2025年機(jī)器人軟件開(kāi)發(fā)面試題選擇題（共5題，每題2分）1.以下哪種通信協(xié)議最適合用于工業(yè)機(jī)器人實(shí)時(shí)控制？A.HTTPB.EtherCATC.MQTTD.WebSocket2.在ROS2中，用于發(fā)布和訂閱消息的核心組件是？A.ROSMasterB.ActionServerC.TopicD.Service3.以下哪種算法常用于機(jī)器人的路徑規(guī)劃？A.A*B.DijkstraC.Kalman濾波D.PCA4.機(jī)器人狀態(tài)機(jī)設(shè)計(jì)時(shí)，以下哪種方法最適合處理不確定狀態(tài)？A.硬編碼條件判斷B.使用枚舉類(lèi)型C.模糊邏輯控制D.事件驅(qū)動(dòng)架構(gòu)5.以下哪個(gè)工具最適合用于機(jī)器人軟件的持續(xù)集成？A.JenkinsB.DockerC.GitLabCID.ROSWiki答案1.B2.C3.A4.C5.C編程題（共3題，每題10分）1.編寫(xiě)一個(gè)ROS2節(jié)點(diǎn)，實(shí)現(xiàn)以下功能：-創(chuàng)建一個(gè)名為"robot_status"的話題，發(fā)布機(jī)器人狀態(tài)信息（包括位置、姿態(tài)、電量）-訂閱"move指令"話題，當(dāng)收到指令時(shí)更新機(jī)器人狀態(tài)并發(fā)布確認(rèn)消息-使用Python語(yǔ)言實(shí)現(xiàn)2.設(shè)計(jì)一個(gè)基于A*算法的簡(jiǎn)單路徑規(guī)劃函數(shù)，輸入為起點(diǎn)、終點(diǎn)和障礙物列表（用矩形表示），輸出為路徑點(diǎn)列表-要求考慮障礙物碰撞檢測(cè)-使用C++或Python實(shí)現(xiàn)3.實(shí)現(xiàn)一個(gè)機(jī)器人關(guān)節(jié)狀態(tài)監(jiān)控類(lèi)，具有以下功能：-實(shí)時(shí)接收關(guān)節(jié)角度數(shù)據(jù)-當(dāng)檢測(cè)到關(guān)節(jié)角度超出安全范圍時(shí)觸發(fā)警報(bào)-提供重置功能-使用ROS2接口設(shè)計(jì)答案1.ROS2節(jié)點(diǎn)代碼示例（Python）：pythonimportrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportString,Int16fromgeometry_msgs.msgimportPoseclassRobotStatus(Node):def__init__(self):super().__init__('robot_status')self.publisher=self.create_publisher(Pose,'robot_status',10)self.subscription=self.create_subscription(String,'move指令',self.move_callback,10)self.angle=0self.battery=100defmove_callback(self,msg):self.angle+=1self.battery-=5status_msg=Pose()status_msg.position.x=self.anglestatus_msg.position.y=self.batteryself.publisher.publish(status_msg)self.get_logger().info(f'機(jī)器人狀態(tài)更新:角度={self.angle},電量={self.battery}')defmain(args=None):rclpy.init(args=args)node=RobotStatus()rclpy.spin(node)node.destroy_node()rclpy.shutdown()if__name__=='__main__':main()2.A*路徑規(guī)劃函數(shù)示例（Python）：pythondefheuristic(a,b):return((a[0]-b[0])2+(a[1]-b[1])2)0.5defa_star_search(start,goal,obstacles):open_set=[]closed_set=set()came_from={}g_score={start:0}f_score={start:heuristic(start,goal)}open_set.append((f_score[start],start))whileopen_set:_,current=min(open_set)open_set.remove((f_score[current],current))ifcurrent==goal:path=[]whilecurrentincame_from:path.append(current)current=came_from[current]returnpath[::-1]closed_set.add(current)fordx,dyin[(-1,0),(1,0),(0,-1),(0,1)]:neighbor=(current[0]+dx,current[1]+dy)#檢查是否碰撞障礙物ifany(obstacle[0]<=neighbor[0]<=obstacle[2]andobstacle[1]<=neighbor[1]<=obstacle[3]forobstacleinobstacles):continueifneighborinclosed_set:continuetentative_g_score=g_score[current]+1ifneighbornotin[item[1]foriteminopen_set]ortentative_g_score<g_score.get(neighbor,float('inf')):came_from[neighbor]=currentg_score[neighbor]=tentative_g_scoref_score[neighbor]=tentative_g_score+heuristic(neighbor,goal)open_set.append((f_score[neighbor],neighbor))returnNone3.ROS2關(guān)節(jié)狀態(tài)監(jiān)控類(lèi)示例（Python）：pythonimportrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportFloat64MultiArrayfromgeometry_msgs.msgimportJointStateclassJointMonitor(Node):def__init__(self):super().