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+**一.ROS**：
+
+1.学习ROS的相关概念和基础机制。
+
+2.在ROS系统编写节点，用节点发布话题并发送信息。用另外的节点订阅该话题并接收信息：
+
+![image-20241220154042461](https://raw.githubusercontent.com/wwjiefei/pictureBed/main/202412201540514.png)
+
+![image-20241220153922935](https://raw.githubusercontent.com/wwjiefei/pictureBed/main/202412201539973.png)
+
+3.实现在ROS系统中，通过编写节点发布速度控制信息，控制gazebo仿真工具中的机器人运动：
+
+![image-20241220154235198](https://raw.githubusercontent.com/wwjiefei/pictureBed/main/202412201542253.png)
+
+4.实现在ROS系统中，编写节点接收激光雷达测得的信息：
+
+![image-20241220155029810](https://raw.githubusercontent.com/wwjiefei/pictureBed/main/202412201550871.png)
+
+5.实现ROS系统中，编写节点，接收雷达测得的信息之后，发布运动控制信息，完成避障功能：
+
+```c++
+#include <ros/ros.h>
+#include <sensor_msgs/LaserScan.h>
+#include <geometry_msgs/Twist.h>
+
+ros::Publisher vel_pub;
+
+void LidarCallback(const sensor_msgs::LaserScan msg)
+{
+  float fMidDist = msg.ranges[180];
+  ROS_INFO("前方测距 ranges[180] = %f m", fMidDist);
+  geometry_msgs::Twist vel_cmd;
+
+    //如果前方障碍物的距离小于1.5米，则以0.3弧度/秒的速度旋转
+  if(fMidDist < 1.5)
+  {
+    vel_cmd.angular.z = 0.3;
+  }
+  else //否则向前的速度为0.05米/秒
+  {
+    vel_cmd.linear.x = 0.05;
+  }
+  vel_pub.publish(vel_cmd);
+}
+
+int main(int argc, char *argv[])
+{
+  setlocale(LC_ALL,"");
+  ros::init(argc, argv, "lidar_vel_node");
+  ros::NodeHandle n;
+  ros::Subscriber lidar_sub = n.subscribe("/scan", 10, &LidarCallback);
+
+  vel_pub = n.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
+
+  ros::spin();
+  return 0;
+}
+```
+
+**二.实验**
+
+    观摩师兄做实验，了解lighthouse的使用流程。下载steamVR，并完成了相关配置。
+
+![1](https://raw.githubusercontent.com/wwjiefei/pictureBed/main/202412201632459.jpg)
+