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<!DOCTYPE HTML>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="keywords" content="郭毅的博客">
<meta name="description" content="">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no">
<meta name="renderer" content="webkit|ie-stand|ie-comp">
<meta name="mobile-web-app-capable" content="yes">
<meta name="format-detection" content="telephone=no">
<meta name="apple-mobile-web-app-capable" content="yes">
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
<!-- Global site tag (gtag.js) - Google Analytics -->
<title>郭毅的博客</title>
<link rel="icon" type="image/png" href="/favicon.png">
<link rel="stylesheet" type="text/css" href="/libs/awesome/css/all.css">
<link rel="stylesheet" type="text/css" href="/libs/materialize/materialize.min.css">
<link rel="stylesheet" type="text/css" href="/libs/aos/aos.css">
<link rel="stylesheet" type="text/css" href="/libs/animate/animate.min.css">
<link rel="stylesheet" type="text/css" href="/libs/lightGallery/css/lightgallery.min.css">
<link rel="stylesheet" type="text/css" href="/css/matery.css">
<link rel="stylesheet" type="text/css" href="/css/my.css">
<script src="/libs/jquery/jquery.min.js"></script>
<meta name="generator" content="Hexo 5.4.0"></head>
<body>
<header class="navbar-fixed">
<nav id="headNav" class="bg-color nav-transparent">
<div id="navContainer" class="nav-wrapper container">
<div class="brand-logo">
<a href="/" class="waves-effect waves-light">
<img src="/medias/logo.png" class="logo-img" alt="LOGO">
<span class="logo-span">郭毅的博客</span>
</a>
</div>
<a href="#" data-target="mobile-nav" class="sidenav-trigger button-collapse"><i class="fas fa-bars"></i></a>
<ul class="right nav-menu">
<li class="hide-on-med-and-down nav-item">
<a href="/" class="waves-effect waves-light">
<i class="fas fa-home" style="zoom: 0.6;"></i>
<span>Index</span>
</a>
</li>
<li class="hide-on-med-and-down nav-item">
<a href="/tags" class="waves-effect waves-light">
<i class="fas fa-tags" style="zoom: 0.6;"></i>
<span>Tags</span>
</a>
</li>
<li class="hide-on-med-and-down nav-item">
<a href="/categories" class="waves-effect waves-light">
<i class="fas fa-bookmark" style="zoom: 0.6;"></i>
<span>Categories</span>
</a>
</li>
<li class="hide-on-med-and-down nav-item">
<a href="/archives" class="waves-effect waves-light">
<i class="fas fa-archive" style="zoom: 0.6;"></i>
<span>Archives</span>
</a>
</li>
<li class="hide-on-med-and-down nav-item">
<a href="/about" class="waves-effect waves-light">
<i class="fas fa-user-circle" style="zoom: 0.6;"></i>
<span>About</span>
</a>
</li>
<li class="hide-on-med-and-down nav-item">
<a href="/contact" class="waves-effect waves-light">
<i class="fas fa-comments" style="zoom: 0.6;"></i>
<span>Contact</span>
</a>
</li>
<li class="hide-on-med-and-down nav-item">
<a href="/friends" class="waves-effect waves-light">
<i class="fas fa-address-book" style="zoom: 0.6;"></i>
<span>Friends</span>
</a>
</li>
<li>
<a href="#searchModal" class="modal-trigger waves-effect waves-light">
<i id="searchIcon" class="fas fa-search" title="Search" style="zoom: 0.85;"></i>
</a>
</li>
</ul>
<div id="mobile-nav" class="side-nav sidenav">
<div class="mobile-head bg-color">
<img src="/medias/logo.png" class="logo-img circle responsive-img">
<div class="logo-name">郭毅的博客</div>
<div class="logo-desc">
Never really desperate, only the lost of the soul.
