\u5982\u4f55\u4f7f\u7528\u5462\uff1f\u6211\u4eec\u5148\u901a\u8fc7\u4e24\u53ea\u5c0f\u6d77\u9f9f\u7684\u793a\u4f8b\uff0c\u4e86\u89e3\u4e0b\u57fa\u4e8e\u5750\u6807\u7cfb\u7684\u4e00\u79cd\u673a\u5668\u4eba\u8ddf\u968f\u7b97\u6cd5\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_2","title":"\u5c0f\u6d77\u9f9f\u8ddf\u968f\u4f8b\u7a0b","text":"<p>\u8fd9\u4e2a\u793a\u4f8b\u9700\u8981\u6211\u4eec\u5148\u5b89\u88c5\u76f8\u5e94\u7684\u529f\u80fd\u5305\uff0c\u7136\u540e\u5c31\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e2alaunch\u6587\u4ef6\u542f\u52a8\uff0c\u4e4b\u540e\u6211\u4eec\u53ef\u4ee5\u63a7\u5236\u5176\u4e2d\u7684\u4e00\u53ea\u5c0f\u6d77\u9f9f\uff0c\u53e6\u5916\u4e00\u53ea\u5c0f\u6d77\u9f9f\u4f1a\u81ea\u52a8\u8ddf\u968f\u8fd0\u52a8\u3002</p> <pre><code>$ sudo apt install ros-humble-turtle-tf2-py ros-humble-tf2-tools\n$ sudo pip3 install transforms3d\n</code></pre> <p>\u5177\u4f53\u8fd0\u884c\u7684\u6548\u679c\u5982\u4f55\uff1f\u6211\u4eec\u6765\u8bd5\u4e00\u8bd5\u3002</p> <pre><code>$ ros2 launch turtle_tf2_py turtle_tf2_demo.launch.py\n$ ros2 run turtlesim turtle_teleop_key\n</code></pre> <p>\u5f53\u6211\u4eec\u63a7\u5236\u4e00\u53ea\u6d77\u9f9f\u8fd0\u52a8\u65f6\uff0c\u53e6\u5916\u4e00\u53ea\u6d77\u9f9f\u4e5f\u4f1a\u8ddf\u968f\u8fd0\u52a8\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#tf_2","title":"\u67e5\u770bTF\u6811","text":"<p>\u5728\u5f53\u524d\u8fd0\u884c\u7684\u4e24\u53ea\u6d77\u9f9f\u4e2d\uff0c\u6709\u54ea\u4e9b\u5750\u6807\u7cfb\u5462\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u8fd9\u4e2a\u5c0f\u5de5\u5177\u6765\u505a\u67e5\u770b\u3002</p> <pre><code>$ ros2 run tf2_tools view_frames\u00a0\n</code></pre> <p>\u9ed8\u8ba4\u5728\u5f53\u524d\u7ec8\u7aef\u8def\u5f84\u4e0b\u751f\u6210\u4e86\u4e00\u4e2aframes.pdf\u6587\u4ef6\uff0c\u6253\u5f00\u4e4b\u540e\uff0c\u5c31\u53ef\u4ee5\u770b\u5230\u7cfb\u7edf\u4e2d\u5404\u4e2a\u5750\u6807\u7cfb\u7684\u5173\u7cfb\u4e86\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_3","title":"\u67e5\u8be2\u5750\u6807\u53d8\u6362\u4fe1\u606f","text":"<p>\u53ea\u770b\u5230\u5750\u6807\u7cfb\u7684\u7ed3\u6784\u8fd8\u4e0d\u884c\uff0c\u5982\u679c\u6211\u4eec\u60f3\u8981\u77e5\u9053\u67d0\u4e24\u4e2a\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u5177\u4f53\u5173\u7cfb\uff0c\u53ef\u4ee5\u901a\u8fc7tf2_echo\u8fd9\u4e2a\u5de5\u5177\u67e5\u770b\uff1a</p> <pre><code>$ ros2 run tf2_ros tf2_echo turtle2 turtle1\n</code></pre> <p>\u8fd0\u884c\u6210\u529f\u540e\uff0c\u7ec8\u7aef\u4e2d\u5c31\u4f1a\u5faa\u73af\u6253\u5370\u5750\u6807\u7cfb\u7684\u53d8\u6362\u6570\u503c\u4e86\uff0c\u7531\u5e73\u79fb\u548c\u65cb\u8f6c\u4e24\u4e2a\u90e8\u5206\u7ec4\u6210\uff0c\u8fd8\u6709\u65cb\u8f6c\u77e9\u9635\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_4","title":"\u5750\u6807\u7cfb\u53ef\u89c6\u5316","text":"<p>\u770b\u6570\u503c\u8fd8\u4e0d\u76f4\u89c2\uff1f\u53ef\u4ee5\u8bd5\u8bd5\u7528\u53ef\u89c6\u5316\u8f6f\u4ef6\u6765\u505a\u663e\u793a\uff1a</p> <pre><code>$ ros2 run rviz2 rviz2 -d $(ros2 pkg prefix --share turtle_tf2_py)/rviz/turtle_rviz.rviz\n</code></pre> <p>\u518d\u8ba9\u5c0f\u6d77\u9f9f\u52a8\u8d77\u6765\uff0cRviz\u4e2d\u7684\u5750\u6807\u8f74\u5c31\u4f1a\u5f00\u59cb\u8fd0\u52a8\uff0c\u8fd9\u6837\u662f\u4e0d\u662f\u66f4\u52a0\u76f4\u89c2\u4e86\u5462\uff01</p> <p></p> <p>\u5c0f\u6d77\u9f9f\u8ddf\u968f\u7684\u6848\u4f8b\u6709\u70b9\u610f\u601d\uff0c\u8fd9\u80cc\u540e\u7684\u539f\u7406\u662f\u600e\u6837\u7684\u5462\uff1f\u5927\u5bb6\u4e0d\u8981\u7740\u6025\uff0c\u6211\u4eec\u5148\u6765\u4e86\u89e3\u4e0bTF\u7684\u4f7f\u7528\u65b9\u6cd5\uff0c\u4fbf\u4e8e\u5927\u5bb6\u6162\u6162\u7406\u89e3\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#tf_3","title":"\u9759\u6001TF\u5e7f\u64ad","text":"<p>\u6211\u4eec\u8bf4TF\u7684\u4e3b\u8981\u4f5c\u7528\u662f\u5bf9\u5750\u6807\u7cfb\u8fdb\u884c\u7ba1\u7406\uff0c\u90a3\u5c31\u7ba1\u7406\u4e00\u4e2a\u8bd5\u8bd5\u5457\uff1f</p> <p>\u5750\u6807\u53d8\u6362\u4e2d\u6700\u4e3a\u7b80\u5355\u7684\u5e94\u8be5\u662f\u76f8\u5bf9\u4f4d\u7f6e\u4e0d\u53d1\u751f\u53d8\u5316\u7684\u60c5\u51b5\uff0c\u6bd4\u5982\u4f60\u5bb6\u7684\u623f\u5b50\u5728\u54ea\u4e2a\u4f4d\u7f6e\uff0c\u53ea\u8981\u623f\u5b50\u4e0d\u62c6\uff0c\u8fd9\u4e2a\u5750\u6807\u5e94\u8be5\u5c31\u4e0d\u4f1a\u53d8\u5316\u3002</p> <p>\u5728\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u4e5f\u5f88\u5e38\u89c1\uff0c\u6bd4\u5982\u6fc0\u5149\u96f7\u8fbe\u548c\u673a\u5668\u4eba\u5e95\u76d8\u4e4b\u95f4\u7684\u4f4d\u7f6e\u5173\u7cfb\uff0c\u5b89\u88c5\u597d\u4e4b\u540e\u57fa\u672c\u4e0d\u4f1a\u53d8\u5316\u3002</p> <p>\u5728TF\u4e2d\uff0c\u8fd9\u79cd\u60c5\u51b5\u4e5f\u79f0\u4e4b\u4e3a\u9759\u6001TF\u53d8\u6362\uff0c\u6211\u4eec\u6765\u770b\u770b\u5728\u7a0b\u5e8f\u4e2d\u8be5\u5982\u4f55\u5b9e\u73b0\uff1f</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_5","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u7ec8\u7aef\uff0c\u8fd0\u884c\u5982\u4e0b\u547d\u4ee4\uff1a</p> <pre><code>$ ros2 run learning_tf static_tf_broadcaster\n$ ros2 run tf2_tools view_frames\u00a0\n</code></pre> <p>\u53ef\u4ee5\u770b\u5230\u5f53\u524d\u7cfb\u7edf\u4e2d\u5b58\u5728\u4e24\u4e2a\u5750\u6807\u7cfb\uff0c\u4e00\u4e2a\u662fworld\uff0c\u4e00\u4e2a\u662fhouse\uff0c\u4e24\u8005\u4e4b\u95f4\u7684\u76f8\u5bf9\u4f4d\u7f6e\u4e0d\u4f1a\u53d1\u751f\u6539\u53d8\uff0c\u901a\u8fc7\u4e00\u4e2a\u9759\u6001\u7684TF\u5bf9\u8c61\u8fdb\u884c\u7ef4\u62a4\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_6","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u6765\u770b\u4e0b\u5728\u4ee3\u7801\u4e2d\u662f\u5982\u4f55\u521b\u5efa\u5750\u6807\u7cfb\u5e76\u4e14\u53d1\u5e03\u9759\u6001\u53d8\u6362\u7684\u3002</p> <p>learning_tf/static_tf_broadcaster.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2 TF\u793a\u4f8b-\u5e7f\u64ad\u9759\u6001\u7684\u5750\u6807\u53d8\u6362\n\"\"\"\n\nimport rclpy                                                                 # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                                                  # ROS2 \u8282\u70b9\u7c7b\nfrom geometry_msgs.msg import TransformStamped                               # \u5750\u6807\u53d8\u6362\u6d88\u606f\nimport tf_transformations                                                    # TF\u5750\u6807\u53d8\u6362\u5e93\nfrom tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster  # TF\u9759\u6001\u5750\u6807\u7cfb\u5e7f\u64ad\u5668\u7c7b\n\nclass StaticTFBroadcaster(Node):\n    def __init__(self, name):\n        super().__init__(name)                                                  # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n        self.tf_broadcaster = StaticTransformBroadcaster(self)                  # \u521b\u5efa\u4e00\u4e2aTF\u5e7f\u64ad\u5668\u5bf9\u8c61\n\n        static_transformStamped = TransformStamped()                            # \u521b\u5efa\u4e00\u4e2a\u5750\u6807\u53d8\u6362\u7684\u6d88\u606f\u5bf9\u8c61\n        static_transformStamped.header.stamp = self.get_clock().now().to_msg()  # \u8bbe\u7f6e\u5750\u6807\u53d8\u6362\u6d88\u606f\u7684\u65f6\u95f4\u6233\n        static_transformStamped.header.frame_id = 'world'                       # \u8bbe\u7f6e\u4e00\u4e2a\u5750\u6807\u53d8\u6362\u7684\u6e90\u5750\u6807\u7cfb\n        static_transformStamped.child_frame_id  = 'house'                       # \u8bbe\u7f6e\u4e00\u4e2a\u5750\u6807\u53d8\u6362\u7684\u76ee\u6807\u5750\u6807\u7cfb\n        static_transformStamped.transform.translation.x = 10.0                  # \u8bbe\u7f6e\u5750\u6807\u53d8\u6362\u4e2d\u7684X\u3001Y\u3001Z\u5411\u7684\u5e73\u79fb\n        static_transformStamped.transform.translation.y = 5.0                    \n        static_transformStamped.transform.translation.z = 0.0\n        quat = tf_transformations.quaternion_from_euler(0.0, 0.0, 0.0)          # \u5c06\u6b27\u62c9\u89d2\u8f6c\u6362\u4e3a\u56db\u5143\u6570\uff08roll, pitch, yaw\uff09\n        static_transformStamped.transform.rotation.x = quat[0]                  # \u8bbe\u7f6e\u5750\u6807\u53d8\u6362\u4e2d\u7684X\u3001Y\u3001Z\u5411\u7684\u65cb\u8f6c\uff08\u56db\u5143\u6570\uff09\n        static_transformStamped.transform.rotation.y = quat[1]\n        static_transformStamped.transform.rotation.z = quat[2]\n        static_transformStamped.transform.rotation.w = quat[3]\n\n        self.tf_broadcaster.sendTransform(static_transformStamped)              # \u5e7f\u64ad\u9759\u6001\u5750\u6807\u53d8\u6362\uff0c\u5e7f\u64ad\u540e\u4e24\u4e2a\u5750\u6807\u7cfb\u7684\u4f4d\u7f6e\u5173\u7cfb\u4fdd\u6301\u4e0d\u53d8\n\ndef main(args=None):\n    rclpy.init(args=args)                                # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = StaticTFBroadcaster(\"static_tf_broadcaster\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                     # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                  # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n            'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main',\n        ],\n    },\n</code></pre> <p>\u7ecf\u8fc7\u8fd9\u6bb5\u4ee3\u7801\uff0c\u4e24\u4e2a\u5750\u6807\u7cfb\u7684\u53d8\u5316\u662f\u63cf\u8ff0\u6e05\u695a\u4e86\uff0c\u5230\u4e86\u4f7f\u7528\u7684\u65f6\u5019\uff0c\u6211\u4eec\u53c8\u8be5\u5982\u4f55\u67e5\u8be2\u5462\uff1f</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#tf_4","title":"TF\u76d1\u542c","text":"<p>\u6211\u4eec\u518d\u6765\u5b66\u4e60\u4e0b\u5982\u4f55\u67e5\u8be2\u4e24\u4e2a\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u4f4d\u7f6e\u5173\u7cfb\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_7","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8fd0\u884c\u5982\u4e0b\u8282\u70b9\uff0c\u5c31\u53ef\u4ee5\u5728\u7ec8\u7aef\u4e2d\u770b\u5230\u5468\u671f\u663e\u793a\u7684\u5750\u6807\u5173\u7cfb\u4e86\u3002</p> <pre><code>$ ros2 run learning_tf tf_listener\n</code></pre> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_8","title":"\u4ee3\u7801\u89e3\u6790","text":"<p>\u8fd9\u4e2a\u8282\u70b9\u4e2d\u662f\u5982\u4f55\u67e5\u8be2\u5750\u6807\u5173\u7cfb\u7684\uff0c\u6211\u4eec\u6765\u770b\u4e0b\u4ee3\u7801\u3002</p> <p>learning_tf/tf_listener.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2 TF\u793a\u4f8b-\u76d1\u542c\u67d0\u4e24\u4e2a\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u53d8\u6362\n\"\"\"\n\nimport rclpy                                              # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                               # ROS2 \u8282\u70b9\u7c7b\nimport tf_transformations                                 # TF\u5750\u6807\u53d8\u6362\u5e93\nfrom tf2_ros import TransformException                    # TF\u5de6\u8fb9\u53d8\u6362\u7684\u5f02\u5e38\u7c7b\nfrom tf2_ros.buffer import Buffer                         # \u5b58\u50a8\u5750\u6807\u53d8\u6362\u4fe1\u606f\u7684\u7f13\u51b2\u7c7b\nfrom tf2_ros.transform_listener import TransformListener  # \u76d1\u542c\u5750\u6807\u53d8\u6362\u7684\u76d1\u542c\u5668\u7c7b\n\nclass TFListener(Node):\n\n    def __init__(self, name):\n        super().__init__(name)                                      # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n\n        self.declare_parameter('source_frame', 'world')             # \u521b\u5efa\u4e00\u4e2a\u6e90\u5750\u6807\u7cfb\u540d\u7684\u53c2\u6570\n        self.source_frame = self.get_parameter(                     # \u4f18\u5148\u4f7f\u7528\u5916\u90e8\u8bbe\u7f6e\u7684\u53c2\u6570\u503c\uff0c\u5426\u5219\u7528\u9ed8\u8ba4\u503c\n            'source_frame').get_parameter_value().string_value\n\n        self.declare_parameter('target_frame', 'house')             # \u521b\u5efa\u4e00\u4e2a\u76ee\u6807\u5750\u6807\u7cfb\u540d\u7684\u53c2\u6570\n        self.target_frame = self.get_parameter(                     # \u4f18\u5148\u4f7f\u7528\u5916\u90e8\u8bbe\u7f6e\u7684\u53c2\u6570\u503c\uff0c\u5426\u5219\u7528\u9ed8\u8ba4\u503c\n            'target_frame').get_parameter_value().string_value\n\n        self.tf_buffer = Buffer()                                   # \u521b\u5efa\u4fdd\u5b58\u5750\u6807\u53d8\u6362\u4fe1\u606f\u7684\u7f13\u51b2\u533a\n        self.tf_listener = TransformListener(self.tf_buffer, self)  # \u521b\u5efa\u5750\u6807\u53d8\u6362\u7684\u76d1\u542c\u5668\n\n        self.timer = self.create_timer(1.0, self.on_timer)          # \u521b\u5efa\u4e00\u4e2a\u56fa\u5b9a\u5468\u671f\u7684\u5b9a\u65f6\u5668\uff0c\u5904\u7406\u5750\u6807\u4fe1\u606f\n\n    def on_timer(self):\n        try:\n            now = rclpy.time.Time()                                 # \u83b7\u53d6ROS\u7cfb\u7edf\u7684\u5f53\u524d\u65f6\u95f4\n            trans = self.tf_buffer.lookup_transform(                # \u76d1\u542c\u5f53\u524d\u65f6\u523b\u6e90\u5750\u6807\u7cfb\u5230\u76ee\u6807\u5750\u6807\u7cfb\u7684\u5750\u6807\u53d8\u6362\n                self.target_frame,\n                self.source_frame,\n                now)\n        except TransformException as ex:                            # \u5982\u679c\u5750\u6807\u53d8\u6362\u83b7\u53d6\u5931\u8d25\uff0c\u8fdb\u5165\u5f02\u5e38\u62a5\u544a\n            self.get_logger().info(\n                f'Could not transform {self.target_frame} to {self.source_frame}: {ex}')\n            return\n\n        pos  = trans.transform.translation                          # \u83b7\u53d6\u4f4d\u7f6e\u4fe1\u606f\n        quat = trans.transform.rotation                             # \u83b7\u53d6\u59ff\u6001\u4fe1\u606f\uff08\u56db\u5143\u6570\uff09\n        euler = tf_transformations.euler_from_quaternion([quat.x, quat.y, quat.z, quat.w])\n        self.get_logger().info('Get %s --&gt; %s transform: [%f, %f, %f] [%f, %f, %f]' \n          % (self.source_frame, self.target_frame, pos.x, pos.y, pos.z, euler[0], euler[1], euler[2]))\n\ndef main(args=None):\n    rclpy.init(args=args)                       # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = TFListener(\"tf_listener\")            # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                            # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                         # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                            # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n            'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main',\n            'tf_listener = learning_tf.tf_listener:main',\n        ],\n    },\n</code></pre> <p>\u597d\u5566\uff0c\u5927\u5bb6\u73b0\u5728\u5bf9TF\u7684\u57fa\u672c\u4f7f\u7528\u6709\u6240\u4e86\u89e3\u4e86\u3002\u6211\u4eec\u7ee7\u7eed\u6311\u6218\u4e24\u53ea\u6d77\u9f9f\u8ddf\u968f\u7684\u6848\u4f8b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_9","title":"\u6d77\u9f9f\u8ddf\u968f\u529f\u80fd\u89e3\u6790","text":"<p>\u8fd8\u662f\u4e4b\u524d\u5c0f\u6d77\u9f9f\u8ddf\u968f\u7684\u793a\u4f8b\uff0c\u6211\u4eec\u81ea\u5df1\u901a\u8fc7\u4ee3\u7801\u6765\u5b9e\u73b0\u4e00\u4e0b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_10","title":"\u8fd0\u884c\u6548\u679c","text":"<p>\u5148\u770b\u4e0b\u5b9e\u73b0\u7684\u6548\u679c\uff0c\u542f\u52a8\u7ec8\u7aef\u540e\uff0c\u901a\u8fc7\u5982\u4e0b\u547d\u4ee4\u542f\u52a8\u4f8b\u7a0b\uff1a</p> <pre><code>$ ros2 launch learning_tf turtle_following_demo.launch.py\n$ ros2 run turtlesim turtle_teleop_key\n</code></pre> <p>\u770b\u5230\u7684\u6548\u679c\u548cROS\u81ea\u5e26\u7684\u4f8b\u7a0b\u76f8\u540c\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_11","title":"\u539f\u7406\u89e3\u6790","text":"<p>\u5728\u4e24\u53ea\u6d77\u9f9f\u7684\u4eff\u771f\u5668\u4e2d\uff0c\u6211\u4eec\u53ef\u4ee5\u5b9a\u4e49\u4e09\u4e2a\u5750\u6807\u7cfb\uff0c\u6bd4\u5982\u4eff\u771f\u5668\u7684\u5168\u5c40\u53c2\u8003\u7cfb\u53eb\u505aworld\uff0cturtle1\u548cturtle2\u5750\u6807\u7cfb\u5728\u4e24\u53ea\u6d77\u9f9f\u7684\u4e2d\u5fc3\u70b9\uff0c\u8fd9\u6837\uff0cturtle1\u548cworld\u5750\u6807\u7cfb\u7684\u76f8\u5bf9\u4f4d\u7f6e\uff0c\u5c31\u53ef\u4ee5\u8868\u793a\u6d77\u9f9f1\u7684\u4f4d\u7f6e\uff0c\u6d77\u9f9f2\u4e5f\u540c\u7406\u3002</p> <p>\u8981\u5b9e\u73b0\u6d77\u9f9f2\u5411\u6d77\u9f9f1\u8fd0\u52a8\uff0c\u6211\u4eec\u5728\u4e24\u8005\u4e2d\u95f4\u505a\u4e00\u4e2a\u8fde\u7ebf\uff0c\u518d\u52a0\u4e00\u4e2a\u7bad\u5934\uff0c\u600e\u4e48\u6837\uff0c\u662f\u4e0d\u662f\u6709\u60f3\u8d77\u9ad8\u4e2d\u65f6\u5b66\u4e60\u7684\u5411\u91cf\u8ba1\u7b97\uff1f\u6211\u4eec\u8bf4\u5750\u6807\u53d8\u6362\u7684\u63cf\u8ff0\u65b9\u6cd5\u5c31\u662f\u5411\u91cf\uff0c\u6240\u4ee5\u5728\u8fd9\u4e2a\u8ddf\u968f\u4f8b\u7a0b\u4e2d\uff0c\u7528TF\u5c31\u53ef\u4ee5\u5f88\u597d\u7684\u89e3\u51b3\u3002</p> <p>\u5411\u91cf\u7684\u957f\u5ea6\u8868\u793a\u8ddd\u79bb\uff0c\u65b9\u5411\u8868\u793a\u89d2\u5ea6\uff0c\u6709\u4e86\u8ddd\u79bb\u548c\u89d2\u5ea6\uff0c\u6211\u4eec\u968f\u4fbf\u8bbe\u7f6e\u4e00\u4e2a\u65f6\u95f4\uff0c\u4e0d\u5c31\u53ef\u4ee5\u8ba1\u7b97\u5f97\u5230\u901f\u5ea6\u4e86\u4e48\uff0c\u7136\u540e\u5c31\u662f\u901f\u5ea6\u8bdd\u9898\u7684\u5c01\u88c5\u548c\u53d1\u5e03\uff0c\u6d77\u9f9f2\u4e5f\u5c31\u53ef\u4ee5\u52a8\u8d77\u6765\u4e86\u3002</p> <p>\u6240\u4ee5\u8fd9\u4e2a\u4f8b\u7a0b\u7684\u6838\u5fc3\u5c31\u662f\u901a\u8fc7\u5750\u6807\u7cfb\u5b9e\u73b0\u5411\u91cf\u7684\u8ba1\u7b97\uff0c\u4e24\u53ea\u6d77\u9f9f\u8fd8\u4f1a\u4e0d\u65ad\u8fd0\u52a8\uff0c\u8fd9\u4e2a\u5411\u91cf\u4e5f\u5f97\u6309\u7167\u67d0\u4e00\u4e2a\u5468\u671f\u8ba1\u7b97\uff0c\u8fd9\u5c31\u5f97\u7528\u4e0aTF\u7684\u52a8\u6001\u5e7f\u64ad\u4e0e\u76d1\u542c\u4e86\u3002</p> <p>\u6211\u4eec\u4e00\u8d77\u770b\u4e0b\u4ee3\u7801\u8be5\u5982\u4f55\u5b9e\u73b0\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#launch","title":"Launch\u6587\u4ef6\u89e3\u6790","text":"<p>\u5148\u6765\u770b\u4e0b\u521a\u624d\u8fd0\u884c\u7684launch\u6587\u4ef6\uff0c\u91cc\u8fb9\u542f\u52a8\u4e86\u56db\u4e2a\u8282\u70b9\uff0c\u5206\u522b\u662f\uff1a</p> <ul> <li>\u5c0f\u6d77\u9f9f\u4eff\u771f\u5668</li> <li>\u6d77\u9f9f1\u7684\u5750\u6807\u7cfb\u5e7f\u64ad</li> <li>\u6d77\u9f9f2\u7684\u5750\u6807\u7cfb\u5e7f\u64ad</li> <li>\u6d77\u9f9f\u8ddf\u968f\u63a7\u5236</li> </ul> <p>\u5176\u4e2d\uff0c\u4e24\u4e2a\u5750\u6807\u7cfb\u7684\u5e7f\u64ad\u590d\u7528\u4e86turtle_tf_broadcaster\u8282\u70b9\uff0c\u901a\u8fc7\u4f20\u5165\u7684\u53c2\u6570\u540d\u4fee\u6539\u7ef4\u62a4\u7684\u5750\u6807\u7cfb\u540d\u79f0\u3002</p> <p>learning_tf/launch/turtle_following_demo.launch.py</p> <pre><code>from launch import LaunchDescription\nfrom launch.actions import DeclareLaunchArgument\nfrom launch.substitutions import LaunchConfiguration\nfrom launch_ros.actions import Node\n\n\ndef generate_launch_description():\n    return LaunchDescription([\n        Node(\n            package='turtlesim',\n            executable='turtlesim_node',\n            name='sim'\n        ),\n        Node(\n            package='learning_tf',\n            executable='turtle_tf_broadcaster',\n            name='broadcaster1',\n            parameters=[\n                {'turtlename': 'turtle1'}\n            ]\n        ),\n        DeclareLaunchArgument(\n            'target_frame', default_value='turtle1',\n            description='Target frame name.'\n        ),\n        Node(\n            package='learning_tf',\n            executable='turtle_tf_broadcaster',\n            name='broadcaster2',\n            parameters=[\n                {'turtlename': 'turtle2'}\n            ]\n        ),\n        Node(\n            package='learning_tf',\n            executable='turtle_following',\n            name='listener',\n            parameters=[\n                {'target_frame': LaunchConfiguration('target_frame')}\n            ]\n        ), \n    ])\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_12","title":"\u5750\u6807\u7cfb\u52a8\u6001\u5e7f\u64ad","text":"<p>\u6d77\u9f9f1\u548c\u6d77\u9f9f2\u5728world\u5750\u6807\u7cfb\u4e0b\u7684\u5750\u6807\u53d8\u6362\uff0c\u5728turtle_tf_broadcaster\u8282\u70b9\u4e2d\u5b9e\u73b0\uff0c\u9664\u4e86\u6d77\u9f9f\u5750\u6807\u7cfb\u7684\u540d\u5b57\u4e0d\u540c\u4e4b\u5916\uff0c\u9488\u5bf9\u4e24\u4e2a\u6d77\u9f9f\u7684\u529f\u80fd\u662f\u4e00\u6837\u7684\u3002</p> <p>learning_tf/turtle_tf_broadcaster.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2 TF\u793a\u4f8b-\u5e7f\u64ad\u52a8\u6001\u7684\u5750\u6807\u53d8\u6362\n\"\"\"\n\nimport rclpy                                       # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                        # ROS2 \u8282\u70b9\u7c7b\nfrom geometry_msgs.msg import TransformStamped     # \u5750\u6807\u53d8\u6362\u6d88\u606f\nimport tf_transformations                          # TF\u5750\u6807\u53d8\u6362\u5e93\nfrom tf2_ros import TransformBroadcaster           # TF\u5750\u6807\u53d8\u6362\u5e7f\u64ad\u5668\nfrom turtlesim.msg import Pose                     # turtlesim\u5c0f\u6d77\u9f9f\u4f4d\u7f6e\u6d88\u606f\n\nclass TurtleTFBroadcaster(Node):\n\n    def __init__(self, name):\n        super().__init__(name)                                # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n\n        self.declare_parameter('turtlename', 'turtle')        # \u521b\u5efa\u4e00\u4e2a\u6d77\u9f9f\u540d\u79f0\u7684\u53c2\u6570\n        self.turtlename = self.get_parameter(                 # \u4f18\u5148\u4f7f\u7528\u5916\u90e8\u8bbe\u7f6e\u7684\u53c2\u6570\u503c\uff0c\u5426\u5219\u7528\u9ed8\u8ba4\u503c\n            'turtlename').get_parameter_value().string_value\n\n        self.tf_broadcaster = TransformBroadcaster(self)      # \u521b\u5efa\u4e00\u4e2aTF\u5750\u6807\u53d8\u6362\u7684\u5e7f\u64ad\u5bf9\u8c61\u5e76\u521d\u59cb\u5316\n\n        self.subscription = self.create_subscription(         # \u521b\u5efa\u4e00\u4e2a\u8ba2\u9605\u8005\uff0c\u8ba2\u9605\u6d77\u9f9f\u7684\u4f4d\u7f6e\u6d88\u606f\n            Pose,\n            f'/{self.turtlename}/pose',                       # \u4f7f\u7528\u53c2\u6570\u4e2d\u83b7\u53d6\u5230\u7684\u6d77\u9f9f\u540d\u79f0\n            self.turtle_pose_callback, 1)\n\n    def turtle_pose_callback(self, msg):                              # \u521b\u5efa\u4e00\u4e2a\u5904\u7406\u6d77\u9f9f\u4f4d\u7f6e\u6d88\u606f\u7684\u56de\u8c03\u51fd\u6570\uff0c\u5c06\u4f4d\u7f6e\u6d88\u606f\u8f6c\u53d8\u6210\u5750\u6807\u53d8\u6362\n        transform = TransformStamped()                                # \u521b\u5efa\u4e00\u4e2a\u5750\u6807\u53d8\u6362\u7684\u6d88\u606f\u5bf9\u8c61\n\n        transform.header.stamp = self.get_clock().now().to_msg()      # \u8bbe\u7f6e\u5750\u6807\u53d8\u6362\u6d88\u606f\u7684\u65f6\u95f4\u6233\n        transform.header.frame_id = 'world'                           # \u8bbe\u7f6e\u4e00\u4e2a\u5750\u6807\u53d8\u6362\u7684\u6e90\u5750\u6807\u7cfb\n        transform.child_frame_id = self.turtlename                    # \u8bbe\u7f6e\u4e00\u4e2a\u5750\u6807\u53d8\u6362\u7684\u76ee\u6807\u5750\u6807\u7cfb\n        transform.transform.translation.x = msg.x                     # \u8bbe\u7f6e\u5750\u6807\u53d8\u6362\u4e2d\u7684X\u3001Y\u3001Z\u5411\u7684\u5e73\u79fb\n        transform.transform.translation.y = msg.y\n        transform.transform.translation.z = 0.0\n        q = tf_transformations.quaternion_from_euler(0, 0, msg.theta) # \u5c06\u6b27\u62c9\u89d2\u8f6c\u6362\u4e3a\u56db\u5143\u6570\uff08roll, pitch, yaw\uff09\n        transform.transform.rotation.x = q[0]                         # \u8bbe\u7f6e\u5750\u6807\u53d8\u6362\u4e2d\u7684X\u3001Y\u3001Z\u5411\u7684\u65cb\u8f6c\uff08\u56db\u5143\u6570\uff09\n        transform.transform.rotation.y = q[1]\n        transform.transform.rotation.z = q[2]\n        transform.transform.rotation.w = q[3]\n\n        # Send the transformation\n        self.tf_broadcaster.sendTransform(transform)     # \u5e7f\u64ad\u5750\u6807\u53d8\u6362\uff0c\u6d77\u9f9f\u4f4d\u7f6e\u53d8\u5316\u540e\uff0c\u5c06\u53ca\u65f6\u66f4\u65b0\u5750\u6807\u53d8\u6362\u4fe1\u606f\n\ndef main(args=None):\n    rclpy.init(args=args)                                # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = TurtleTFBroadcaster(\"turtle_tf_broadcaster\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                                     # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                                  # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                                     # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n            'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main',\n            'turtle_tf_broadcaster = learning_tf.turtle_tf_broadcaster:main',\n            'tf_listener = learning_tf.tf_listener:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_13","title":"\u6d77\u9f9f\u8ddf\u968f","text":"<p>\u5750\u6807\u7cfb\u90fd\u6b63\u5e38\u5e7f\u64ad\u4e86\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5c31\u53ef\u4ee5\u8ba2\u9605\u4e24\u53ea\u6d77\u9f9f\u7684\u4f4d\u7f6e\u5173\u7cfb\uff0c\u5e76\u4e14\u53d8\u6362\u6210\u901f\u5ea6\u6307\u4ee4\u8fdb\u884c\u63a7\u5236\u5566\u3002</p> <p>learning_tf/turtle_following.py</p> <pre><code>#!