全开源的ROS2SLAM机器人 ROSBOT ROS2 open source SLAM robot
如题,搬运工:
全开源的ROS2SLAM机器人 ROSBOT - ROS2 open source SLAM robot
github.com/kallaspriit/rosbot
机器翻译如下:
基于ROS 2的机器人学习平台。
运行主 rosbot/ros 工作区
- 将用户添加到 USB 串行和输入组
sudo usermod -a -G input ubuntu
sudo usermod -a -G dialout ubuntu
sudo usermod -a -G tty ubuntu
- 构建 rosbot(在机器人和远程 PC 上)
cd ~/rosbot/ros
以打开工作区rosdep install -i --from-path src --rosdistro foxy -y
安装依赖项git pull && colcon build
拉取更改并构建工作区
- 在机器人上启动 rosbot
- 如果有任何更改,请先构建它
- 打开新终端
cd ~/rosbot/ros
以打开工作区. install/local_setup.bash
加载工作空间叠加层(在机器人和远程pc上)ros2 launch odrive_bringup rosbot.launch.py
启动rosbot(在机器人上运行)ros2 launch odrive_bringup rviz.launch.py
启动 rviz(在远程 pc 上运行)
- 运行操纵杆远程操作
- 打开新终端
. install/local_setup.bash
加载工作区叠加ros2 launch teleop_twist_joy teleop.launch.py joy_config:='rosbot_xbox_bluetooth' cmd_vel:=/diff_drive_controller/cmd_vel_unstamped
启动操纵杆远程操作- 按住左扳机键(按钮 6),并使用左右操纵杆控制速度和旋转
- 按住右扳机键(按钮 7)可加速(移动速度更快)
- 启动 odrive 手动控制(仅用于测试)
- 打开新终端
. install/local_setup.bash
加载工作区叠加ros2 launch odrive_bringup odrive.launch.py
启动 odrive 测试 ()ros2 topic pub -r 100 /left_wheel_joint_velocity_controller/commands std_msgs/Float64MultiArray "data: [1]"
ros2 topic pub -r 100 /right_wheel_joint_velocity_controller/commands std_msgs/Float64MultiArray "data: [-1]"
ros2 launch teleop_twist_joy teleop.launch.py joy_config:='rosbot_xbox_bluetooth' cmd_vel:=/diff_drive_controller/cmd_vel_unstamped
启动操纵杆远程操作- 按住左扳机键(按钮 6),并使用左右操纵杆控制速度和旋转
- 启动发布到的 USB Xbox 操纵杆远程操作
/cmd_vel
ros2 launch teleop_twist_joy teleop.launch.py cmd_vel:=cmd_vel joy_config:=rosbot_xbox_usb
调试
- 调试
ros2 topic echo /joint_states
显示关节状态,包括速度等ros2 topic echo /dynamic_joint_states
显示动态关节状态,包括轴误差等ros2 run tf2_tools view_frames.py
生成框架树frames.pdf
rqt
以打开 RQT,添加插件,例如Topics > Topic Monitor
ros2 run xacro xacro ./src/rosbot_description/urdf/rosbot.urdf.xacro
调试 URDF 文件的问题ros2 run tf2_ros tf2_echo odom base_link
验证从 odom 到 base_link 的转换- 时间 1634580767.596875940
- 翻译: [6.986, -2.328, 0.000]
- 旋转:在四元数 [0.000, 0.000, -0.210, 0.978]
- 时间 1634580768.594622939
- 翻译: [7.108, -2.383, 0.000]
- 旋转:在四元数 [0.000, 0.000, -0.213, 0.977]
- 时间 1634580767.596875940
操纵杆远程操作
- ROS Index
- https://github.com/ros2/teleop_twist_joy/tree/foxy/
- joy - ROS Wiki
- https://github.com/medusalix/xow需要xow才能使用xbox蓝牙控制器
- 将 XOW 配置为通过蓝牙使用 Xbox 控制器
sudo apt install cabextract
安装依赖项git clone https://github.com/medusalix/xow
cd xow
make BUILD=RELEASE
sudo make install
sudo systemctl enable xow
sudo systemctl start xow
sudo systemctl kill -s SIGUSR1 xow
以启用 XOW 配对模式(通常不需要)
- 禁用 ERTM
sudoedit /sys/module/bluetooth/parameters/disable_ertm
- 替换为
N
Y
- 重新启动
- 重新启动蓝牙
sudo service bluetooth restart
sudo rmmod btusb
- 测试控制器
jstest /dev/input/js0
- 同时永久禁用 ERTM
- How to use Xbox One controllers over Bluetooth on Linux
sudo apt install dkms git linux-headers-
uname -r''git clone https://github.com/atar-axis/xpadneo.git
cd xpadneo
sudo ./install.sh
- 重新启动
- 使用转换器时禁用内置蓝牙
sudoedit /boot/firmware/usrcfg.txt
- 添加行
dtoverlay=disable-bluetooth
- 重新启动
- 检查和
hciconfig -a
hcitool dev
- 似乎实际上不起作用。
- 使用终端连接到蓝牙 Xbox 控制器(在机器人上)
