高手可以谈谈ROS机器人操作平台开发的一些经验吗？ - 知乎
24 June 2025 admin
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ROS Control架构图. 从图中可以看到，Simulation和Hardware之上的Hardware Resource和Controller Manager是一样的，这很清晰地体现了ROS Control的底层无关性，即无论使用的是抽象的仿真还是具体的硬件，只要程序能继承RobotHW硬件抽象层的基类来做到数据接口的统一，Controller Manager就可以对相应的资源进行管理。
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