/usr/bin/env python3\n# -*- coding: utf-8 -*-\n\n\"\"\"\n@\u4f5c\u8005: \u53e4\u6708\u5c45(www.guyuehome.com)\n@\u8bf4\u660e: ROS2 TF\u793a\u4f8b-\u901a\u8fc7\u5750\u6807\u53d8\u5316\u5b9e\u73b0\u6d77\u9f9f\u8ddf\u968f\u529f\u80fd\n\"\"\"\n\nimport math\nimport rclpy                                              # ROS2 Python\u63a5\u53e3\u5e93\nfrom rclpy.node import Node                               # ROS2 \u8282\u70b9\u7c7b\nimport tf_transformations                                 # TF\u5750\u6807\u53d8\u6362\u5e93\nfrom tf2_ros import TransformException                    # TF\u5de6\u8fb9\u53d8\u6362\u7684\u5f02\u5e38\u7c7b\nfrom tf2_ros.buffer import Buffer                         # \u5b58\u50a8\u5750\u6807\u53d8\u6362\u4fe1\u606f\u7684\u7f13\u51b2\u7c7b\nfrom tf2_ros.transform_listener import TransformListener  # \u76d1\u542c\u5750\u6807\u53d8\u6362\u7684\u76d1\u542c\u5668\u7c7b\nfrom geometry_msgs.msg import Twist                       # ROS2 \u901f\u5ea6\u63a7\u5236\u6d88\u606f\nfrom turtlesim.srv import Spawn                           # \u6d77\u9f9f\u751f\u6210\u7684\u670d\u52a1\u63a5\u53e3\nclass TurtleFollowing(Node):\n\n    def __init__(self, name):\n        super().__init__(name)                                      # ROS2\u8282\u70b9\u7236\u7c7b\u521d\u59cb\u5316\n\n        self.declare_parameter('source_frame', 'turtle1')           # \u521b\u5efa\u4e00\u4e2a\u6e90\u5750\u6807\u7cfb\u540d\u7684\u53c2\u6570\n        self.source_frame = self.get_parameter(                     # \u4f18\u5148\u4f7f\u7528\u5916\u90e8\u8bbe\u7f6e\u7684\u53c2\u6570\u503c\uff0c\u5426\u5219\u7528\u9ed8\u8ba4\u503c\n            'source_frame').get_parameter_value().string_value\n\n        self.tf_buffer = Buffer()                                   # \u521b\u5efa\u4fdd\u5b58\u5750\u6807\u53d8\u6362\u4fe1\u606f\u7684\u7f13\u51b2\u533a\n        self.tf_listener = TransformListener(self.tf_buffer, self)  # \u521b\u5efa\u5750\u6807\u53d8\u6362\u7684\u76d1\u542c\u5668\n\n        self.spawner = self.create_client(Spawn, 'spawn')           # \u521b\u5efa\u4e00\u4e2a\u8bf7\u6c42\u4ea7\u751f\u6d77\u9f9f\u7684\u5ba2\u6237\u7aef\n        self.turtle_spawning_service_ready = False                  # \u662f\u5426\u5df2\u7ecf\u8bf7\u6c42\u6d77\u9f9f\u751f\u6210\u670d\u52a1\u7684\u6807\u5fd7\u4f4d\n        self.turtle_spawned = False                                 # \u6d77\u9f9f\u662f\u5426\u4ea7\u751f\u6210\u529f\u7684\u6807\u5fd7\u4f4d\n\n        self.publisher = self.create_publisher(Twist, 'turtle2/cmd_vel', 1) # \u521b\u5efa\u8ddf\u968f\u8fd0\u52a8\u6d77\u9f9f\u7684\u901f\u5ea6\u8bdd\u9898\n\n        self.timer = self.create_timer(1.0, self.on_timer)         # \u521b\u5efa\u4e00\u4e2a\u56fa\u5b9a\u5468\u671f\u7684\u5b9a\u65f6\u5668\uff0c\u63a7\u5236\u8ddf\u968f\u6d77\u9f9f\u7684\u8fd0\u52a8\n\n    def on_timer(self):\n        from_frame_rel = self.source_frame                         # \u6e90\u5750\u6807\u7cfb\n        to_frame_rel   = 'turtle2'                                 # \u76ee\u6807\u5750\u6807\u7cfb\n\n        if self.turtle_spawning_service_ready:                     # \u5982\u679c\u5df2\u7ecf\u8bf7\u6c42\u6d77\u9f9f\u751f\u6210\u670d\u52a1\n            if self.turtle_spawned:                                # \u5982\u679c\u8ddf\u968f\u6d77\u9f9f\u5df2\u7ecf\u751f\u6210\n                try:\n                    now = rclpy.time.Time()                        # \u83b7\u53d6ROS\u7cfb\u7edf\u7684\u5f53\u524d\u65f6\u95f4\n                    trans = self.tf_buffer.lookup_transform(       # \u76d1\u542c\u5f53\u524d\u65f6\u523b\u6e90\u5750\u6807\u7cfb\u5230\u76ee\u6807\u5750\u6807\u7cfb\u7684\u5750\u6807\u53d8\u6362\n                        to_frame_rel,\n                        from_frame_rel,\n                        now)\n                except TransformException as ex:                   # \u5982\u679c\u5750\u6807\u53d8\u6362\u83b7\u53d6\u5931\u8d25\uff0c\u8fdb\u5165\u5f02\u5e38\u62a5\u544a\n                    self.get_logger().info(\n                        f'Could not transform {to_frame_rel} to {from_frame_rel}: {ex}')\n                    return\n\n                msg = Twist()                                      # \u521b\u5efa\u901f\u5ea6\u63a7\u5236\u6d88\u606f\n                scale_rotation_rate = 1.0                          # \u6839\u636e\u6d77\u9f9f\u89d2\u5ea6\uff0c\u8ba1\u7b97\u89d2\u901f\u5ea6\n                msg.angular.z = scale_rotation_rate * math.atan2(\n                    trans.transform.translation.y,\n                    trans.transform.translation.x)\n\n                scale_forward_speed = 0.5                          # \u6839\u636e\u6d77\u9f9f\u8ddd\u79bb\uff0c\u8ba1\u7b97\u7ebf\u901f\u5ea6\n                msg.linear.x = scale_forward_speed * math.sqrt(\n                    trans.transform.translation.x ** 2 +\n                    trans.transform.translation.y ** 2)\n\n                self.publisher.publish(msg)                        # \u53d1\u5e03\u901f\u5ea6\u6307\u4ee4\uff0c\u6d77\u9f9f\u8ddf\u968f\u8fd0\u52a8\n            else:                                                  # \u5982\u679c\u8ddf\u968f\u6d77\u9f9f\u6ca1\u6709\u751f\u6210\n                if self.result.done():                             # \u67e5\u770b\u6d77\u9f9f\u662f\u5426\u751f\u6210\n                    self.get_logger().info(\n                        f'Successfully spawned {self.result.result().name}')\n                    self.turtle_spawned = True                     \n                else:                                              # \u4f9d\u7136\u6ca1\u6709\u751f\u6210\u8ddf\u968f\u6d77\u9f9f\n                    self.get_logger().info('Spawn is not finished')\n        else:                                                      # \u5982\u679c\u6ca1\u6709\u8bf7\u6c42\u6d77\u9f9f\u751f\u6210\u670d\u52a1\n            if self.spawner.service_is_ready():                    # \u5982\u679c\u6d77\u9f9f\u751f\u6210\u670d\u52a1\u5668\u5df2\u7ecf\u51c6\u5907\u5c31\u7eea\n                request = Spawn.Request()                          # \u521b\u5efa\u4e00\u4e2a\u8bf7\u6c42\u7684\u6570\u636e\n                request.name = 'turtle2'                           # \u8bbe\u7f6e\u8bf7\u6c42\u6570\u636e\u7684\u5185\u5bb9\uff0c\u5305\u62ec\u6d77\u9f9f\u540d\u3001xy\u4f4d\u7f6e\u3001\u59ff\u6001\n                request.x = float(4)\n                request.y = float(2)\n                request.theta = float(0)\n\n                self.result = self.spawner.call_async(request)     # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42\n                self.turtle_spawning_service_ready = True          # \u8bbe\u7f6e\u6807\u5fd7\u4f4d\uff0c\u8868\u793a\u5df2\u7ecf\u53d1\u9001\u8bf7\u6c42\n            else:\n                self.get_logger().info('Service is not ready')     # \u6d77\u9f9f\u751f\u6210\u670d\u52a1\u5668\u8fd8\u6ca1\u51c6\u5907\u5c31\u7eea\u7684\u63d0\u793a\n\n\ndef main(args=None):\n    rclpy.init(args=args)                       # ROS2 Python\u63a5\u53e3\u521d\u59cb\u5316\n    node = TurtleFollowing(\"turtle_following\")  # \u521b\u5efaROS2\u8282\u70b9\u5bf9\u8c61\u5e76\u8fdb\u884c\u521d\u59cb\u5316\n    rclpy.spin(node)                            # \u5faa\u73af\u7b49\u5f85ROS2\u9000\u51fa\n    node.destroy_node()                         # \u9500\u6bc1\u8282\u70b9\u5bf9\u8c61\n    rclpy.shutdown()                            # \u5173\u95edROS2 Python\u63a5\u53e3\n</code></pre> <p>\u5b8c\u6210\u4ee3\u7801\u7684\u7f16\u5199\u540e\u9700\u8981\u8bbe\u7f6e\u529f\u80fd\u5305\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053Python\u7a0b\u5e8f\u7684\u5165\u53e3\uff0c\u6253\u5f00\u529f\u80fd\u5305\u7684setup.py\u6587\u4ef6\uff0c\u52a0\u5165\u5982\u4e0b\u5165\u53e3\u70b9\u7684\u914d\u7f6e\uff1a</p> <pre><code>    entry_points={\n        'console_scripts': [\n            'static_tf_broadcaster = learning_tf.static_tf_broadcaster:main',\n            'turtle_tf_broadcaster = learning_tf.turtle_tf_broadcaster:main',\n            'tf_listener = learning_tf.tf_listener:main',\n            'turtle_following = learning_tf.turtle_following:main',\n        ],\n    },\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/#_14","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/Tf2/Tf2-Main.html</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/","title":"URDF\uff1a\u673a\u5668\u4eba\u5efa\u6a21\u65b9\u6cd5","text":"<p>ROS\u662f\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5f53\u7136\u8981\u7ed9\u673a\u5668\u4eba\u4f7f\u7528\u5566\uff0c\u4e0d\u8fc7\u5728\u4f7f\u7528\u4e4b\u524d\uff0c\u8fd8\u5f97\u8ba9ROS\u8ba4\u8bc6\u4e0b\u6211\u4eec\u4f7f\u7528\u7684\u673a\u5668\u4eba\uff0c\u5982\u4f55\u628a\u4e00\u4e2a\u673a\u5668\u4eba\u4ecb\u7ecd\u7ed9ROS\u5462\uff1f</p> <p>\u4e3a\u6b64\uff0cROS\u4e13\u95e8\u63d0\u4f9b\u4e86\u4e00\u79cd\u673a\u5668\u4eba\u5efa\u6a21\u65b9\u6cd5\u2014\u2014URDF\uff0c\u7528\u6765\u63cf\u8ff0\u673a\u5668\u4eba\u5916\u89c2\u3001\u6027\u80fd\u7b49\u5404\u65b9\u9762\u5c5e\u6027\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_1","title":"\u673a\u5668\u4eba\u7684\u7ec4\u6210","text":"<p>\u5efa\u6a21\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6211\u4eec\u81ea\u5df1\u9700\u8981\u5148\u719f\u6089\u673a\u5668\u4eba\u7684\u7ec4\u6210\u548c\u53c2\u6570\uff0c\u6bd4\u5982\u673a\u5668\u4eba\u4e00\u822c\u662f\u7531\u786c\u4ef6\u7ed3\u6784\u3001\u9a71\u52a8\u7cfb\u7edf\u3001\u4f20\u611f\u5668\u7cfb\u7edf\u3001\u63a7\u5236\u7cfb\u7edf\u56db\u5927\u90e8\u5206\u7ec4\u6210\uff0c\u5e02\u9762\u4e0a\u4e00\u4e9b\u5e38\u89c1\u7684\u673a\u5668\u4eba\uff0c\u65e0\u8bba\u662f\u79fb\u52a8\u673a\u5668\u4eba\u8fd8\u662f\u673a\u68b0\u81c2\uff0c\u6211\u4eec\u90fd\u53ef\u4ee5\u6309\u7167\u8fd9\u56db\u5927\u7ec4\u6210\u90e8\u5206\u8fdb\u884c\u5206\u89e3\u3002</p> <p></p> <ul> <li>\u786c\u4ef6\u7ed3\u6784\u5c31\u662f\u5e95\u76d8\u3001\u5916\u58f3\u3001\u7535\u673a\u7b49\u5b9e\u6253\u5b9e\u53ef\u4ee5\u770b\u5230\u7684\u8bbe\u5907\uff1b</li> <li>\u9a71\u52a8\u7cfb\u7edf\u5c31\u662f\u53ef\u4ee5\u9a71\u4f7f\u8fd9\u4e9b\u8bbe\u5907\u6b63\u5e38\u4f7f\u7528\u7684\u88c5\u7f6e\uff0c\u6bd4\u5982\u7535\u673a\u7684\u9a71\u52a8\u5668\uff0c\u7535\u6e90\u7ba1\u7406\u7cfb\u7edf\u7b49\uff1b</li> <li>\u4f20\u611f\u7cfb\u7edf\u5305\u62ec\u7535\u673a\u4e0a\u7684\u7f16\u7801\u5668\u3001\u677f\u8f7d\u7684IMU\u3001\u5b89\u88c5\u7684\u6444\u50cf\u5934\u3001\u96f7\u8fbe\u7b49\u7b49\uff0c\u4fbf\u4e8e\u673a\u5668\u4eba\u611f\u77e5\u81ea\u5df1\u7684\u72b6\u6001\u548c\u5916\u90e8\u7684\u73af\u5883\uff1b</li> <li>\u63a7\u5236\u7cfb\u7edf\u5c31\u662f\u6211\u4eec\u5f00\u53d1\u8fc7\u7a0b\u7684\u4e3b\u8981\u8f7d\u4f53\u4e86\uff0c\u4e00\u822c\u662f\u6811\u8393\u6d3e\u3001\u7535\u8111\u7b49\u8ba1\u7b97\u5e73\u53f0\uff0c\u4ee5\u53ca\u91cc\u8fb9\u7684\u64cd\u4f5c\u7cfb\u7edf\u548c\u5e94\u7528\u8f6f\u4ef6\u3002</li> </ul> <p>\u673a\u5668\u4eba\u5efa\u6a21\u7684\u8fc7\u7a0b\uff0c\u5176\u5b9e\u5c31\u662f\u6309\u7167\u7c7b\u4f3c\u7684\u601d\u8def\uff0c\u901a\u8fc7\u5efa\u6a21\u8bed\u8a00\uff0c\u628a\u673a\u5668\u4eba\u6bcf\u4e00\u4e2a\u90e8\u5206\u90fd\u63cf\u8ff0\u6e05\u695a\uff0c\u518d\u7ec4\u5408\u8d77\u6765\u7684\u8fc7\u7a0b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#urdf_1","title":"URDF","text":"<p>ROS\u4e2d\u7684\u5efa\u6a21\u65b9\u6cd5\u53eb\u505aURDF\uff0c\u5168\u79f0\u662f\u7edf\u4e00\u673a\u5668\u4eba\u63cf\u8ff0\u683c\u5f0f\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u6e05\u6670\u63cf\u8ff0\u673a\u5668\u4eba\u81ea\u8eab\u7684\u6a21\u578b\uff0c\u8fd8\u53ef\u4ee5\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u5916\u90e8\u73af\u5883\uff0c\u6bd4\u5982\u8fd9\u91cc\u7684\u684c\u5b50\uff0c\u4e5f\u53ef\u4ee5\u7b97\u4f5c\u4e00\u4e2a\u6a21\u578b\u3002</p> <p></p> <p>URDF\u6a21\u578b\u6587\u4ef6\u4f7f\u7528\u7684\u662fXML\u683c\u5f0f\uff0c\u53f3\u4fa7\u5c31\u662f\u4e00\u4e2a\u673a\u5668\u4eba\u7684URDF\u63cf\u8ff0\uff0c\u4e4d\u770b\u4e0a\u53bb\uff0c\u6709\u70b9\u50cf\u7f51\u9875\u5f00\u53d1\u7684\u6e90\u4ee3\u7801\uff0c\u90fd\u662f\u7531\u4e00\u7cfb\u5217\u5c16\u62ec\u53f7\u5305\u56f4\u7684\u6807\u7b7e\u548c\u5176\u4e2d\u7684\u5c5e\u6027\u7ec4\u5408\u800c\u6210\u3002</p> <p>\u5982\u4f55\u4f7f\u7528\u8fd9\u6837\u4e00\u4e2a\u6587\u4ef6\u63cf\u8ff0\u673a\u5668\u4eba\u5462\uff1f\u6bd4\u5982\u8fd9\u4e2a\u673a\u68b0\u81c2\uff0c\u5927\u5bb6\u53ef\u4ee5\u770b\u4e0b\u81ea\u5df1\u7684\u624b\u81c2\uff0c\u6211\u4eec\u7684\u624b\u81c2\u662f\u7531\u5927\u81c2\u548c\u5c0f\u81c2\u7ec4\u6210\uff0c\u4ed6\u4eec\u72ec\u81ea\u662f\u65e0\u6cd5\u8fd0\u52a8\u7684\uff0c\u5fc5\u987b\u901a\u8fc7\u4e00\u4e2a\u624b\u8098\u5173\u8282\u8fde\u63a5\u4e4b\u540e\uff0c\u624d\u80fd\u901a\u8fc7\u808c\u8089\u9a71\u52a8\uff0c\u4ea7\u751f\u76f8\u5bf9\u8fd0\u52a8\u3002</p> <p>\u5728\u5efa\u6a21\u4e2d\uff0c\u5927\u81c2\u548c\u5c0f\u81c2\u5c31\u7c7b\u4f3c\u673a\u5668\u4eba\u7684\u8fd9\u4e9b\u72ec\u7acb\u7684\u521a\u4f53\u90e8\u5206\uff0c\u79f0\u4e3a\u8fde\u6746Link\uff0c\u624b\u8098\u5c31\u7c7b\u4f3c\u4e8e\u673a\u5668\u4eba\u7535\u673a\u9a71\u52a8\u90e8\u5206\uff0c\u79f0\u4e3a\u5173\u8282joint\u3002</p> <p>\u6240\u4ee5\u5728URDF\u5efa\u6a21\u8fc7\u7a0b\u4e2d\uff0c\u5173\u952e\u4efb\u52a1\u5c31\u662f\u901a\u8fc7\u8fd9\u91cc\u7684&lt;link&gt;\u548c&lt;joint&gt;\uff0c\u7406\u6e05\u695a\u6bcf\u4e00\u4e2a\u8fde\u6746\u548c\u5173\u8282\u7684\u63cf\u8ff0\u4fe1\u606f\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#link","title":"\u8fde\u6746Link\u7684\u63cf\u8ff0","text":"<p>&lt;link&gt;\u6807\u7b7e\u7528\u6765\u63cf\u8ff0\u673a\u5668\u4eba\u67d0\u4e2a\u521a\u4f53\u90e8\u5206\u7684\u5916\u89c2\u548c\u7269\u7406\u5c5e\u6027\uff0c\u5916\u89c2\u5305\u62ec\u5c3a\u5bf8\u3001\u989c\u8272\u3001\u5f62\u72b6\uff0c\u7269\u7406\u5c5e\u6027\u5305\u62ec\u8d28\u91cf\u3001\u60ef\u6027\u77e9\u9635\u3001\u78b0\u649e\u53c2\u6570\u7b49\u3002</p> <p></p> <p>\u4ee5\u8fd9\u4e2a\u673a\u68b0\u81c2\u8fde\u6746\u4e3a\u4f8b\uff0c\u5b83\u7684link\u63cf\u8ff0\u5982\u4e0b\uff1a</p> <p></p> <p>link\u6807\u7b7e\u4e2d\u7684name\u8868\u793a\u8be5\u8fde\u6746\u7684\u540d\u79f0\uff0c\u6211\u4eec\u53ef\u4ee5\u81ea\u5b9a\u4e49\uff0c\u672a\u6765joint\u8fde\u63a5link\u7684\u65f6\u5019\uff0c\u4f1a\u4f7f\u7528\u5230\u8fd9\u4e2a\u540d\u79f0\u3002</p> <p>link\u91cc\u8fb9\u7684&lt;visual&gt;\u90e8\u5206\u7528\u6765\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u5916\u89c2\uff0c\u6bd4\u5982\uff1a</p> <ul> <li>&lt;geometry&gt;\u8868\u793a\u51e0\u4f55\u5f62\u72b6\uff0c\u91cc\u8fb9\u4f7f\u7528&lt;mesh&gt;\u8c03\u7528\u4e86\u4e00\u4e2a\u5728\u4e09\u7ef4\u8f6f\u4ef6\u4e2d\u63d0\u524d\u8bbe\u8ba1\u597d\u7684\u84dd\u8272\u5916\u89c2\uff0c\u5c31\u662f\u8fd9\u4e2astl\u6587\u4ef6\uff0c\u770b\u4e0a\u53bb\u548c\u771f\u5b9e\u673a\u5668\u4eba\u662f\u4e00\u81f4\u7684</li> <li>&lt;origin&gt;\u8868\u793a\u5750\u6807\u7cfb\u76f8\u5bf9\u521d\u59cb\u4f4d\u7f6e\u7684\u504f\u79fb\uff0c\u5206\u522b\u662fx\u3001y\u3001z\u65b9\u5411\u4e0a\u7684\u5e73\u79fb\uff0c\u548croll\u3001pitch\u3001raw\u65cb\u8f6c\uff0c\u4e0d\u9700\u8981\u504f\u79fb\u7684\u8bdd\uff0c\u5c31\u5168\u4e3a0\u3002</li> </ul> <p>\u7b2c\u4e8c\u4e2a\u90e8\u5206&lt;collision&gt;\uff0c\u63cf\u8ff0\u78b0\u649e\u53c2\u6570\uff0c\u91cc\u8fb9\u7684\u5185\u5bb9\u4f3c\u4e4e\u548c&lt;visual&gt;\u4e00\u6837\uff0c\u4e5f\u6709&lt;geometry&gt;\u548c&lt;origin&gt;\uff0c\u770b\u4f3c\u76f8\u540c\uff0c\u5176\u5b9e\u533a\u522b\u8fd8\u662f\u6bd4\u8f83\u5927\u7684\u3002</p> <ul> <li>&lt;visual&gt;\u90e8\u5206\u91cd\u5728\u63cf\u8ff0\u673a\u5668\u4eba\u770b\u4e0a\u53bb\u7684\u72b6\u6001\uff0c\u4e5f\u5c31\u662f\u89c6\u89c9\u6548\u679c\uff1b</li> <li>&lt;collision&gt;\u90e8\u5206\u5219\u662f\u63cf\u8ff0\u673a\u5668\u4eba\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u7684\u72b6\u6001\uff0c\u6bd4\u5982\u673a\u5668\u4eba\u4e0e\u5916\u754c\u5982\u4f55\u63a5\u89e6\u7b97\u4f5c\u78b0\u649e\u3002</li> </ul> <p>\u5728\u8fd9\u4e2a\u673a\u5668\u4eba\u6a21\u578b\u4e2d\uff0c\u84dd\u8272\u90e8\u5206\u662f\u901a\u8fc7&lt;visual&gt;\u6765\u63cf\u8ff0\u7684\uff0c\u5728\u5b9e\u9645\u63a7\u5236\u8fc7\u7a0b\u4e2d\uff0c\u8fd9\u6837\u590d\u6742\u7684\u5916\u89c2\u5728\u8ba1\u7b97\u78b0\u649e\u68c0\u6d4b\u65f6\uff0c\u8981\u6c42\u7684\u7b97\u529b\u8f83\u9ad8\uff0c\u4e3a\u4e86\u7b80\u5316\u8ba1\u7b97\uff0c\u6211\u4eec\u5c06\u78b0\u649e\u68c0\u6d4b\u7528\u7684\u6a21\u578b\u7b80\u5316\u4e3a\u4e86\u7eff\u8272\u6846\u7684\u5706\u67f1\u4f53\uff0c\u4e5f\u5c31\u662f&lt;collision&gt;\u91cc\u8fb9&lt;geometry&gt;\u63cf\u8ff0\u7684\u5f62\u72b6\u3002&lt;origin&gt;\u5750\u6807\u7cfb\u504f\u79fb\u4e5f\u662f\u7c7b\u4f3c\uff0c\u53ef\u4ee5\u63cf\u8ff0\u521a\u4f53\u8d28\u5fc3\u7684\u504f\u79fb\u3002</p> <p></p> <p>\u5982\u679c\u662f\u79fb\u52a8\u673a\u5668\u4eba\u7684\u8bdd\uff0clink\u4e5f\u53ef\u4ee5\u7528\u6765\u63cf\u8ff0\u5c0f\u8f66\u7684\u8f66\u4f53\u3001\u8f6e\u5b50\u7b49\u90e8\u5206\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#joint","title":"\u5173\u8282Joint\u63cf\u8ff0","text":"<p>\u673a\u5668\u4eba\u6a21\u578b\u4e2d\u7684\u521a\u4f53\u6700\u7ec8\u8981\u901a\u8fc7\u5173\u8282joint\u8fde\u63a5\u4e4b\u540e\uff0c\u624d\u80fd\u4ea7\u751f\u76f8\u5bf9\u8fd0\u52a8\u3002</p> <p>URDF\u4e2d\u7684\u5173\u8282\u6709\u516d\u79cd\u8fd0\u52a8\u7c7b\u578b\u3002</p> <p></p> <ol> <li>continuous\uff0c\u63cf\u8ff0\u65cb\u8f6c\u8fd0\u52a8\uff0c\u53ef\u4ee5\u56f4\u7ed5\u67d0\u4e00\u4e2a\u8f74\u65e0\u9650\u65cb\u8f6c\uff0c\u6bd4\u5982\u5c0f\u8f66\u7684\u8f6e\u5b50\uff0c\u5c31\u5c5e\u4e8e\u8fd9\u79cd\u7c7b\u578b\u3002</li> <li>revolute\uff0c\u4e5f\u662f\u65cb\u8f6c\u5173\u8282\uff0c\u548ccontinuous\u7c7b\u578b\u7684\u533a\u522b\u5728\u4e8e\u4e0d\u80fd\u65e0\u9650\u65cb\u8f6c\uff0c\u800c\u662f\u5e26\u6709\u89d2\u5ea6\u9650\u5236\uff0c\u6bd4\u5982\u673a\u68b0\u81c2\u7684\u4e24\u4e2a\u8fde\u6746\uff0c\u5c31\u5c5e\u4e8e\u8fd9\u79cd\u8fd0\u52a8\u3002</li> <li>prismatic\uff0c\u662f\u6ed1\u52a8\u5173\u8282\uff0c\u53ef\u4ee5\u6cbf\u67d0\u4e00\u4e2a\u8f74\u5e73\u79fb\uff0c\u4e5f\u5e26\u6709\u4f4d\u7f6e\u7684\u6781\u9650\uff0c\u4e00\u822c\u76f4\u7ebf\u7535\u673a\u5c31\u662f\u8fd9\u79cd\u8fd0\u52a8\u65b9\u5f0f\u3002</li> <li>fixed\uff0c\u56fa\u5b9a\u5173\u8282\uff0c\u662f\u552f\u4e00\u4e00\u79cd\u4e0d\u5141\u8bb8\u8fd0\u52a8\u7684\u5173\u8282\uff0c\u4e0d\u8fc7\u4f7f\u7528\u8fd8\u662f\u6bd4\u8f83\u9891\u7e41\u7684\uff0c\u6bd4\u5982\u76f8\u673a\u8fd9\u4e2a\u8fde\u6746\uff0c\u5b89\u88c5\u5728\u673a\u5668\u4eba\u4e0a\uff0c\u76f8\u5bf9\u4f4d\u7f6e\u662f\u4e0d\u4f1a\u53d8\u5316\u7684\uff0c\u6b64\u65f6\u4f7f\u7528\u7684\u8fde\u63a5\u65b9\u5f0f\u5c31\u662fFixed\u3002</li> <li>Floating\u662f\u6d6e\u52a8\u5173\u8282\uff0c\u7b2c\u516d\u79cdplanar\u662f\u5e73\u9762\u5173\u8282\uff0c\u8fd9\u4e24\u79cd\u4f7f\u7528\u76f8\u5bf9\u8f83\u5c11\u3002</li> </ol> <p></p> <p>\u5728URDF\u6a21\u578b\u4e2d\uff0c\u6bcf\u4e00\u4e2alink\u90fd\u4f7f\u7528\u8fd9\u6837\u4e00\u6bb5xml\u5185\u5bb9\u63cf\u8ff0\uff0c\u6bd4\u5982\u5173\u8282\u7684\u540d\u5b57\u53eb\u4ec0\u4e48\uff0c\u8fd0\u52a8\u7c7b\u578b\u662f\u54ea\u4e00\u79cd\u3002</p> <p></p> <ul> <li>parent\u6807\u7b7e\uff1a\u63cf\u8ff0\u7236\u8fde\u6746\uff1b</li> <li>child\u6807\u7b7e\uff1a\u63cf\u8ff0\u5b50\u8fde\u6746\uff0c\u5b50\u8fde\u6746\u4f1a\u76f8\u5bf9\u7236\u8fde\u6746\u53d1\u751f\u8fd0\u52a8\uff1b</li> <li>origin\uff1a\u8868\u793a\u4e24\u4e2a\u8fde\u6746\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u4e5f\u5c31\u662f\u56fe\u4e2d\u7ea2\u8272\u7684\u5411\u91cf\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a\u8fd9\u4e24\u4e2a\u8fde\u6746\u8be5\u5982\u4f55\u5b89\u88c5\u5230\u4e00\u8d77\uff1b</li> <li>axis\u8868\u793a\u5173\u8282\u8fd0\u52a8\u8f74\u7684\u5355\u4f4d\u5411\u91cf\uff0c\u6bd4\u5982z\u7b49\u4e8e1\uff0c\u5c31\u8868\u793a\u8fd9\u4e2a\u65cb\u8f6c\u8fd0\u52a8\u662f\u56f4\u7ed5z\u8f74\u7684\u6b63\u65b9\u5411\u8fdb\u884c\u7684\uff1b</li> <li>limit\u5c31\u8868\u793a\u8fd0\u52a8\u7684\u4e00\u4e9b\u9650\u5236\u4e86\uff0c\u6bd4\u5982\u6700\u5c0f\u4f4d\u7f6e\uff0c\u6700\u5927\u4f4d\u7f6e\uff0c\u548c\u6700\u5927\u901f\u5ea6\u7b49\u3002</li> </ul> Info <p>ROS\u4e2d\u5173\u4e8e\u5e73\u79fb\u7684\u9ed8\u8ba4\u5355\u4f4d\u662fm\uff0c\u65cb\u8f6c\u662f\u5f27\u5ea6\uff08\u4e0d\u662f\u5ea6\uff09\uff0c\u6240\u4ee5\u8fd9\u91cc\u76843.14\u5c31\u8868\u793a\u53ef\u4ee5\u5728-180\u5ea6\u5230180\u5ea6\u4e4b\u95f4\u8fd0\u52a8\uff0c\u7ebf\u901f\u5ea6\u662fm/s\uff0c\u89d2\u901f\u5ea6\u662frad/s\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_2","title":"\u5b8c\u6574\u673a\u5668\u4eba\u6a21\u578b","text":"<p>\u6700\u7ec8\u6240\u6709\u7684link\u548cjoint\u6807\u7b7e\u5b8c\u6210\u4e86\u5bf9\u673a\u5668\u4eba\u6bcf\u4e2a\u90e8\u5206\u7684\u63cf\u8ff0\u548c\u7ec4\u5408\uff0c\u5168\u90fd\u653e\u5728\u4e00\u4e2arobot\u6807\u7b7e\u4e2d\uff0c\u5c31\u5f62\u6210\u4e86\u5b8c\u6574\u7684\u673a\u5668\u4eba\u6a21\u578b\u3002</p> <p></p> <p>\u6240\u4ee5\u5927\u5bb6\u5728\u770b\u67d0\u4e00\u4e2aURDF\u6a21\u578b\u65f6\uff0c\u5148\u4e0d\u7740\u6025\u770b\u6bcf\u4e00\u5757\u4ee3\u7801\u7684\u7ec6\u8282\uff0c\u5148\u6765\u627elink\u548cjoint\uff0c\u770b\u4e0b\u8fd9\u4e2a\u673a\u5668\u4eba\u662f\u7531\u54ea\u4e9b\u90e8\u5206\u7ec4\u6210\u7684\uff0c\u4e86\u89e3\u5b8c\u5168\u5c40\u4e4b\u540e\uff0c\u518d\u770b\u7ec6\u8282\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_3","title":"\u521b\u5efa\u673a\u5668\u4eba\u6a21\u578b","text":"<p>\u597d\u5566\uff0c\u8bb2\u4e86\u8fd9\u4e48\u591a\uff0c\u8fd8\u662f\u8981\u770b\u4e00\u4e2a\u5b8c\u6574\u7684\u793a\u4f8b\u3002</p> <p></p> <p>\u6211\u4eec\u4ee5\u8fd9\u6b3e\u79fb\u52a8\u673a\u5668\u4eba\u6a21\u578b\u4e3a\u4f8b\uff0c\u4e00\u8d77\u770b\u4e0b\u5b83\u7684URDF\u5efa\u6a21\u8fc7\u7a0b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_4","title":"\u529f\u80fd\u5305\u7ed3\u6784","text":"<p>\u673a\u5668\u4eba\u7684\u6a21\u578b\u653e\u7f6e\u5728learning_urdf\u529f\u80fd\u5305\u4e2d\uff0c\u529f\u80fd\u5305\u4e2d\u5305\u542b\u7684\u6587\u4ef6\u5939\u5982\u4e0b\uff1a</p> <p></p> <ul> <li>urdf\uff1a\u5b58\u653e\u673a\u5668\u4eba\u6a21\u578b\u7684URDF\u6216xacro\u6587\u4ef6</li> <li>meshes\uff1a\u653e\u7f6eURDF\u4e2d\u5f15\u7528\u7684\u6a21\u578b\u6e32\u67d3\u6587\u4ef6</li> <li>launch\uff1a\u4fdd\u5b58\u76f8\u5173\u542f\u52a8\u6587\u4ef6</li> <li>rviz\uff1a\u4fdd\u5b58rviz\u7684\u914d\u7f6e\u6587\u4ef6</li> </ul>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_5","title":"\u6a21\u578b\u53ef\u89c6\u5316\u6548\u679c","text":"<p>\u6211\u4eec\u5148\u6765\u770b\u4e0b\u8fd9\u4e2a\u6a21\u578b\u7684\u6548\u679c\uff0c\u5c1d\u8bd5\u9006\u5411\u5206\u4e0b\u4e00\u4e0b\u673a\u5668\u4eba\u7684\u7ed3\u6784\u3002</p> <pre><code>$ ros2 launch learning_urdf display.launch.py\n</code></pre> <p>\u5f88\u5feb\u5c31\u53ef\u4ee5\u770b\u5230Rviz\u4e2d\u663e\u793a\u7684\u673a\u5668\u4eba\u6a21\u578b\u5566\uff0c\u5927\u5bb6\u53ef\u4ee5\u4f7f\u7528\u9f20\u6807\u62d6\u62fd\u89c2\u5bdf\u3002</p> <p></p> <p>\u4ece\u53ef\u89c6\u5316\u7684\u6548\u679c\u6765\u770b\uff0c\u8fd9\u4e2a\u673a\u5668\u4eba\u7531\u4e94\u4e2alink\u548c4\u4e2ajoint\u7ec4\u6210\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#urdf_2","title":"\u67e5\u770bURDF\u6a21\u578b\u7ed3\u6784","text":"<p>\u6211\u4eec\u5206\u6790\u7684\u5bf9\u4e0d\u5bf9\u5462\uff0c\u53ef\u4ee5\u5728\u6a21\u578b\u6587\u4ef6\u7684\u8def\u5f84\u4e0b\uff0c\u4f7f\u7528urdf_to_graphviz\u8fd9\u4e2a\u5c0f\u5de5\u5177\u6765\u5206\u6790\u4e0b\u3002</p> <pre><code>$ urdf_to_graphviz mbot_base.urdf  # \u5728\u6a21\u578b\u6587\u4ef6\u5939\u4e0b\u8fd0\u884c\n</code></pre> <p>\u8fd0\u884c\u6210\u529f\u540e\u4f1a\u4ea7\u751f\u4e00\u4e2apdf\u6587\u4ef6\uff0c\u6253\u5f00\u4e4b\u540e\u5c31\u53ef\u4ee5\u770b\u5230URDF\u6a21\u578b\u5206\u6790\u7684\u7ed3\u679c\u5566\uff0c\u662f\u4e0d\u662f\u548c\u6211\u4eec\u7684\u731c\u6d4b\u5b8c\u5168\u76f8\u540c\u5462\uff01</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_6","title":"\u6a21\u578b\u6587\u4ef6\u89e3\u6790","text":"<p>\u5177\u4f53URDF\u6a21\u578b\u4ec0\u4e48\u6837\u7684\uff0c\u8fd8\u662f\u8981\u6253\u5f00\u6a21\u578b\u6765\u7814\u7a76\u3002</p> <p>learning_urdf/urdf/mbot_base.urdf</p> <pre><code>&lt;?xml version=\"1.0\" ?