58. 硬 體 架 構
Raspberry Pi 3 B+
I2C
CSI
Adafruit 16-Channel 12-
bit PWM/Servo HAT
5 servos
Raspberry Pi
camera v2.1WiFi
ComputerWiFi
/servo_pwm_pi_listener
/raspicam_node/compressed
59. R O S 架 構
Raspberry Pi 3 B+
master
node (servo_pwm_pi_listener)
node (raspicam_node)
Computer
node
/servo_pwm_pi_listener
/raspicam_node/compressed