《计算平台部署与测试（双语）》课件-项目二：智能网联软件开发环境构建

UnderstandingC++C++的认知程序无处不在SoftwareIsEverywhere这些日常生活场景的背后，是什么在控制它们的运行？What’sbehindtheoperationoftheseeverydaysituations?什么是C++？WhatIsC++?2026年1998年2023年1983年BjarneStroustrup开发"CwithClasses",为C++雏形·BjarneStroustrupdeveloped“CwithClasses,”theprototypeofwhatwouldlaterbecomeC++.首个国际标准C++98发布，包含STLThefirstinternationalstandard,C++98,wasreleased,includingtheStandardTemplateLibrary(STL).C++23发布，增强格式化、错误处理等实用功能C++23wasreleased,enhancingpracticalfeaturessuchasformattinganderrorhandling.(计划):C++26开发中，将完善现有特性并扩展新工具

(Planned):C++26isunderdevelopment,aimingtorefineexistingfeaturesandintroducenewtools.应用领域：游戏开发、操作系统、嵌入式系统ApplicationAreas:GameDevelopment,OperatingSystems,EmbeddedSystems基本语法要点KeyPointsofBasicGrammar数据类型DataTypesint、double、char、stringExamplesofVariableDefinitions变量定义示例：运算符Operators+-*/%ExamplesofControlStatements：控制语句示例:程序示例——求两个数的和ProgramExample—CalculatingtheSumofTwoNumbers编程技巧与调试方法ProgrammingTechniquesandDebuggingMethods调试技巧：DebuggingTips▶1.逐步调试：修改程序后，每次运行测试，查看输出结果，避免一次性修改太多地方，难以找出错误。Step-by-StepDebugging:Aftermodifyingyourprogram,testitaftereachchangeandchecktheoutput.Avoidmakingtoomanychangesatonce,asthiscanmakeitdifficulttolocateerrors.2.合理使用cout：调试时，可以在程序中加入cout语句，输出变量的值和程序执行到哪一步。UsecoutEffectively:Duringdebugging,youcaninsertcoutstatementsintoyourprogramtodisplayvariablevaluesandtracktheexecutionflow.例如Forexample3.检查括号配对：C++中，{}、()和[]都是非常重要的符号，必须成对出现。如果丢失了一个括号，程序就会出错。CheckBracketPairing:InC++,{},(),and[]areveryimportantsymbolsandmustalwaysappearinpairs.Ifabracketismissing,theprogramwillproduceanerror.这样就可以查看a和b的值是否正确Thisallowsyoutocheckwhetherthevaluesofaandbarecorrect.4.注意分号：每条语句后面要加上分号。编译器会因为缺少分号报错。PayAttentiontoSemicolons:Eachstatementmustendwithasemicolon(;).Ifasemicolonismissing,thecompilerwillreportanerror.5.理解错误提示：当程序出错时，编译器会给出错误信息，要学会阅读这些信息，查找错误所在。UnderstandErrorMessages:Whenanerroroccurs,thecompilerwilldisplayanerrormessage.Itisimportanttolearnhowtoreadandinterpretthesemessagesinordertolocateandfixtheerrors.编程技巧与调试方法ProgrammingTechniquesandDebuggingMethods常见错误类型：CommonTypesofErrors▶1.语法错误：如缺少分号、括号未配对等。SyntaxErrors:TheseoccurwhentheprogramviolatesthegrammaticalrulesofC++,suchasmissingsemicolonsorunmatchedbrackets.2.运行时错误：如除以0、访问不存在的数组元素等。RuntimeErrors:Theseoccurwhiletheprogramisrunning—forexample,dividingbyzerooraccessinganarrayelementthatdoesnotexist.3.逻辑错误：程序没有按照预期工作，但没有语法错误（例如：写了错误的公式，计算结果不正确）。LogicalErrors:Theseoccurwhentheprogramrunsbutdoesnotproducetheexpectedresult.Therearenosyntaxerrors,butthelogicisincorrect(forinstance,usingthewrongformula,leadingtoanincorrectcalculation).调试工具DebuggingToolsIDE（集成开发环境）IDE(IntegratedDevelopmentEnvironment)ToolssuchasVisualStudioandCode::Blocksprovidebuilt-indebuggingfeatures.Theyallowyoutoexecuteprogramsstepbystepandinspectthevaluesofvariablesduringruntime.如VisualStudio、Code::Blocks等，它们提供了调试功能，可以逐步执行程序，检查变量的值。编译器错误信息CompilerErrorMessagesLearntounderstandtheerrormessagesprovidedbythecompilerandusethemtoidentifyandcorrectproblemsinyourcode.学习理解编译器的错误提示，并能够根据提示修正程序。