&gt;\n&lt;robot name=\"mbot\"&gt;\n\n    &lt;link name=\"base_link\"&gt;\n        &lt;visual&gt;\n            &lt;origin xyz=\" 0 0 0\" rpy=\"0 0 0\" /&gt;\n            &lt;geometry&gt;\n                &lt;cylinder length=\"0.16\" radius=\"0.20\"/&gt;\n            &lt;/geometry&gt;\n            &lt;material name=\"yellow\"&gt;\n                &lt;color rgba=\"1 0.4 0 1\"/&gt;\n            &lt;/material&gt;\n        &lt;/visual&gt;\n    &lt;/link&gt;\n\n    &lt;joint name=\"left_wheel_joint\" type=\"continuous\"&gt;\n        &lt;origin xyz=\"0 0.19 -0.05\" rpy=\"0 0 0\"/&gt;\n        &lt;parent link=\"base_link\"/&gt;\n        &lt;child link=\"left_wheel_link\"/&gt;\n        &lt;axis xyz=\"0 1 0\"/&gt;\n    &lt;/joint&gt;\n\n    &lt;link name=\"left_wheel_link\"&gt;\n        &lt;visual&gt;\n            &lt;origin xyz=\"0 0 0\" rpy=\"1.5707 0 0\" /&gt;\n            &lt;geometry&gt;\n                &lt;cylinder radius=\"0.06\" length = \"0.025\"/&gt;\n            &lt;/geometry&gt;\n            &lt;material name=\"white\"&gt;\n                &lt;color rgba=\"1 1 1 0.9\"/&gt;\n            &lt;/material&gt;\n        &lt;/visual&gt;\n    &lt;/link&gt;\n\n    &lt;joint name=\"right_wheel_joint\" type=\"continuous\"&gt;\n        &lt;origin xyz=\"0 -0.19 -0.05\" rpy=\"0 0 0\"/&gt;\n        &lt;parent link=\"base_link\"/&gt;\n        &lt;child link=\"right_wheel_link\"/&gt;\n        &lt;axis xyz=\"0 1 0\"/&gt;\n    &lt;/joint&gt;\n\n    &lt;link name=\"right_wheel_link\"&gt;\n        &lt;visual&gt;\n            &lt;origin xyz=\"0 0 0\" rpy=\"1.5707 0 0\" /&gt;\n            &lt;geometry&gt;\n                &lt;cylinder radius=\"0.06\" length = \"0.025\"/&gt;\n            &lt;/geometry&gt;\n            &lt;material name=\"white\"&gt;\n                &lt;color rgba=\"1 1 1 0.9\"/&gt;\n            &lt;/material&gt;\n        &lt;/visual&gt;\n    &lt;/link&gt;\n\n    &lt;joint name=\"front_caster_joint\" type=\"continuous\"&gt;\n        &lt;origin xyz=\"0.18 0 -0.095\" rpy=\"0 0 0\"/&gt;\n        &lt;parent link=\"base_link\"/&gt;\n        &lt;child link=\"front_caster_link\"/&gt;\n        &lt;axis xyz=\"0 1 0\"/&gt;\n    &lt;/joint&gt;\n\n    &lt;link name=\"front_caster_link\"&gt;\n        &lt;visual&gt;\n            &lt;origin xyz=\"0 0 0\" rpy=\"0 0 0\"/&gt;\n            &lt;geometry&gt;\n                &lt;sphere radius=\"0.015\" /&gt;\n            &lt;/geometry&gt;\n            &lt;material name=\"black\"&gt;\n                &lt;color rgba=\"0 0 0 0.95\"/&gt;\n            &lt;/material&gt;\n        &lt;/visual&gt;\n    &lt;/link&gt;\n\n    &lt;joint name=\"back_caster_joint\" type=\"continuous\"&gt;\n        &lt;origin xyz=\"-0.18 0 -0.095\" rpy=\"0 0 0\"/&gt;\n        &lt;parent link=\"base_link\"/&gt;\n        &lt;child link=\"back_caster_link\"/&gt;\n        &lt;axis xyz=\"0 1 0\"/&gt;\n    &lt;/joint&gt;\n\n    &lt;link name=\"back_caster_link\"&gt;\n        &lt;visual&gt;\n            &lt;origin xyz=\"0 0 0\" rpy=\"0 0 0\"/&gt;\n            &lt;geometry&gt;\n                &lt;sphere radius=\"0.015\" /&gt;\n            &lt;/geometry&gt;\n            &lt;material name=\"black\"&gt;\n                &lt;color rgba=\"0 0 0 0.95\"/&gt;\n            &lt;/material&gt;\n        &lt;/visual&gt;\n    &lt;/link&gt;\n\n&lt;/robot&gt;\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/#_7","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://docs.ros.org/en/humble/Tutorials/URDF/URDF-Main.html</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/","title":"Gazebo\uff1a\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0","text":"<p>ROS\u673a\u5668\u4eba\u5f00\u53d1\uff0c\u673a\u5668\u4eba\u5f53\u7136\u662f\u4e3b\u89d2\uff0c\u5982\u679c\u6211\u4eec\u624b\u8fb9\u6ca1\u6709\u5b9e\u7269\u673a\u5668\u4eba\uff0c\u600e\u4e48\u529e\u5462\uff1f\u6ca1\u95ee\u9898\uff0c\u673a\u5668\u4eba\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0Gazebo\uff0c\u4e86\u89e3\u4e00\u4e0b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#gazebo_1","title":"Gazebo\u4eff\u771f\u5e73\u53f0","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_1","title":"\u4ecb\u7ecd","text":"<p>Gazebo\u662fROS\u7cfb\u7edf\u4e2d\u6700\u4e3a\u5e38\u7528\u7684\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0\uff0c\u652f\u6301\u52a8\u529b\u5b66\u5f15\u64ce\uff0c\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684\u56fe\u5f62\u6e32\u67d3\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u6a21\u62df\u673a\u5668\u4eba\u53ca\u5468\u8fb9\u73af\u5883\uff0c\u8fd8\u53ef\u4ee5\u52a0\u5165\u6469\u64e6\u529b\u3001\u5f39\u6027\u7cfb\u6570\u7b49\u7269\u7406\u5c5e\u6027\u3002</p> <p></p> <p>\u6bd4\u5982\u6211\u4eec\u8981\u5f00\u53d1\u4e00\u4e2a\u706b\u661f\u8f66\uff0c\u90a3\u5c31\u53ef\u4ee5\u5728Gazebo\u4e2d\u6a21\u62df\u706b\u661f\u8868\u9762\u7684\u73af\u5883\uff0c\u518d\u6bd4\u5982\u6211\u4eec\u505a\u65e0\u4eba\u673a\uff0c\u7eed\u822a\u548c\u9650\u98de\u90fd\u5bfc\u81f4\u6211\u4eec\u6ca1\u6709\u529e\u6cd5\u9891\u7e41\u7528\u5b9e\u7269\u505a\u5b9e\u9a8c\uff0c\u6b64\u65f6\u4e0d\u59a8\u4f7f\u7528Gazebo\u5148\u505a\u4eff\u771f\uff0c\u7b49\u7b97\u6cd5\u5f00\u53d1\u7684\u5dee\u4e0d\u591a\u4e86\uff0c\u518d\u90e8\u7f72\u5230\u5b9e\u7269\u4e0a\u6765\u8fd0\u884c\u3002</p> <p>\u6240\u4ee5\u7c7b\u4f3cGazebo\u8fd9\u6837\u7684\u4eff\u771f\u5e73\u53f0\uff0c\u53ef\u4ee5\u5e2e\u52a9\u6211\u4eec\u9a8c\u8bc1\u673a\u5668\u4eba\u7b97\u6cd5\u3001\u4f18\u5316\u673a\u5668\u4eba\u8bbe\u8ba1\u3001\u6d4b\u8bd5\u673a\u5668\u4eba\u573a\u666f\u5e94\u7528\uff0c\u4e3a\u673a\u5668\u4eba\u5f00\u53d1\u63d0\u4f9b\u66f4\u591a\u53ef\u80fd\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_2","title":"\u5b89\u88c5","text":"<p>Gazebo\u5982\u4f55\u4f7f\u7528\u5462\uff1f\u6211\u4eec\u4e0d\u59a8\u5148\u628a\u5b83\u7ed9\u8dd1\u8d77\u6765\uff0c\u4e92\u76f8\u8ba4\u8bc6\u4e00\u4e0b\u3002</p> <p>\u4e3a\u4e86\u786e\u4fdd\u7cfb\u7edf\u4e2d\u5df2\u7ecf\u5b8c\u6574\u5b89\u88c5\u4e86Gazebo\u76f8\u5173\u7684\u529f\u80fd\u5305\uff0c\u5927\u5bb6\u53ef\u4ee5\u901a\u8fc7\u8fd9\u6837\u4e00\u4e2a\u547d\u4ee4\uff0c\u7b80\u5355\u76f4\u63a5\u7684\u628a\u548cgazebo\u76f8\u5173\u7684\u5305\u90fd\u7ed9\u88c5\u4e0a\uff1a</p> <pre><code>$ sudo apt install ros-humble-gazebo-*\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_3","title":"\u8fd0\u884c","text":"<p>\u901a\u8fc7\u8fd9\u53e5\u547d\u4ee4\u5c31\u53ef\u4ee5\u542f\u52a8\u5566\uff1a</p> <pre><code>$ ros2 launch gazebo_ros gazebo.launch.py\n</code></pre> <p></p> Attention <p>\u4e3a\u4fdd\u8bc1\u6a21\u578b\u987a\u5229\u52a0\u8f7d\uff0c\u8bf7\u5c06\u79bb\u7ebf\u6a21\u578b\u4e0b\u8f7d\u5e76\u653e\u7f6e\u5230~/.gazebo/models\u8def\u5f84\u4e0b</p> <p>\uff0c\u4e0b\u8f7d\u94fe\u63a5\u5982\u4e0b\uff1ahttps://github.com/osrf/gazebo_models </p> <p>\u8ba4\u8bc6\u4e86Gazebo\uff0c\u63a5\u4e0b\u6765\u662f\u4e0d\u662f\u8be5\u8bd5\u8bd5\u673a\u5668\u4eba\u4eff\u771f\u5566\uff1f</p> <p>\u5927\u5bb6\u8fd8\u8bb0\u5f97\u4e4b\u524d\u8bfe\u7a0b\u4e2d\uff0c\u6211\u4eec\u8bbe\u8ba1\u7684\u79fb\u52a8\u673a\u5668\u4eba\u6a21\u578b\u4e48\uff1f\u6211\u4eec\u4e00\u8d77\u5c1d\u8bd5\u628a\u5b83\u653e\u5230Gazebo\u4e2d\uff0c\u8fd8\u8981\u63a7\u5236\u5b83\u5728\u4eff\u771f\u73af\u5883\u4e2d\u8fd0\u52a8\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#xacro","title":"XACRO\u673a\u5668\u4eba\u6a21\u578b\u4f18\u5316","text":"<p>\u6211\u4eec\u4e4b\u524d\u8bbe\u8ba1\u597d\u7684URDF\u6a21\u578b\u6b64\u65f6\u8fd8\u4e0d\u80fd\u76f4\u63a5\u653e\u5230Gazebo\u4e2d\uff0c\u9700\u8981\u6211\u4eec\u505a\u4e00\u4e9b\u4f18\u5316\u3002\u8fd9\u91cc\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u4e00\u4e2aURDF\u6587\u4ef6\u683c\u5f0f\u7684\u5347\u7ea7\u7248\u672c\u2014\u2014XACRO\u6587\u4ef6\u3002</p> <p>\u540c\u6837\u4e5f\u662f\u5bf9\u673a\u5668\u4ebaURDF\u6a21\u578b\u7684\u521b\u5efa\uff0cXACRO\u6587\u4ef6\u52a0\u5165\u4e86\u66f4\u591a\u7f16\u7a0b\u5316\u7684\u5b9e\u73b0\u65b9\u6cd5\uff0c\u53ef\u4ee5\u8ba9\u6a21\u578b\u521b\u5efa\u66f4\u53cb\u597d\u3002</p> <p></p> <p>\u6bd4\u5982\uff1a</p> <ul> <li> <p>\u5b8f\u5b9a\u4e49\uff0c\u4e00\u4e2a\u5c0f\u8f66\u67094\u4e2a\u8f6e\u5b50\uff0c\u6bcf\u4e2a\u8f6e\u5b50\u90fd\u4e00\u6837\uff0c\u6211\u4eec\u5c31\u6ca1\u5fc5\u8981\u521b\u5efa4\u4e2a\u4e00\u6837\u7684link\uff0c\u50cf\u51fd\u6570\u5b9a\u4e49\u4e00\u6837\uff0c\u505a\u4e00\u4e2a\u53ef\u91cd\u590d\u4f7f\u7528\u7684\u6a21\u5757\u5c31\u53ef\u4ee5\u4e86\u3002</p> </li> <li> <p>\u6587\u4ef6\u5305\u542b\uff0c\u590d\u6742\u673a\u5668\u4eba\u7684\u6a21\u578b\u6587\u4ef6\u53ef\u80fd\u4f1a\u5f88\u957f\uff0c\u4e3a\u4e86\u5207\u5206\u4e0d\u540c\u7684\u6a21\u5757\uff0c\u6bd4\u5982\u5e95\u76d8\u3001\u4f20\u611f\u5668\uff0c\u6211\u4eec\u8fd8\u53ef\u4ee5\u628a\u4e0d\u540c\u6a21\u5757\u7684\u6a21\u578b\u653e\u7f6e\u5728\u4e0d\u540c\u7684\u6587\u4ef6\u4e2d\uff0c\u7136\u540e\u518d\u7528\u4e00\u4e2a\u603b\u4f53\u6587\u4ef6\u505a\u5305\u542b\u8c03\u7528\u3002</p> </li> <li> <p>\u53ef\u7f16\u7a0b\u63a5\u53e3\uff0c\u6bd4\u5982\u5728XACRO\u6a21\u578b\u6587\u4ef6\u4e2d\uff0c\u5b9a\u4e49\u4e00\u4e9b\u5e38\u91cf\uff0c\u63cf\u8ff0\u673a\u5668\u4eba\u7684\u5c3a\u5bf8\uff0c\u5b9a\u4e49\u4e00\u4e9b\u53d8\u91cf\uff0c\u5728\u8c03\u7528\u5b8f\u5b9a\u4e49\u7684\u65f6\u5019\u4f20\u9012\u6570\u636e\uff0c\u8fd8\u53ef\u4ee5\u5728\u6a21\u578b\u4e2d\u505a\u6570\u636e\u8ba1\u7b97\uff0c\u751a\u81f3\u52a0\u5165\u6761\u4ef6\u8bed\u53e5\uff0c\u6bd4\u5982\u4f60\u7684\u673a\u5668\u4eba\u53ebA\uff0c\u5c31\u6709\u6444\u50cf\u5934\uff0c\u5982\u679c\u53ebB\uff0c\u5c31\u6ca1\u6709\u6444\u50cf\u5934\u3002</p> </li> </ul> <p>XACRO\u5efa\u6a21\u8fc7\u7a0b\u5c31\u50cf\u5199\u4ee3\u7801\u4e00\u6837\uff0c\u529f\u80fd\u66f4\u4e3a\u4e30\u5bcc\u4e86\u3002</p> <p>\u63a5\u4e0b\u6765\uff0c\u6211\u4eec\u5c31\u901a\u8fc7XACRO\u6587\u4ef6\u5bf9\u79fb\u52a8\u673a\u5668\u4eba\u7684\u6a21\u578b\u505a\u4e00\u4e0b\u4f18\u5316\uff0c\u5927\u5bb6\u5148\u8981\u4f7f\u7528\u8fd9\u53e5\u547d\u4ee4\u5b89\u88c5\u5fc5\u8981\u7684\u529f\u80fd\u5305\u3002</p> <pre><code>$ sudo apt install ros-humble-xacro\n</code></pre> <p>\u4ee5\u4e0b\u662f\u4e00\u4e9b\u5e38\u7528\u7684XACRO\u6587\u4ef6\u8bed\u6cd5\uff0c\u5927\u5bb6\u4e86\u89e3\u4e0b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_4","title":"\u5e38\u91cf\u5b9a\u4e49","text":"<p>&lt;xacro:property&gt;\u6807\u7b7e\u7528\u6765\u5b9a\u4e49\u4e00\u4e9b\u5e38\u91cf\uff0c\u6bd4\u5982\u8fd9\u6837\u5b9a\u4e49\u4e00\u4e2aPI\u7684\u5e38\u91cf\u540d\u4e3a\u201cM_PI\u201d\uff0c\u503c\u4e3a\u201c3.14159\u201d\uff0c\u5728\u8c03\u7528\u7684\u65f6\u5019\uff0c\u901a\u8fc7$\u52a0\u5927\u62ec\u53f7\uff0c\u91cc\u8fb9\u5c31\u53ef\u4ee5\u4f7f\u7528\u5b9a\u4e49\u597d\u7684\u5e38\u91cf\u4e86\u3002</p> <p></p> <p>\u9488\u5bf9\u539f\u672c\u79fb\u52a8\u673a\u5668\u4eba\u7684URDF\u6587\u4ef6\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u628a\u5e95\u76d8\u7684\u8d28\u91cf\u3001\u5c3a\u5bf8\uff0c\u8f6e\u5b50\u7684\u8d28\u91cf\u3001\u5c3a\u5bf8\u3001\u5b89\u88c5\u4f4d\u7f6e\uff0c\u8fd9\u4e9b\u4e0d\u4f1a\u53d8\u5316\u7684\u6570\u636e\uff0c\u90fd\u901a\u8fc7\u5e38\u91cf\u5b9a\u4e49\uff0c\u672a\u6765\u9700\u8981\u4fee\u6539\u7684\u65f6\u5019\u4e5f\u5f88\u65b9\u4fbf\uff0c\u5c31\u4e0d\u9700\u8981\u5728\u6a21\u578b\u6587\u4ef6\u4e2d\u4e00\u884c\u4e00\u884c\u627e\u4e86\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_5","title":"\u6570\u5b66\u8ba1\u7b97","text":"<p>\u5982\u679c\u9700\u8981\u505a\u6570\u5b66\u8ba1\u7b97\uff0c\u540c\u6837\u662f\u5728\u201c${}\u201d\u4e2d\u8fdb\u884c\uff0c\u6bd4\u5982\u67d0\u4e00\u4e2a\u4f4d\u7f6e\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u8fd9\u4e24\u4e2a\u5e38\u91cf\u505a\u8fd0\u7b97\u5f97\u5230\uff0c\u5c31\u52a0\u5165\u4e86\u52a0\u6cd5\u548c\u9664\u6cd5\u8fd0\u7b97\u3002</p> <p></p> <p>\u5728\u79fb\u52a8\u673a\u5668\u4eba\u7684\u6a21\u578b\u4e2d\uff0c\u5f88\u591a\u6709\u76f8\u5bf9\u5173\u7cfb\u7684\u6570\u636e\uff0c\u6211\u4eec\u5c3d\u91cf\u90fd\u6539\u6210\u516c\u5f0f\u8ba1\u7b97\uff0c\u5982\u679c\u76f4\u63a5\u5199\u7ed3\u679c\u7684\u6570\u503c\uff0c\u672a\u6765\u4fee\u6539\u7684\u65f6\u5019\uff0c\u53ef\u80fd\u6839\u672c\u60f3\u4e0d\u8d77\u6765\u8fd9\u4e2a\u6570\u636e\u662f\u600e\u4e48\u6765\u7684\u3002</p> Info <p>\u6240\u6709\u6570\u5b66\u8fd0\u7b97\u90fd\u4f1a\u8f6c\u6362\u6210\u6d6e\u70b9\u6570\u8fdb\u884c\uff0c\u4ee5\u4fdd\u8bc1\u8fd0\u7b97\u7cbe\u5ea6</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_6","title":"\u5b8f\u5b9a\u4e49","text":"<p>\u673a\u5668\u4eba\u7684\u8f6e\u5b50\u6211\u4eec\u4e5f\u505a\u6210\u5b8f\u5b9a\u4e49\uff0c\u5b9a\u4e49\u65b9\u5f0f\u662f\u901a\u8fc7\u8fd9\u4e2a&lt;xacro:macro&gt;\u6807\u7b7e\u63cf\u8ff0\u7684\uff0c\u8fd8\u53ef\u4ee5\u50cf\u51fd\u6570\u4e00\u6837\uff0c\u8bbe\u7f6e\u91cc\u8fb9\u4f1a\u7528\u5230\u7684\u4e00\u4e9b\u53c2\u6570\uff0c\u6bd4\u5982\u8fd9\u91cc\u7684A\u3001B\u3001C\u3002</p> <p>\u5f53\u9700\u8981\u4f7f\u7528\u8fd9\u4e2a\u5b8f\u7684\u65f6\u5019\uff0c\u5c31\u53ef\u4ee5\u50cf\u8fd9\u6837\uff0c\u901a\u8fc7\u5b8f\u540d\u5b57\u7684\u6807\u7b7e\uff0c\u6765\u8c03\u7528\uff0c\u540c\u65f6\u8981\u8bb0\u5f97\u628a\u51e0\u4e2a\u53c2\u6570\u8bbe\u7f6e\u597d\u3002</p> <p></p> <p>\u6bd4\u5982\u5728\u6a21\u578b\u4e2d\uff0c\u8f6e\u5b50\u7684\u5b8f\u5b9a\u4e49\u662f\u8fd9\u6837\u7684\uff0c\u5305\u542b\u4e86link\u63cf\u8ff0\u548cjoint\u5173\u8282\u8bbe\u7f6e\uff0clink\u7684\u540d\u79f0\u548c\u5173\u8282\u7684\u4f4d\u7f6e\uff0c\u662f\u901a\u8fc7\u8f93\u5165\u7684\u53c2\u6570\u6765\u533a\u5206\u7684\uff0c\u5728\u4f7f\u7528\u7684\u65f6\u5019\uff0c\u901a\u8fc7\u8fd9\u4e24\u53e5\u8c03\u7528\uff0c\u4e24\u4e2a\u8f6e\u5b50\u5c31\u51fa\u73b0\u4e86\u3002</p> <p></p> <p>\u8fd9\u91cc\u76841\u548c-1\uff0c\u662f\u8bbe\u7f6e\u5173\u8282\u4f4d\u7f6e\u7684\uff0c\u521a\u597d\u662f\u4e00\u4e2a\u955c\u50cf\u5173\u7cfb\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_7","title":"\u6587\u4ef6\u5305\u542b","text":"<p>\u5b8f\u5b9a\u4e49\u662f\u53ef\u4ee5\u5d4c\u5957\u7684\uff0c\u4e8e\u662f\u6211\u4eec\u628a\u673a\u5668\u4eba\u7684\u5e95\u76d8\u4e5f\u505a\u6210\u4e86\u4e00\u4e2a\u5b8f\uff0c\u7136\u540e\u4f7f\u7528\u53e6\u5916\u4e00\u4e2a\u6a21\u578b\u6587\u4ef6\uff0c\u5bf9\u5e95\u76d8\u5b8f\u5b9a\u4e49\u7684\u6587\u4ef6\u505a\u4e86\u4e00\u4e2a\u5305\u542b\uff0c\u7136\u540e\u518d\u8c03\u7528\u3002</p> <p></p> <p>\u8fd9\u79cd\u6d41\u7a0b\u662f\u4e0d\u662f\u4f3c\u66fe\u76f8\u8bc6\uff0c\u5f88\u50cfC\u8bed\u8a00\u4e2d\u7684include\u6587\u4ef6\u5305\u542b\uff0c\u7136\u540e\u518d\u53bb\u8c03\u7528\u91cc\u8fb9\u7684\u67d0\u4e9b\u51fd\u6570\u3002</p> <p>\u5230\u8fd9\u91cc\u4e3a\u6b62\uff0c\u4eff\u771f\u4f7f\u7528\u7684\u6a21\u578b\u4f18\u5316\u8fd8\u6ca1\u6709\u7ed3\u675f\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u8fd8\u5f97\u52a0\u5165\u4e00\u4e9b\u4eff\u771f\u5fc5\u5907\u7684\u6a21\u5757\u548c\u53c2\u6570\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_8","title":"\u673a\u5668\u4eba\u4eff\u771f\u6a21\u578b\u914d\u7f6e","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_9","title":"\u5b8c\u5584\u7269\u7406\u53c2\u6570","text":"<p>\u7b2c\u4e00\u6b65\u662f\u786e\u4fdd\u6bcf\u4e00\u4e2alink\u90fd\u6709\u60ef\u6027\u53c2\u6570\u548c\u78b0\u649e\u5c5e\u6027\uff0c\u56e0\u4e3aGazebo\u662f\u7269\u7406\u4eff\u771f\u5e73\u53f0\uff0c\u5fc5\u8981\u7684\u7269\u7406\u53c2\u6570\u662f\u4e00\u5b9a\u9700\u8981\u7684\u3002</p> <p></p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#gazebo_2","title":"\u6dfb\u52a0Gazebo\u6807\u7b7e","text":"<p>\u7b2c\u4e8c\u6b65\u662f\u4e3alink\u6dfb\u52a0gazebo\u6807\u7b7e\uff0c\u4e3b\u8981\u662f\u4e3a\u4e86\u53ef\u4ee5\u5728gazebo\u4e2d\u6e32\u67d3\u6bcf\u4e00\u4e2alink\u7684\u989c\u8272\uff0c\u56e0\u4e3aURDF\u4e2d\u7684\u989c\u8272\u7cfb\u7edf\u548cgazebo\u4e2d\u7684\u4e0d\u540c\uff0c\u6240\u4ee5\u5f97\u505a\u4e00\u6b65\u8fd9\u6837\u7684\u5197\u4f59\u914d\u7f6e\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_10","title":"\u914d\u7f6e\u4f20\u52a8\u88c5\u7f6e","text":"<p>\u7b2c\u4e09\u6b65\u662f\u8981\u7ed9\u8fd0\u52a8\u7684joint\u914d\u7f6e\u4f20\u52a8\u88c5\u7f6e\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a\u4eff\u771f\u4e86\u4e00\u4e2a\u7535\u673a\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_11","title":"\u6dfb\u52a0\u63a7\u5236\u5668\u63d2\u4ef6","text":"<p>\u7b2c\u56db\u6b65\uff0c\u8981\u6dfb\u52a0\u4e00\u4e2agazebo\u7684\u63a7\u5236\u5668\u63d2\u4ef6\uff0c\u5c0f\u8f66\u662f\u5dee\u901f\u63a7\u5236\u7684\uff0c\u90a3\u5c31\u6dfb\u52a0\u5dee\u901f\u63a7\u5236\u5668\u63d2\u4ef6\uff0c\u8fd9\u6837\u5728\u4e0d\u540c\u89d2\u5ea6\u4e0b\u4e24\u4e2a\u7535\u673a\u7684\u901f\u5ea6\u5206\u914d\uff0c\u5c31\u53ef\u4ee5\u4ea4\u7ed9\u63a7\u5236\u5668\u63d2\u4ef6\u6765\u5b8c\u6210\u4e86\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_12","title":"\u6784\u5efa\u4eff\u771f\u73af\u5883","text":"<p>\u63a5\u4e0b\u6765\u5c31\u8003\u8651\u5982\u4f55\u628a\u6a21\u578b\u52a0\u8f7d\u5230Gazebo\u4e2d\u4e86\uff0c\u9700\u8981\u7528\u5230\u4e00\u4e2agazebo\u63d0\u4f9b\u7684\u529f\u80fd\u8282\u70b9spwan_entity\u3002</p> <p>learning_gazebo/launch/load_urdf_into_gazebo.launch.py</p> <pre><code>import os\n\nfrom ament_index_python.packages import get_package_share_directory\n\n\nfrom launch import LaunchDescription\nfrom launch.actions import IncludeLaunchDescription\nfrom launch.launch_description_sources import PythonLaunchDescriptionSource\n\nfrom launch_ros.actions import Node\n\n\ndef generate_launch_description():\n\n\n    # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled\n    # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!\n\n    package_name='learning_gazebo' #&lt;--- CHANGE ME\n    world_file_path = 'worlds/neighborhood.world'\n\n    pkg_path = os.path.join(get_package_share_directory(package_name))\n    world_path = os.path.join(pkg_path, world_file_path)  \n\n    # Pose where we want to spawn the robot\n    spawn_x_val = '0.0'\n    spawn_y_val = '0.0'\n    spawn_z_val = '0.0'\n    spawn_yaw_val = '0.0'\n\n    mbot = IncludeLaunchDescription(\n                PythonLaunchDescriptionSource([os.path.join(\n                    get_package_share_directory(package_name),'launch','mbot.launch.py'\n                )]), launch_arguments={'use_sim_time': 'true', 'world':world_path}.items()\n    )\n\n    # Include the Gazebo launch file, provided by the gazebo_ros package\n    gazebo = IncludeLaunchDescription(\n                PythonLaunchDescriptionSource([os.path.join(\n                    get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),\n             )\n\n    # Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.\n    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',\n                        arguments=['-topic', 'robot_description',\n                                   '-entity', 'mbot',\n                                   '-x', spawn_x_val,\n                                   '-y', spawn_y_val,\n                                   '-z', spawn_z_val,\n                                   '-Y', spawn_yaw_val],\n                        output='screen')\n\n\n\n    # Launch them all!\n    return LaunchDescription([\n        mbot,\n        gazebo,\n        spawn_entity,\n    ])\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_13","title":"\u673a\u5668\u4eba\u8fd0\u52a8\u4eff\u771f","text":"<p>\u4e07\u4e8b\u4ff1\u5907\uff0c\u63a5\u4e0b\u6765\u5c31\u662f\u89c1\u8bc1\u5947\u8ff9\u7684\u65f6\u523b\u3002</p> <p>\u6211\u4eec\u9700\u8981\u8fd0\u884c\u4e24\u53e5\u547d\u4ee4\uff0c\u7b2c\u4e00\u53e5\u542f\u52a8\u4eff\u771f\u73af\u5883\uff0c\u7b2c\u4e8c\u53e5\u542f\u52a8\u952e\u76d8\u63a7\u5236\u8282\u70b9\u3002</p> <pre><code>$ ros2 launch learning_gazebo load_urdf_into_gazebo.launch.py\n$ ros2 run teleop_twist_keyboard teleop_twist_keyboard \n</code></pre> <p></p> Attention <p>\u865a\u62df\u673a\u4e2d\u8fd0\u884c\u65f6\u9700\u8981\u5173\u95ed\u786c\u4ef6\u52a0\u901f\uff1aecho \" export SVGA_VGPU10=0\" &gt;&gt; ~/.bashrc</p> <p>\u901a\u8fc7\u952e\u76d8\u4e0a\u7684\u201ci\u3001j\u3001\uff0c\u3001l\u201d\u51e0\u4e2a\u6309\u952e\uff0c\u5c31\u53ef\u4ee5\u63a7\u5236\u673a\u5668\u4eba\u524d\u540e\u5de6\u53f3\u8fd0\u52a8\u5566\u3002</p> <p></p> <p>\u6574\u4e2a\u4eff\u771f\u6709\u70b9\u50cf\u63a7\u5236\u5c0f\u6d77\u9f9f\u7684\u8fc7\u7a0b\uff0c\u4e0d\u8fc7\u6b64\u65f6\u7684\u673a\u5668\u4eba\u548c\u4eff\u771f\u73af\u5883\uff0c\u5df2\u7ecf\u6bd4\u5c0f\u6d77\u9f9f\u590d\u6742\u5f88\u591a\u4e86\u3002</p> <p>\u4ee5\u4e0a\u5c31\u662fGazebo\u673a\u5668\u4eba\u7684\u4eff\u771f\u7684\u57fa\u672c\u6d41\u7a0b\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#ignitiongazebo","title":"Ignition\uff1a\u4e0b\u4e00\u4ee3Gazebo","text":"<p>\u968f\u7740\u6280\u672f\u7684\u8fdb\u6b65\uff0cGazebo\u4eff\u771f\u5e73\u53f0\u4e5f\u5728\u4e0d\u65ad\u8fed\u4ee3\uff0c\u65b0\u4e00\u4ee3\u7684Gazebo\u547d\u540d\u4e3aIgnition\uff0c\u4ece\u6e32\u67d3\u6548\u679c\u548c\u4eff\u771f\u6d41\u7545\u5ea6\u4e0a\u90fd\u6709\u8f83\u5927\u7684\u53d8\u5316\uff0c\u6211\u4eec\u4e0d\u59a8\u4e5f\u6765\u8bd5\u4e00\u4e0b\u3002</p> <pre><code>$ sudo apt install ros-humble-ros-ign \n$ ros2 launch ros_ign_gazebo_demos rgbd_camera_bridge.launch.py\n</code></pre> <p>\u8fd0\u884c\u6210\u529f\u540e\uff0c\u4f1a\u6253\u5f00Ignition\u7684\u4eff\u771f\u754c\u9762\u548cRviz\u4e0a\u4f4d\u673a\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u5230RGBD\u76f8\u673a\u4eff\u771f\u540e\u53d1\u5e03\u7684\u56fe\u50cf\u6570\u636e\u3002</p> <p></p> <p></p> <p>\u66f4\u591a\u65b0\u7248\u672c\u4eff\u771f\u5668\u7684\u4fe1\u606f\uff0c\u5927\u5bb6\u4e5f\u53ef\u4ee5\u53c2\u8003\u5b98\u65b9\u7f51\u7ad9:</p> <p>www.ignitionrobotics.org/</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/#_14","title":"\u9644\u5f55\uff1a\u673a\u5668\u4eba\u5b8c\u6574\u6a21\u578b","text":"<ul> <li>learning_gazebo/urdf/mbot_gazebo.xacro</li> </ul> <pre><code>&lt;?xml version=\"1.0\"?