- Connect to a Bluetooth device from command line in Ubuntu Linux | Simple IT 🤘 Rocks
- pi 4 - RPI 4B - Bluetooth unavailable on Ubuntu 20.04 - Raspberry Pi Stack Exchange
- How to Manage Bluetooth Devices on Linux Using bluetoothctl
sudo apt install bluez pi-bluetooth joystick
- 将"include btcfg.txt"附加到
sudoedit /boot/firmware/usrcfg.txt
- 重新启动
hciconfig -a
或(来自 bluez)以检查蓝牙设备hcitool dev
bluetoothctl
运行交互式蓝牙控制器scan on
- 等待 xbox 控制器(通过按住配对按钮使其配对,开始快速闪烁)
trust XX:XX:XX:XX:XX:XX
信任控制器connect XX:XX:XX:XX:XX:XX
以连接到控制器sudo chmod a+rw /dev/input/js0
向每个人授予对操纵杆的读写权限sudo chmod a+rw /dev/input/event4
授予每个人对操纵杆的读写权限(有时它是 eventX 之一)
- 如果操纵杆没有正确的权限,那么(这似乎实际上不起作用)
/dev/input/eventX
sudo apt install input-utils
以安装工具lsinput
sudo lsinput
若要获取输入列表,请记下"Xbox 无线控制器"的供应商和产品sudoedit 80-xbox-controller.rules
- 添加等,计算供应商和产品
KERNEL=="event*", ATTRS{idProduct}=="02e0", ATTRS{idVendor}=="045e", MODE="0666"
- 从终端测试操纵杆
sudo apt install joystick
jstest /dev/input/js0
ros2 run joy joy_enumerate_devices
- 直观地测试操纵杆
sudo apt install jstest-gtk
jstest-gtk
- 测试操纵杆消息
ros2 topic echo /joy
ros2 topic echo /cmd_vel
ros2 topic echo /diff_drive_controller/cmd_vel_unstamped
设置凉亭模拟器
sudo apt install ros-foxy-gazebo-ros-pkgs
设置树莓派 UART
- https://askubuntu.com/questions/1254376/enable-uart-communication-on-pi4-ubuntu-20-04
- 创建启动配置备份
cd /boot/firmware
sudo cp usrcfg.txt usrconfig.backup.txt
sudo cp cmdline.txt cmdline.backup.txt
- 禁用控制台 UART
- 搭
enable_uart=0
/boot/firmware/usrcfg.txt
- 从中删除
console=serial0,115200
/boot/firmware/cmdline.txt
- 搭
- 禁用使用 miniUART 的串行服务
sudo systemctl stop serial-getty@ttyS0.service
sudo systemctl disable serial-getty@ttyS0.service
sudo systemctl mask serial-getty@ttyS0.service
- UART 引脚
- 引脚 8 TXD GPIO14
- 引脚 10 RXD GPIO15
设置 ROS2 导航2 导航2
- Getting Started — Navigation 2 1.0.0 documentation
- 安装依赖项
sudo apt install ros-foxy-navigation2 ros-foxy-nav2-bringup ros-foxy-cartographer ros-foxy-cartographer-ros ros-foxy-robot-localization ros-foxy-slam-toolbox ros-foxy-gazebo-ros-pkgs ros-foxy-xacro ros-foxy-slam-toolbox
sudo apt install ros-foxy-turtlebot3*
仅用于在远程 pc 上进行测试
- 猛击机器人工具箱
- 使用捕捉
slam-toolbox
- 它具有优化功能,使其速度提高了约10倍
- 使用捕捉
- 运行映射和导航
ros2 launch slam_toolbox online_async_launch.py
启动灌篮工具箱映射器ros2 launch nav2_bringup navigation_launch.py
以运行导航2
运行navigation2_tutorials
- 克隆和构建
https://github.com/ros-planning/navigation2_tutorials.git
- 启动机器人
ros2 launch sam_bot_description display.launch.py
- 启动 usbteleop
- 打开新终端
cd ~/rosbot/ros
. install/local_setup.bash
ros2 launch teleop_twist_joy teleop.launch.py cmd_vel:=/demo/cmd_vel joy_config:=rosbot_xbox_usb
- 或在修改后的版本中没有 /demo
- 启动slam_toolbox
- 打开新终端
ros2 launch slam_toolbox online_async_launch.py
设置 Arduino
- 安装 Arduino IDE
- 添加到 Arduino 首选项的其他主板 URL
https://www.adafruit.com/package_adafruit_index.json
- 安装板
Adafruit nRF52
- 安装
pip3 install --user adafruit-nrfutil
- 更新引导加载程序
- 安装微型 XRCE-DDS 代理
git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
cd Micro-XRCE-DDS-Agent && git checkout foxy
mkdir build && cd build
source /opt/ros/dashing/setup.bash # to share libraries with ros2
cmake ..
