hr0622 · Sep 21, 2026 · Oct 8, 2026
diff --git a/docs/chapter/chap7.md b/docs/chapter/chap7.md
diff --git a/docs/img/code/chap7/02_rostopic_list.png b/docs/img/code/chap7/02_rostopic_list.png
diff --git a/docs/img/code/chap7/03_catkin_make_success.png b/docs/img/code/chap7/03_catkin_make_success.png
diff --git a/docs/img/code/chap7/04_spawn_success_log.png b/docs/img/code/chap7/04_spawn_success_log.png
diff --git a/docs/img/code/chap7/05_car_in_gazebo.png b/docs/img/code/chap7/05_car_in_gazebo.png
diff --git a/docs/img/code/chap7/06_keyboard_teleop.png b/docs/img/code/chap7/06_keyboard_teleop.png
diff --git a/docs/img/code/chap7/07_insert_online_unavailable.png b/docs/img/code/chap7/07_insert_online_unavailable.png
diff --git a/docs/img/code/chap7/08_rviz_robotmodel_ok.png b/docs/img/code/chap7/08_rviz_robotmodel_ok.png
diff --git a/docs/img/code/chap7/09_laserscan_self_hit_rviz.png b/docs/img/code/chap7/09_laserscan_self_hit_rviz.png
diff --git a/docs/img/code/chap7/10_laserscan_ranges_min.png b/docs/img/code/chap7/10_laserscan_ranges_min.png
diff --git a/docs/img/code/chap7/11_laserscan_valid_count.png b/docs/img/code/chap7/11_laserscan_valid_count.png
diff --git a/docs/img/code/chap7/12_grep_collision_removed.png b/docs/img/code/chap7/12_grep_collision_removed.png
diff --git a/docs/img/code/chap7/13_rosparam_collision_count.png b/docs/img/code/chap7/13_rosparam_collision_count.png
diff --git a/docs/img/code/chap7/14_killall_visualize.png b/docs/img/code/chap7/14_killall_visualize.png
diff --git a/docs/img/code/chap7/15_ray_fan_open.png b/docs/img/code/chap7/15_ray_fan_open.png
diff --git a/docs/img/code/chap7/16_ray_fan_box_shadow.png b/docs/img/code/chap7/16_ray_fan_box_shadow.png
diff --git a/docs/img/code/chap7/17_tf_repeated_warning.png b/docs/img/code/chap7/17_tf_repeated_warning.png
diff --git a/docs/img/code/chap7/18_front_wheel_jsp.png b/docs/img/code/chap7/18_front_wheel_jsp.png
diff --git a/docs/img/code/chap7/19_gazebo_pose_panel.png b/docs/img/code/chap7/19_gazebo_pose_panel.png
diff --git a/docs/img/code/chap7/20_box_at_2m.png b/docs/img/code/chap7/20_box_at_2m.png
diff --git a/docs/img/code/chap7/21_rviz_pointcloud_top.png b/docs/img/code/chap7/21_rviz_pointcloud_top.png
diff --git a/docs/img/code/chap7/22_camera_rqt.png b/docs/img/code/chap7/22_camera_rqt.png
diff --git a/docs/img/code/chap7/23_imu_hz.png b/docs/img/code/chap7/23_imu_hz.png
diff --git a/docs/img/code/chap7/24_imu_echo.png b/docs/img/code/chap7/24_imu_echo.png
diff --git a/docs/img/code/chap7/25_laser_hz_40.png b/docs/img/code/chap7/25_laser_hz_40.png
diff --git a/docs/index.md b/docs/index.md
@@ -39,7 +39,7 @@ ROS每章节运行代码:
 * [第 4 章](./chapter/chap4.md) - 机器人仿真
 * [第 5 章](./chapter/chap5.md) - 机器人感知
 * [第 6 章](./chapter/chap6.md) - 机器人 SLAM 与自主导航
-* [第 7 章](./chapter/chap7.md) - 机械臂控制
+* [第 7 章](./chapter/chap7.md) - 阿克曼四轮小车运动控制
 * [第 8 章](./chapter/chap8.md) - ROS 机器人综合应用
 * [第 9 章](./chapter/chap9.md) - ROS 2
 

diff --git a/mkdocs.yml b/mkdocs.yml
@@ -70,7 +70,7 @@ nav:
     - 4. 机器人仿真: './chapter/chap4.md'
     - 5. 机器人感知: './chapter/chap5.md'
     - 6. 机器人 SLAM 与自主导航: './chapter/chap6.md'
-    - 7. 机械臂控制: './chapter/chap7.md'
+    - 7. 阿克曼四轮小车运动控制: './chapter/chap7.md'
     - 8. ROS 机器人综合应用: './chapter/chap8.md'
     - 9. ROS 2: './chapter/chap9.md'
 - 人形机器人:

diff --git a/src/chap7/README.md b/src/chap7/README.md
@@ -0,0 +1,37 @@
+# 第 7 章 阿克曼四轮小车运动控制代码
+
+本目录包含两个 catkin 功能包：
+
+| 功能包 | 内容 |
+| --- | --- |
+| `smartcar_description` | 整车 xacro 模型、ros_control 控制器配置、Gazebo 启动文件、Rviz 配置 |
+| `smartcar_control` | 键盘遥控与阿克曼运动解算节点、前轮 TF 补全节点 |
+
+## 使用方法
+
+```bash
+# 1. 将两个功能包复制到工作空间 src 目录
+mkdir -p ~/catkin_ws/src
+cp -r smartcar_description smartcar_control ~/catkin_ws/src/
+
+# 2. 编译
+cd ~/catkin_ws
+catkin_make
+source devel/setup.bash
+
+# 3. 启动仿真环境（Gazebo + 模型 + 控制器）
+roslaunch smartcar_description smartcar_gazebo.launch
+
+# 4. 新开终端，补全前轮 TF
+rosrun smartcar_control front_wheel_jsp.py
+
+# 5. 新开终端，启动键盘遥控
+roslaunch smartcar_control smartcar_gazebo_controller.launch
+
+# 6. 新开终端，启动 Rviz
+rviz -d $(rospack find smartcar_description)/config/smartcar.rviz
+```
+
+按键说明：`w/s` 加减速，`e/q` 前进时左/右转，`z/c` 后退时右/左转，`x` 转向回正，空格紧急停车。
+
+配套文档见 `docs/chapter/chap7.md`。
diff --git a/src/chap7/marm_description/CMakeLists.txt b/src/chap7/marm_description/CMakeLists.txt
diff --git a/src/chap7/marm_description/launch/view_arm.launch b/src/chap7/marm_description/launch/view_arm.launch
diff --git a/src/chap7/marm_description/package.xml b/src/chap7/marm_description/package.xml