&gt;\n&lt;robot name=\"mbot\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\"&gt;\n\n    &lt;xacro:include filename=\"$(find learning_gazebo)/urdf/mbot_base_gazebo.xacro\" /&gt;\n\n    &lt;xacro:mbot_base_gazebo/&gt;\n\n&lt;/robot&gt;\n</code></pre> <ul> <li>learning_gazebo/urdf/mbot_base_gazebo.xacro</li> </ul> <pre><code>&lt;?xml version=\"1.0\"?&gt;\n&lt;robot name=\"mbot\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\"&gt;\n\n    &lt;!-- PROPERTY LIST --&gt;\n    &lt;xacro:property name=\"M_PI\" value=\"3.1415926\"/&gt;\n    &lt;xacro:property name=\"base_mass\"   value=\"1\" /&gt; \n    &lt;xacro:property name=\"base_radius\" value=\"0.20\"/&gt;\n    &lt;xacro:property name=\"base_length\" value=\"0.16\"/&gt;\n\n    &lt;xacro:property name=\"wheel_mass\"   value=\"0.2\" /&gt;\n    &lt;xacro:property name=\"wheel_radius\" value=\"0.06\"/&gt;\n    &lt;xacro:property name=\"wheel_length\" value=\"0.025\"/&gt;\n    &lt;xacro:property name=\"wheel_joint_y\" value=\"0.19\"/&gt;\n    &lt;xacro:property name=\"wheel_joint_z\" value=\"0.05\"/&gt;\n\n    &lt;xacro:property name=\"caster_mass\"    value=\"0.2\" /&gt; \n    &lt;xacro:property name=\"caster_radius\"  value=\"0.015\"/&gt; &lt;!-- wheel_radius - ( base_length/2 - wheel_joint_z) --&gt;\n    &lt;xacro:property name=\"caster_joint_x\" value=\"0.18\"/&gt;\n\n    &lt;!-- Defining the colors used in this robot --&gt;\n    &lt;material name=\"yellow\"&gt;\n        &lt;color rgba=\"1 0.4 0 1\"/&gt;\n    &lt;/material&gt;\n    &lt;material name=\"black\"&gt;\n        &lt;color rgba=\"0 0 0 0.95\"/&gt;\n    &lt;/material&gt;\n    &lt;material name=\"gray\"&gt;\n        &lt;color rgba=\"0.75 0.75 0.75 1\"/&gt;\n    &lt;/material&gt;\n\n    &lt;!-- Macro for inertia matrix --&gt;\n    &lt;xacro:macro name=\"sphere_inertial_matrix\" params=\"m r\"&gt;\n        &lt;inertial&gt;\n            &lt;mass value=\"${m}\" /&gt;\n            &lt;inertia ixx=\"${2*m*r*r/5}\" ixy=\"0\" ixz=\"0\"\n                iyy=\"${2*m*r*r/5}\" iyz=\"0\" \n                izz=\"${2*m*r*r/5}\" /&gt;\n        &lt;/inertial&gt;\n    &lt;/xacro:macro&gt;\n\n    &lt;xacro:macro name=\"cylinder_inertial_matrix\" params=\"m r h\"&gt;\n        &lt;inertial&gt;\n            &lt;mass value=\"${m}\" /&gt;\n            &lt;inertia ixx=\"${m*(3*r*r+h*h)/12}\" ixy = \"0\" ixz = \"0\"\n                iyy=\"${m*(3*r*r+h*h)/12}\" iyz = \"0\"\n                izz=\"${m*r*r/2}\" /&gt; \n        &lt;/inertial&gt;\n    &lt;/xacro:macro&gt;\n\n    &lt;!-- Macro for robot wheel --&gt;\n    &lt;xacro:macro name=\"wheel\" params=\"prefix reflect\"&gt;\n        &lt;joint name=\"${prefix}_wheel_joint\" type=\"continuous\"&gt;\n            &lt;origin xyz=\"0 ${reflect*wheel_joint_y} ${-wheel_joint_z}\" rpy=\"0 0 0\"/&gt;\n            &lt;parent link=\"base_link\"/&gt;\n            &lt;child link=\"${prefix}_wheel_link\"/&gt;\n            &lt;axis xyz=\"0 1 0\"/&gt;\n        &lt;/joint&gt;\n\n        &lt;link name=\"${prefix}_wheel_link\"&gt;\n            &lt;visual&gt;\n                &lt;origin xyz=\"0 0 0\" rpy=\"${M_PI/2} 0 0\" /&gt;\n                &lt;geometry&gt;\n                    &lt;cylinder radius=\"${wheel_radius}\" length = \"${wheel_length}\"/&gt;\n                &lt;/geometry&gt;\n                &lt;material name=\"gray\" /&gt;\n            &lt;/visual&gt;\n            &lt;collision&gt;\n                &lt;origin xyz=\"0 0 0\" rpy=\"${M_PI/2} 0 0\" /&gt;\n                &lt;geometry&gt;\n                    &lt;cylinder radius=\"${wheel_radius}\" length = \"${wheel_length}\"/&gt;\n                &lt;/geometry&gt;\n            &lt;/collision&gt;\n            &lt;xacro:cylinder_inertial_matrix  m=\"${wheel_mass}\" r=\"${wheel_radius}\" h=\"${wheel_length}\" /&gt;\n        &lt;/link&gt;\n\n        &lt;gazebo reference=\"${prefix}_wheel_link\"&gt;\n            &lt;material&gt;Gazebo/Gray&lt;/material&gt;\n        &lt;/gazebo&gt;\n\n        &lt;!-- Transmission is important to link the joints and the controller --&gt;\n        &lt;transmission name=\"${prefix}_wheel_joint_trans\"&gt;\n            &lt;type&gt;transmission_interface/SimpleTransmission&lt;/type&gt;\n            &lt;joint name=\"${prefix}_wheel_joint\" &gt;\n                &lt;hardwareInterface&gt;hardware_interface/VelocityJointInterface&lt;/hardwareInterface&gt;\n            &lt;/joint&gt;\n            &lt;actuator name=\"${prefix}_wheel_joint_motor\"&gt;\n                &lt;hardwareInterface&gt;hardware_interface/VelocityJointInterface&lt;/hardwareInterface&gt;\n                &lt;mechanicalReduction&gt;1&lt;/mechanicalReduction&gt;\n            &lt;/actuator&gt;\n        &lt;/transmission&gt;\n    &lt;/xacro:macro&gt;\n\n    &lt;!-- Macro for robot caster --&gt;\n    &lt;xacro:macro name=\"caster\" params=\"prefix reflect\"&gt;\n        &lt;joint name=\"${prefix}_caster_joint\" type=\"fixed\"&gt;\n            &lt;origin xyz=\"${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}\" rpy=\"0 0 0\"/&gt;\n            &lt;parent link=\"base_link\"/&gt;\n            &lt;child link=\"${prefix}_caster_link\"/&gt;\n        &lt;/joint&gt;\n\n        &lt;link name=\"${prefix}_caster_link\"&gt;\n            &lt;visual&gt;\n                &lt;origin xyz=\"0 0 0\" rpy=\"0 0 0\"/&gt;\n                &lt;geometry&gt;\n                    &lt;sphere radius=\"${caster_radius}\" /&gt;\n                &lt;/geometry&gt;\n                &lt;material name=\"black\" /&gt;\n            &lt;/visual&gt;\n            &lt;collision&gt;\n                &lt;origin xyz=\"0 0 0\" rpy=\"0 0 0\"/&gt;\n                &lt;geometry&gt;\n                    &lt;sphere radius=\"${caster_radius}\" /&gt;\n                &lt;/geometry&gt;\n            &lt;/collision&gt;      \n            &lt;xacro:sphere_inertial_matrix  m=\"${caster_mass}\" r=\"${caster_radius}\" /&gt;\n        &lt;/link&gt;\n\n        &lt;gazebo reference=\"${prefix}_caster_link\"&gt;\n            &lt;material&gt;Gazebo/Black&lt;/material&gt;\n        &lt;/gazebo&gt;\n    &lt;/xacro:macro&gt;\n\n    &lt;xacro:macro name=\"mbot_base_gazebo\"&gt;\n        &lt;link name=\"base_footprint\"&gt;\n            &lt;visual&gt;\n                &lt;origin xyz=\"0 0 0\" rpy=\"0 0 0\" /&gt;\n                &lt;geometry&gt;\n                    &lt;box size=\"0.001 0.001 0.001\" /&gt;\n                &lt;/geometry&gt;\n            &lt;/visual&gt;\n        &lt;/link&gt;\n        &lt;gazebo reference=\"base_footprint\"&gt;\n            &lt;turnGravityOff&gt;false&lt;/turnGravityOff&gt;\n        &lt;/gazebo&gt;\n\n        &lt;joint name=\"base_footprint_joint\" type=\"fixed\"&gt;\n            &lt;origin xyz=\"0 0 ${base_length/2 + caster_radius*2}\" rpy=\"0 0 0\" /&gt;        \n            &lt;parent link=\"base_footprint\"/&gt;\n            &lt;child link=\"base_link\" /&gt;\n        &lt;/joint&gt;\n\n        &lt;link name=\"base_link\"&gt;\n            &lt;visual&gt;\n                &lt;origin xyz=\" 0 0 0\" rpy=\"0 0 0\" /&gt;\n                &lt;geometry&gt;\n                    &lt;cylinder length=\"${base_length}\" radius=\"${base_radius}\"/&gt;\n                &lt;/geometry&gt;\n                &lt;material name=\"yellow\" /&gt;\n            &lt;/visual&gt;\n            &lt;collision&gt;\n                &lt;origin xyz=\" 0 0 0\" rpy=\"0 0 0\" /&gt;\n                &lt;geometry&gt;\n                    &lt;cylinder length=\"${base_length}\" radius=\"${base_radius}\"/&gt;\n                &lt;/geometry&gt;\n            &lt;/collision&gt;   \n            &lt;xacro:cylinder_inertial_matrix  m=\"${base_mass}\" r=\"${base_radius}\" h=\"${base_length}\" /&gt;\n        &lt;/link&gt;\n\n        &lt;gazebo reference=\"base_link\"&gt;\n            &lt;material&gt;Gazebo/Blue&lt;/material&gt;\n        &lt;/gazebo&gt;\n\n        &lt;xacro:wheel prefix=\"left\"  reflect=\"1\"/&gt;\n        &lt;xacro:wheel prefix=\"right\" reflect=\"-1\"/&gt;\n\n        &lt;xacro:caster prefix=\"front\" reflect=\"-1\"/&gt;\n        &lt;xacro:caster prefix=\"back\"  reflect=\"1\"/&gt;\n\n        &lt;!-- controller --&gt;\n        &lt;gazebo&gt;\n            &lt;plugin name=\"differential_drive_controller\" \n                    filename=\"libgazebo_ros_diff_drive.so\"&gt;                \n                  &lt;update_rate&gt;30&lt;/update_rate&gt;\n                  &lt;left_joint&gt;left_wheel_joint&lt;/left_joint&gt;\n                  &lt;right_joint&gt;right_wheel_joint&lt;/right_joint&gt;\n                  &lt;wheel_separation&gt;${wheel_joint_y*2}&lt;/wheel_separation&gt;\n                  &lt;wheel_diameter&gt;${2*wheel_radius}&lt;/wheel_diameter&gt;\n                  &lt;max_wheel_torque&gt;20&lt;/max_wheel_torque&gt;\n                  &lt;max_wheel_acceleration&gt;1.0&lt;/max_wheel_acceleration&gt;\n                  &lt;command_topic&gt;cmd_vel&lt;/command_topic&gt;\n                  &lt;publish_odom&gt;true&lt;/publish_odom&gt;\n                  &lt;publish_odom_tf&gt;true&lt;/publish_odom_tf&gt;\n                  &lt;publish_wheel_tf&gt;true&lt;/publish_wheel_tf&gt;\n                  &lt;odometry_topic&gt;odom&lt;/odometry_topic&gt;\n                  &lt;odometry_frame&gt;odom&lt;/odometry_frame&gt;\n                  &lt;robot_base_frame&gt;base_footprint&lt;/robot_base_frame&gt;\n                  &lt;odometry_source&gt;1&lt;/odometry_source&gt;\n            &lt;/plugin&gt;\n        &lt;/gazebo&gt; \n    &lt;/xacro:macro&gt;\n\n&lt;/robot&gt;\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/","title":"Rviz\uff1a\u4e09\u7ef4\u53ef\u89c6\u5316\u663e\u793a\u5e73\u53f0","text":"<p>\u5927\u5bb6\u6709\u6ca1\u6709\u7545\u60f3\u8fc7\u4e00\u4e2a\u95ee\u9898\uff0c\u673a\u5668\u4eba\u773c\u4e2d\u7684\u4e16\u754c\u662f\u4ec0\u4e48\u6837\u7684\u5462\uff1f\u5982\u4f55\u80fd\u591f\u770b\u5230\u673a\u5668\u4eba\u6444\u50cf\u5934\u62cd\u6444\u5230\u7684\u56fe\u50cf\uff1f</p> <p>\u8fd9\u5c31\u6d89\u53ca\u5230\u53ef\u89c6\u5316\u663e\u793a\u7684\u8303\u7574\u4e86\uff0c\u672c\u8bb2\u6211\u4eec\u4ecb\u7ecd\u4e00\u4f4dROS\u4e2d\u7684\u91cd\u91cf\u7ea7\u5609\u5bbe\u2014\u2014Rviz\uff0c\u4e00\u6b3e\u4e09\u7ef4\u53ef\u89c6\u5316\u663e\u793a\u7684\u795e\u5668\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#rviz_1","title":"Rviz\u4e09\u7ef4\u53ef\u89c6\u5316\u5e73\u53f0","text":"<p>\u673a\u5668\u4eba\u5f00\u53d1\u8fc7\u7a0b\u4e2d\uff0c\u5404\u79cd\u5404\u6837\u7684\u529f\u80fd\uff0c\u5982\u679c\u6211\u4eec\u53ea\u662f\u4ece\u6570\u636e\u5c42\u9762\u53bb\u505a\u5206\u6790\uff0c\u5f88\u96be\u5feb\u901f\u7406\u89e3\u6570\u636e\u7684\u6548\u679c\uff0c\u6bd4\u5982\u7ed9\u4f60\u4e00\u58060\u5230255\u7684\u6570\u5b57\uff0c\u95ee\u8fd9\u5e45\u56fe\u50cf\u63cf\u8ff0\u7684\u5185\u5bb9\u662f\u4ec0\u4e48\uff1f\u4f60\u80af\u5b9a\u4e00\u8138\u61f5\u3002\u4f46\u5982\u679c\u6211\u4eec\u628a\u8fd9\u4e9b\u6570\u5b57\u901a\u8fc7\u989c\u8272\u6e32\u67d3\u51fa\u6765\uff0c\u5c82\u4e0d\u5c31\u4e00\u76ee\u4e86\u7136\u4e48\uff1f</p> <p></p> <p></p> <p>\u7c7b\u4f3c\u7684\u573a\u666f\u8fd8\u6709\u5f88\u591a\uff0c\u6bd4\u5982\u673a\u5668\u4eba\u6a21\u578b\uff0c\u6211\u4eec\u9700\u8981\u77e5\u9053\u81ea\u5df1\u8bbe\u8ba1\u7684\u6a21\u578b\u957f\u5565\u6837\uff0c\u8fd8\u6709\u6a21\u578b\u5185\u90e8\u4f17\u591a\u5750\u6807\u7cfb\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u90fd\u5728\u54ea\u4e9b\u4f4d\u7f6e\u3002</p> <p>\u518d\u6bd4\u5982\u673a\u68b0\u81c2\u8fd0\u52a8\u89c4\u5212\u548c\u79fb\u52a8\u673a\u5668\u4eba\u81ea\u4e3b\u5bfc\u822a\uff0c\u6211\u4eec\u5e0c\u671b\u53ef\u4ee5\u770b\u5230\u673a\u5668\u4eba\u5468\u8fb9\u7684\u73af\u5883\u3001\u89c4\u5212\u7684\u8def\u5f84\uff0c\u5f53\u7136\u8fd8\u6709\u4f20\u611f\u5668\u7684\u4fe1\u606f\uff0c\u6444\u50cf\u5934\u3001\u4e09\u7ef4\u76f8\u673a\u3001\u6fc0\u5149\u96f7\u8fbe\u7b49\u7b49\uff0c\u6570\u636e\u662f\u7528\u6765\u505a\u8ba1\u7b97\u7684\uff0c\u53ef\u89c6\u5316\u7684\u6548\u679c\u624d\u662f\u7ed9\u4eba\u770b\u7684\u3002</p> <p>\u6240\u4ee5\uff0c\u6570\u636e\u53ef\u89c6\u5316\u53ef\u4ee5\u5927\u5927\u63d0\u9ad8\u5f00\u53d1\u6548\u7387\uff0cRviz\u5c31\u662f\u8fd9\u6837\u4e00\u6b3e\u673a\u5668\u4eba\u5f00\u53d1\u8fc7\u7a0b\u4e2d\u7684\u6570\u636e\u53ef\u89c6\u5316\u8f6f\u4ef6\uff0c\u673a\u5668\u4eba\u6a21\u578b\u3001\u4f20\u611f\u5668\u4fe1\u606f\u3001\u73af\u5883\u4fe1\u606f\u7b49\u7b49\uff0c\u5168\u90fd\u53ef\u4ee5\u5728\u8fd9\u91cc\u641e\u5b9a\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#rviz_2","title":"Rviz\u4ecb\u7ecd","text":"<p>\u4e00\u53e5\u8bdd\u8bf4\u660eRviz\u7684\u529f\u80fd\uff0c\u53ea\u8981\u6709\u6570\u636e\uff0c\u5b83\u5c31\u53ef\u4ee5\u53ef\u89c6\u5316\uff0c\u53ea\u6709\u6211\u4eec\u60f3\u4e0d\u5230\u7684\uff0c\u6ca1\u6709Rviz\u505a\u4e0d\u5230\u7684\u3002</p> <p></p> <p>Rviz\u7684\u6838\u5fc3\u6846\u67b6\u662f\u57fa\u4e8eQt\u53ef\u89c6\u5316\u5de5\u5177\u6253\u9020\u7684\u4e00\u4e2a\u5f00\u653e\u5f0f\u5e73\u53f0\uff0c\u5b98\u65b9\u51fa\u5382\u5c31\u81ea\u5e26\u4e86\u5f88\u591a\u673a\u5668\u4eba\u5e38\u7528\u7684\u53ef\u89c6\u5316\u663e\u793a\u63d2\u4ef6\uff0c\u53ea\u8981\u6211\u4eec\u6309\u7167ROS\u4e2d\u7684\u6d88\u606f\u53d1\u5e03\u5bf9\u5e94\u7684\u8bdd\u9898\uff0c\u5c31\u53ef\u4ee5\u770b\u5230\u56fe\u5f62\u5316\u7684\u6548\u679c\u4e86\u3002\u5982\u679c\u6211\u4eec\u5bf9\u663e\u793a\u7684\u6548\u679c\u4e0d\u6ee1\u610f\uff0c\u6216\u8005\u60f3\u6dfb\u52a0\u67d0\u4e9b\u65b0\u7684\u663e\u793a\u9879\uff0c\u4e5f\u53ef\u4ee5\u5728Rviz\u8fd9\u4e2a\u5e73\u53f0\u4e2d\uff0c\u5f00\u53d1\u66f4\u591a\u53ef\u89c6\u5316\u6548\u679c\uff0c\u65b9\u4fbf\u6253\u9020\u6211\u4eec\u81ea\u5df1\u7684\u4e0a\u4f4d\u673a\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_1","title":"\u8fd0\u884c\u65b9\u6cd5","text":"<p>\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u5373\u53ef\u542f\u52a8\uff1a</p> <pre><code>$ ros2 run rviz2 rviz2\n</code></pre> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_2","title":"\u5f69\u8272\u76f8\u673a\u4eff\u771f\u4e0e\u53ef\u89c6\u5316","text":"<p>\u6444\u50cf\u5934\u80af\u5b9a\u662f\u6700\u4e3a\u5e38\u7528\u7684\u4e00\u79cd\u4f20\u611f\u5668\u4e86\uff0c\u6211\u4eec\u5148\u6765\u7ed9\u673a\u5668\u4eba\u88c5\u4e0a\u6444\u50cf\u5934\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_3","title":"\u4eff\u771f\u63d2\u4ef6\u914d\u7f6e","text":"<p>\u5173\u4e8e\u4f20\u611f\u5668\u7684\u4eff\u771f\uff0c\u90fd\u9700\u8981\u4f7f\u7528Gazebo\u63d0\u4f9b\u7684\u63d2\u4ef6\uff0c\u6444\u50cf\u5934\u5bf9\u5e94\u7684\u63d2\u4ef6\u53eb\u505alibgazebo_ros_camera.so\uff0c\u6211\u4eec\u5bf9\u7167\u6a21\u578b\u7684\u4ee3\u7801\u7ed9\u5927\u5bb6\u4ecb\u7ecd\u8fd9\u4e2a\u63d2\u4ef6\u7684\u4f7f\u7528\u65b9\u6cd5\u3002</p> <p>learning_gazebo/urdf/sensers/camera_gazebo.xacro</p> <pre><code>&lt;gazebo reference=\"${prefix}_link\"&gt;\n    &lt;sensor type=\"camera\" name=\"camera_node\"&gt;\n        &lt;update_rate&gt;30.0&lt;/update_rate&gt;\n        &lt;camera name=\"head\"&gt;\n            &lt;horizontal_fov&gt;1.3962634&lt;/horizontal_fov&gt;\n            &lt;image&gt;\n                &lt;width&gt;1280&lt;/width&gt;\n                &lt;height&gt;720&lt;/height&gt;\n                &lt;format&gt;R8G8B8&lt;/format&gt;\n            &lt;/image&gt;\n            &lt;clip&gt;\n                &lt;near&gt;0.02&lt;/near&gt;\n                &lt;far&gt;300&lt;/far&gt;\n            &lt;/clip&gt;\n            &lt;noise&gt;\n                &lt;type&gt;gaussian&lt;/type&gt;\n                &lt;mean&gt;0.0&lt;/mean&gt;\n                &lt;stddev&gt;0.007&lt;/stddev&gt;\n            &lt;/noise&gt;\n        &lt;/camera&gt;\n        &lt;plugin name=\"gazebo_camera\" filename=\"libgazebo_ros_camera.so\"&gt;\n            &lt;ros&gt;\n                &lt;!-- &lt;namespace&gt;stereo&lt;/namespace&gt; --&gt;\n                &lt;remapping&gt;~/image_raw:=image_raw&lt;/remapping&gt;\n                &lt;remapping&gt;~/camera_info:=camera_info&lt;/remapping&gt;\n            &lt;/ros&gt;\n            &lt;camera_name&gt;${prefix}&lt;/camera_name&gt;\n            &lt;frame_name&gt;${prefix}_link&lt;/frame_name&gt;\n            &lt;hack_baseline&gt;0.2&lt;/hack_baseline&gt;\n        &lt;/plugin&gt;\n    &lt;/sensor&gt;\n&lt;/gazebo&gt;\n</code></pre> <p>\u4e3b\u8981\u914d\u7f6e\u9879\u5982\u4e0b\uff1a</p> <ul> <li>&lt;sensor&gt;\u6807\u7b7e\uff1a\u63cf\u8ff0\u4f20\u611f\u5668</li> </ul> <p>type\uff1a\u4f20\u611f\u5668\u7c7b\u578b\uff0ccamera</p> <p>name\uff1a\u6444\u50cf\u5934\u547d\u540d\uff0c\u81ea\u7531\u8bbe\u7f6e</p> <ul> <li>&lt;camera&gt;\u6807\u7b7e\uff1a\u63cf\u8ff0\u6444\u50cf\u5934\u53c2\u6570</li> </ul> <p>\u5206\u8fa8\u7387\uff0c\u7f16\u7801\u683c\u5f0f\uff0c\u56fe\u50cf\u8303\u56f4\uff0c\u566a\u97f3\u53c2\u6570\u7b49</p> <ul> <li>&lt;plugin&gt;\u6807\u7b7e\uff1a\u52a0\u8f7d\u6444\u50cf\u5934\u4eff\u771f\u63d2\u4ef6</li> </ul>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_4","title":"\u8fd0\u884c\u4eff\u771f\u73af\u5883","text":"<p>\u6a21\u578b\u5df2\u7ecf\u914d\u7f6e\u597d\u5566\uff0c\u80fd\u4e0d\u80fd\u628a\u6444\u50cf\u5934\u6210\u529f\u4eff\u771f\u51fa\u6765\uff0c\u5e76\u4e14\u5728Rviz\u4e2d\u770b\u5230\u56fe\u50cf\u4fe1\u606f\uff0c\u6211\u4eec\u62ed\u76ee\u4ee5\u5f85\u3002</p> <pre><code>$ ros2 launch learning_gazebo load_mbot_camera_into_gazebo.launch.py\n</code></pre> <p></p> <p>\u53ef\u4ee5\u4f7f\u7528\u547d\u4ee4\u884c\u770b\u4e0b\u4eff\u771f\u51fa\u6765\u7684\u56fe\u50cf\u8bdd\u9898\uff1a</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_5","title":"\u56fe\u50cf\u6570\u636e\u53ef\u89c6\u5316","text":"<p>\u6211\u4eec\u4f7f\u7528Rviz\u53ef\u89c6\u5316\u663e\u793a\u56fe\u50cf\u4fe1\u606f\uff0c\u5148\u6765\u542f\u52a8Rviz\uff1a</p> <pre><code>$ ros2 run rviz2 rviz2\n</code></pre> <p>\u542f\u52a8\u6210\u529f\u540e\uff0c\u5728\u5de6\u4fa7Displays\u7a97\u53e3\u4e2d\u70b9\u51fb\u201cAdd\u201d\uff0c\u627e\u5230Image\u663e\u793a\u9879\uff0cOK\u786e\u8ba4\u540e\u5c31\u53ef\u4ee5\u52a0\u5165\u663e\u793a\u5217\u8868\u5566\uff0c\u7136\u540e\u914d\u7f6e\u597d\u8be5\u663e\u793a\u9879\u8ba2\u9605\u7684\u56fe\u50cf\u8bdd\u9898\uff0c\u5c31\u53ef\u4ee5\u987a\u5229\u770b\u5230\u673a\u5668\u4eba\u7684\u6444\u50cf\u5934\u56fe\u50cf\u5566\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_6","title":"\u4e09\u7ef4\u76f8\u673a\u4eff\u771f\u4e0e\u53ef\u89c6\u5316","text":"<p>\u4e8c\u7ef4\u6444\u50cf\u5934\u4e0d\u8fc7\u763e\uff0c\u60f3\u4e0d\u60f3\u8bd5\u8bd5\u4e09\u7ef4\u76f8\u673a\uff0c\u6bd4\u5982\u6211\u4eec\u5e38\u7528\u7684Kinect\u4f53\u611f\u4f20\u611f\u5668\uff0c\u6216\u8005Intel\u7684Realsense\uff0c\u53ef\u4ee5\u83b7\u53d6\u5916\u90e8\u73af\u5883\u7684\u70b9\u4e91\u6570\u636e\u3002\u8fd9\u79cd\u76f8\u673a\u7684\u4ef7\u683c\u6bd4usb\u6444\u50cf\u5934\u53ef\u8d35\u4e0d\u5c11\uff0c\u4e0d\u8fc7\u6211\u4eec\u4e5f\u53ef\u4ee5\u901a\u8fc7\u4eff\u771f\uff0c\u4e00\u5206\u94b1\u4e0d\u7528\uff0c\u5c31\u53ef\u4ee5\u73a9\u8d77\u6765\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_7","title":"\u4eff\u771f\u63d2\u4ef6\u914d\u7f6e","text":"<p>\u4e09\u7ef4\u76f8\u673a\u4f7f\u7528\u7684Gazebo\u63d2\u4ef6\u4e5f\u662flibgazebo_ros_camera.so\uff0c\u914d\u7f6e\u65b9\u6cd5\u5982\u4e0b\uff1a</p> <p>learning_gazebo/urdf/sensers/kinect_gazebo.xacro</p> <pre><code>&lt;gazebo reference=\"${prefix}_link\"&gt;\n    &lt;sensor type=\"depth\" name=\"${prefix}\"&gt;\n        &lt;always_on&gt;true&lt;/always_on&gt;\n        &lt;update_rate&gt;15.0&lt;/update_rate&gt;\n        &lt;pose&gt;0 0 0 0 0 0&lt;/pose&gt;\n        &lt;camera name=\"kinect\"&gt;\n            &lt;horizontal_fov&gt;${60.0*M_PI/180.0}&lt;/horizontal_fov&gt;\n            &lt;image&gt;\n                &lt;format&gt;R8G8B8&lt;/format&gt;\n                &lt;width&gt;640&lt;/width&gt;\n                &lt;height&gt;480&lt;/height&gt;\n            &lt;/image&gt;\n            &lt;clip&gt;\n                &lt;near&gt;0.05&lt;/near&gt;\n                &lt;far&gt;8.0&lt;/far&gt;\n            &lt;/clip&gt;\n        &lt;/camera&gt;\n        &lt;plugin name=\"${prefix}_controller\" filename=\"libgazebo_ros_camera.so\"&gt;\n            &lt;ros&gt;\n                &lt;!