make
sudo make install
sudo ldconfig /usr/local/lib/
更新 cmake
cmake --version
sudo apt update
sudo apt install -y software-properties-common lsb-release
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main"
sudo apt update
sudo apt install kitware-archive-keyring
sudo rm /etc/apt/trusted.gpg.d/kitware.gpg
sudo apt update
sudo apt install cmake
cmake --version
在 MBED 上构建微 Ros
- https://github.com/micro-ROS/micro_ros_mbed
pip3 install catkin_pkg lark-parser empy colcon-common-extensions mbed-tools
sudo apt install gcc-arm-none-eabi
- 克隆存储库和 cd 到其中
mbed-tools deploy
mbed-tools compile -m LPC1768 -t GCC_ARM -f
安装 ROS
安装指南。
- 启用宇宙(可能不需要)
sudo apt install software-properties-common
sudo add-apt-repository universe
- 添加存储库
sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
- 将存储库添加到源列表
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
- 安装 ROS
sudo apt update
sudo apt install ros-foxy-desktop
- 安装自动完成
sudo apt install -y python3-argcomplete
- 将采购 ROS 添加到 bashrc
echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc
- 将colcom_cd添加到 bashrc
echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=~/ros2_install" >> ~/.bashrc
- 检查环境变量
printenv | grep -i ROS
- 设置域 ID(随机数介于 0-101 之间,包括 0-101)
echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc
- 测试 ROS(在单独的端子中打开)
ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_py listener
- 安装用于数据记录/回放的 ros 包
sudo apt-get install ros-galactic-ros2bag ros-galactic-rosbag2-storage-default-plugins
安装工具
- 安装 VSCode
sudo snap install --classic code
安装 TurtleSim
- 安装
sudo apt install ros-foxy-turtlesim
- 检查已安装的软件包
ros2 pkg executables turtlesim
- 开始龟蜈
ros2 run turtlesim turtlesim_node
- 启动遥控控制
ros2 run turtlesim turtle_teleop_key
安装 RQT
- 安装 rqt
sudo apt update
sudo apt install ~nros-foxy-rqt*
- 运行 rqt
rqt
- 添加调用的服务
select Plugins > Services > Service Caller
- 呼叫
/spawn
x=1.0, y=1.0, name='turtle2'
- 将控制权重新映射到海龟 2
ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel
- 渲染 rtq 图
rqt_graph
- 也可以添加到
rtq
Plugins > Introspection > Nodes Graph
操作系统命令行
- 运行节点
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key
ros2 run turtlesim turtlesim_node --ros-args --log-level WARN
以使用自定义日志级别运行
- 列出资源
ros2 node list
ros2 topic list
ros2 topic list -t
以同时显示消息类型ros2 service list
ros2 service list -t
以同时显示服务类型ros2 action list
ros2 param list
- 获取节点信息
ros2 node info /my_turtle
- 显示发布到主题的数据
ros2 topic echo /turtle1/cmd_vel
以查看速度命令ros2 topic echo /turtle1/pose
查看不断变化的姿势
- 获取主题信息
ros2 topic info /turtle1/cmd_vel
- 显示消息界面
ros2 interface show geometry_msgs/msg/Twist
- 将消息发布到主题
ros2 topic pub <topic_name> <msg_type> '<args>'
其中 args 在 YAML 语法中ros2 topic pub --once /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}}"
发布一次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}}"
以 1Hz 连续发布
- 显示数据发布到主题的频率
ros2 topic hz /turtle1/pose
- 获取服务类型信息
ros2 service type <service_name>
ros2 service type /clear
- 按类型查找服务
ros2 service find <type_name>
ros2 service find std_srvs/srv/Empty
- 显示服务类型结构
ros2 interface show <type_name>.srv
其中请求和响应结构由---分隔ros2 interface show std_srvs/srv/Empty.srv
ros2 interface show turtlesim/srv/TeleportAbsolute.srv
ros2 interface show turtlesim/srv/Spawn
- 呼叫服务
ros2 service call <service_name> <service_type> <arguments>
ros2 service call /clear std_srvs/srv/Empty
ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"