总结Summarize了解C++语言的特点和用途UnderstandingtheFeaturesandApplicationsoftheC++Language学习了C++的基本语法（数据类型、运算符、控制结构）LearnedtheBasicSyntaxofC++(DataTypes,Operators,andControlStructures)编写了简单的C++程序（输入两个数，求和）WroteaSimpleC++Program(InputTwoNumbersandCalculateTheirSum)学会了基本的调试技巧（逐步调试、使用cout输出）LearnedBasicDebuggingTechniques(Step-by-StepDebuggingandUsingcoutforOutput)UnderstandingPythonPython的认知为什么要学习Python编程？WhyLearnPythonProgramming?简单易学：语法接近英语，适合初学者EasytoLearn:ItssyntaxisclosetonaturalEnglish,makingitidealforbeginners.跨平台：可在Windows、Mac、Linux上运行Cross-Platform:PythoncanrunonWindows,macOS,andLinuxoperatingsystems.丰富的库：支持数据分析、机器学习等RichLibraries:Itprovidesextensivelibrariesthatsupportdataanalysis,machinelearning,andmanyotherapplications.Python的基本语法概述OverviewofPythonBasicSyntax代码示例CodeExample语法要点KeySyntaxPoints缩进：Python通过缩进表示代码块，缩进必须一致。Indentation:Pythonusesindentationtodefinecodeblocks,andtheindentationmustbeconsistent.注释Comments逐步单行注释：#Single-linecomment:#多行注释：'''或"""Multi-linecomment:'''or"""区分大小写：Python区分大小写，print与Print不同。CaseSensitivity:Pythoniscase-sensitive—forexample,printandPrintaredifferentidentifiers.无分号：Python语句末尾不需要分号；NoSemicolons:InPython,statementsdonotneedtoendwithasemicolon(;).动态类型：变量类型根据赋值自动推断，无需提前声明。DynamicTyping:Variabletypesaredeterminedautomaticallybasedontheassignedvalue;nopriordeclarationisrequired.变量与数据类型VariablesandDataTypes变量定义VariableDefinitionname←"李华"name←"LiHua"age←18age←18score←95.5score←95.5数据类型DataTypes整型(int)-123-整数Integer

(int)—e.g.,123—representswholenumbers.浮点型(float)-3.14-小数Floating-point(float)—e.g.,3.14—representsdecimalnumbers.字符串(str)-"Python"-文本String(str)—e.g.,"Python"—representstext.布尔型(bool)-True/False-真/假Boolean(bool)—e.g.,True/False—representslogicalvalues(trueorfalse).条件控制语句ConditionalStatementsif-elif-else结构流程图Flowchartoftheif-elif-elseStructure▶开始→条件1→代码块1→结束↓条件2→代码块2→结束↓其他→代码块3→结束Flowchartoftheif-elif-elseStructure：Start→Condition1→CodeBlock1→End↓Condition2→CodeBlock2→End↓Else→CodeBlock3→End变量与数据类型VariablesandDataTypesfor循环forLoop循环变量in序列→执行代码块→下一个元素Loopvariableinsequence→Executecodeblock→Nextelementfor循环forLoop条件判断→执行代码块→更新条件Conditioncheck→Executecodeblock→Updatecondition函数定义与使用FunctionDefinitionandUsage输入参数→函数处理→返回值Inputparameters→Functionprocessing→Returnvalue函数结构FunctionStructure面向对象编程基础FundamentalsofObject-OrientedProgramming运行结果ProgramOutput代码示例CodeExample类(模板)→实例化→对象(实例)Class(Template)→Instantiation→Object(Instance)类与对象关系图Class–ObjectRelationshipDiagram数据结构与算法基础FundamentalsofDataStructuresandAlgorithms创建：scores=[85,92,78]Creation:scores=[85,92,78]列表操作ListOperations访问：scores[0]→85Access:scores[0]→85添加：scores.append(90)AddElement:scores.append(90)字典操作：DictionaryOperations:创建：student={"name":"张三","age":18}Creation:student={"name":"ZhangSan","age":18}访问：student["name"]→"张三"Access:student["name"]→"ZhangSan"总结Summarize程序示例ProgramExampleUnderstandingROSROS的认知自动驾驶车是怎么“自己开”的？HowDoSelf-DrivingCars“DriveThemselves”?自动驾驶汽车如何识别道路与障碍？Howdoself-drivingcarsrecognizeroadsandobstacles?它如何规划安全路线？Howdoesitplanasaferoute?软件系统之间又是如何协同工作的？Howdosoftwaresystemsworktogethercollaboratively?ROS：自动驾驶的“操作中枢”ROS:The“OperatingHub”ofAutonomousDrivingROS≠操作系统ROS≠OperatingSystem它是一个机器人/智能车辆的软件开发平台Itisasoftwaredevelopmentplatformforrobotsandintelligentvehicles.