-- &lt;namespace&gt;${prefix}&lt;/namespace&gt; --&gt;\n                &lt;remapping&gt;${prefix}/image_raw:=rgb/image_raw&lt;/remapping&gt;\n                &lt;remapping&gt;${prefix}/image_depth:=depth/image_raw&lt;/remapping&gt;\n                &lt;remapping&gt;${prefix}/camera_info:=rgb/camera_info&lt;/remapping&gt;\n                &lt;remapping&gt;${prefix}/camera_info_depth:=depth/camera_info&lt;/remapping&gt;\n                &lt;remapping&gt;${prefix}/points:=depth/points&lt;/remapping&gt;\n            &lt;/ros&gt;\n            &lt;camera_name&gt;${prefix}&lt;/camera_name&gt;\n            &lt;frame_name&gt;${prefix}_frame_optical&lt;/frame_name&gt;\n            &lt;hack_baseline&gt;0.07&lt;/hack_baseline&gt;\n            &lt;min_depth&gt;0.001&lt;/min_depth&gt;\n            &lt;max_depth&gt;300.0&lt;/max_depth&gt;\n        &lt;/plugin&gt;\n    &lt;/sensor&gt;\n&lt;/gazebo&gt;\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_8","title":"\u8fd0\u884c\u4eff\u771f\u73af\u5883","text":"<p>\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u542f\u52a8\u4eff\u771f\u73af\u5883\uff1a</p> <pre><code>$ ros2 launch learning_gazebo load_mbot_rgbd_into_gazebo.launch.py\n</code></pre> <p></p> <p>\u542f\u52a8\u6210\u529f\u540e\uff0c\u53ef\u4ee5\u770b\u4e0b\u5f53\u524d\u7684\u8bdd\u9898\u5217\u8868\uff0c\u5df2\u7ecf\u4ea7\u751f\u4e86\u4e09\u7ef4\u76f8\u673a\u7684\u76f8\u5173\u8bdd\u9898\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_9","title":"\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316","text":"<p>\u8fd0\u884cRviz\uff1a</p> <pre><code>$ ros2 run rviz2 rviz2\n</code></pre> <p>\u540c\u6837\u7684\u6d41\u7a0b\uff0c\u70b9\u51fbAdd\uff0c\u6dfb\u52a0PointCloud2\uff0c\u8bbe\u7f6e\u8ba2\u9605\u7684\u70b9\u4e91\u8bdd\u9898\uff0c\u8fd8\u8981\u914d\u7f6eRviz\u7684\u53c2\u8003\u7cfb\u662fodom\uff0c\u5c31\u53ef\u4ee5\u770b\u5230\u70b9\u4e91\u6570\u636e\u5566\uff0c\u6bcf\u4e00\u4e2a\u70b9\u90fd\u662f\u7531xyz\u4f4d\u7f6e\u548crgb\u989c\u8272\u7ec4\u6210\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_10","title":"\u6fc0\u5149\u96f7\u8fbe\u4eff\u771f\u4e0e\u53ef\u89c6\u5316","text":"<p>\u9664\u4e86\u6444\u50cf\u5934\u548c\u4e09\u7ef4\u76f8\u673a\uff0c\u6fc0\u5149\u96f7\u8fbe\u4e5f\u662f\u5f88\u591a\u79fb\u52a8\u673a\u5668\u4eba\u5e38\u5907\u7684\u4f20\u611f\u5668\uff0c\u5305\u62ec\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\uff0c\u6211\u4eec\u4e5f\u6765\u8bd5\u4e00\u8bd5\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_11","title":"\u4eff\u771f\u63d2\u4ef6\u914d\u7f6e","text":"<p>\u96f7\u8fbe\u4f7f\u7528\u7684Gazebo\u63d2\u4ef6\u662flibgazebo_ros_ray_sensor.so\uff0c\u914d\u7f6e\u65b9\u6cd5\u5982\u4e0b\uff1a</p> <p>learning_gazebo/urdf/sensers/lidar_gazebo.xacro</p> <pre><code>&lt;gazebo reference=\"${prefix}_link\"&gt;\n    &lt;sensor type=\"ray\" name=\"rplidar\"&gt;\n        &lt;update_rate&gt;20&lt;/update_rate&gt;\n        &lt;ray&gt;\n            &lt;scan&gt;\n              &lt;horizontal&gt;\n                &lt;samples&gt;360&lt;/samples&gt;\n                &lt;resolution&gt;1&lt;/resolution&gt;\n                &lt;min_angle&gt;-3&lt;/min_angle&gt;\n                &lt;max_angle&gt;3&lt;/max_angle&gt;\n              &lt;/horizontal&gt;\n            &lt;/scan&gt;\n            &lt;range&gt;\n              &lt;min&gt;0.10&lt;/min&gt;\n              &lt;max&gt;30.0&lt;/max&gt;\n              &lt;resolution&gt;0.01&lt;/resolution&gt;\n            &lt;/range&gt;\n            &lt;noise&gt;\n              &lt;type&gt;gaussian&lt;/type&gt;\n              &lt;mean&gt;0.0&lt;/mean&gt;\n              &lt;stddev&gt;0.01&lt;/stddev&gt;\n            &lt;/noise&gt;\n        &lt;/ray&gt;\n        &lt;plugin name=\"gazebo_rplidar\" filename=\"libgazebo_ros_ray_sensor.so\"&gt;\n      &lt;ros&gt;\n    &lt;namespace&gt;/&lt;/namespace&gt;\n    &lt;remapping&gt;~/out:=scan&lt;/remapping&gt;\n      &lt;/ros&gt;\n      &lt;output_type&gt;sensor_msgs/LaserScan&lt;/output_type&gt;\n        &lt;/plugin&gt;\n    &lt;/sensor&gt;\n&lt;/gazebo&gt;\n</code></pre>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_12","title":"\u8fd0\u884c\u4eff\u771f\u73af\u5883","text":"<p>\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u542f\u52a8\u4eff\u771f\u73af\u5883\uff1a</p> <pre><code>$ ros2 launch learning_gazebo load_mbot_laser_into_gazebo.launch.py\n</code></pre> <p></p> <p>\u5728\u8bdd\u9898\u5217\u8868\u4e2d\u4e5f\u53ef\u4ee5\u770b\u5230\u6fc0\u5149\u96f7\u8fbe\u5566\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_13","title":"\u70b9\u4e91\u6570\u636e\u53ef\u89c6\u5316","text":"<p>\u542f\u52a8Rviz\uff1a</p> <pre><code>$ ros2 run rviz2 rviz2\n</code></pre> <p>\u70b9\u51fbAdd\uff0c\u9009\u62e9Laserscan\uff0c\u7136\u540e\u914d\u7f6e\u8ba2\u9605\u7684\u8bdd\u9898\u540d\uff0crviz\u7684\u56fa\u5b9a\u5750\u6807\u7cfb\u4f9d\u7136\u662fodom\uff0c\u6b64\u65f6\u5c31\u53ef\u4ee5\u770b\u5230\u6fc0\u5149\u70b9\u5566\u3002</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#rviz-vs-gazebo","title":"Rviz vs Gazebo","text":"<p>\u597d\u5566\uff0c\u901a\u8fc7\u8fd9\u51e0\u4e2a\u6848\u4f8b\uff0c\u76f8\u4fe1\u5927\u5bb6\u5bf9Rviz\u53ef\u89c6\u5316\u5e73\u53f0\u7684\u4f7f\u7528\u6d41\u7a0b\u5df2\u7ecf\u975e\u5e38\u719f\u6089\u4e86\uff0c\u4e5f\u4e86\u89e3\u4e86\u5e38\u7528\u4f20\u611f\u5668\u7684\u4eff\u771f\u65b9\u6cd5\u3002</p> <p>\u8bb2\u5230\u8fd9\u91cc\uff0cGazebo\u548cRviz\u8fd9\u4e24\u4e2a\u8f6f\u4ef6\u7684\u5177\u4f53\u529f\u80fd\uff0c\u5927\u5bb6\u662f\u4e0d\u662f\u4f1a\u6709\u4e00\u4e9b\u6df7\u6dc6\u3002</p> <p></p> <p>\u6211\u4eec\u518d\u6765\u5f3a\u8c03\u4e0b\uff1a</p> <ul> <li>Gazebo\u662f\u4eff\u771f\u5e73\u53f0\uff0c\u6838\u5fc3\u529f\u80fd\u662f\u521b\u9020\u6570\u636e\uff0c\u6211\u4eec\u6ca1\u6709\u673a\u5668\u4eba\u6216\u8005\u4f20\u611f\u5668\uff0c\u5b83\u53ef\u4ee5\u5e2e\u6211\u4eec\u505a\u4e00\u4e2a\u865a\u62df\u7684\uff1b</li> <li>Rviz\u662f\u53ef\u89c6\u5316\u5e73\u53f0\uff0c\u6838\u5fc3\u529f\u80fd\u662f\u663e\u793a\u6570\u636e\uff0c\u5982\u679c\u6ca1\u6709\u6570\u636e\uff0c\u5b83\u4e5f\u5de7\u5987\u96be\u4e3a\u65e0\u7c73\u4e4b\u708a\u3002</li> </ul> <p>\u6240\u4ee5\u5728\u5f88\u591a\u65f6\u5019\uff0c\u6211\u4eec\u4f7f\u7528Gazebo\u505a\u673a\u5668\u4eba\u4eff\u771f\u7684\u65f6\u5019\uff0c\u4e5f\u4f1a\u542f\u52a8Rviz\u6765\u663e\u793a\u4eff\u771f\u73af\u5883\u7684\u4fe1\u606f\uff0c\u5982\u679c\u81ea\u5df1\u624b\u4e0a\u6709\u771f\u5b9e\u673a\u5668\u4eba\u7684\u8bdd\uff0cGazebo\u5c31\u7528\u4e0d\u5230\u4e86\uff0c\u4e0d\u8fc7\u8fd8\u662f\u4f1a\u7528Rviz\u663e\u793a\u771f\u5b9e\u673a\u5668\u4eba\u4f20\u611f\u5668\u7684\u4fe1\u606f\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/#_14","title":"\u53c2\u8003\u94fe\u63a5","text":"<p>https://github.com/ros2/rviz</p> <p>https://www.stereolabs.com/docs/ros2/rviz2/</p> <p></p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/","title":"RQT\uff1a\u6a21\u5757\u5316\u53ef\u89c6\u5316\u5de5\u5177","text":"<p>ROS\u4e2d\u7684Rviz\u529f\u80fd\u5df2\u7ecf\u5f88\u5f3a\u5927\u4e86\uff0c\u4e0d\u8fc7\u6709\u4e9b\u573a\u666f\u4e0b\uff0c\u6211\u4eec\u53ef\u80fd\u66f4\u9700\u8981\u4e00\u4e9b\u7b80\u5355\u7684\u6a21\u5757\u5316\u7684\u53ef\u89c6\u5316\u5de5\u5177\uff0c\u6bd4\u5982\u53ea\u663e\u793a\u4e00\u4e2a\u6444\u50cf\u5934\u7684\u56fe\u50cf\uff0c\u4f7f\u7528Rviz\u7684\u8bdd\uff0c\u96be\u514d\u4f1a\u89c9\u5f97\u64cd\u4f5c\u6709\u70b9\u9ebb\u70e6\u3002</p> <p>\u6b64\u65f6\uff0c\u6211\u4eec\u5c31\u4f1a\u7528\u5230ROS\u63d0\u4f9b\u7684\u53e6\u5916\u4e00\u79cd\u6a21\u5757\u5316\u53ef\u89c6\u5316\u5de5\u5177\u2014\u2014rqt\u3002</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#rqt_1","title":"rqt\u4ecb\u7ecd","text":"<p>\u6b63\u5982RQT\u7684\u547d\u540d\uff0c\u5b83\u548cRviz\u4e00\u6837\uff0c\u4e5f\u662f\u57fa\u4e8eQT\u53ef\u89c6\u5316\u5de5\u5177\u5f00\u53d1\u800c\u6765\uff0c\u5728\u4f7f\u7528\u524d\uff0c\u6211\u4eec\u9700\u8981\u901a\u8fc7\u8fd9\u6837\u4e00\u53e5\u6307\u4ee4\u8fdb\u884c\u5b89\u88c5\uff0c\u7136\u540e\u5c31\u53ef\u4ee5\u901a\u8fc7rqt\u8fd9\u4e2a\u547d\u4ee4\u542f\u52a8\u4f7f\u7528\u4e86\u3002</p> <pre><code>$ sudo apt install ros-humble-rqt\n$ rqt\n</code></pre> <p></p> <p>\u7c7b\u4f3c\u8fd9\u4e2a\u754c\u9762\u4e00\u6837\uff0c\u91cc\u8fb9\u53ef\u4ee5\u52a0\u8f7d\u5f88\u591a\u5c0f\u6a21\u5757\uff0c\u6bcf\u4e2a\u6a21\u5757\u90fd\u53ef\u4ee5\u5b9e\u73b0\u4e00\u4e2a\u5177\u4f53\u7684\u5c0f\u529f\u80fd\uff0c\u4e00\u4e9b\u5e38\u7528\u7684\u529f\u80fd\u5982\u4e0b\uff1a</p>"},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#_1","title":"\u65e5\u5fd7\u663e\u793a","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#_2","title":"\u56fe\u50cf\u663e\u793a","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#_3","title":"\u53d1\u5e03\u8bdd\u9898\u6570\u636e/\u8c03\u7528\u670d\u52a1\u8bf7\u6c42","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#_4","title":"\u7ed8\u5236\u6570\u636e\u66f2\u7ebf","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#_5","title":"\u6570\u636e\u5305\u7ba1\u7406","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#_6","title":"\u8282\u70b9\u53ef\u89c6\u5316","text":""},{"location":"ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/#_7","title":"\u53c2\u8003\u8d44\u6599","text":"<p>https://docs.ros.org/en/humble/Concepts/About-RQt.html</p> <p>https://docs.ros.org/en/humble/Tutorials/Rqt-Console/Using-Rqt-Console.html</p> <p></p>"},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/","title":"\u8d44\u6e90\u6c47\u603b","text":""},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/#_2","title":"\u5e38\u7528\u6846\u67b6","text":""},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/#_3","title":"\u81ea\u4e3b\u5bfc\u822a","text":"<p>\u6bd4\u5982\u79fb\u52a8\u673a\u5668\u4eba\u57fa\u672c\u90fd\u4f1a\u5177\u5907\u7684\u81ea\u4e3b\u5bfc\u822a\u529f\u80fd\uff0cROS2\u63d0\u4f9b\u4e86\u5b8c\u6574\u7684\u81ea\u4e3b\u5bfc\u822a\u7cfb\u7edf\u6846\u67b6\u548c\u5404\u79cd\u5b9e\u73b0\u597d\u7684\u7b97\u6cd5\uff0c\u5373\u4fbf\u6211\u4eec\u4e0d\u5f00\u53d1\u4efb\u4f55\u4ee3\u7801\uff0c\u4e5f\u53ef\u4ee5\u5728\u81ea\u5df1\u7684\u673a\u5668\u4eba\u4e0a\uff0c\u4f7f\u7528\u8fd9\u5957\u7cfb\u7edf\uff0c\u5feb\u901f\u5b9e\u73b0\u81ea\u4e3b\u5bfc\u822a\u7684\u57fa\u672c\u529f\u80fd\u3002</p> <p>\u5927\u5bb6\u5982\u679c\u8981\u8fdb\u884c\u76f8\u5173\u7684\u5e94\u7528\u5f00\u53d1\uff0c\u53ef\u4ee5\u53c2\u8003\u8fd9\u4e2a\u94fe\u63a5\u4e2d\u7684\u5185\u5bb9\uff1a</p> <p>https://navigation.ros.org/ </p>"},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/#_4","title":"\u81ea\u52a8\u9a7e\u9a76","text":"<p>\u81ea\u52a8\u9a7e\u9a76\u662f\u5f53\u4eca\u6700\u4e3a\u70ed\u95e8\u7684\u884c\u4e1a\u4e4b\u4e00\uff0c\u4e5f\u662f\u4e00\u79cd\u5178\u578b\u7684\u673a\u5668\u4eba\u5e94\u7528\u3002</p> <p></p> <p>\u5728ROS\u793e\u533a\u4e2d\uff0c\u6709\u4e00\u4e2a\u8457\u540d\u7684\u81ea\u52a8\u9a7e\u9a76\u6846\u67b6\u2014\u2014Autoware\uff0c\u5305\u542b\u4e86\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684\u611f\u77e5\u3001\u89c4\u5212\u3001\u63a7\u5236\u7b49\u6a21\u5757\u548c\u5b9e\u73b0\uff0c\u529f\u80fd\u975e\u5e38\u4e30\u5bcc\uff0c\u5f88\u591a\u5546\u4e1a\u5316\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\uff0c\u4e5f\u53c2\u8003\u4e86\u8fd9\u4e2a\u6846\u67b6\u3002</p> <p>\u5927\u5bb6\u5982\u679c\u5bf9\u81ea\u52a8\u9a7e\u9a76\u611f\u5174\u8da3\uff0c\u53ef\u4ee5\u53c2\u8003\u8fd9\u51e0\u4e2a\u94fe\u63a5\uff1a</p> <p>https://www.autoware.org/</p> <p>https://autowarefoundation.gitlab.io/autoware.auto/AutowareAuto/ </p>"},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/#_5","title":"\u8def\u5f84\u89c4\u5212","text":"<p>\u6b64\u5916\u8fd8\u6709\u673a\u68b0\u81c2\u76f8\u5173\u7684\u8fd0\u52a8\u89c4\u5212\u3001\u78b0\u649e\u68c0\u6d4b\u3001\u89c6\u89c9\u5206\u62e3\u7b49\u529f\u80fd\uff0c\u4e5f\u90fd\u53ef\u4ee5\u4f7f\u7528ROS\u4e2d\u7684MoveIt\u6846\u67b6\u3002</p> <p></p> <p>\u8fd9\u4e5f\u662fROS\u4e2d\u975e\u5e38\u7ecf\u5178\u7684\u529f\u80fd\uff0c\u5927\u5bb6\u53ef\u4ee5\u5728\u8fd9\u4e2a\u94fe\u63a5\u4e2d\u627e\u5230\u66f4\u591a\u5185\u5bb9:</p> <p>https://moveit.ros.org/</p>"},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/#_6","title":"\u673a\u5668\u4eba\u5b66","text":"<p>ROS\u662f\u673a\u5668\u4eba\u5f00\u53d1\u7684\u5de5\u5177\uff0c\u91cd\u5728\u5b66\u4e60\u5b9e\u64cd\u6280\u80fd\u3002\u81f3\u4e8e\u5185\u529f\u7684\u4fee\u70bc\uff0c\u5c31\u5f97\u5b66\u4e60\u673a\u5668\u4eba\u5b66\u76f8\u5173\u7684\u7406\u8bba\u77e5\u8bc6\uff0c\u6bd4\u5982\u300a\u673a\u5668\u4eba\u5b66\u5bfc\u8bba\u300b\uff0c\u88ab\u79f0\u4e3a\u673a\u5668\u4eba\u5de5\u7a0b\u5e08\u4eba\u624b\u5fc5\u5907\u7684\u4e00\u672c\u7406\u8bba\u4e66\u7c4d\uff0c\u63a8\u8350\u5927\u5bb6\u4ed4\u7ec6\u9605\u8bfb\u3002</p> <p>\u9664\u6b64\u4e4b\u5916\uff0c\u8fd9\u4e9b\u90fd\u662f\u673a\u5668\u4eba\u5b66\u7684\u7ecf\u5178\u8457\u4f5c\uff0c\u6bcf\u4e00\u672c\u4e66\u90fd\u6709\u5bf9\u5e94\u7684\u4e2d\u6587\u7248\u672c\uff0c\u5927\u5bb6\u53ef\u4ee5\u7ed3\u5408\u81ea\u8eab\u7684\u60c5\u51b5\u9009\u62e9\u3002</p>"},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/#_7","title":"\u89c6\u9891\u8bfe\u7a0b","text":"<ul> <li>\u65af\u5766\u798f\u5927\u5b66\u516c\u5f00\u8bfe \u2014\u2014 \u673a\u5668\u4eba\u5b66</li> </ul> <p>(https://www.bilibili.com/video/av4506104/){:target=\"_blank\"}</p> <ul> <li>\u53f0\u5927\u673a\u5668\u4eba\u5b66\u4e4b\u8fd0\u52a8\u5b66</li> </ul> <p>(https://www.bilibili.com/video/BV1v4411H7ez){:target=\"_blank\"}</p> <ul> <li>Self-Driving Cars with ROS2 &amp; Autoware</li> </ul> <p>(https://www.youtube.com/watch?v=XTmlhvlmcf8&amp;list=PLL57Sz4fhxLpCXgN0lvCF7aHAlRA5FoFr){:target=\"_blank\"}</p> <ul> <li>\u53e4\u6708\u5b66\u9662</li> </ul> <p>(https://class.guyuehome.com/){:target=\"_blank\"}</p>"},{"location":"ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/#_8","title":"\u5e38\u7528\u94fe\u63a5","text":"<ol> <li>ROS\uff1ahttps://www.ros.org</li> <li>ROS 2 Documentation\uff1ahttps://docs.ros.org/en/humble/index.html</li> <li>\u53e4\u6708\u5c45\uff1ahttps://www.guyuehome.com/</li> <li>ROS : https://www.ros.org </li> <li>ROS Wiki : http://wiki.ros.org/ </li> <li>ROSCon : https://roscon.ros.org </li> <li>ROS Robots : https://robots.ros.org/ </li> <li>Ubuntu Wiki \uff1a https://wiki.ubuntu.org.cn </li> <li>ROS2 Github \uff1a https://github.com/ros2 </li> <li>Gazebo : https://classic.gazebosim.org </li> </ol>"},{"location":"ROS2_Book/0.%E5%89%8D%E8%A8%80/","title":"\u672c\u4e66\u4f7f\u7528\u8bf4\u660e","text":""},{"location":"ROS2_Book/0.%E5%89%8D%E8%A8%80/#_2","title":"\u524d\u8a00","text":"<p>\u8fd9\u672c\u4e66\uff0c\u8bb2\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff08ROS\uff09\uff0c\u66f4\u8bb2\u673a\u5668\u4eba\u3002 </p> <p>ROS\u7f18\u8d77 </p> <p>2007 \u5e74\uff0c\u4e00\u7fa4\u6000\u63e3\u68a6\u60f3\u7684\u5e74\u8f7b\u4eba\uff0c\u6b63\u5728\u65af\u5766\u798f\u5927\u5b66\u7684\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\u91cc\u8fdb\u884c\u4e00\u573a\u5934\u8111\u98ce\u66b4\uff1a 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</p> <p>\u5c06\u8fd120\u5e74\u8fc7\u53bb\u4e86\uff0c\u4ee5\u201c\u4e8b\u540e\u8bf8\u845b\u4eae\u201d\u7684\u89c6\u89d2\u6765\u770b\uff0c\u5f53\u65f6\u90a3\u7fa4\u5e74\u8f7b\u4eba\u82b1\u91cd\u91d1\u6253\u9020\u7684\u670d\u52a1\u673a\u5668 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</p> <p>\u5f53\u7136\uff0cROS\u7684\u5feb\u901f\u53d1\u5c55\u4e5f\u8fdc\u8d85\u90a3\u7fa4\u5e74\u8f7b\u4eba\u7684\u9884\u671f\uff0c\u672c\u6765\u53ea\u662f\u4e3a\u4e00\u6b3e\u5bb6\u7528\u670d\u52a1\u673a\u5668\u4eba\u8bbe\u8ba1\u7684 \u7cfb\u7edf\uff0c\u88ab\u9010\u6e10\u7528\u4e8e\u5de1\u68c0\u3001\u8fd0\u8f93\u3001\u519c\u4e1a\u7b49\u4f17\u591a\u9886\u57df\u3002\u9700\u6c42\u8d8a\u6765\u8d8a\u591a\uff0c\u95ee\u9898\u4e5f\u8d8a\u6765\u8d8a\u591a\uff0c\u4e3a\u4e86\u6253\u9020\u4e00\u6b3e\u80fd\u591f\u6210\u4e3a\u901a\u7528\u673a\u5668\u4eba\u6807\u51c6\u5316\u8f6f\u4ef6\u5e73\u53f0\u7684\u201c\u64cd\u4f5c\u7cfb\u7edf\u201d\uff0cROS 2\u57282014\u5e74\u7b2c\u4e00\u6b21\u88ab\u63d0\u51fa\uff0c\u4e4b\u540e\u63a8\u51fa\u591a\u4e2a\u6d4b\u8bd5\u7248\u672c\uff0c\u5e76\u4e8e2017\u5e74\u5e74\u5e95\u53d1\u5e03\u7b2c\u4e00\u4e2a\u6b63\u5f0f\u7248\u672c\u3002\u622a\u81f3\u672c\u4e66\u5b9a\u7a3f\u65f6\uff0cROS 2\u5168\u65b0\u7684\u7a33\u5b9a\u7248\u672cJazzy Jalisco \u53d1\u5e03\uff0c\u8fd9\u4e5f\u4ee3\u8868\u7740ROS 2\u8d70\u5411\u6210\u719f\u3002 </p> <p>\u667a\u80fd\u673a\u5668\u4eba\u65f6\u4ee3 </p> <p>\u5728ROS 2\u5feb\u901f\u8fed\u4ee3\u7684\u540c\u65f6\uff0c\u4eba\u5de5\u667a\u80fd\u548c\u673a\u5668\u4eba\u884c\u4e1a\u4e5f\u53d1\u751f\u4e86\u5929\u7ffb\u5730\u8986\u7684\u53d8\u5316\u3002ChatGPT\u5982 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<p>\u540c\u65f6\uff0c\u673a\u5668\u4eba\u6b63\u5728\u4ece\u5de5\u5382\u8d70\u5411\u751f\u6d3b\uff0c\u9910\u5385\u91cc\u6709\u9001\u9910\u673a\u5668\u4eba\uff0c\u9152\u5e97\u91cc\u6709\u9001\u7269\u673a\u5668\u4eba\uff0c\u5bb6\u91cc\u6709 \u626b\u5730\u673a\u5668\u4eba\uff0c\u8def\u9762\u4e0a\u6709\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\uff0c\u518d\u52a0\u4e0a\u5df2\u7136\u6210\u4e3a\u70ed\u70b9\u7684\u4eba\u5f62\u673a\u5668\u4eba\uff0c\u673a\u5668\u4eba\u884c\u4e1a\u4ece\u5e95\u5c42\u786c\u4ef6\uff0c\u5230\u8f6f\u4ef6\u7cfb\u7edf\uff0c\u518d\u5230\u667a\u80fd\u5316\u5e94\u7528\uff0c\u6b63\u5728\u9010\u6e10\u6210\u719f\uff0c\u667a\u80fd\u673a\u5668\u4eba\u65f6\u4ee3\u7684\u5e8f\u5e55\u5df2\u7ecf\u7f13\u7f13\u62c9\u5f00\u3002 </p> <p>\u6211\u4ece2008\u5e74\u5f00\u59cb\u5f00\u53d1\u673a\u5668\u4eba\uff0c2011\u5e74\u63a5\u89e6ROS\uff0c2012\u5e74\u521b\u529e\u4e86\u201c\u53e4\u6708\u5c45\u201d\u673a\u5668\u4eba\u793e\u533a\uff0c 2022 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<p>\u672c\u4e66\u6c47\u805a\u4e86\u6211\u8fc7\u53bb\u5341\u51e0\u5e74\u7684\u673a\u5668\u4eba\u5f00\u53d1\u7ecf\u9a8c\uff0c\u867d\u7136\u5c06ROS\u4f5c\u4e3a\u8d2f\u7a7f\u5168\u4e66\u7684\u4e3b\u7ebf\uff0c\u4f46\u66f4\u91cd\u8981 \u7684\u662f\u544a\u8bc9\u6240\u6709\u8bfb\u8005\uff1aROS\u65e2\u662f\u5f00\u53d1\u673a\u5668\u4eba\u7684\u8f6f\u4ef6\u5e73\u53f0\uff0c\u4e5f\u662f\u8f6f\u4ef6\u5de5\u5177\uff0c\u5728\u5f00\u53d1\u673a\u5668\u4eba\u65f6\uff0c\u4e0d\u4ec5 \u8981\u4f1a\u7528\u8fd9\u4e2a\u5de5\u5177\uff0c\u8fd8\u8981\u61c2\u673a\u5668\u4eba\u5f00\u53d1\u7684\u8bf8\u591a\u539f\u7406\u3002\u6240\u4ee5\uff0c\u672c\u4e66\u4e0d\u4ec5\u4f1a\u8be6\u7ec6\u8bb2\u89e3ROS 2\u7684\u57fa\u672c\u6982\u5ff5\uff0c\u66f4\u4f1a\u4ecb\u7ecd\u5982\u4f55\u5c06\u8fd9\u4e9b\u6982\u5ff5\u5e94\u7528\u5728\u673a\u5668\u4eba\u5f00\u53d1\u4e2d\uff0c\u540c\u65f6\u6307\u5bfc\u8bfb\u8005\u4ece\u96f6\u6784\u5efa\u4e00\u4e2a\u5b8c\u6574\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u3002 </p> <p>\u672c\u4e66\u5171\u67099\u7ae0\uff0c\u5206\u4e3a\u4e09\u90e8\u5206\u3002 </p> <p>\u7b2c\u4e00\u90e8\u5206\uff08\u7b2c1~3\u7ae0\uff09\u4ecb\u7ecdROS 2\u57fa\u7840\u539f\u7406\uff1a\u4e3b\u8981\u8bb2\u89e3ROS 2\u7684\u53d1\u5c55\u5386\u7a0b\u3001\u6838\u5fc3\u539f\u7406\u548c\u7ec4 \u4ef6\u5de5\u5177\uff0c\u63d0\u4f9b\u5927\u91cf\u7684\u7f16\u7a0b\u548c\u4f7f\u7528\u793a\u4f8b\uff0c\u4e3a\u8bfb\u8005\u5168\u9762\u5c55\u793aROS 2\u7684\u57fa\u7840\u539f\u7406\u548c\u529f\u80fd\u3002 </p> <p>\u7b2c\u4e8c\u90e8\u5206\uff08\u7b2c4~6\u7ae0\uff09\u4ecb\u7ecdROS 2\u673a\u5668\u4eba\u8bbe\u8ba1\uff1a\u4e3b\u8981\u8bb2\u89e3\u5982\u4f55\u4f7f\u7528ROS 2\u8bbe\u8ba1\u4e00\u4e2a\u4eff\u771f\u673a \u5668\u4eba\u548c\u5b9e\u7269\u673a\u5668\u4eba\uff0c\u6709\u6761\u4ef6\u7684\u8bfb\u8005\u751a\u81f3\u53ef\u4ee5\u6839\u636e\u4e66\u4e2d\u5185\u5bb9\u81ea\u5df1\u505a\u4e00\u4e2a\u673a\u5668\u4eba\u3002 </p> <p>\u7b2c\u4e09\u90e8\u5206\uff08\u7b2c7~9\u7ae0\uff09\u4ecb\u7ecdROS 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<p>\u672c\u4e66\u7684\u51fa\u7248\u79bb\u4e0d\u5f00\u4f17\u591a\u201c\u8d35\u4eba\u201d\u7684\u5e2e\u52a9\u3002\u611f\u8c22\u6211\u7684\u59bb\u5b50\u859b\u5148\u8339\uff0c\u8c22\u8c22\u4f60\u966a\u6211\u8f97\u8f6c\u591a\u5730\u5e76\u4e00 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</p>"},{"location":"ROS2_Book/0.%E5%89%8D%E8%A8%80/#_3","title":"\u4ee3\u7801\u4ed3\u5e93","text":"\u540d\u79f0 \u94fe\u63a5 \u8bf4\u660e ros2_21_tutorials https://gitee.com/guyuehome/ros2_21_tutorials ros2 21\u8bb2\u4e0a\u624b\u4ee3\u7801 originbot https://gitee.com/guyuehome/originbot originbot\u673a\u5668\u4eba\u7aef\u529f\u80fd\u5305\u4ed3\u5e93 originbot_desktop https://gitee.com/guyuehome/originbot_desktop originbot\u7535\u8111\u7aef\u529f\u80fd\u5305\u4ed3\u5e93 originbot_controller https://gitee.com/guyuehome/originbot_controller originbot\u63a7\u5236\u5668\u6e90\u7801\u4ed3\u5e93 <p>\u4e0b\u8f7d\u4ee3\u7801</p> <p>\u60a8\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u514b\u9686\u4ee3\u7801\u4ed3\u5e93\uff1a <pre><code>git clone https://gitee.com/guyuehome/ros2_21_tutorials.git\ngit clone https://gitee.com/guyuehome/originbot.git\ngit clone https://gitee.com/guyuehome/originbot_desktop.git\ngit clone https://gitee.com/guyuehome/originbot_controller.git\n</code></pre></p>"},{"location":"ROS2_Book/0.%E5%89%8D%E8%A8%80/#_4","title":"\u7b54\u7591\u533a","text":"<p>\u5982\u679c\u60a8\u5bf9\u672c\u4e66\u6709\u4efb\u4f55\u7591\u95ee\uff0c\u6b22\u8fce\u5230 https://www.guyuehome.com/interlocution \u8fdb\u884c\u63d0\u95ee</p>"},{"location":"ROS2_Book/0.%E5%89%8D%E8%A8%80/#_5","title":"\u672c\u7ae0\u8282\u540e\u7eed\u5185\u5bb9\u8bf4\u660e","text":"<p>\u63a5\u4e0b\u6765\u7684\u56db\u4e2a\u7ae0\u8282\u5c06\u4e3a\u5927\u5bb6\u63d0\u4f9b\u5feb\u901f\u590d\u5236\u7684\u6307\u4ee4\u8bf4\u660e\uff0c\u65b9\u4fbf\u4e0e\u56fe\u4e66\u5185\u5bb9\u914d\u5408\u4f7f\u7528\uff01</p>"},{"location":"ROS2_Book/0.%E5%89%8D%E8%A8%80/#_6","title":"\u8d2d\u4e70\u94fe\u63a5","text":"<p>\u70b9\u51fb\u4e0b\u56fe\u5373\u53ef\u8d2d\u4e70\u672c\u4e66\uff01</p> <p></p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/","title":"ROS 2\u5e38\u7528\u5de5\u5177\uff1a\u8ba9\u673a\u5668\u4eba\u5f00\u53d1\u66f4\u4fbf\u6377","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#launch","title":"Launch\uff1a\u591a\u8282\u70b9\u542f\u52a8\u4e0e\u914d\u7f6e\u811a\u672c","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_1","title":"\u591a\u8282\u70b9\u542f\u52a8\u811a\u672c","text":"<p>3.1.1  \u591a\u8282\u70b9\u542f\u52a8\u65b9\u6cd5 </p> <pre><code>$ ros2 launch learning_launch simple.launch.py\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_2","title":"\u547d\u4ee4\u884c\u53c2\u6570\u914d\u7f6e","text":"<p>3.1.2  \u547d\u4ee4\u884c\u53c2\u6570\u914d\u7f6e </p> <pre><code>$ ros2 launch learning_launch rviz.launch.py\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_3","title":"\u8d44\u6e90\u91cd\u6620\u5c04","text":"<p>3.1.3  \u8d44\u6e90\u91cd\u6620\u5c04 </p> <pre><code>$ ros2 launch learning_launch remapping.launch.py \n$ ros2 topic pub --rate /turtlesim1/turtle1/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: \n2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}\" \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#ros","title":"ROS\u53c2\u6570\u8bbe\u7f6e","text":"<p>3.1.4  ROS\u53c2\u6570\u8bbe\u7f6e</p> <pre><code>$ ros2 launch learning_launch parameters.launch.py \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tf","title":"tf\uff1a\u673a\u5668\u4eba\u5750\u6807\u7cfb\u7ba1\u7406\u7cfb\u7edf","text":"<p>3.2  tf\uff1a\u673a\u5668\u4eba\u5750\u6807\u7cfb\u7ba1\u7406\u7cfb\u7edf</p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tf_1","title":"tf \u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>3.2.2  tf \u547d\u4ee4\u884c\u64cd\u4f5c </p> <pre><code>$ sudo apt install ros-jazzy-turtle-tf2-py ros-jazzy-tf2-tools \n$ sudo pip3 install transforms3d \n</code></pre> <p>\u5b89\u88c5\u6210\u529f\u540e\uff0c\u5728\u7ec8\u7aef\u4e2d\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\uff0c\u542f\u52a8\u6d77\u9f9f\u8ddf\u968f\u793a\u4f8b\u53ca\u952e\u76d8\u63a7\u5236\u8282\u70b9\u3002</p> <pre><code>$ ros2 launch turtle_tf2_py turtle_tf2_demo.launch.py \n$ ros2 run turtlesim turtle_teleop_key \n</code></pre> <p>\u67e5\u770btf\u6811</p> <pre><code>$ ros2 run tf2_tools view_frames \n</code></pre> <p>\u67e5\u8be2\u5750\u6807\u53d8\u6362\u4fe1\u606f</p> <pre><code>$ ros2 run tf2_ros tf2_echo turtle2 turtle1\n</code></pre> <p>\u5750\u6807\u7cfb\u53ef\u89c6\u5316 </p> <pre><code>$ ros2 run rviz2 rviz2 -d $(ros2 pkg prefix --share turtle_tf2_py)/rviz/turtle_rviz.rviz\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tfpython","title":"\u9759\u6001tf\u5e7f\u64ad\uff08Python\uff09","text":"<p>3.2.3  \u9759\u6001tf\u5e7f\u64ad\uff08Python\uff09</p> <pre><code>$ ros2 run learning_tf static_tf_broadcaster \n$ ros2 run tf2_tools view_frames \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tfc","title":"\u9759\u6001tf\u5e7f\u64ad\uff08C++\uff09","text":"<p>3.2.4  \u9759\u6001tf\u5e7f\u64ad\uff08C++\uff09 </p> <pre><code>$ ros2 run learning_tf_cpp static_tf_broadcaster \n$ ros2 run tf2_tools view_frames\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tfpython_1","title":"\u52a8\u6001tf\u5e7f\u64ad\uff08Python\uff09","text":"<p>3.2.5  \u52a8\u6001tf\u5e7f\u64ad\uff08Python\uff09 </p> <pre><code>$ ros2 run turtlesim turtlesim_node \n$ ros2 run learning_tf turtle_tf_broadcaster --ros-args -p turtlename:=turtle1 \n$ ros2 run tf2_tools view_frames\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tfc_1","title":"\u52a8\u6001tf\u5e7f\u64ad\uff08C++\uff09","text":"<p>3.2.6  \u52a8\u6001tf\u5e7f\u64ad\uff08C++\uff09 </p> <pre><code>$ ros2 run turtlesim turtlesim_node \n$ ros2 run learning_tf_cpp turtle_tf_broadcaster --ros-args -p turtlename:=turtle1 \n$ ros2 run tf2_tools view_frames\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tfpython_2","title":"tf\u76d1\u542c\uff08Python\uff09","text":"<p>3.2.7  tf\u76d1\u542c\uff08Python\uff09 </p> <pre><code>$ ros2 run learning_tf static_tf_broadcaster \n$ ros2 run learning_tf tf_listener \n</code></pre> <pre><code>$ ros2 run turtlesim turtlesim_node \n$ ros2 run learning_tf turtle_tf_broadcaster --ros-args -p turtlename:=turtle1 \n$ ros2 run learning_tf tf_listener --ros-args -p target_frame:=turtle1 \n$ ros2 run turtlesim turtle_teleop_key \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tf-c","title":"tf \u76d1\u542c\uff08C++\uff09","text":"<p>3.2.8  tf \u76d1\u542c\uff08C++\uff09</p> <pre><code>$ ros2 run learning_tf_cpp static_tf_broadcaster \n$ ros2 run learning_tf_cpp tf_listener\n</code></pre> <pre><code>$ ros2 run turtlesim turtlesim_node \n$ ros2 run learning_tf_cpp turtle_tf_broadcaster --ros-args -p turtlename:=turtle1 \n$ ros2 run learning_tf_cpp tf_listener --ros-args -p target_frame:=turtle1 \n$ ros2 run turtlesim turtle_teleop_key \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#python","title":"\u6d77\u9f9f\u8ddf\u968f\uff08Python\uff09","text":"<p>3.2.9  tf \u7efc\u5408\u5e94\u7528\u793a\u4f8b\uff1a\u6d77\u9f9f\u8ddf\u968f\uff08Python\uff09</p> <pre><code>$ ros2 launch learning_tf turtle_following_demo.launch.py \n$ ros2 run turtlesim turtle_teleop_key \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#gazebo","title":"Gazebo\uff1a\u673a\u5668\u4eba\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0","text":"<p>3.3  Gazebo\uff1a\u673a\u5668\u4eba\u4e09\u7ef4\u7269\u7406\u4eff\u771f\u5e73\u53f0</p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#gazebo_1","title":"\u5b89\u88c5Gazebo","text":"<pre><code># \u5b89\u88c5\u76f8\u5173\u4f9d\u8d56 \n$ sudo apt-get update \n$ sudo apt-get install lsb-release wget gnupg \n# \u5b89\u88c5Gazebo Harmonic \n$ sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg\n$ echo \"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main\" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list &gt; /dev/null\n$ sudo apt-get update\n$ sudo apt-get install gz-harmonic\n# \u5b89\u88c5Jazzy gz\u529f\u80fd\u5305 \n$ sudo apt install ros-jazzy-ros-gz \n</code></pre> <p>\u542f\u52a8Gazebo <pre><code>$ gz sim \n</code></pre></p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_4","title":"\u673a\u5668\u4eba\u4eff\u771f\u793a\u4f8b","text":"<p>3.3.2  \u673a\u5668\u4eba\u4eff\u771f\u793a\u4f8b</p> <pre><code>$ ros2 launch ros_gz_sim_demos diff_drive.launch.py \n$ ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r \ncmd_vel:=model/vehicle_blue/cmd_vel \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_5","title":"\u4f20\u611f\u5668\u4eff\u771f\u793a\u4f8b","text":"<p>3.3.3  \u4f20\u611f\u5668\u4eff\u771f\u793a\u4f8b </p> <pre><code>$ ros2 launch ros_gz_sim_demos rgbd_camera_bridge.launch.py \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#rviz","title":"RViz\uff1a\u6570\u636e\u53ef\u89c6\u5316\u5e73\u53f0","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#tf_2","title":"tf\u6570\u636e\u53ef\u89c6\u5316","text":"<p>3.4.3  \u5e94\u7528\u793a\u4f8b\u4e00\uff1atf\u6570\u636e\u53ef\u89c6\u5316 </p> <pre><code>$ ros2 launch learning_tf turtle_following_demo.launch.py \n$ ros2 run turtlesim turtle_teleop_key \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_6","title":"\u56fe\u50cf\u6570\u636e\u53ef\u89c6\u5316","text":"<p>3.4.4  \u5e94\u7528\u793a\u4f8b\u4e8c\uff1a\u56fe\u50cf\u6570\u636e\u53ef\u89c6\u5316 </p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#rosbag","title":"rosbag\uff1a\u6570\u636e\u8bb0\u5f55\u4e0e\u56de\u653e","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_7","title":"\u8bb0\u5f55\u6570\u636e","text":"<p>3.5.1  \u8bb0\u5f55\u6570\u636e</p> <pre><code>$ ros2 run turtlesim turtlesim_node  \n$ ros2 run turtlesim turtle_teleop_key \n$ ros2 topic list -v \n</code></pre> <pre><code>$ mkdir ~/bagfiles \n$ cd ~/bagfiles \n$ ros2 bag record /turtle1/cmd_vel \n</code></pre> <pre><code>$ ros2 bag record -o subset /turtle1/cmd_vel /turtle1/pose \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_8","title":"\u56de\u653e\u6570\u636e","text":"<p>3.5.2  \u56de\u653e\u6570\u636e  </p> <pre><code>$ ros2 bag info &lt;your bagfile&gt; \n$ ros2 bag play &lt;your bagfile&gt;\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#rqt","title":"rqt\uff1a\u6a21\u5757\u5316\u53ef\u89c6\u5316\u5de5\u5177\u7bb1","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#rqt_1","title":"rqt \u5b89\u88c5\u4e0e\u4f7f\u7528","text":"<p>3.6.1  rqt \u4ecb\u7ecd </p> <pre><code>$ sudo apt install ros-jazzy-rqt \n$ rqt\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_9","title":"\u65e5\u5fd7\u663e\u793a","text":"<p>3.6.2  \u65e5\u5fd7\u663e\u793a </p> <pre><code>$ ros2 run rqt_console rqt_console \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#_10","title":"\u56fe\u50cf\u663e\u793a","text":"<p>3.6.3  \u56fe\u50cf\u663e\u793a </p> <pre><code>$ ros2 run rqt_image_view rqt_image_view \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#ros-2_1","title":"ROS 2\u5f00\u53d1\u73af\u5883\u914d\u7f6e","text":"<p>3.7  ROS 2\u5f00\u53d1\u73af\u5883\u914d\u7f6e </p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/#git","title":"\u7248\u672c\u7ba1\u7406\u8f6f\u4ef6git","text":"<p>3.7.1  \u7248\u672c\u7ba1\u7406\u8f6f\u4ef6git</p> <pre><code>$ sudo apt install git \n</code></pre> <pre><code># \u4e0b\u8f7d\u4e00\u4e2a\u9879\u76ee\u548c\u5b83\u7684\u6574\u4e2a\u4ee3\u7801\u5386\u53f2 \n$ git clone [url] \n\n# \u6dfb\u52a0\u6307\u5b9a\u6587\u4ef6\u5230\u6682\u5b58\u533a \n$ git add [file1] [file2] ... \n# \u6dfb\u52a0\u6307\u5b9a\u76ee\u5f55\u5230\u6682\u5b58\u533a\uff0c\u5305\u62ec\u5b50\u76ee\u5f55 \n$ git add [dir] \n# \u6dfb\u52a0\u5f53\u524d\u76ee\u5f55\u7684\u6240\u6709\u6587\u4ef6\u5230\u6682\u5b58\u533a \n$ git add . \n\n# \u5220\u9664\u5de5\u4f5c\u533a\u6587\u4ef6\uff0c\u5e76\u4e14\u5c06\u5220\u9664\u64cd\u4f5c\u7684\u6587\u4ef6\u653e\u5165\u6682\u5b58\u533a \n$ git rm [file1] [file2] ... \n# \u63d0\u4ea4\u6682\u5b58\u533a\u5230\u4ed3\u5e93\u533a \n$ git commit -m [message] \n\n# \u5217\u51fa\u6240\u6709\u672c\u5730\u5206\u652f \n$ git branch \n# \u5217\u51fa\u6240\u6709\u8fdc\u7a0b\u5206\u652f \n$ git branch -r \n# \u5217\u51fa\u6240\u6709\u672c\u5730\u5206\u652f\u548c\u8fdc\u7a0b\u5206\u652f \n$ git branch -a \n# \u65b0\u5efa\u4e00\u4e2a\u5206\u652f\uff0c\u4f46\u4f9d\u7136\u505c\u7559\u5728\u5f53\u524d\u5206\u652f \n$ git branch [branch-name] \n# \u65b0\u5efa\u4e00\u4e2a\u5206\u652f\uff0c\u5e76\u5207\u6362\u5230\u8be5\u5206\u652f \n$ git checkout -b [branch] \n\n# \u663e\u793a\u6709\u53d8\u66f4\u7684\u6587\u4ef6 \n$ git status \n# \u663e\u793a\u5f53\u524d\u5206\u652f\u7684\u7248\u672c\u5386\u53f2 \n$ git log \n\n# \u4e0b\u8f7d\u8fdc\u7a0b\u4ed3\u5e93\u7684\u6240\u6709\u53d8\u52a8 \n$ git fetch [remote] \n# \u663e\u793a\u6240\u6709\u8fdc\u7a0b\u4ed3\u5e93 \n$ git remote -v \n# \u663e\u793a\u67d0\u4e2a\u8fdc\u7a0b\u4ed3\u5e93\u7684\u4fe1\u606f \n$ git remote show [remote] \n\n# \u53d6\u56de\u8fdc\u7a0b\u4ed3\u5e93\u7684\u53d8\u5316\uff0c\u5e76\u4e0e\u672c\u5730\u5206\u652f\u5408\u5e76 \n$ git pull [remote] [branch] \n# \u4e0a\u4f20\u672c\u5730\u6307\u5b9a\u5206\u652f\u5230\u8fdc\u7a0b\u4ed3\u5e93 \n$ git push [remote] [branch] \n\n# \u91cd\u7f6e\u6682\u5b58\u533a\u7684\u6307\u5b9a\u6587\u4ef6\uff0c\u4e0e\u4e0a\u4e00\u6b21commit\u4fdd\u6301\u4e00\u81f4\uff0c\u4f46\u5de5\u4f5c\u533a\u4e0d\u53d8 \n$ git reset [file] \n# \u91cd\u7f6e\u6682\u5b58\u533a\u4e0e\u5de5\u4f5c\u533a\uff0c\u4e0e\u4e0a\u4e00\u6b21commit\u4fdd\u6301\u4e00\u81f4 \n$ git reset --hard \n# \u91cd\u7f6e\u5f53\u524d\u5206\u652f\u7684\u6307\u9488\u4e3a\u6307\u5b9acommit\uff0c\u540c\u65f6\u91cd\u7f6e\u6682\u5b58\u533a\uff0c\u4f46\u5de5\u4f5c\u533a\u4e0d\u53d8 \n$ git reset [commit] \n# \u91cd\u7f6e\u5f53\u524d\u5206\u652f\u7684HEAD\u4e3a\u6307\u5b9acommit\uff0c\u540c\u65f6\u91cd\u7f6e\u6682\u5b58\u533a\u548c\u5de5\u4f5c\u533a\uff0c\u4e0e\u6307\u5b9acommit\u4e00\u81f4 \n$ git reset --hard [commit] \n\n# \u8bbe\u7f6e\u63d0\u4ea4\u4ee3\u7801\u65f6\u7684\u7528\u6237\u4fe1\u606f \n$ git config [--global] user.name \"[name]\" \n$ git config [--global] user.email \"[email address]\"\n</code></pre> <p></p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/","title":"ROS 2\u6838\u5fc3\u539f\u7406\uff1a\u6784\u5efa\u673a\u5668\u4eba\u7684\u57fa\u77f3","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_1","title":"\u5de5\u4f5c\u7a7a\u95f4\u521b\u5efa\u4e0e\u7f16\u8bd1","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_2","title":"\u521b\u5efa\u529f\u80fd\u5305","text":"<p>2.2  ROS 2\u673a\u5668\u4eba\u5f00\u53d1\u6d41\u7a0b </p> <pre><code># \u521b\u5efa\u529f\u80fd\u5305\n$ mkdir -p ~/dev_ws/src \n# \u62c9\u53d6\u4ee3\u7801\u4ed3\u5e93\n$ git clone https://gitee.com/guyuehome/originbot_desktop.git\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_3","title":"\u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4","text":"<p><pre><code>$ cd ~/dev_ws \n$ rosdep install --from-paths src --ignore-src -r -y \n</code></pre> \u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u8fd8\u9700\u8981\u7ee7\u7eed\u5b89\u88c5ROS 2\u7684\u7f16\u8bd1\u5668colcon\uff0c\u5e76\u4f7f\u7528\u5982\u4e0b\u547d\u4ee4\u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4\u3002</p> <pre><code>$ sudo apt install python3-colcon-ros \n$ cd ~/dev_ws/ \n$ colcon build\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_4","title":"\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf","text":"<p>\u7b2c\u4e00\u79cd\u662f\u914d\u7f6e\u5728\u5f53\u524d\u7ec8\u7aef\u7684\u73af\u5883\u53d8\u91cf\u4e2d\uff0c\u53ea\u5728\u5f53\u524d\u7ec8\u7aef\u4e2d\u6709\u6548\uff0c\u9700\u8981\u5728\u7ec8\u7aef\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u3002</p> <pre><code>$ source ~/dev_ws/install/setup.bash  \n</code></pre> <p>\u7b2c\u4e8c\u79cd\u662f\u914d\u7f6e\u5728\u7cfb\u7edf\u7684\u73af\u5883\u53d8\u91cf\u4e2d\uff0c\u4e5f\u5c31\u662fLinux\u7684.bashrc\u6587\u4ef6\u4e2d\uff0c\u9700\u8981\u5728\u7ec8\u7aef\u6267\u884c\u4ee5\u4e0b \u547d\u4ee4\u3002 </p> <pre><code>$ echo \"source ~/dev_ws/install/setup.bash\" &gt;&gt; ~/.bashrc\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_5","title":"\u521b\u5efa\u529f\u80fd\u5305","text":"<p>2.3.2  \u521b\u5efa\u529f\u80fd\u5305</p> <pre><code>$ cd ~/dev_ws/src \n$ ros2 pkg create --build-type ament_cmake learning_pkg_cpp        # \u521b\u5efa\u4e00\u4e2aC++\u529f\u80fd\u5305 \n$ ros2 pkg create --build-type ament_python learning_pkg_python    # \u521b\u5efa\u4e00\u4e2aPython\u529f\u80fd\u5305 \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_6","title":"\u7f16\u8bd1\u6307\u5b9a\u529f\u80fd\u5305","text":"<p>2.3.4  \u7f16\u8bd1\u529f\u80fd\u5305</p> <p>\u4f7f\u7528\u524d\u9700\u8981\u5b89\u88c5colcon\u7684\u6269\u5c55\u529f\u80fd\u3002  <pre><code>$ sudo apt install python3-colcon-common-extensions\n</code></pre> \u901a\u8fc7--packages-select \u6216\u8005--packages-up-to \u53c2\u6570\u7f16\u8bd1\u6307\u5b9a\u529f\u80fd\u5305\uff0cpackage_name\u7528\u4e8e\u66ff\u6362\u67d0\u4e2a\u5177\u4f53\u529f\u80fd\u5305\u3002</p> <pre><code>$ cd ~/dev_ws \n$ colcon build --packages-select &lt;package_name&gt;    \n# \u53ea\u7f16\u8bd1\u6307\u5b9a\u529f\u80fd\u5305 \n$ colcon build --packages-up-to &lt;package_name&gt;     \n# \u7f16\u8bd1\u6307\u5b9a\u529f\u80fd\u5305\u53ca\u76f8\u5173\u4f9d\u8d56\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_7","title":"\u6e05\u9664\u7f16\u8bd1\u5386\u53f2","text":"<pre><code>$ cd ~/dev_ws \n$ rm -rf install/ build/ log/   # \u6e05\u9664\u5de5\u4f5c\u7a7a\u95f4\u4e2d\u7684\u7f16\u8bd1\u5386\u53f2\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_8","title":"\u8282\u70b9","text":"<p>2.4  \u8282\u70b9\uff1a\u673a\u5668\u4eba\u7684\u5de5\u4f5c\u7ec6\u80de</p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_9","title":"\u8282\u70b9\u8fd0\u884c","text":"<pre><code>$ ros2 run learning_node node_helloworld_class       # Python\n$ ros2 run learning_node_cpp node_helloworld_class   # C++\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_10","title":"\u8282\u70b9\u7684\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>2.4.4  \u8282\u70b9\u7684\u547d\u4ee4\u884c\u64cd\u4f5c</p> <pre><code>$ ros2 node list                # \u67e5\u770b\u8282\u70b9\u5217\u8868 \n$ ros2 node info &lt;node_name&gt;    # \u67e5\u770b\u8282\u70b9\u4fe1\u606f \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_11","title":"\u76ee\u6807\u68c0\u6d4b","text":"<p>2.4.5  \u8282\u70b9\u5e94\u7528\u793a\u4f8b\uff1a\u76ee\u6807\u68c0\u6d4b </p> <pre><code>$ ros2 run learning_node node_object_webcam    # \u865a\u62df\u673a\u73af\u5883\u6ce8\u610f\u8bbe\u7f6e\u76f8\u673a\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_12","title":"\u8bdd\u9898","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_13","title":"\u8bdd\u9898\u8fd0\u884c\u793a\u4f8b","text":"<p>2.5.3  \u8bdd\u9898\u901a\u4fe1\u7f16\u7a0b\u793a\u4f8b</p> <pre><code>$ ros2 run learning_topic topic_helloworld_pub\n$ ros2 run learning_topic topic_helloworld_sub\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_14","title":"\u8bdd\u9898\u7684\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>2.5.8  \u8bdd\u9898\u7684\u547d\u4ee4\u884c\u64cd\u4f5c </p> <pre><code>$ ros2 topic list                      # \u67e5\u770b\u8bdd\u9898\u5217\u8868 \n$ ros2 topic info &lt;topic_name&gt;         # \u67e5\u770b\u8bdd\u9898\u4fe1\u606f \n$ ros2 topic hz &lt;topic_name&gt;           # \u67e5\u770b\u8bdd\u9898\u53d1\u5e03\u9891\u7387 \n$ ros2 topic bw &lt;topic_name&gt;           # \u67e5\u770b\u8bdd\u9898\u4f20\u8f93\u5e26\u5bbd \n$ ros2 topic echo &lt;topic_name&gt;         # \u67e5\u770b\u8bdd\u9898\u6570\u636e \n$ ros2 topic pub &lt;topic_name&gt; &lt;msg_type&gt; &lt;msg_data&gt;  # \u53d1\u5e03\u8bdd\u9898\u6d88\u606f\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_15","title":"\u76ee\u6807\u68c0\u6d4b\uff08\u5468\u671f\u5f0f\uff09","text":"<p>2.5.9  \u8bdd\u9898\u5e94\u7528\u793a\u4f8b\uff1a\u76ee\u6807\u68c0\u6d4b\uff08\u5468\u671f\u5f0f\uff09</p> <pre><code>$ ros2 run learning_topic topic_webcam_pub \n$ ros2 run learning_topic topic_webcam_sub \n</code></pre> <p>\u66f4\u901a\u7528\u7684\u76f8\u673a\u9a71\u52a8\u8282\u70b9 </p> <pre><code>$ sudo apt install ros-jazzy-usb-cam\n$ ros2 run usb_cam usb_cam_node_exe \n$ ros2 run learning_topic topic_webcam_sub \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_16","title":"\u670d\u52a1","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_17","title":"\u670d\u52a1\u8fd0\u884c\u793a\u4f8b","text":"<p>2.6.3  \u670d\u52a1\u901a\u4fe1\u7f16\u7a0b\u793a\u4f8b </p> <pre><code>$ ros2 run learning_service service_adder_server \n$ ros2 run learning_service service_adder_client 2 3 \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_18","title":"\u670d\u52a1\u7684\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>2.6.8  \u670d\u52a1\u7684\u547d\u4ee4\u884c\u64cd\u4f5c </p> <pre><code>$ ros2 service list                   # \u67e5\u770b\u670d\u52a1\u5217\u8868 \n$ ros2 service type &lt;service_name&gt;    # \u67e5\u770b\u670d\u52a1\u6570\u636e\u7c7b\u578b \n$ ros2 service call &lt;service_name&gt; &lt;service_type&gt; &lt;service_data&gt;   # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42 \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_19","title":"\u76ee\u6807\u68c0\u6d4b\uff08\u8bf7\u6c42\u5f0f\uff09","text":"<p>2.6.9  \u670d\u52a1\u5e94\u7528\u793a\u4f8b\uff1a\u76ee\u6807\u68c0\u6d4b\uff08\u8bf7\u6c42\u5f0f\uff09 </p> <pre><code>$ ros2 service list                   # \u67e5\u770b\u670d\u52a1\u5217\u8868 \n$ ros2 service type &lt;service_name&gt;    # \u67e5\u770b\u670d\u52a1\u6570\u636e\u7c7b\u578b \n$ ros2 service call &lt;service_name&gt; &lt;service_type&gt; &lt;service_data&gt;   # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42 \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_20","title":"\u901a\u4fe1\u63a5\u53e3","text":"<p>2.7  \u901a\u4fe1\u63a5\u53e3\uff1a\u6570\u636e\u4f20\u9012\u7684\u6807\u51c6\u7ed3\u6784 </p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_21","title":"\u901a\u4fe1\u63a5\u53e3\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u901a\u4fe1\u63a5\u53e3\u7684\u547d\u4ee4\u884c\u64cd\u4f5c </p> <pre><code>$ ros2 interface list                      # \u67e5\u770b\u7cfb\u7edf\u901a\u4fe1\u63a5\u53e3\u5217\u8868 \n$ ros2 interface show &lt;interface_name&gt;     # \u67e5\u770b\u67d0\u4e2a\u901a\u4fe1\u63a5\u53e3\u7684\u8be6\u7ec6\u5b9a\u4e49 \n$ ros2 interface package &lt;package_name&gt;    # \u67e5\u770b\u67d0\u4e2a\u529f\u80fd\u5305\u4e2d\u7684\u901a\u4fe1\u63a5\u53e3\u5b9a\u4e49\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_22","title":"\u5468\u671f\u6027\u53d1\u5e03\u76ee\u6807\u68c0\u6d4b\u7684\u5750\u6807","text":"<p>2.7.5  \u8bdd\u9898\u63a5\u53e3\u5e94\u7528\u793a\u4f8b\uff1a\u5468\u671f\u6027\u53d1\u5e03\u76ee\u6807\u68c0\u6d4b\u7684\u5750\u6807 </p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe \n$ ros2 run learning_topic interface_object_pub \n$ ros2 run learning_topic interface_object_sub\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_23","title":"\u52a8\u4f5c","text":"<p>2.8  \u52a8\u4f5c\uff1a\u5b8c\u6574\u884c\u4e3a\u7684\u6d41\u7a0b\u7ba1\u7406</p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_24","title":"\u52a8\u4f5c\u8fd0\u884c\u793a\u4f8b","text":"<p>2.8.3  \u52a8\u4f5c\u901a\u4fe1\u7f16\u7a0b\u793a\u4f8b</p> <pre><code># \u542f\u52a8\u52a8\u4f5c\u670d\u52a1\u7aef \n$ ros2 run learning_action action_move_server  \n# \u542f\u52a8\u52a8\u4f5c\u5ba2\u6237\u7aef \n$ ros2 run learning_action action_move_client \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_25","title":"\u52a8\u4f5c\u7684\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>2.8.9  \u52a8\u4f5c\u7684\u547d\u4ee4\u884c\u64cd\u4f5c </p> <pre><code>$ ros2 action list                    # \u67e5\u770b\u670d\u52a1\u5217\u8868 \n$ ros2 action info &lt;action_name&gt;      # \u67e5\u770b\u670d\u52a1\u6570\u636e\u7c7b\u578b \n$ ros2 action send_goal &lt;action_name&gt; &lt;action_type&gt; &lt;action_data&gt;   # \u53d1\u9001\u670d\u52a1\u8bf7\u6c42 \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_26","title":"\u53c2\u6570","text":"<p>2.9  \u53c2\u6570\uff1a\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u5168\u5c40\u5b57\u5178</p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_27","title":"\u53c2\u6570\u547d\u4ee4\u884c","text":"<p>2.9.3  \u53c2\u6570\u7684\u547d\u4ee4\u884c\u64cd\u4f5c </p> <p>\u8fd0\u884c\u5c0f\u6d77\u9f9f\u6848\u4f8b <pre><code>$ ros2 run turtlesim turtlesim_node \n$ ros2 run turtlesim turtle_teleop_key \n</code></pre> \u67e5\u770b\u53c2\u6570\u5217\u8868</p> <pre><code>$ ros2 param list \n</code></pre> <p>\u53c2\u6570\u67e5\u8be2\u4e0e\u4fee\u6539</p> <pre><code>$ ros2 param describe turtlesim background_b     # \u67e5\u770b\u67d0\u4e2a\u53c2\u6570\u7684\u63cf\u8ff0\u4fe1\u606f \n$ ros2 param get turtlesim background_b          # \u67e5\u8be2\u67d0\u4e2a\u53c2\u6570\u7684\u503c \n$ ros2 param set turtlesim background_b 10       # \u4fee\u6539\u67d0\u4e2a\u53c2\u6570\u7684\u503c \n</code></pre> <p>\u67e5\u770b\u53c2\u6570\u5217\u8868</p> <pre><code>$ ros2 param list \n</code></pre> <p>\u53c2\u6570\u6587\u4ef6\u4fdd\u5b58\u4e0e\u52a0\u8f7d</p> <pre><code>$ ros2 param dump turtlesim &gt;&gt; turtlesim.yaml    # \u5c06\u67d0\u4e2a\u8282\u70b9\u7684\u53c2\u6570\u4fdd\u5b58\u5230\u53c2\u6570\u6587\u4ef6\u4e2d \n$ ros2 param load turtlesim turtlesim.yaml       # \u4e00\u6b21\u6027\u52a0\u8f7d\u67d0\u4e2a\u6587\u4ef6\u4e2d\u7684\u6240\u6709\u53c2\u6570 \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#_28","title":"\u8bbe\u7f6e\u76ee\u6807\u68c0\u6d4b\u7684\u9608\u503c","text":"<p>2.9.6  \u53c2\u6570\u5e94\u7528\u793a\u4f8b\uff1a\u8bbe\u7f6e\u76ee\u6807\u68c0\u6d4b\u7684\u9608\u503c</p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe  \n$ ros2 run learning_parameter param_object_detect \n$ ros2 param set param_object_detect red_h_upper 180\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#dds","title":"\u6570\u636e\u5206\u53d1\u670d\u52a1\uff08DDS\uff09","text":"<p>2.10  \u6570\u636e\u5206\u53d1\u670d\u52a1\uff08DDS\uff09\uff1a\u673a\u5668\u4eba\u7684\u795e\u7ecf\u7f51\u7edc</p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#ddsqos","title":"\u547d\u4ee4\u884c\u4e2d\u914d\u7f6eDDS\u7684QoS","text":"<p>2.10.4  \u547d\u4ee4\u884c\u4e2d\u914d\u7f6eDDS\u7684QoS</p> <pre><code>$ ros2 topic pub /chatter std_msgs/msg/Int32 \"data: 42\" --qos-reliability best_effort  \n$ ros2 topic echo /chatter --qos-reliability reliable \n$ ros2 topic echo /chatter --qos-reliability best_effort \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/#dds_1","title":"DDS\u7f16\u7a0b\u793a\u4f8b","text":"<p>2.10.5  DDS\u7f16\u7a0b\u793a\u4f8b </p> <pre><code>$ ros2 run learning_qos qos_helloworld_pub \n$ ros2 run learning_qos qos_helloworld_sub \n</code></pre> <p></p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/","title":"ROS\uff1a\u667a\u80fd\u673a\u5668\u4eba\u7684\u7075\u9b42","text":""},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#ros-2","title":"ROS 2\u7cfb\u7edf\u5b89\u88c5","text":"<p>1.4  ROS 2\u5b89\u88c5\u65b9\u6cd5 </p> <p>Ubuntu \u64cd\u4f5c\u7cfb\u7edf\u51c6\u5907\u597d\u4e4b\u540e\uff0c\u5c31\u53ef\u4ee5\u5b89\u88c5ROS 2\uff0c\u5b89\u88c5\u8fc7\u7a0b\u9700\u8981\u4f7f\u7528Ubuntu\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u7684\u547d\u4ee4\u884c\u5de5\u5177\u2014\u2014Terminal\uff0c\u4e5f\u79f0\u7ec8\u7aef\uff0c\u5927\u5bb6\u53ef\u4ee5\u76f4\u63a5\u5728\u7cfb\u7edf\u4e2d\u4f7f\u7528\u5feb\u6377\u952e\"Ctrl+Alt+T\"\u6253\u5f00\u3002</p> <p>\u542f\u52a8\u540e\uff0c\u53ef\u4f9d\u6b21\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5ROS 2\uff0c\u672c\u4e66\u9009\u62e9\u7684ROS 2\u7248\u672c\u4e3aJazzy\uff0c\u5bf9\u5e94Ubuntu 24.04 LTS\u3002</p> <p>\u63d0\u793a\uff1a\u4ee5\u4e0b\u662fROS\u5b98\u65b9\u7ed9\u51fa\u7684\u8be6\u7ec6\u5b89\u88c5\u6b65\u9aa4\uff0c\u5982\u679c\u5927\u5bb6\u662f\u7b2c\u4e00\u6b21\u4f7f\u7528\u6216\u8005\u5e0c\u671b\u901a\u8fc7\u66f4\u7b80\u5355\u7684\u65b9\u5f0f\u5b89\u88c5\uff0c\u90a3\u4e48\u53ef\u4ee5\u4f7f\u7528\u672c\u4e66\u914d\u5957\u4ee3\u7801\u4e2d\u7684\u5feb\u6377\u5b89\u88c5\u811a\u672c<code>ros_install.sh</code>\u3002\u5728\u811a\u672c\u6240\u5728\u7684\u8def\u5f84\u4e0b\uff0c\u901a\u8fc7\u7ec8\u7aef\u8f93\u5165<code>./ros_install.sh</code>\u6307\u4ee4\uff0c\u8ddf\u968f\u63d0\u793a\u5373\u53ef\u5b8c\u6210\u5b89\u88c5\u3002\u6216\u8005\u53ef\u4ee5\u4f7f\u7528<code>wget oss.guyuehome.com/upload/2024/11/111120478121/install.txt -O install_ros &amp;&amp; . install_ros</code>\u6307\u4ee4\u4e5f\u53ef\u4ee5\u5b8c\u6210\u5b89\u88c5\u3002</p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#1","title":"1. \u8bbe\u7f6e\u7f16\u7801\u683c\u5f0f","text":"<p>\u786e\u4fdd\u7cfb\u7edf\u4f7f\u7528\u6b63\u786e\u7684\u672c\u5730\u5316\u8bbe\u7f6e\u548c\u8bed\u8a00\u73af\u5883\uff0c\u4ee5\u4fbf\u5728\u5b89\u88c5\u548c\u8fd0\u884c\u8f6f\u4ef6\u65f6\u80fd\u591f\u6b63\u786e\u5730\u663e\u793a\u8bed\u8a00\u5e76\u8fdb\u884c\u672c\u5730\u5316\u652f\u6301\u3002</p> <p>\u542f\u52a8\u4e00\u4e2a\u7ec8\u7aef\uff0c\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\uff1a</p> <pre><code>$ sudo apt update &amp;&amp; sudo apt install locales \n$ sudo locale-gen en_US en_US.UTF-8 \n$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8  \n$ export LANG=en_US.UTF-8 \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#2","title":"2. \u6dfb\u52a0\u8f6f\u4ef6\u6e90","text":"<p>\u5b89\u88c5ROS 2\u4e4b\u524d\u8fd8\u9700\u8981\u544a\u8bc9\u7cfb\u7edf\u4ece\u54ea\u91cc\u4e0b\u8f7dROS 2\u7684\u5b89\u88c5\u5305\uff0c\u8fd9\u4e9b\u5b89\u88c5\u5305\u6240\u653e\u7f6e\u7684\u670d\u52a1\u5668\u88ab\u79f0\u4e3a\u8f6f\u4ef6\u6e90\u3002\u4ece\u8f6f\u4ef6\u6e90\u4e2d\u4e0b\u8f7d\u5b89\u88c5\u5305\u8fd8\u9700\u8981\u914d\u7f6e\u597d\u5bc6\u94a5\uff0c\u8fd9\u6837\u624d\u80fd\u6253\u5f00\u4e0b\u8f7d\u7684\"\u5927\u95e8\"\u3002</p> <p>\u5728\u6253\u5f00\u7684\u7ec8\u7aef\u4e2d\u7ee7\u7eed\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\uff0c\u5c06ROS 2\u7684\u7b7e\u540d\u5bc6\u94a5\u7b7e\u7f72\u5230\u7cfb\u7edf\u5bc6\u94a5\u73af\u4e2d\uff0c\u5e76\u6dfb\u52a0\u8f6f\u4ef6\u6e90\u7684\u5730\u5740\u4fe1\u606f\uff0c\u7cfb\u7edf\u624d\u53ef\u4ee5\u901a\u8fc7APT\u7ba1\u7406\u5668\u5b89\u88c5ROS 2\u8f6f\u4ef6\u5305\u3002</p> <pre><code>$ sudo apt install software-properties-common \n$ sudo add-apt-repository universe \n$ sudo apt update &amp;&amp; sudo apt install curl -y\n$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg\n$ echo \"deb [arch=$(dpkg --print-architecture) \nsigned-by=/usr/share/keyrings/ros-archive-keyring.gpg] [ROS \u8f6f\u4ef6\u6e90\u57fa\u5730\u5740] $(. /etc/os-release &amp;&amp; \necho $UBUNTU_CODENAME) main\" | sudo tee /etc/apt/sources.list.d/ros2.list &gt; /dev/null \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#3-ros-2","title":"3. \u5b89\u88c5ROS 2","text":"<p>\u51c6\u5907\u5de5\u4f5c\u5df2\u5b8c\u6210\uff0c\u63a5\u4e0b\u6765\u5728\u7ec8\u7aef\u4e2d\u8f93\u5165\u5982\u4e0b\u547d\u4ee4\uff0c\u5f00\u59cb\u4e0b\u8f7d\u5e76\u5b89\u88c5ROS 2\u7684\u684c\u9762\u7248\u8f6f\u4ef6\u3002</p> <pre><code>$ sudo apt update \n$ sudo apt upgrade \n$ sudo apt install ros-jazzy-desktop      \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#4","title":"4. \u8bbe\u7f6e\u73af\u5883\u53d8\u91cf","text":"<p>\u73b0\u5728\uff0cROS 2 \u5df2\u7ecf\u6210\u529f\u5b89\u88c5\u5230\u8ba1\u7b97\u673a\u4e2d\u4e86\uff0c\u9ed8\u8ba4\u5728/opt\u8def\u5f84\u4e0b\u3002\u7531\u4e8e\u540e\u7eed\u4f1a\u9891\u7e41\u4f7f\u7528\u7ec8\u7aef \u8f93\u5165ROS 2\u547d\u4ee4\uff0c\u6240\u4ee5\u5728\u4f7f\u7528\u524d\u8fd8\u9700\u8981\u8bbe\u7f6e\u7cfb\u7edf\u73af\u5883\u53d8\u91cf\uff0c\u8ba9\u7cfb\u7edf\u77e5\u9053ROS 2\u7684\u5404\u79cd\u529f\u80fd\u5728\u54ea \u91cc\uff0c\u8bbe\u7f6e\u7684\u547d\u4ee4\u5982\u4e0b\u3002</p> <pre><code>$ source /opt/ros/jazzy/setup.bash \n$ echo \"source /opt/ros/jazzy/setup.bash\" &gt;&gt; ~/.bashrc \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#5","title":"5. \u6d4b\u8bd5\u793a\u4f8b","text":"<p>\u5b89\u88c5\u5b8c\u6210\uff0c\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u793a\u4f8b\u6d4b\u8bd5ROS 2\u662f\u5426\u5b89\u88c5\u6210\u529f\u3002  \u542f\u52a8\u7b2c\u4e00\u4e2a\u7ec8\u7aef\uff0c\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u4e00\u4e2a\u6570\u636e\u7684\u53d1\u5e03\u8005\u8282\u70b9\u3002</p> <pre><code>$ ros2 run demo_nodes_cpp talker\n</code></pre> <p>\u542f\u52a8\u7b2c\u4e8c\u4e2a\u7ec8\u7aef\uff0c\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u4e00\u4e2a\u6570\u636e\u7684\u8ba2\u9605\u8005\u8282\u70b9\u3002</p> <pre><code>$ ros2 run demo_nodes_py listener \n</code></pre> <p>\u5982\u679c\u201cHello World\u201d\u5b57\u7b26\u4e32\u5728\u4e24\u4e2a\u7ec8\u7aef\u4e2d\u6b63\u5e38\u4f20\u8f93\uff0c\u5219\u8bf4\u660eROS 2\u7684\u901a\u4fe1\u7cfb\u7edf\u6ca1\u6709\u95ee\u9898\u3002 \u81f3\u6b64\uff0cROS 2\u5df2\u7ecf\u5728\u7cfb\u7edf\u4e2d\u5b89\u88c5\u597d\u4e86\u3002 </p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#ros-2_1","title":"ROS 2\u547d\u4ee4\u884c\u64cd\u4f5c","text":"<p>\u5bf9\u5e941.5.3  ROS 2\u4e2d\u7684\u547d\u4ee4\u884c </p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#_1","title":"\u8fd0\u884c\u8282\u70b9\u7a0b\u5e8f","text":"<p>\u60f3\u8981\u8fd0\u884cROS 2\u4e2d\u67d0\u4e2a\u8282\u70b9\uff0c\u53ef\u4ee5\u4f7f\u7528ros2 run\u547d\u4ee4\u8fdb\u884c\u64cd\u4f5c\uff0c\u4e4b\u540e\u7b2c\u4e00\u4e2a\u53c2\u6570\u8868\u793a\u529f\u80fd\u5305\u7684\u540d\u79f0\uff0c\u7b2c\u4e8c\u4e2a\u53c2\u6570\u8868\u793a\u529f\u80fd\u5305\u5185\u8282\u70b9\u7684\u540d\u79f0\uff0c\u5bf9\u4e8e\u8fd0\u884c\u6d77\u9f9f\u4eff\u771f\u8282\u70b9\u548c\u952e\u76d8\u63a7\u5236\u8282\u70b9\u7684\u547d\u4ee4\uff1a  <pre><code>$ ros2 run turtlesim turtlesim_node \n$ ros2 run turtlesim turtle_teleop_key \n</code></pre></p>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#_2","title":"\u67e5\u770b\u8fd0\u884c\u8282\u70b9","text":"<pre><code>$ ros2 node list \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#_3","title":"\u67e5\u770b\u8bdd\u9898\u4fe1\u606f","text":"<pre><code>$ ros2 topic list\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#_4","title":"\u53d1\u5e03\u8bdd\u9898\u4fe1\u606f","text":"<pre><code>$ ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 2.0, y: 0.0, \nz: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}\" \n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#_5","title":"\u53d1\u5e03\u670d\u52a1\u8bf7\u6c42","text":"<pre><code>$ ros2 service call /spawn turtlesim/srv/Spawn \"{x: 2, y: 2, theta: 0.2, name: ''}\"\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#_6","title":"\u53d1\u9001\u52a8\u4f5c\u76ee\u6807","text":"<pre><code>$ ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute \"theta: 3\"\n</code></pre>"},{"location":"ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/#_7","title":"\u6570\u636e\u5f55\u5236\u4e0e\u64ad\u653e","text":"<pre><code>#\u6570\u636e\u5f55\u5236 \n$ ros2 bag record /turtle1/cmd_vel \n#\u6570\u636e\u64ad\u653e (\u6ce8\u610f\u8def\u5f84\u548c\u6587\u4ef6\u540d)\n$ ros2 bag play rosbag2_2024_07_06-21_21_23/ rosbag2_2024_07_06-21_21_23_0.mcap \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/","title":"ROS 2\u63a7\u5236\u4e0e\u611f\u77e5\uff1a\u8ba9\u673a\u5668\u4eba\u52a8\u5f97\u4e86\u3001\u770b\u5f97\u89c1","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#ros-2_1","title":"\u673a\u5668\u4ebaROS 2\u5e95\u76d8\u9a71\u52a8\u5f00\u53d1","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_1","title":"\u952e\u76d8\u63a7\u5236","text":"<pre><code># \u542f\u52a8\u673a\u5668\u4eba\u5e95\u76d8\u8282\u70b9originbot_base \n$ ros2 launch originbot_bringup originbot.launch.py \n# \u542f\u52a8\u952e\u76d8\u63a7\u5236\u8282\u70b9 \n$ ros2 run teleop_twist_keyboard teleop_twist_keyboard \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_2","title":"\u673a\u5668\u4eba\u72b6\u6001\u7684\u52a8\u6001\u76d1\u63a7","text":"<p>6.2.4  \u673a\u5668\u4eba\u72b6\u6001\u7684\u52a8\u6001\u76d1\u63a7 </p> <p>\u8ba2\u9605originbot_status\u8bdd\u9898</p> <pre><code>$ ros2 topic echo /originbot_status \n</code></pre> <p>\u63a7\u5236\u8702\u9e23\u5668</p> <pre><code>## \u6253\u5f00\u8702\u9e23\u5668 \n$ ros2 service call /originbot_buzzer originbot_msgs/srv/OriginbotBuzzer \"'on': true\"    \n## \u5173\u95ed\u8702\u9e23\u5668 \n$ ros2 service call /originbot_buzzer originbot_msgs/srv/OriginbotBuzzer \"'on': false\"  \n</code></pre> <p>LED\u4e0ePOD\u53c2\u6570\u8c03\u8282</p> <pre><code>## \u6253\u5f00LED \n$ ros2 service call /originbot_led originbot_msgs/srv/OriginbotLed \"'on': true\"    \n## \u5173\u95edLED  \n$ ros2 service call /originbot_led originbot_msgs/srv/OriginbotLed \"'on': false\"    \n## \u8bbe\u7f6e\u5de6\u8f6e\u7684PID\u63a7\u5236\u53c2\u6570 \n$ ros2 service call /originbot_left_pid originbot_msgs/srv/OriginbotPID \"{'p': 10, 'i': 0, \n'd': 0.1}\" \n## \u8bbe\u7f6e\u53f3\u8f6e\u7684PID\u63a7\u5236\u53c2\u6570 \n$ ros2 service call /originbot_right_pid originbot_msgs/srv/OriginbotPID \"{'p': 10, 'i': 0, \n'd': 0.1}\" \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_3","title":"\u673a\u5668\u4eba\u8fd0\u52a8\u7f16\u7a0b\u4e0e\u53ef\u89c6\u5316","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#ros-2_2","title":"ROS 2\u901f\u5ea6\u63a7\u5236\u6d88\u606f\u5b9a\u4e49","text":"<p>6.3.1  ROS 2\u901f\u5ea6\u63a7\u5236\u6d88\u606f\u5b9a\u4e49</p> <pre><code>$ ros2 interface show geometry_msgs/msg/Twist \n</code></pre> <pre><code>$ ros2 topic pub --rate 1 /cmd_vel geometry_msgs/msg/Twist \"{linear: {x: 0.2, y: 0.0, z: 0.0}, \nangular: {x: 0.0, y: 0.0, z: 0.8}}\"\n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_4","title":"\u8fd0\u52a8\u7f16\u7a0b\u4e0e\u53ef\u89c6\u5316","text":"<p>6.3.2  \u8fd0\u52a8\u7f16\u7a0b\u4e0e\u53ef\u89c6\u5316 </p> <pre><code>$ ros2 run originbot_demo draw_circle\n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_5","title":"\u76f8\u673a\u9a71\u52a8\u4e0e\u56fe\u50cf\u6570\u636e","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_6","title":"\u76f8\u673a\u9a71\u52a8\u4e0e\u53ef\u89c6\u5316","text":"<p>6.4.2  \u76f8\u673a\u9a71\u52a8\u4e0e\u53ef\u89c6\u5316 </p> <pre><code>$ sudo apt install ros-jazzy-usb-cam\n</code></pre> <p>\u5b89\u88c5\u5b8c\u6210\u540e\uff0c\u5c31\u53ef\u4ee5\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u9a71\u52a8\u7b14\u8bb0\u672c\u7535\u8111\u4e0a\u7684\u76f8\u673a\u3002 </p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe\n</code></pre> <p>\u8fd0\u884c\u6210\u529f\u540e\u53ef\u4ee5\u4f7f\u7528ROS 2 Qt\u5de5\u5177\u7bb1\u4e2d\u7684rqt_image_view\u67e5\u770b\u56fe\u50cf\u6570\u636e\u3002</p> <pre><code>$ ros2 run rqt_image_view rqt_image_view\n</code></pre> <p>\u5728\u67d0\u4e9b\u60c5\u51b5\u4e0b\uff0c\u53ef\u80fd\u9700\u8981\u8ba2\u9605\u591a\u4e2a\u56fe\u50cf\u6570\u636e\uff0c\u90a3\u4e48\u4e5f\u53ef\u4ee5\u4f7f\u7528usb-cam\u529f\u80fd\u5305\u63d0\u4f9b\u7684\u53e6\u4e00\u79cd\u542f\u52a8\u65b9\u5f0f\u3002</p> <pre><code>$ ros2 launch usb_cam camera.launch.py  \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#ros-2_3","title":"ROS 2\u56fe\u50cf\u6d88\u606f\u5b9a\u4e49","text":"<p>6.4.3  ROS 2\u56fe\u50cf\u6d88\u606f\u5b9a\u4e49 </p> <pre><code>$ ros2 topic info -v /image_raw \n$ ros2 interface show sensor_msgs/msg/Image \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_7","title":"\u4e09\u7ef4\u76f8\u673a\u9a71\u52a8\u4e0e\u53ef\u89c6\u5316","text":"<p>6.4.4  \u4e09\u7ef4\u76f8\u673a\u9a71\u52a8\u4e0e\u53ef\u89c6\u5316  </p> <p>SDK\u5b89\u88c5\u5b8c\u6210\u540e \u5c31\u53ef\u4ee5\u7ee7\u7eed\u5b89\u88c5RealSense\u7684ROS 2\u9a71\u52a8\u5305\u4e86\u3002  <pre><code>$ sudo apt install ros-jazzy-realsense2-* \n</code></pre> \u5b89\u88c5\u6210\u529f\u540e\uff0c\u4f7f\u7528\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8RealSense\u76f8\u673a\u9a71\u52a8\u8282\u70b9\u3002 <pre><code>$ ros2 launch realsense2_camera rs_launch.py \n</code></pre></p>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#ros-2_4","title":"ROS 2\u70b9\u4e91\u6d88\u606f\u5b9a\u4e49","text":"<p>6.4.5  ROS 2\u70b9\u4e91\u6d88\u606f\u5b9a\u4e49 </p> <pre><code>$ ros2 interface show sensor_msgs/msg/PointCloud2\n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_8","title":"\u6fc0\u5149\u96f7\u8fbe\u9a71\u52a8\u4e0e\u53ef\u89c6\u5316","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#ros-2_5","title":"ROS 2\u96f7\u8fbe\u6d88\u606f\u5b9a\u4e49","text":"<p>6.5.2  ROS 2\u96f7\u8fbe\u6d88\u606f\u5b9a\u4e49</p> <pre><code>$ ros2 interface show sensor msgs/msg/LaserScan\n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#_9","title":"\u6fc0\u5149\u96f7\u8fbe\u9a71\u52a8\u4e0e\u6570\u636e\u53ef\u89c6\u5316","text":"<p>6.5.3  \u6fc0\u5149\u96f7\u8fbe\u9a71\u52a8\u4e0e\u6570\u636e\u53ef\u89c6\u5316</p> <pre><code>$ ros2 launch originbot_bringup originbot.launch.py use_lidar:=true \n$ ros2 topic echo /scan \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#imu","title":"IMU\u9a71\u52a8\u4e0e\u6570\u636e\u53ef\u89c6\u5316","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/#ros-2-imu","title":"ROS 2 IMU\u6d88\u606f\u5b9a\u4e49","text":"<p>6.6.1  ROS 2 IMU\u6d88\u606f\u5b9a\u4e49</p> <pre><code>$ ros2 interface show sensor_msgs/msg/Imu\n</code></pre> <pre><code>$ ros2 launch originbot_bringup originbot.launch.py use_imu:=true \n</code></pre> <p>\u5728\u540c\u4e00\u7f51\u7edc\u4e2d\u7684\u8ba1\u7b97\u673a\u7aef\uff0c\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u5b89\u88c5RViz\u7684IMU\u63d2\u4ef6\u3002</p> <pre><code>$ sudo apt install ros-jazzy-rviz-imu-plugin\n</code></pre> <p></p>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/","title":"ROS 2\u673a\u5668\u4eba\u4eff\u771f\uff1a\u96f6\u6210\u672c\u73a9\u8f6c\u673a\u5668\u4eba","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#urdf","title":"URDF\u673a\u5668\u4eba\u5efa\u6a21","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#_1","title":"\u673a\u5668\u4eba\u6a21\u578b\u53ef\u89c6\u5316","text":"<p>4.3.2  \u673a\u5668\u4eba\u6a21\u578b\u53ef\u89c6\u5316</p> <pre><code>$ ros2 launch learning_urdf display.launch.py \n</code></pre> <pre><code>$ urdf_to_graphviz mbot_base.urdf    # \u5728\u6a21\u578b\u6240\u5728\u7684\u6587\u4ef6\u5939\u4e0b\u8fd0\u884c \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#xacro","title":"XACRO\u673a\u5668\u4eba\u6a21\u578b\u4f18\u5316","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#_2","title":"\u673a\u5668\u4eba\u6a21\u578b\u53ef\u89c6\u5316","text":"<p>4.4.3  \u673a\u5668\u4eba\u6a21\u578b\u53ef\u89c6\u5316 </p> <pre><code>$ ros2 launch learning_urdf display_xacro.launch.py \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#gazebo","title":"Gazebo\u673a\u5668\u4eba\u4eff\u771f","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#gazebo_1","title":"Gazebo\u4e2d\u52a0\u8f7d\u673a\u5668\u4eba\u6a21\u578b","text":"<p>4.6.1  \u5728Gazebo\u4e2d\u52a0\u8f7d\u673a\u5668\u4eba\u6a21\u578b </p> <pre><code>$ ros2 launch learning_gazebo_harmonic load_urdf_into_gazebo_harmonic.launch.py \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#rgb","title":"RGB\u76f8\u673a\u4eff\u771f\u4e0e\u53ef\u89c6\u5316","text":"<p>4.6.3  RGB\u76f8\u673a\u4eff\u771f\u4e0e\u53ef\u89c6\u5316 </p> <pre><code>$ ros2 launch learning_gazebo_harmonic load_mbot_camera_into_gazebo_harmonic.launch.py\n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#rgbd","title":"RGBD\u76f8\u673a\u4eff\u771f\u4e0e\u53ef\u89c6\u5316","text":"<p>4.6.4  RGBD\u76f8\u673a\u4eff\u771f\u4e0e\u53ef\u89c6\u5316 </p> <pre><code>$ ros2 launch learning_gazebo_harmonic load_mbot_rgbd_into_gazebo_harmonic.launch.py \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/#_3","title":"\u6fc0\u5149\u96f7\u8fbe\u4eff\u771f\u4e0e\u53ef\u89c6\u5316","text":"<p>4.6.5  \u6fc0\u5149\u96f7\u8fbe\u4eff\u771f\u4e0e\u53ef\u89c6\u5316</p> <p><pre><code>$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_gazebo_harmonic.launch.py\n</code></pre> </p>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/","title":"ROS 2\u673a\u5668\u4eba\u6784\u5efa\uff1a\u4ece\u4eff\u771f\u5230\u5b9e\u7269","text":""},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/#_1","title":"\u4eff\u771f\u5b9e\u4f8b","text":"<p>5.1.4  \u8ba1\u7b97\u673a\u7aef\u5f00\u53d1\u73af\u5883\u914d\u7f6e</p>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/#originbot_desktop","title":"\u4e0b\u8f7doriginbot_desktop \u529f\u80fd\u5305\u96c6\u5408","text":"<pre><code>$ cd ~/dev_ws/src \n$ git clone https://gitee.com/guyuehome/originbot_desktop.git\n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/#_2","title":"\u5b89\u88c5\u529f\u80fd\u5305\u4f9d\u8d56","text":"<pre><code>$ cd ~/dev_ws/src/originbot_desktop \n$ ./install_prereq.sh \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/#_3","title":"\u7f16\u8bd1\u5de5\u4f5c\u7a7a\u95f4","text":"<pre><code>$ cd ~/dev_ws \n$ colcon build \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/#_4","title":"\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf","text":"<pre><code>$ echo \"~/dev_ws/install/setup.sh\" &gt;&gt; ~/.bashrc\n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/#_5","title":"\u673a\u5668\u4eba\u4eff\u771f\u6d4b\u8bd5","text":"<pre><code>$ ros2 launch originbot_gazebo_harmonic load_originbot_into_gazebo.launch.py \n</code></pre>"},{"location":"ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/#_6","title":"\u771f\u673a\u5b9e\u4f8b","text":"<p>5.6  \u673a\u5668\u4eba\u63a7\u5236\u7cfb\u7edf\uff1a\u4ece\u201c\u808c\u8089\u201d\u5230\u201c\u5927\u8111\u201d</p> <p>\u8f93\u5165\u4ee5\u4e0b\u547d\u4ee4\u542f\u52a8\u673a\u5668\u4eba\u5e95\u76d8\u9a71\u52a8\u8282\u70b9 <pre><code>$ ros2 launch originbot_bringup originbot.launch.py \n</code></pre> \u518d\u542f\u52a8\u4e00\u4e2aSSH\u8fdc\u7a0b\u8fde\u63a5\u7684\u7ec8\u7aef\uff0c\u8fd0\u884c\u5982\u4e0b\u547d\u4ee4\u542f\u52a8\u952e\u76d8\u63a7\u5236\u8282\u70b9 <pre><code>$ ros2 run teleop_twist_keyboard teleop_twist_keyboard \n</code></pre></p> <p></p>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/","title":"ROS 2\u5730\u56fe\u6784\u5efa\uff1a\u8ba9\u673a\u5668\u4eba\u7406\u89e3\u73af\u5883","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#slam-toolbox","title":"SLAM Toolbox\u5730\u56fe\u6784\u5efa","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#_1","title":"\u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5","text":"<p>8.2.2  \u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5</p> <pre><code>$ sudo apt install ros-jazzy-slam-toolbox\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#slam-toolbox_1","title":"\u4eff\u771f\u73af\u5883\u4e2d\u7684SLAM Toolbox\u5730\u56fe\u6784\u5efa","text":"<p>8.2.3  \u4eff\u771f\u73af\u5883\u4e2d\u7684SLAM Toolbox\u5730\u56fe\u6784\u5efa</p> <pre><code>$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_maze_gazebo_harmonic.launch.py\n</code></pre> <pre><code># \u542f\u52a8slam_toolbox\u529f\u80fd\u5305\u4e2d\u7684\u7b97\u6cd5\u8282\u70b9 \n$ ros2 launch slam_toolbox online_async_launch.py \n# \u65b0\u5f00\u4e00\u4e2a\u7ec8\u7aef\u542f\u52a8RViz \n$ ros2 launch originbot_viz display_slam.launch.py\n</code></pre> <pre><code>$ ros2 run teleop_twist_keyboard teleop_twist_keyboard\n</code></pre> <pre><code>$ sudo apt install ros-jazzy-nav2-map-server \n$ ros2 run nav2_map_server map_saver_cli -t map -f cloister\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#slam-toolbox_2","title":"\u771f\u5b9e\u673a\u5668\u4ebaSLAM Toolbox\u5730\u56fe\u6784\u5efa","text":"<p>8.2.4  \u771f\u5b9e\u673a\u5668\u4ebaSLAM Toolbox\u5730\u56fe\u6784\u5efa </p> <pre><code># \u542f\u52a8\u673a\u5668\u4eba\u7684\u5e95\u76d8\n$ ros2 launch originbot_bringup originbot.launch.py use_lidar:=true \n# \u8fd0\u884cSLAM Toolobox\u5730\u56fe\u6784\u5efa\u7b97\u6cd5 \n$ ros2 launch slam_toolbox online_async_launch.py \n</code></pre> <pre><code># \u8ba1\u7b97\u673a\u7aef \n$ ros2 launch originbot_viz display_slam.launch.py\n$ ros2 run teleop_twist_keyboard teleop_twist_keyboard \n$ ros2 run nav2_map_server map_saver_cli -t map -f my_map\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#cartographer","title":"Cartographer\uff1a\u4e8c\u7ef4\u5730\u56fe\u6784\u5efa","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#_2","title":"\u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5","text":"<p>8.3.2  \u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5 </p> <pre><code>$ sudo apt install ros-jazzy-cartographer \n$ sudo apt install ros-jazzy-cartographer-ros\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#cartographer_1","title":"\u4eff\u771f\u73af\u5883\u4e2d\u7684Cartographer\u5730\u56fe\u6784\u5efa","text":"<p>8.3.3  \u4eff\u771f\u73af\u5883\u4e2d\u7684Cartographer\u5730\u56fe\u6784\u5efa</p> <pre><code>$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_gazebo_harmonic.launch.py \n$ ros2 launch originbot_navigation cartographer_gazebo.launch.py \n$ ros2 run teleop_twist_keyboard teleop_twist_keyboard \n$ ros2 run nav2_map_server map_saver_cli -t map -f cloister\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#cartographer_2","title":"\u771f\u5b9e\u673a\u5668\u4ebaCartographer\u5730\u56fe\u6784\u5efa","text":"<p>8.3.4  \u771f\u5b9e\u673a\u5668\u4ebaCartographer\u5730\u56fe\u6784\u5efa</p> <pre><code># \u7ec8\u7aef1\uff1a\u542f\u52a8\u673a\u5668\u4eba\u7684\u5e95\u76d8 \n$ ros2 launch originbot_bringup originbot.launch.py use_lidar:=true \n# \u7ec8\u7aef2\uff1a\u8fd0\u884cCartographer\u5730\u56fe\u6784\u5efa\u7b97\u6cd5 \n$ ros2 launch originbot_navigation cartographer.launch.p\n</code></pre> <pre><code># \u8ba1\u7b97\u673a\u7aef \n$ ros2 launch originbot_viz display_slam.launch.py\n$ ros2 run teleop_twist_keyboard teleop_twist_keyboard \n$ ros2 run nav2_map_server map_saver_cli -t map -f cloister\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#orb","title":"ORB\uff1a\u89c6\u89c9\u5730\u56fe\u6784\u5efa","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#_3","title":"\u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5","text":"<p>8.4.2  \u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5 </p> <ol> <li>\u5b89\u88c5\u4f9d\u8d56\u5e93\u2014\u2014Eigen3 </li> </ol> <pre><code>$ sudo apt install libeigen3-dev\n</code></pre> <ol> <li>\u5b89\u88c5\u4f9d\u8d56\u5e93\u2014\u2014Pangolin </li> </ol> <pre><code># \u5207\u6362\u5230\u7528\u6237\u7684\u4e3b\u76ee\u5f55   \n$ cd ~   \n# \u590d\u5236Pangolin\u7684GitHub\u4ed3\u5e93   \n$ git clone https://github.com/stevenlovegrove/Pangolin.git\n\n# \u4f7f\u7528\u811a\u672c\u4ee5\u8fd0\u884c\u6a21\u5f0f\u68c0\u67e5\u63a8\u8350\u7684\u4f9d\u8d56\u9879\u5b89\u88c5\u547d\u4ee4   \n$ cd Pangolin   \n$ ./scripts/install_prerequisites.sh --dry-run recommended   \n\n# \u4f7f\u7528\u811a\u672c\u5b89\u88c5\u63a8\u8350\u7684\u4f9d\u8d56\u9879   \n$ ./scripts/install_prerequisites.sh recommended   \n\n# \u4f7f\u7528cmake\u914d\u7f6ePangolin\u7684\u6784\u5efa\u7cfb\u7edf\uff0c\u5c06\u8f93\u51fa\u76ee\u5f55\u8bbe\u7f6e\u4e3a\u5f53\u524d\u76ee\u5f55\u4e0b\u7684build\u6587\u4ef6\u5939   \n# \u8fd9\u5c06\u751f\u6210\u5fc5\u8981\u7684Makefile\uff08\u6216\u5176\u4ed6\u6784\u5efa\u6587\u4ef6\uff09   \n$ cmake -B build   \n\n# \u4f7f\u7528cmake\u6784\u5efaPangolin\uff0c\u4f7f\u75284\u4e2a\u5e76\u884c\u4f5c\u4e1a\u52a0\u901f\u6784\u5efa\u8fc7\u7a0b   \n$ cmake --build build -j4   \n\n# \u5c06Pangolin\u5b89\u88c5\u5230\u7cfb\u7edf\u4e2d \n$ sudo cmake --install build   \n</code></pre> <p>\u5728.bashrc\u4e2d\u6dfb\u52a0\u73af\u5883\u914d\u7f6e\u3002</p> <pre><code>if [[ \":$LD_LIBRARY_PATH:\" != *\":/usr/local/lib:\"* ]]; then \n    export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH \nfi\n</code></pre> <ol> <li> <p>\u68c0\u67e5OpenCV\u7248\u672c  \u5efa\u8bae\u4f7f\u7528OpenCV 4.5\u4ee5\u4e0a\u7248\u672c\u3002  <pre><code>$ python3 -c \"import cv2; print(cv2.