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**鍓嶆彁鏉′欢**

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     .. image:: img/firewall1.png
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    鐒跺悗鍦� 鈥滄帶鍒堕潰鏉� > 鎵€鏈夋帶鍒堕潰鏉块」 > Windows Defender 闃茬伀澧欌€� 涓煡鐪媁indows Defender 闃茬伀澧欐槸鍚﹀惎鐢ㄣ€傝嫢鏈惎鐢紝鍒欓渶瑕佸厛鍚敤闃茬伀澧欍€傝嫢宸插惎鐢紝鍒欏湪宸︿晶鑿滃崟鏍忓崟鍑� 鈥滃厑璁稿簲鐢ㄩ€氳繃 Windows Defender 闃茬伀澧欌€濓紝鏌ョ湅robot_driver_node.exe鐨� **涓撶敤** 鍜� **鍏敤** 鏄惁鍧囧凡鍕鹃€夈€傦紙鑻obot_driver_node.exe涓嶅湪鍒楄〃涓紝鍒欏崟鍑� :guilabel:`鍏佽鍏朵粬搴旂敤`锛屽皢 鈥淢ax瀹夎鐩綍\\bin鈥� 鏂囦欢澶逛笅鐨� robot_driver_node.exe 娣诲姞鍒� **鍏佽鐨勫簲鐢ㄥ拰鍔熻兘** 鍒楄〃涓€傦級

     .. image:: img/firewall.png
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- 鏈烘鑷傝缃紝鍦� :guilabel:`杩愬姩` 椤电涓嬫坊鍔犲苟鍔犺浇瀵瑰簲鍨嬪彿鐨勬満姊拌噦urdf妯″瀷锛屽叿浣撴搷浣滆鍙傝 :doc:`motion_operation/add_robot`銆�



**鎿嶄綔姝ラ**

1. 鍦∕ax椤堕儴宸ュ叿鏍忥紝閫夋嫨 鈥滃伐鍏� > 杩涚▼绠＄悊鈥濓紝鏌ョ湅杩涚▼鐘舵€併€�

   - robot_driver_node锛氬伐鎺ф満涓绘帶椹卞姩绋嬪簭銆傚湪宸ユ帶鏈轰富鎺фā寮忎笅锛岀敱宸ユ帶鏈烘牴鎹换鍔′富鍔ㄤ笅鍙戝悇绫绘寚浠ょ粰鏈烘鑷�/PLC绛夎澶囪鍏舵墽琛屻€�
   - robot_server锛氭満姊拌噦涓绘帶椹卞姩绋嬪簭銆傚湪鏈烘鑷備富鎺фā寮忎笅锛岀敱鏈烘鑷傦紙鍖呭惈PLC绛夎澶囷級鏍规嵁浠诲姟涓诲姩鍙戦€佸悇绫绘寚浠ょ粰宸ユ帶鏈鸿幏鍙栦俊鎭€�

   涓よ€呯殑瀹氫箟鍜屼娇鐢ㄥ満鏅彲浠ュ弬鑰� :term:`鏈烘鑷備富鎺э紙Robot Master锛塦锛�:term:`宸ユ帶鏈轰富鎺э紙IPC Master锛塦銆�

   .. image:: img/process.png
      :align: center
      :width: 700px


2. 濡傛灉robot_driver_node杩涚▼澶勪簬鍋滄鐘舵€侊紝鍙抽敭鍗曞嚮杩涚▼锛岄€夋嫨 :guilabel:`鍚姩杩涚▼`锛岀‘淇濅笅鏂规棩蹇楁棤鎶ラ敊銆�

   濡傛灉闇€瑕佷娇鐢ㄦ満姊拌噦涓绘帶妯″紡锛屽垯闇€瑕佸惎鍔� robot_server 杩涚▼銆�
 
   .. hint:: 鍙抽敭鍗曞嚮杩涚▼锛屽彲鍚姩銆佸叧闂€佸垹闄よ繘绋嬶紝骞惰缃厤缃枃浠惰矾寰勭瓑杩愯鍙傛暟銆俽obot_driver_node鍜宺obot_server瀵瑰簲鐨勯厤缃枃浠跺垎鍒负鈥滈」鐩枃浠跺す\\robot_configs鈥濅笅鐨剅obot_config.yaml鍜宺obot_server_config.yml銆�

   

3. 鍦ㄦ満姊拌噦涓婂畬鎴愬噯澶囧伐浣滐紝璇峰弬鑰� :doc:`../../appendix/robot_connection/robot`銆�

4. 鍗曞嚮Max杞欢鐣岄潰鍙充笂瑙� :guilabel:`铏氭嫙绀烘暀鍣╜锛屽崟鍑� :guilabel:`杩炴帴鏈烘鑷俙銆備豢鐪熻繍琛屾椂锛岄€夋嫨 **浠呰繛鎺ュ埌铏氭嫙鏈烘鑷�**锛岀劧鍚庡崟鍑诲彸涓婅 :guilabel:`杩炴帴铏氭嫙鏈烘鑷俙銆�

   

   .. image:: img/pendant.png
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