提供通信机制、算法库、可视化与仿真环境Itprovidescommunicationmechanisms,algorithmlibraries,andenvironmentsforvisualizationandsimulation.ROS的核心特点CoreFeaturesofROS特点Features模块化ModularDesign感知、定位、规划、控制可独立开发Perception,localization,planning,andcontrolcanbedevelopedseparatelyasindividualmodules.自动驾驶中的体现ApplicationsinAutonomousDriving通信高效EfficientCommunication资源共享ResourceSharing可扩展Scalability节点之间通过Topic实时交换数据Nodescommunicatethroughtopicstoshareinformationinrealtime.可复用全球开源自动驾驶算法Globalopen-sourceautonomousdrivingalgorithmscanbereusedandintegrated.支持多传感器融合与多车辆协同Supportsmulti-sensorfusionandcoordinationamongmultiplevehicles.ROS在自动驾驶系统中的框架TheFrameworkofROSinAutonomousDrivingSystems底层：车辆传感器（LiDAR、Camera、IMU）、控制器LowerLayer:VehicleSensors(LiDAR,Camera,IMU)andControllers中间层：ROS节点通信（Topic、Service、Action）MiddleLayer:ROSNodeCommunication(Topic,Service,Action)上层：感知、定位、规划、控制算法UpperLayer:Perception,Localization,Planning,andControlAlgorithmsROS通信：车载系统的神经网络ROSCommunication:TheNeuralNetworkofIn-VehicleSystemsTopic（主题）：传输数据，如“/lidar_points”、“/cmd_vel”Topic:Usedfordatatransmission,suchas"/lidar_points"or"/cmd_vel".Publisher：发送节点（如雷达）Publisher:Thesendingnode(e.g.,LiDAR).Subscriber：接收节点（如感知模块）Subscriber:Thereceivingnode(e.g.,perceptionmodule).车载开发常用ROS工具CommonlyUsedROSToolsforIn-VehicleDevelopmentROS在移动机器人导航系统中的架构设计ArchitectureDesignofROSinMobileRobotNavigationSystems1.感知模块PerceptionModule激光雷达与摄像头发布环境数据。LiDARandcameraspublishenvironmentaldata.2.定位与路径规划模块LocalizationandPathPlanningModule定位节点估算机器人位置，路径规划节点计算最优路径。Thelocalizationnodeestimatestherobot’sposition,andthepathplanningnodecalculatestheoptimalroute.3.控制模块ControlModule控制节点根据规划路径驱动机器人。Thecontrolnodedrivestherobotaccordingtotheplannedpath.4.模块化设计优势AdvantagesofModularDesign每个模块独立开发、测试，便于系统扩展与维护。Eachmodulecanbedevelopedandtestedindependently,makingthesystemeasiertoextendandmaintain.ROS在自动驾驶中的实际应用PracticalApplicationsofROSinAutonomousDrivingAutoware：基于ROS的开源自动驾驶系统

支持感知、定位、路径规划与控制Itsupportsperception,localization,pathplanning,andcontrol.Autoware:AnOpen-SourceAutonomousDrivingSystemBasedonROS广泛用于教学、科研与测试车辆Itiswidelyusedineducation,research,andtestvehicles.总结Summarize让ROS驱动未来出行SummaryandReflection:EmpoweringtheFutureofMobilitywithROSInstallationandUsageofROSROS的安装与使用为什么需要安装ROS？WhyDoWeNeedtoInstallROS?自动驾驶系统包含感知、定位、规划、控制四大模块Anautonomousdrivingsystemconsistsoffourmainmodules:perception,localization,planning,andcontrol.这些模块之间需要统一通信平台Thesemodulesrequireaunifiedcommunicationplatform.ROS就是让模块协作的“操作系统ROSservesasthe“operatingsystem”thatenablescollaborationamongmodules.安装前的准备工作PreparationBeforeInstallation环境检测流程图EnvironmentalTestingFlowchart配置要求：SystemRequirements操作系统：Ubuntu18.04/20.04/22.04OperatingSystem:Ubuntu18.04/20.04/22.04内存：至少4GBMemory:Atleast4GB存储空间：至少30GB可用空间Storage:Atleast30GBofavailablespace网络连接：需要联网下载安装包NetworkConnection:Internetaccessisrequiredtodownloadinstallationpackages.ROS安装流程ROSInstallationProcess1.添加ROS软件源到sources.listAddtheROSrepositorytothesources.list2.导入密钥ImportthekeyROS安装流程ROSInstallationProcess3.更新UpdateROS安装流程ROSInstallationProcess4.安装ROS完整版InstalltheFullVersionofROS此指令代表安装桌面完整版本，包括：ROS，rqt,rviz，机器人通用库，2D/3D仿真器，导航及2D/3D感知。Thiscommandinstallsthedesktopfullversion,whichincludes:R