__init__('joint_monitor')self.subscription=self.create_subscription(JointState,'joint_states',self.joint_callback,10)self.safe_range={'joint1':(-180,180),'joint2':(-90,90)}self.alert_threshold={'joint1':170,'joint2':80}defjoint_callback(self,msg):forjointinmsg.joint_names:ifjointinself.safe_range:angle=msg.position[msg.joint_names.index(joint)]ifangle>self.alert_threshold[joint]:self.get_logger().warn(f'警報(bào):{joint}超出安全范圍:{angle}')elifangle<self.safe_range[joint][0]orangle>self.safe_range[joint][1]:self.get_logger().error(f'錯(cuò)誤:{joint}超出正常范圍:{angle}')defreset_alerts(self):self.get_logger().info('重置警報(bào)狀態(tài)')代碼填空題（共3題，每題10分）1.完善以下ROS2服務(wù)節(jié)點(diǎn)代碼，實(shí)現(xiàn)關(guān)節(jié)角度限制功能：pythonimportrclpyfromrclpy.nodeimportNodefromstd_srvs.srvimportSetBoolclassJointLimitService(Node):def__init__(self):super().__init__('joint_limit_service')self.srv=self.create_service(SetBool,'joint_limit',self.joint_limit_callback)defjoint_limit_callback(self,request):#TODO:實(shí)現(xiàn)關(guān)節(jié)角度限制邏輯passdefmain(args=None):rclpy.init(args=args)node=JointLimitService()rclpy.spin(node)node.destroy_node()rclpy.shutdown()if__name__=='__main__':main()2.完善以下機(jī)器人傳感器數(shù)據(jù)融合代碼：pythonimportnumpyasnpclassSensorFusion(Node):def__init__(self):super().__init__('sensor_fusion')selfimu=self.create_subscription(Imu,'imu_data',self.imu_callback,10)self.lidar=self.create_subscription(LaserScan,'lidar_data',self.lidar_callback,10)self.position=np.zeros(3)defimu_callback(self,msg):#TODO:實(shí)現(xiàn)IMU數(shù)據(jù)融合邏輯passdeflidar_callback(self,msg):#TODO:實(shí)現(xiàn)LiDAR數(shù)據(jù)融合邏輯passdefget_position(self):returnself.position3.完善以下機(jī)器人運(yùn)動(dòng)控制代碼：pythonimportrclpyfromrclpy.nodeimportNodefromgeometry_msgs.msgimportTwistclassMovementController(Node):def__init__(self):super().__init__('movement_controller')self.velocity_publisher=self.create_publisher(Twist,'cmd_vel',10)self.timer=self.create_timer(0.1,self.move_robot)defmove_robot(self):msg=Twist()#TODO:實(shí)現(xiàn)機(jī)器人直線運(yùn)動(dòng)邏輯self.velocity_publisher.publish(msg)答案1.服務(wù)節(jié)點(diǎn)代碼填充：pythonimportrclpyfromrclpy.nodeimportNodefromstd_srvs.srvimportSetBoolclassJointLimitService(Node):def__init__(self):super().__init__('joint_limit_service')self.srv=self.create_service(SetBool,'joint_limit',self.joint_limit_callback)self.safe_range={'joint1':(-180,180),'joint2':(-90,90)}defjoint_limit_callback(self,request):joint_angle=request.request.data#假設(shè)請(qǐng)求中包含關(guān)節(jié)角度ifjoint_angle<self.safe_range['joint1'][0]orjoint_angle>self.safe_range['joint1'][1]:returnSetBool.Response(success=False,message='關(guān)節(jié)1超出范圍')ifjoint_angle<self.safe_range['joint2'][0]orjoint_angle>self.safe_range['joint2'][1]:returnSetBool.Response(success=False,message='關(guān)節(jié)2超出范圍')returnSetBool.Response(success=True,message='關(guān)節(jié)角度正常')defmain(args=None):rclpy.init(args=args)node=JointLimitService()rclpy.spin(node)node.destroy_node()rclpy.shutdown()if__name__=='__main__':main()2.傳感器數(shù)據(jù)融合代碼填充：pythonimportnumpyasnpfromsensor_msgs.msgimportImu,LaserScanclassSensorFusion(Node):def__init__(self):super().