__version__)\"  \n</code></pre></p> </li> <li> <p>\u7f16\u8bd1ORB_SLAM3\u6e90\u7801 <pre><code>$ git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git\n$ cd ORB_SLAM3 \n$ chmod +x build.sh \n$ ./build.sh\n</code></pre></p> </li> </ol> <p>\u7f16\u8bd1\u5b8c\u6210\u540e\u53ef\u4ee5\u8fd0\u884c\u4ee5\u4e0b\u4e24\u884c\u6307\u4ee4\u7f16\u8bd1\u7b97\u6cd5\u6e90\u7801\u3002 <pre><code>$ cd ~/ORB_SLAM3/Thirdparty/Sophus/build \n$ sudo make install \n</code></pre></p> <ol> <li>\u6d4b\u8bd5ORM_SLAM3\u529f\u80fd <pre><code># \u4e0b\u8f7dEuRoC\u6570\u636e\u96c6\u4e2d\u7684\u4e00\u4e2a\u5b50\u96c6\uff08MH_01_easy\uff09   \n$ cd ORB_SLAM3   \n$ wget -c   \n# \u62c9\u53d6ETH Zurich ASL dataset for robotics \u6700\u65b0\u7684\u6570\u636e\u96c6 \n# \u89e3\u538b\u4e0b\u8f7d\u7684\u6570\u636e\u96c6   \n$ unzip MH_01_easy.zip   \n# \u8fd0\u884cORB_SLAM3\u7684Monocular\u793a\u4f8b\u6765\u5904\u7406EuRoC\u6570\u636e\u96c6   \n$ ./Examples/Monocular/run_monocular_euroc.sh ./Vocabulary/ORBvoc.txt ./Examples/Monocul\n ar/EuRoC.yaml MH_01_easy ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt output_directory  \n</code></pre></li> </ol>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#orb_1","title":"\u771f\u5b9e\u673a\u5668\u4ebaORB\u5730\u56fe\u6784\u5efa","text":"<p>8.4.3  \u771f\u5b9e\u673a\u5668\u4ebaORB\u5730\u56fe\u6784\u5efa  <pre><code># \u673a\u5668\u4eba\u7ec8\u7aef1 \n$ ros2 launch realsense2_camera rs_launch.py enable_depth:=false enable_color:=false \nenable_infra1:=true depth_module.profile:=640x480x15\n</code></pre></p> <pre><code># \u673a\u5668\u4eba\u7ec8\u7aef2 \n$ ros2 run orb_slam3_example_ros2 \nmono ./ORBvoc.txt ./Examples/Monocular/RealSense_D435i.yaml \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#rtab","title":"RTAB\uff1a\u4e09\u7ef4\u5730\u56fe\u6784\u5efa","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#_4","title":"\u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5","text":"<p>8.5.2  \u5b89\u88c5\u4e0e\u914d\u7f6e\u65b9\u6cd5 </p> <pre><code> $ sudo apt install ros-jazzy-rtabmap-ros \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#rtab_1","title":"\u4eff\u771f\u73af\u5883\u4e2d\u7684RTAB\u5730\u56fe\u6784\u5efa","text":"<p>8.5.3  \u4eff\u771f\u73af\u5883\u4e2d\u7684RTAB\u5730\u56fe\u6784\u5efa  </p> <p>\u6fc0\u5149\u96f7\u8fbeSLAM\u5efa\u56fe <pre><code># \u7ec8\u7aef1\uff1a\u542f\u52a8\u673a\u5668\u4eba\u4eff\u771f\u73af\u5883 \n$ ros2 launch learning_gazebo load_mbot_lidar_into_maze_gazebo_harmonic.launch.py \n# \u7ec8\u7aef2\uff1a\u542f\u52a8RTAB SLAM\u7b97\u6cd5 \n$ ros2 launch originbot_navigation rtab_scan_gazebo.launch.py  \n# \u7ec8\u7aef3\uff1a\u542f\u52a8\u4e0a\u4f4d\u673a \n$ ros2 launch originbot_viz display_slam.launch.py \n</code></pre></p> <p><pre><code>$ rtabmap-databaseViewer rtabmap.db \n</code></pre> \u89c6\u89c9SLAM\u5efa\u56fe</p> <pre><code># \u7ec8\u7aef1\uff1a\u542f\u52a8\u673a\u5668\u4eba\u4eff\u771f\u73af\u5883 \n$ ros2 launch learning_gazebo_harmonic load_mbot_rgbd_into_maze_gazebo_harmonic.launch.py \n# \u7ec8\u7aef2\uff1a\u542f\u52a8RTAB SLAM\u7b97\u6cd5 \n$ ros2 launch originbot_navigation rtab_rgbd_gazebo.launch.py  \n# \u7ec8\u7aef3\uff1a\u542f\u52a8\u4e0a\u4f4d\u673a \n$ ros2 launch originbot_viz display_slam.launch.py \n</code></pre> <pre><code>$ rtabmap-databaseViewer rtabmap.db \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/#rtab_2","title":"\u771f\u5b9e\u673a\u5668\u4ebaRTAB\u5730\u56fe\u6784\u5efa","text":"<p>8.5.4  \u771f\u5b9e\u673a\u5668\u4ebaRTAB\u5730\u56fe\u6784\u5efa</p> <pre><code># \u542f\u52a8OriginBot\u673a\u5668\u4eba\u5e95\u76d8 \n$ ros2 launch originbot_bringup originbot.launch.py use_lidar:=true \n\n# \u542f\u52a8D435i\u76f8\u673a\u8282\u70b9 \n$ros2 launch realsense2_camera rs_launch.py enable_depth:=false enable_color:=false \nenable_infra1:=true depth_module.profile:=640x480x15 \n</code></pre> <pre><code># \u542f\u52a8RTAB SLAM\u7b97\u6cd5 \n$ ros2 launch originbot_navigation rtab_rgbd_gazebo.launch.py  \n\n# \u542f\u52a8\u4e0a\u4f4d\u673a \n$ ros2 launch originbot_viz display_slam.launch.py \n</code></pre> <pre><code>$ rtabmap-databaseViewer ~/.ros/rtabmap.db\n</code></pre> <p></p>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/","title":"ROS 2\u81ea\u4e3b\u5bfc\u822a\uff1a\u8ba9\u673a\u5668\u4eba\u8fd0\u52a8\u81ea\u7531","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#nav2","title":"Nav2\u5b89\u88c5\u4e0e\u4f53\u9a8c","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#nav2_1","title":"Nav2\u5b89\u88c5\u65b9\u6cd5","text":"<p>9.3.1  Nav2\u5b89\u88c5\u65b9\u6cd5 </p> <pre><code>$ sudo apt update \n$ sudo apt install ros-jazzy-navigation2 \n$ sudo apt install ros-jazzy-nav2-bringup \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#nav2_2","title":"Nav2\u6848\u4f8b\u4f53\u9a8c","text":"<p>9.3.2  Nav2\u6848\u4f8b\u4f53\u9a8c</p> <pre><code># Turtlebot3 \u5bfc\u822a\u793a\u4f8b \n$ ros2 launch nav2_bringup tb3_simulation_launch.py \n# Turtlebot4 \u5bfc\u822a\u793a\u4f8b \n$ ros2 launch nav2_bringup tb4_simulation_launch.py \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#_1","title":"\u673a\u5668\u4eba\u81ea\u4e3b\u5bfc\u822a\u4eff\u771f","text":"<p>9.4.3  \u673a\u5668\u4eba\u81ea\u4e3b\u5bfc\u822a\u4eff\u771f  <pre><code>$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_maze_gazebo_harmonic.launch.py\n$ ros2 launch originbot_navigation nav_bringup_gazebo.launch.py \n</code></pre></p>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#_2","title":"\u673a\u5668\u4eba\u81ea\u4e3b\u5bfc\u822a\u5b9e\u8df5","text":"<p>9.5.3  \u673a\u5668\u4eba\u81ea\u4e3b\u5bfc\u822a\u5b9e\u8df5  <pre><code># \u673a\u5668\u4eba\u7684\u7ec8\u7aef1 \n$ ros2 launch originbot_bringup originbot.launch.py use_lidar:=true \n\n# \u673a\u5668\u4eba\u7684\u7ec8\u7aef2 \n$ ros2 launch originbot_navigation nav_bringup.launch.py\n</code></pre></p> <pre><code># \u8ba1\u7b97\u673a\u7aef \n$ ros2 launch originbot_viz display_navigation.launch.py\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#_3","title":"\u673a\u5668\u4eba\u81ea\u4e3b\u5bfc\u822a\u7f16\u7a0b","text":"<p>9.6.1  \u529f\u80fd\u8fd0\u884c <pre><code># \u7ec8\u7aef1 \n$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_maze_gazebo_harmonic.launch.py \n# \u7ec8\u7aef2 \n$ ros2 launch originbot_navigation nav_bringup_gazebo.launch.py \n</code></pre></p> <pre><code>$ ros2 run originbot_send_goal send_goal_node\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#_4","title":"\u673a\u5668\u4eba\u81ea\u4e3b\u63a2\u7d22\u5e94\u7528","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#nav2slam-toolbox","title":"Nav2+SLAM Toolbox\u81ea\u4e3b\u63a2\u7d22\u5e94\u7528","text":"<p>9.7.1  Nav2+SLAM Toolbox\u81ea\u4e3b\u63a2\u7d22\u5e94\u7528 </p> <pre><code>slam = LaunchConfiguration('slam', default='True') \n</code></pre> <pre><code>#\u7ec8\u7aef1\uff1a\u542f\u52a8\u4eff\u771f\u73af\u5883 \n$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_maze_gazebo_harmonic.launch.py \n\n#\u7ec8\u7aef2\uff1a\u542f\u52a8Nav2 \u5bfc\u822a\u5efa\u56fe\u7b97\u6cd5 \n$ ros2 launch originbot_navigation nav_bringup_gazebo.launch.py \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/#nav2cartographer","title":"Nav2+Cartographer \u81ea\u4e3b\u63a2\u7d22\u5e94\u7528","text":"<p>9.7.2  Nav2+Cartographer \u81ea\u4e3b\u63a2\u7d22\u5e94\u7528 </p> <pre><code>#\u7ec8\u7aef1\uff1a\u542f\u52a8\u4eff\u771f\u73af\u5883 \n$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_maze_gazebo_harmonic.launch.py \n#\u7ec8\u7aef2\uff1a\u542f\u52a8Nav2 \u5bfc\u822a\u5efa\u56fe\u7b97\u6cd5 \n$ ros2 launch originbot_navigation nav2_carto.launch.py\n</code></pre> <p></p>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/","title":"ROS 2\u89c6\u89c9\u5e94\u7528\uff1a\u8ba9\u673a\u5668\u4eba\u770b\u61c2\u4e16\u754c","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#ros-2_1","title":"ROS 2\u76f8\u673a\u6807\u5b9a","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_1","title":"\u5b89\u88c5\u76f8\u673a\u6807\u5b9a\u529f\u80fd\u5305","text":"<p>7.2.1  \u5b89\u88c5\u76f8\u673a\u6807\u5b9a\u529f\u80fd\u5305</p> <p>\u5b89\u88c5\u76f8\u673a\u6807\u5b9a\u529f\u80fd\u5305camera_calibration</p> <pre><code>$ sudo apt install ros-jazzy-camera-calibration\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_2","title":"\u8fd0\u884c\u76f8\u673a\u6807\u5b9a\u8282\u70b9","text":"<p>7.2.2  \u8fd0\u884c\u76f8\u673a\u6807\u5b9a\u8282\u70b9</p> <pre><code>$ ros2 launch usb_cam camera.launch.py \n</code></pre> <p>\u6839\u636e\u4f7f\u7528\u7684\u76f8\u673a\u548c\u6807\u5b9a\u9776\u68cb\u76d8\u683c\u5c3a\u5bf8\uff0c\u76f8\u5e94\u4fee\u6539\u4ee5\u4e0b\u53c2\u6570\uff0c\u8fd0\u884c\u547d\u4ee4\u540e\u5373\u53ef\u542f\u52a8\u6807\u5b9a\u7a0b\u5e8f;</p> <pre><code>$ ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.024 --ros-args -r \nimage:=camera/image_raw -p camera:=/default_cam\n</code></pre> <p>\u6ce8\u610f\uff1a\u65b0\u7248\u672c\u7684 usb_cam \u5305\u4e2d\uff0c<code>camera.launch.py</code> \u9ed8\u8ba4\u53d1\u5e03\u7684\u8bdd\u9898\u540d\u79f0\u4e3a <code>camera1/image_raw</code>\uff0c\u800c\u6807\u5b9a\u7a0b\u5e8f\u9700\u8981\u7684\u8bdd\u9898\u540d\u79f0\u662f <code>camera/image_raw</code>\u3002\u6709\u4e24\u79cd\u89e3\u51b3\u65b9\u6848\uff1a</p> <ol> <li> <p>\u5728\u8fd0\u884c\u6807\u5b9a\u7a0b\u5e8f\u65f6\uff0c\u4f7f\u7528\u6b63\u786e\u7684\u8bdd\u9898\u540d\u79f0\uff1a <pre><code>$ ros2 run camera_calibration cameracalibrator --size 8x6 --square 0.024 --ros-args -r image:=camera1/image_raw -p camera:=/default_cam\n</code></pre></p> </li> <li> <p>\u6216\u8005\u5728\u542f\u52a8\u76f8\u673a\u65f6\u91cd\u6620\u5c04\u8bdd\u9898\u540d\u79f0\uff1a <pre><code>$ ros2 launch usb_cam camera.launch.py camera_name:=camera\n</code></pre></p> </li> </ol>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_3","title":"\u76f8\u673a\u6807\u5b9a\u6d41\u7a0b","text":"<p>7.2.3  \u76f8\u673a\u6807\u5b9a\u6d41\u7a0b </p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe --ros-args -p \ncamera_info_url:=file:///home/guyuehome/.ros/camera_info/default_cam.yaml  # \u8def\u5f84\u6839\u636e\u5b9e\u9645\u60c5\u51b5\u505a\u51fa\u6539\u52a8\u5373\u53ef\n</code></pre> <pre><code>$ ros2 run usb_cam usb_cam_node_exe --ros-args --params-file \n/opt/ros/jazzy/share/usb_cam/config/params_1.yaml \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#opencv","title":"OpenCV\u56fe\u50cf\u5904\u7406","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#opencv_1","title":"\u5b89\u88c5OpenCV","text":"<p>7.3.1  \u5b89\u88c5OpenCV </p> <pre><code>$ sudo apt install ros-jazzy-vision-opencv libopencv-dev python3-opencv \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#ros-2opencv","title":"\u5728ROS 2\u4e2d\u4f7f\u7528OpenCV","text":"<p>7.3.2  \u5728ROS 2\u4e2d\u4f7f\u7528OpenCV </p> <pre><code>$ ros2 run usb_cam usb_cam_node_exe \n$ ros2 run learning_cv cv_bridge_test \n$ ros2 run rqt_image_view rqt_image_view\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_4","title":"\u89c6\u89c9\u5de1\u7ebf","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_5","title":"\u673a\u5668\u4eba\u89c6\u89c9\u5de1\u7ebf\u4eff\u771f","text":"<p>7.4.2  \u673a\u5668\u4eba\u89c6\u89c9\u5de1\u7ebf\u4eff\u771f </p> <p>\u542f\u52a8\u73af\u5883\u3002 <pre><code>$ ros2 launch originbot_gazebo_harmonic load_originbot_into_line_follower_gazebo.launch.py \n$ ros2 run rviz2 rviz2 \n</code></pre> \u91cd\u65b0\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u542f\u52a8\u89c6\u89c9\u5de1\u7ebf\u529f\u80fd\u3002</p> <pre><code>$ ros2 run originbot_demo line_follower \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_6","title":"\u771f\u5b9e\u673a\u5668\u4eba\u89c6\u89c9\u5de1\u7ebf","text":"<p>7.4.3  \u771f\u5b9e\u673a\u5668\u4eba\u89c6\u89c9\u5de1\u7ebf</p> <pre><code># \u673a\u5668\u4eba\u7ec8\u7aef1\uff1a\u542f\u52a8\u673a\u5668\u4eba\u5e95\u76d8\u9a71\u52a8\u8282\u70b9 \n$ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp  \n$ ros2 launch originbot_bringup originbot.launch.py use_camera:=true \n# \u673a\u5668\u4eba\u7ec8\u7aef2\uff1a\u8fd0\u884c\u89c6\u89c9\u5de1\u7ebf\u8282\u70b9\uff0c\u5e76\u4e14\u53d1\u5e03\u901f\u5ea6\u63a7\u5236\u8bdd\u9898\uff0c\u63a7\u5236\u673a\u5668\u4eba\u901f\u5ea6 \n$ export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \n$ ros2 run originbot_linefollower follower \n# \u8ba1\u7b97\u673a\u7aef\uff1a\u8ba2\u9605\u673a\u5668\u4eba\u76f8\u673a\u770b\u5230\u7684\u56fe\u50cf \n$ ros2 run rqt_image_view rqt_image_view \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_7","title":"\u4e8c\u7ef4\u7801\u8bc6\u522b","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#zbar","title":"\u4e8c\u7ef4\u7801\u626b\u63cf\u5e93\u2014\u2014Zbar","text":"<p>7.5.1  \u4e8c\u7ef4\u7801\u626b\u63cf\u5e93\u2014\u2014Zbar </p> <pre><code>$ sudo apt install libzbar-dev\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_8","title":"\u76f8\u673a\u8bc6\u522b\u4e8c\u7ef4\u7801","text":"<p>7.5.2  \u76f8\u673a\u8bc6\u522b\u4e8c\u7ef4\u7801</p> <pre><code># \u8ba1\u7b97\u673a\u7ec8\u7aef1\uff1a\u542f\u52a8\u76f8\u673a\u8282\u70b9 \n$ ros2 launch usb_cam camera.launch.py \n# \u8ba1\u7b97\u673a\u7ec8\u7aef2\uff1a\u542f\u52a8\u4e8c\u7ef4\u7801\u8bc6\u522b\u8282\u70b9 \n$  \nros2 run originbot_qrcode_detect originbot_qrcode_detect \n# \u8ba1\u7b97\u673a\u7ec8\u7aef3\uff1a\u542f\u52a8\u53ef\u89c6\u5316\u754c\u9762 \n$ rqt\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_9","title":"\u771f\u5b9e\u673a\u5668\u4eba\u76f8\u673a\u8bc6\u522b\u4e8c\u7ef4\u7801","text":"<p>7.5.3  \u771f\u5b9e\u673a\u5668\u4eba\u76f8\u673a\u8bc6\u522b\u4e8c\u7ef4\u7801 </p> <pre><code>$ ros2 launch qr_code_detection qr_code_detection.launch.py  \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_10","title":"\u771f\u5b9e\u673a\u5668\u4eba\u4e8c\u7ef4\u7801\u8ddf\u968f","text":"<p>7.5.4  \u771f\u5b9e\u673a\u5668\u4eba\u4e8c\u7ef4\u7801\u8ddf\u968f </p> <pre><code># \u7ec8\u7aef1\uff1a\u542f\u52a8\u673a\u5668\u4eba\u8fd0\u52a8\u5e95\u76d8 \n$ ros2 launch originbot_bringup originbot.launch.py \n# \u7ec8\u7aef2\uff1a\u542f\u52a8\u4e8c\u7ef4\u7801\u8bc6\u522b \n$ ros2 launch qr_code_detection qr_code_detection.launch.py \n# \u7ec8\u7aef3\uff1a\u542f\u52a8\u4e8c\u7ef4\u7801\u63a7\u5236\u8282\u70b9 \n$ ros2 run qr_code_control qr_code_control_node \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_11","title":"\u6df1\u5ea6\u5b66\u4e60\u89c6\u89c9\u5de1\u7ebf","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_12","title":"\u6df1\u5ea6\u5b66\u4e60\u89c6\u89c9\u5de1\u7ebf\u5e94\u7528","text":"<p>7.6.2  \u6df1\u5ea6\u5b66\u4e60\u89c6\u89c9\u5de1\u7ebf\u5e94\u7528</p> <p>\u8fd0\u884c\u5de1\u7ebf\u6a21\u578b.</p> <pre><code># \u8fdb\u5165\u529f\u80fd\u5305\u76ee\u5f55 \n$ cd /userdata/dev_ws/src/originbot/originbot_deeplearning/line_follower_perception/\n# \u8fd0\u884c\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u89c6\u89c9\u5de1\u7ebf\u529f\u80fd \n$ ros2 run line_follower_perception line_follower_perception --ros-args -p \nmodel_path:=model/resnet18_224x224_nv12.bin -p model_name:=resnet18_224x224_nv12 \n</code></pre> <p>\u5c06OriginBot \u673a\u5668\u4eba\u653e\u7f6e\u5230\u5de1\u7ebf\u7684\u573a\u666f\u4e2d\uff0c\u5728\u673a\u5668\u4eba\u7aef\u542f\u52a8\u4e24\u4e2a\u7ec8\u7aef: <pre><code># \u673a\u5668\u4eba\u4e2d\u7684\u7ec8\u7aef1\uff1a\u542f\u52a8\u96f6\u62f7\u8d1d\u6a21\u5f0f\u4e0b\u7684\u6444\u50cf\u5934\u9a71\u52a8\uff0c\u52a0\u901f\u5185\u90e8\u7684\u56fe\u50cf\u5904\u7406\u6548\u7387 \n$ ros2 launch originbot_bringup camera_internal.launch.py \n# \u673a\u5668\u4eba\u4e2d\u7684\u7ec8\u7aef2\uff1a\u542f\u52a8\u673a\u5668\u4eba\u5e95\u76d8 \n$ ros2 launch originbot_bringup originbot.launch.py \n</code></pre></p>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_13","title":"\u6570\u636e\u91c7\u96c6\u4e0e\u6a21\u578b\u8bad\u7ec3","text":"<p>7.6.3  \u6570\u636e\u91c7\u96c6\u4e0e\u6a21\u578b\u8bad\u7ec3 </p> <pre><code>#\u8ba1\u7b97\u673a\u7aef \n$ cd ~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model \n$ ros2 run line_follower_model annotation \n</code></pre> <p>\u5229\u7528\u8ba1\u7b97\u673a\u7684CPU\u8d44\u6e90\u8bad\u7ec3\u89c6\u89c9\u5de1\u7ebf\u7684\u6a21\u578b\u3002</p> <pre><code># \u8ba1\u7b97\u673a\u7aef \n$ cd ~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model \n$ ros2 run line_follower_model training \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_14","title":"\u6a21\u578b\u6548\u679c\u8bc4\u4f30\u6d4b\u8bd5","text":"<p>7.6.4  \u6a21\u578b\u6548\u679c\u8bc4\u4f30\u6d4b\u8bd5</p> <pre><code># \u8ba1\u7b97\u673a\u7aef \n$ cd ~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model \n$ python3 line_follower_model/verify.py \n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_15","title":"\u5728\u673a\u5668\u4eba\u4e2d\u90e8\u7f72\u6a21\u578b","text":"<p>7.6.5  \u5728\u673a\u5668\u4eba\u4e2d\u90e8\u7f72\u6a21\u578b</p> <pre><code>$ cd ~/dev_ws/src/originbot_desktop/originbot_deeplearning/line_follower_model \n$ ros2 run line_follower_model generate_onnx \n</code></pre> <pre><code># \u673a\u5668\u4eba\u7aef \n$ cd /userdata/dev_ws/src/originbot/originbot_deeplearning/line_follower_perception/ \n$ ros2 run line_follower_perception line_follower_perception --ros-args -p \nmodel_path:=model/resnet18_224x224_nv12.bin -p model_name:=resnet18_224x224_nv12\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#yolo","title":"YOLO\u76ee\u6807\u68c0\u6d4b","text":""},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#yolo_1","title":"YOLO\u57fa\u672c\u73af\u5883\u9a8c\u8bc1","text":"<p>7.7.2  YOLO\u76ee\u6807\u68c0\u6d4b\u90e8\u7f72</p> <ol> <li>\u4ee3\u7801\u5206\u652f\u5207\u6362  <pre><code># \u9996\u5148\u6267\u884cgit clone\u6307\u4ee4\u62c9\u53d6YOLOv5\u7684\u4ee3\u7801\uff0c\u7136\u540e\u5207\u6362\u5230v2.0\u7684\u5206\u652f\u4ee5\u9002\u5e94\u677f\u7aef\u652f\u6301\u7684\u7b97\u5b50 \n$ git checkout v2.0 \n</code></pre></li> <li>\u914d\u7f6eConda\u73af\u5883\uff0c\u4e0b\u8f7d\u4f9d\u8d56  <pre><code># \u521b\u5efa\u4e00\u4e2a\u540d\u4e3a yolov5 \u7684\u65b0 Conda \u73af\u5883\uff0c\u5e76\u6307\u5b9a Python \u7248\u672c\u4e3a 3.7 \n$ conda create -n yolov5 python=3.7 \n# \u6fc0\u6d3b\u540d\u4e3a yolov5 \u7684 Conda \u73af\u5883 \n$ conda activate yolov5 \n# \u5728\u6fc0\u6d3b\u7684\u73af\u5883\u4e2d\u5b89\u88c5 PyTorch\u3001torchvision\u3001 torchaudio\uff0c\u4ee5\u53ca\u5bf9\u5e94\u7684 CUDA 11.7 \u652f\u6301 \n$ conda install pytorch torchvision torchaudio pytorch-cuda=11.7 -c pytorch -c nvidia \n# \u5b89\u88c5 requirements.txt \u6587\u4ef6\u4e2d\u5217\u51fa\u7684\u6240\u6709 Python \u5305 \n$ pip install -r requirements.txt -i https://pypi.tuna.tsinghua.edu.cn/simple \n# \u5b89\u88c5 apex \u5e93 \n$ pip install apex -i https://pypi.tuna.tsinghua.edu.cn/simple\n</code></pre></li> <li>\u9a8c\u8bc1\u57fa\u672c\u73af\u5883  </li> </ol> <pre><code>$ python3 detect.py --source ./inference/images/ --weights yolov5s.pt --conf 0.4\n</code></pre>"},{"location":"ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/#_16","title":"\u673a\u5668\u4eba\u76ee\u6807\u68c0\u6d4b\u4e0e\u8ddf\u968f","text":"<p>7.7.4  \u673a\u5668\u4eba\u76ee\u6807\u68c0\u6d4b\u4e0e\u8ddf\u968f</p> <pre><code># \u673a\u5668\u4eba\u7ec8\u7aef1 \n$ ros2 run play_football play_football \n# \u673a\u5668\u4eba\u7ec8\u7aef2 \n$ ros2 launch originbot_bringup camera_internal.launch.py \n# \u673a\u5668\u4eba\u7ec8\u7aef3 \n$ ros2 launch originbot_bringup originbot.launch.py \n</code></pre> <p></p>"}]}
\ No newline at end of file
diff --git a/sitemap.xml b/sitemap.xml
index 63a270f..878e640 100644
--- a/sitemap.xml
+++ b/sitemap.xml
@@ -2,127 +2,142 @@
 <urlset xmlns="http://www.sitemaps.org/schemas/sitemap/0.9">
     <url>
          <loc>https://www.guyuehome.com/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/about/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.1_ROS%E5%92%8CROS2%E6%98%AF%E4%BB%80%E4%B9%88/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.2_ROS2%E5%AF%B9%E6%AF%94ROS1/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.3_ROS2%E5%AE%89%E8%A3%85%E6%96%B9%E6%B3%95/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.4_ROS2%E5%91%BD%E4%BB%A4%E8%A1%8C%E6%93%8D%E4%BD%9C/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/1.%E7%B3%BB%E7%BB%9F%E6%9E%B6%E6%9E%84/1.5_ROS2%E5%BC%80%E5%8F%91%E7%8E%AF%E5%A2%83%E9%85%8D%E7%BD%AE/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.10_DDS/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.1_%E5%B7%A5%E4%BD%9C%E7%A9%BA%E9%97%B4/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.2_%E5%8A%9F%E8%83%BD%E5%8C%85/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.3_%E8%8A%82%E7%82%B9/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.4_%E8%AF%9D%E9%A2%98/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.5_%E6%9C%8D%E5%8A%A1/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.6_%E9%80%9A%E4%BF%A1%E6%8E%A5%E5%8F%A3/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.7_%E5%8A%A8%E4%BD%9C/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.8_%E5%8F%82%E6%95%B0/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2.9_%E5%88%86%E5%B8%83%E5%BC%8F%E9%80%9A%E4%BF%A1/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/2.%E6%A0%B8%E5%BF%83%E6%A6%82%E5%BF%B5/2_%E6%A6%82%E5%BF%B5%E6%80%BB%E8%A7%88/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.1_Launch/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.2_TF/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.3_URDF/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.4_Gazebo/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.5_Rviz/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/3.%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7/3.6_Rqt/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
     </url>
     <url>
          <loc>https://www.guyuehome.com/ROS2/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/4.%E8%B5%84%E6%BA%90%E6%B1%87%E6%80%BB/</loc>
-         <lastmod>2022-10-13</lastmod>
-         <changefreq>daily</changefreq>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/0.%E5%89%8D%E8%A8%80/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%202%E5%B8%B8%E7%94%A8%E5%B7%A5%E5%85%B7%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BC%80%E5%8F%91%E6%9B%B4%E4%BE%BF%E6%8D%B7/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS2%E6%A0%B8%E5%BF%83%E5%8E%9F%E7%90%86%EF%BC%9A%E6%9E%84%E5%BB%BA%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E5%9F%BA%E7%9F%B3/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/1.ROS2%E5%9F%BA%E7%A1%80%E5%8E%9F%E7%90%86/ROS%EF%BC%9A%E6%99%BA%E8%83%BD%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9A%84%E7%81%B5%E9%AD%82/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%8E%A7%E5%88%B6%E4%B8%8E%E6%84%9F%E7%9F%A5%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%8A%A8%E5%BE%97%E4%BA%86%E3%80%81%E7%9C%8B%E5%BE%97%E8%A7%81/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BB%BF%E7%9C%9F%EF%BC%9A%E9%9B%B6%E6%88%90%E6%9C%AC%E7%8E%A9%E8%BD%AC%E6%9C%BA%E5%99%A8%E4%BA%BA/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/2.ROS2%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%AE%BE%E8%AE%A1/ROS%202%E6%9C%BA%E5%99%A8%E4%BA%BA%E6%9E%84%E5%BB%BA%EF%BC%9A%E4%BB%8E%E4%BB%BF%E7%9C%9F%E5%88%B0%E5%AE%9E%E7%89%A9/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%90%86%E8%A7%A3%E7%8E%AF%E5%A2%83/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%87%AA%E4%B8%BB%E5%AF%BC%E8%88%AA%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E8%BF%90%E5%8A%A8%E8%87%AA%E7%94%B1/</loc>
+         <lastmod>2024-12-04</lastmod>
+    </url>
+    <url>
+         <loc>https://www.guyuehome.com/ROS2_Book/3.ROS2%20%E6%9C%BA%E5%99%A8%E4%BA%BA%E5%BA%94%E7%94%A8/ROS%202%E8%A7%86%E8%A7%89%E5%BA%94%E7%94%A8%EF%BC%9A%E8%AE%A9%E6%9C%BA%E5%99%A8%E4%BA%BA%E7%9C%8B%E6%87%82%E4%B8%96%E7%95%8C/</loc>
+         <lastmod>2024-12-04</lastmod>
     </url>
 </urlset>
\ No newline at end of file
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