关闭和开启 APP 自启动服务先关闭服务再终端命令自定义控制结束时恢复自动控制需开启服务关闭~/.stop_ros.sh开启ros2 launch bringup bringup.launch.pyros2 topic listros2 launch bringup bringup.launch.py①执行ros2 launch bringup bringup.launch.py②ctrlc~/.stop_ros.sh③关闭自服务ros2 launch sdk armpi_ultra.launch.py④执行/calibration/finish/calibration/image_result/client_count/connected_clients/controller_manager/joint_states/controller_manager/servo_states/depth_cam/depth/camera_info/depth_cam/depth/image_raw/depth_cam/depth_registered/points/depth_cam/ir/image_raw/depth_cam/rgb/camera_info/depth_cam/rgb/image_raw/finger_trace/image_result/grasp/joint_controller/lab_config_manager/image_result/object_sorting/image_result/object_tracking/image_result/parameter_events/ros_robot_controller/battery/ros_robot_controller/bus_servo/set_position/ros_robot_controller/bus_servo/set_state/ros_robot_controller/button/ros_robot_controller/enable_reception/ros_robot_controller/imu_raw/ros_robot_controller/joy/ros_robot_controller/pwm_servo/set_state/ros_robot_controller/sbus/ros_robot_controller/set_buzzer/ros_robot_controller/set_conveyor_speed/ros_robot_controller/set_led/ros_robot_controller/set_motor_speeds/ros_robot_controller/set_oled/ros_robot_controller/set_stepper_subdivision/rosout/servo_controller/shape_recognition/image_result/tag_stackup/image_result/tf/tf_static/waste_classification/image_result/yolov8/object_detect/yolov8/object_image/client_count/connected_clients/parameter_events/rosout/servo_controller/tag_stackup/image_result/parameter_events/rosout/controller_manager/joint_states/controller_manager/servo_states/grasp/joint_controller/parameter_events/ros_robot_controller/battery/ros_robot_controller/bus_servo/set_position/ros_robot_controller/bus_servo/set_state/ros_robot_controller/button/ros_robot_controller/enable_reception/ros_robot_controller/imu_raw/ros_robot_controller/joy/ros_robot_controller/pwm_servo/set_state/ros_robot_controller/sbus/ros_robot_controller/set_buzzer/ros_robot_controller/set_conveyor_speed/ros_robot_controller/set_led/ros_robot_controller/set_motor_speeds/ros_robot_controller/set_oled/ros_robot_controller/set_stepper_subdivision/rosout/servo_controllerLED控制话题方式ros2 launch sdk armpi_ultra.launch.pyros2 topic list操作LED的话题/ros_robot_controller/set_ledros2 topic pub --once /ros_robot_controller/set_led ros_robot_controller_msgs/msg/LedState {id: 2,on_time: 0.1,off_time: 0.2,repeat: 10}Python方式ros2 launch sdk armpi_ultra.launch.pypython3 ~/ros2_ws/src/example/example/simple/include/led_node.pylaunch 启动ros2 launch example led.launch.py蜂鸣器话题方式ros2 launch sdk armpi_ultra.launch.pyros2 topic list操作蜂鸣器的话题/ros_robot_controller/set_buzzerros2 topic pub --once /ros_robot_controller/set_buzzer ros_robot_controller_msgs/msg/BuzzerState {freq: 1900, on_time: 0.1,off_time: 0.2,repeat: 10}Python方式ros2 launch sdk armpi_ultra.launch.pypython3 ~/ros2_ws/src/example/example/simple/include/buzzer_node.pylaunch 启动ros2 launch example buzzer.launch.py上位机这个只能在VNC里操作方式一双击方式二python3 software/armpi_ultra_control/main.py