ROS 依赖可用 rosdep 一次性安装：
rosdep install --from-paths src --ignore-src -r -y
如果还漏了ceres
sudo apt-get install -y libceres-dev
Python 依赖集中在 requirements.txt 中，推荐使用 pip 安装：
python3 -m pip install --user -r src/robotic_arm/requirements.txt
Install Python dependencies from requirements.txt in the Python environment
used by ROS2 Humble. The launch file resolves its default model and test image
from the installed package; camera topic, calibration and operation geometry in
config/test.yaml remain deployment-specific.
工作空间下编译
colcon build --packages-select robotic_arm
source install/setup.bash
ros2 launch robotic_arm vision.launch.py
The node can use a local test image (debug_mode) or a camera topic. It
publishes YOLO, intermediate geometry and final pose images for inspection in
rqt_image_view.
插孔
ros2 service call /trigger_vision std_srvs/srv/Trigger {}
旋钮
ros2 service call /trigger_knob std_srvs/srv/Trigger {}
按钮
ros2 service call /trigger_button std_srvs/srv/Trigger {}
旋钮模式在解析完指针方向后，会将顺时针角度（以面板正右为 0°）量化为 60/90/120 三档，并通过 ProcessPose 服务请求中的 knob_angle_deg 字段（单位：度，int）一并上报。
打开rqt
rqt -s rqt_image_view