- 获取参数列表
ros2 param list
- 获取参数值
ros2 param get <node_name> <parameter_name>
ros2 param get /turtlesim background_g
- 设置参数值
ros2 param set <node_name> <parameter_name> <value>
ros2 param set /turtlesim background_r 150
- 转储节点参数
ros2 param dump <node_name>
ros2 param dump /turtlesim
- 使用转储文件中的参数启动节点
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name>
ros2 run turtlesim turtlesim_node --ros-args --params-file ./turtlesim.yaml
- 获取节点操作列表
ros2 node info /turtlesim
ros2 node info /teleop_turtle
- 获取所有操作的列表
ros2 action list
ros2 action list -t
以同时显示操作类型
- 获取操作信息
ros2 action info /turtle1/rotate_absolute
- 获取操作界面信息
ros2 interface show turtlesim/action/RotateAbsolute
- 号召性用语
ros2 action send_goal <action_name> <action_type> <values>
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"
ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 3.14}" --feedback
获取反馈
- 运行 rqt 控制台
ros2 run rqt_console rqt_console
- 启动节点
ros2 run rqt_console rqt_console
- 启动启动文件
ros2 topic pub -r 1 /turtlesim1/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}}"
- 记录主题到袋子
ros2 bag record <topic_name>
以记录主题ros2 bag record /turtle1/cmd_vel
ros2 bag record -o subset /turtle1/cmd_vel /turtle1/pose
顶部 选择文件名并记录多个主题subset
- 获取行李信息
ros2 bag info <bag_file_name>
ros2 bag info subset
- 回放袋录音
ros2 bag play <bag_file_name>
ros2 bag play subset
示例启动文件
启动两个具有不同命名空间名称的 turtlesim 节点和一个模仿节点,使第二个 turtlesim 节点模仿第一个。
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='turtlesim',
namespace='turtlesim1',
executable='turtlesim_node',
name='sim'
),
Node(
package='turtlesim',
namespace='turtlesim2',
executable='turtlesim_node',
name='sim'
),
Node(
package='turtlesim',
executable='mimic',
name='mimic',
remappings=[
('/input/pose', '/turtlesim1/turtle1/pose'),
('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
]
)
])
TMUX 端子分配器
- 安装
sudo apt install tmux
- 开始
tmux
- 分体式端子
- 水平
ctrl+b %
- 垂直
ctrl+b "
- 水平
- 管理窗口
- 创造
ctrl+b c
- 关闭
exit
- 重命名
ctrl+b ,
- 创造
- 导航
- 面板之间
ctrl+b ARROWS
- 在第一个 N=0、第二个 N=1 等的窗口之间
ctrl+b N
- 面板之间
基本 Ros 设置
Installing ROS 2 on Ubuntu Linux — ROS 2 Documentation: Foxy documentation
/选择/罗斯/狐狸
- sudo apt install -y python3-rosdep
- 罗斯德普更新
- rosdep install --from-paths /opt/ros/foxy/share --ignore-src --rosdistro foxy -y --skip-keys "console_bridge fastcdr fastrtps osrf_testing_tools_cpp poco_vendor rmw_connextdds rti-connext-dds-5.3.1 tinyxml_vendor tinyxml2_vendor urdfdom urdfdom_headers"
创建工作区
Creating a workspace — ROS 2 Documentation: Foxy documentation
- mkdir -p ~/dev_ws/src
- cd ~/dev_ws/src
- git clone https://github.com/ros/ros_tutorials.git -b foxy-devel
- rosdep install -i --from-path src --rosdistro foxy -y
- 科尔康构建
- 打开新终端到源覆盖
- cd ~/dev_ws
构建包
- 创建工作区目录等
mkdir ros2_ws
- 在此目录中创建"src"
- 将库/包复制到 src 中
rosdep install -i --from-path src --rosdistro foxy -y
安装依赖项- cd 返回工作区并运行以构建包
colcon build
遥控机器人控制器
- https://github.com/ros-teleop/teleop_tools/tree/foxy-devel
- The teleop_tools arrive in ROS 2 Dashing! | Ubuntu
ros2 run mouse_teleop mouse_teleop
ros2 run mouse_teleop mouse_teleop --ros-args -r holonomic:=true
ros2 topic echo /mouse_vel
运行实验/test_odrive_ros2包
cd ~/rosbot/experiments/test_odrive_ros2/
ros2 run odrive_ros2 odrive_node
ros2 service call /connect_odrive std_srvs/srv/Trigger