__init__('sensor_fusion')self.imu=self.create_subscription(Imu,'imu_data',self.imu_callback,10)self.lidar=self.create_subscription(LaserScan,'lidar_data',self.lidar_callback,10)self.position=np.zeros(3)defimu_callback(self,msg):#簡(jiǎn)單的IMU數(shù)據(jù)融合self.position[0]+=msg.linear_acceleration.x*0.1#簡(jiǎn)化的位置估計(jì)deflidar_callback(self,msg):#使用LiDAR數(shù)據(jù)修正位置ifmsgranges:min_range=min(msg.ranges)ifmin_range<10:#障礙物檢測(cè)self.position[0]-=0.1#簡(jiǎn)化的避障邏輯defget_position(self):returnself.position3.運(yùn)動(dòng)控制代碼填充：pythonimportrclpyfromrclpy.nodeimportNodefromgeometry_msgs.msgimportTwistclassMovementController(Node):def__init__(self):super().__init__('movement_controller')self.velocity_publisher=self.create_publisher(Twist,'cmd_vel',10)self.timer=self.create_timer(0.1,self.move_robot)self.linear_speed=0.5#m/sdefmove_robot(self):msg=Twist()msg.linear.x=self.linear_speedmsg.angular.z=0.0#直線運(yùn)動(dòng)self.velocity_publisher.publish(msg)self.get_logger().info(f'機(jī)器人正在以{self.linear_speed}m/s速度直線運(yùn)動(dòng)')判斷題（共5題，每題2分）1.ROS2中的話題通信是同步的。（×）2.機(jī)器人的SLAM算法通常需要精確的初始位姿估計(jì)。（√）3.ROS2默認(rèn)使用TCP通信協(xié)議。（√）4.機(jī)器人的運(yùn)動(dòng)學(xué)逆解一定有唯一解。（×）5.傳感器數(shù)據(jù)融合可以提高機(jī)器人感知的魯棒性。（√）簡(jiǎn)答題（共3題，每題10分）1.簡(jiǎn)述ROS2中的節(jié)點(diǎn)間通信機(jī)制及其優(yōu)缺點(diǎn)。2.描述機(jī)器人在未知環(huán)境中進(jìn)行SLAM的基本流程。3.解釋機(jī)器人運(yùn)動(dòng)控制中逆運(yùn)動(dòng)學(xué)的應(yīng)用場(chǎng)景及實(shí)現(xiàn)方法。答案1.ROS2通信機(jī)制：-話題通信：異步發(fā)布/訂閱，適用于非實(shí)時(shí)數(shù)據(jù)-服務(wù)通信：請(qǐng)求/響應(yīng)模式，適用于需要返回結(jié)果的操作-行為通信：帶有狀態(tài)反饋的異步請(qǐng)求/響應(yīng)-優(yōu)點(diǎn)：解耦、模塊化、可擴(kuò)展-缺點(diǎn)：性能開(kāi)銷(xiāo)、調(diào)試?yán)щy、實(shí)時(shí)性受限2.SLAM基本流程：-初始化：設(shè)置地圖和機(jī)器人位姿-感知：通過(guò)傳感器獲取環(huán)境數(shù)據(jù)-匹配：將新感知數(shù)據(jù)與地圖進(jìn)行匹配-定位：估計(jì)機(jī)器人位姿-更新：將新觀測(cè)添加到地圖-回環(huán)檢測(cè)：檢測(cè)并處理環(huán)境循環(huán)3.逆運(yùn)動(dòng)學(xué)應(yīng)用：-末端執(zhí)行器控制：根據(jù)期望位置計(jì)算關(guān)節(jié)角度-碰撞檢測(cè)：評(píng)估不同關(guān)節(jié)配置的可達(dá)性-動(dòng)態(tài)規(guī)劃：作為路徑規(guī)劃的組成部分-實(shí)現(xiàn)方法：解析法（適用于簡(jiǎn)單機(jī)器人）、數(shù)值法（如IK快速算法）編程實(shí)現(xiàn)題（共2題，每題15分）1.實(shí)現(xiàn)一個(gè)簡(jiǎn)單的ROS2導(dǎo)航棧（NavigationStack），包括：-創(chuàng)建導(dǎo)航棧節(jié)點(diǎn)-配置導(dǎo)航參數(shù)-實(shí)現(xiàn)基本路徑規(guī)劃流程-使用Python語(yǔ)言2.設(shè)計(jì)一個(gè)機(jī)器人狀態(tài)機(jī)類(lèi)，具有以下?tīng)顟B(tài)和轉(zhuǎn)換：-狀態(tài)：待機(jī)、移動(dòng)、檢測(cè)、充電-轉(zhuǎn)換：待機(jī)→移動(dòng)、移動(dòng)→檢測(cè)、檢測(cè)→充電、充電→待機(jī)-實(shí)現(xiàn)狀態(tài)切換邏輯和事件處理-使用C++或Python實(shí)現(xiàn)答案1.ROS2導(dǎo)航棧實(shí)現(xiàn)（Python）：pythonimportrclpyfromrclpy.nodeimportNodefromnav2_simple_commanderimportSimpleNavCommanderclassNavigationStack(Node):def__init__(self):super().__init__('navigation_stack')self.nav=SimpleNavCommander(self)self.current_state='待機(jī)'defplan_path(self,goal):self<nav>move_to_goal(goal)self.current_state='移動(dòng)'defdetect_obstacle(self):#模擬障礙物檢測(cè)ifself.random()>0.5:self.current_state='檢測(cè)'self.nav.stop()defcharge_battery(self):self.nav.charge_station()self.current_state='充電'defreset(self):self.nav.reset()self.current_state='待機(jī)'defmain(args=None):rclpy.init(args=args)node=NavigationStack()#示例：規(guī)劃到(1,1)坐標(biāo)點(diǎn)node.plan_path((1.0,1.0))rclpy.spin(node)node.destroy_node()rclpy.shutdown()if__name__=='__main__':main()2.機(jī)器人狀態(tài)機(jī)實(shí)現(xiàn)（Python）：pythonclassStateMachine:def__init__(self):self.state='待機(jī)'self.transitions={'待機(jī)':['移動(dòng)'],'移動(dòng)':['檢測(cè)'],'檢測(cè)':['充電']