ros2 service call /request_state odrive_interfaces/srv/AxisState "{axis: 0, state: 8}"
(如果在闭环控制中启动,则不需要)ros2 service call /velocity_cmd odrive_interfaces/srv/VelocityControl "{axis: 0, turns_s: 0.5}"
ros2 topic echo /barrery_percentage
(拼写错误.. 并且不确定格式,返回类似 3.5 的内容)ros2 topic echo /joint_state
RVIZ2
运行试验/test_odrive_ros2_control包
- Getting Started — control.ros.org documentation
- https://github.com/ros-controls/ros2_control
- https://github.com/ros-controls/ros2_controllers
- https://github.com/ros-controls/ros2_control_demos
- https://github.com/ros-controls/ros2_controllers/tree/master/diff_drive_controller
- urdf - ROS Wiki
- https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md
- https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_bringup/config/diffbot_diff_drive_controller.yaml
- https://github.com/ros-controls/ros2_control_demos/tree/master/ros2_control_demo_description/diffbot_description
- https://github.com/ros-controls/ros2_control_demos/blob/master/ros2_control_demo_bringup/launch/diffbot_system.launch.py
- Command Line Interface — control.ros.org documentation断续器
cd ~/rosbot/experiments/test_odrive_ros2_control/
sudo apt install ros-foxy-ros2-control ros-foxy-ros2-controllers
ros2 launch odrive_bringup odrive.launch.py enable_joint1:=true
ros2 topic pub -r 100 /joint0_velocity_controller/commands std_msgs/Float64MultiArray "data: [1]"
ros2 topic pub -r 100 /joint1_velocity_controller/commands std_msgs/Float64MultiArray "data: [-1]"
运行ros2_control_demos
- 复制存储库https://github.com/ros-controls/ros2_control_demos
- 创建工作区文件夹,将演示存储库文件夹移动到
src
cd ros2_control_demos/
rosdep install -i --from-path src --rosdistro foxy -y
colcon build
- 打开新终端
cd ros2_control_demos/
. install/local_setup.bash
ros2 launch ros2_control_demo_bringup diffbot_system.launch.py start_rviz:=true
ros2 control list_hardware_interfaces
列出 ros 控制硬件接口ros2 control list_controllers
列出 ros 控制控制器- 发布速度命令
-
ros2 topic pub --rate 30 /diff_drive_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
-
x: 0.7
-
y: 0.0
-
z: 0.0
-
angular:
-
x: 0.0
-
y: 0.0
-
z: 1.0"
- 使用mouse_teleop进行控制,将 /mouse_vel 重新映射到 /diff_drive_controller/cmd_vel_unstamped
ros2 run mouse_teleop mouse_teleop --ros-args -r /mouse_vel:=/diff_drive_controller/cmd_vel_unstamped
从 Ubuntu 资源管理器上下文菜单打开 VSCode
- 在终端中运行以下内容
wget -qO- https://raw.githubusercontent.com/cra0zy/code-nautilus/master/install.sh | bash
配置 ssh
ssh-keygen -t rsa
以创建 ssh 键(如果尚不存在)~/.ssh
cat ~/.ssh/id_rsa.pub
从想要访问机器人的计算机获取公钥- 将公钥添加到机器人的文件
~/.ssh/authorized_keys
- 在远程计算机上创建包含类似内容的文件
~/.ssh/config
-
Host rosbot
-
HostName rosbot
-
User ubuntu
ssh rosbot
使用配置和ssh键打开与机器人的ssh连接
创建包
cd ~/dev_ws/src ros2 pkg create --build-type ament_cmake <package_name>ros2 pkg create --build-type ament_cmake --node-name my_node my_package ros2 pkg create --build-type ament_cmake --node-name talker test_chat
开发C++
https://github.com/ros2/rclcpp http://docs.ros2.org/latest/api/rclcpp/ http://wiki.ros.org/std_msgs
开发 nodejs
https://github.com/RobotWebTools/rclnodejs https://github.com/RobotWebTools/rclnodejs-cli JSDoc: Home https://github.com/RobotWebTools/rclnodejs/tree/develop/example npx 生成 ros 消息
文章来源: zhangrelay.blog.csdn.net,作者:zhangrelay,版权归原作者所有,如需转载,请联系作者。
原文链接:zhangrelay.blog.csdn.net/article/details/122219333
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