</div>
</div>
<ul class="menu-list mobile-menu-list">
<li class="m-nav-item">
<a href="/" class="waves-effect waves-light">
<i class="fa-fw fas fa-home"></i>
Index
</a>
</li>
<li class="m-nav-item">
<a href="/tags" class="waves-effect waves-light">
<i class="fa-fw fas fa-tags"></i>
Tags
</a>
</li>
<li class="m-nav-item">
<a href="/categories" class="waves-effect waves-light">
<i class="fa-fw fas fa-bookmark"></i>
Categories
</a>
</li>
<li class="m-nav-item">
<a href="/archives" class="waves-effect waves-light">
<i class="fa-fw fas fa-archive"></i>
Archives
</a>
</li>
<li class="m-nav-item">
<a href="/about" class="waves-effect waves-light">
<i class="fa-fw fas fa-user-circle"></i>
About
</a>
</li>
<li class="m-nav-item">
<a href="/contact" class="waves-effect waves-light">
<i class="fa-fw fas fa-comments"></i>
Contact
</a>
</li>
<li class="m-nav-item">
<a href="/friends" class="waves-effect waves-light">
<i class="fa-fw fas fa-address-book"></i>
Friends
</a>
</li>
<li><div class="divider"></div></li>
<li>
<a href="https://github.com/blinkfox/hexo-theme-matery" class="waves-effect waves-light" target="_blank">
<i class="fab fa-github-square fa-fw"></i>Fork Me
</a>
</li>
</ul>
</div>
</div>
<style>
.nav-transparent .github-corner {
display: none !important;
}
.github-corner {
position: absolute;
z-index: 10;
top: 0;
right: 0;
border: 0;
transform: scale(1.1);
}
.github-corner svg {
color: #0f9d58;
fill: #fff;
height: 64px;
width: 64px;
}
.github-corner:hover .octo-arm {
animation: a 0.56s ease-in-out;
}
.github-corner .octo-arm {
animation: none;
}
@keyframes a {
0%,
to {
transform: rotate(0);
}
20%,
60% {
transform: rotate(-25deg);
}
40%,
80% {
transform: rotate(10deg);
}
}
</style>
<a href="https://github.com/blinkfox/hexo-theme-matery" class="github-corner tooltipped hide-on-med-and-down" target="_blank"
data-tooltip="Fork Me" data-position="left" data-delay="50">
<svg viewBox="0 0 250 250" aria-hidden="true">
<path d="M0,0 L115,115 L130,115 L142,142 L250,250 L250,0 Z"></path>
<path d="M128.3,109.0 C113.8,99.7 119.0,89.6 119.0,89.6 C122.0,82.7 120.5,78.6 120.5,78.6 C119.2,72.0 123.4,76.3 123.4,76.3 C127.3,80.9 125.5,87.3 125.5,87.3 C122.9,97.6 130.6,101.9 134.4,103.2"
fill="currentColor" style="transform-origin: 130px 106px;" class="octo-arm"></path>
<path d="M115.0,115.0 C114.9,115.1 118.7,116.5 119.8,115.4 L133.7,101.6 C136.9,99.2 139.9,98.4 142.2,98.6 C133.8,88.0 127.5,74.4 143.8,58.0 C148.5,53.4 154.0,51.2 159.7,51.0 C160.3,49.4 163.2,43.6 171.4,40.1 C171.4,40.1 176.1,42.5 178.8,56.2 C183.1,58.6 187.2,61.8 190.9,65.4 C194.5,69.0 197.7,73.2 200.1,77.6 C213.8,80.2 216.3,84.9 216.3,84.9 C212.7,93.1 206.9,96.0 205.4,96.6 C205.1,102.4 203.0,107.8 198.3,112.5 C181.9,128.9 168.3,122.5 157.7,114.1 C157.9,116.9 156.7,120.9 152.7,124.9 L141.0,136.5 C139.8,137.7 141.6,141.9 141.8,141.8 Z"
fill="currentColor" class="octo-body"></path>
</svg>
</a>
</nav>
</header>
<style>
.carousel-control {
width: 45px;
height: 45px;
line-height: 55px;
border-radius: 45px;
background: transparent;
cursor: pointer;
z-index: 100;
}
#prev-cover {
position: absolute;
top: 48%;
left: 8px;
}
#next-cover {
position: absolute;
top: 48%;
right: 8px;;
}
#prev-cover i {
margin-right: 3px;
}
#next-cover i {
margin-left: 3px;
}
.carousel-control:hover {
background-color: rgba(0, 0, 0, .4);
}
.carousel-control i {
color: #fff;
font-size: 2.4rem;
}
</style>
<div class="carousel carousel-slider center index-cover" data-indicators="true" style="margin-top: -64px;">
<div class="carousel-item red white-text bg-cover about-cover">
<div class="container">
<div class="row">
<div class="col s10 offset-s1 m8 offset-m2 l8 offset-l2">
<div class="brand">
<div class="title center-align">
一个分享技术，生活的空间
</div>
<div class="description center-align">
<span id="subtitle"></span>
<script src="https://cdn.jsdelivr.net/npm/[email protected]"></script>
<script>
var typed = new Typed("#subtitle", {
strings: [
"百尺竿头，更进一步！",
"make still further progress！",
],
startDelay: 300,
typeSpeed: 100,
loop: true,
backSpeed: 50,
showCursor: true
});
</script>
</div>
</div>
</div>
</div>
<script>
// 每天切换 banner 图. Switch banner image every day.
var bannerUrl = "/medias/banner/" + new Date().getDay() + '.jpg';
$('.bg-cover').css('background-image', 'url(' + bannerUrl + ')');
</script>
<div class="cover-btns">
<a href="#indexCard" class="waves-effect waves-light btn">
<i class="fa fa-angle-double-down"></i>Start
</a>
<a href="https://github.com/codedetermination" class="waves-effect waves-light btn" target="_blank">
<i class="fab fa-github-alt"></i>Github
</a>
</div>
<div class="cover-social-link">
<a href="https://github.com/codedetermination" class="tooltipped" target="_blank" data-tooltip="访问我的GitHub" data-position="top" data-delay="50">
<i class="fab fa-github"></i>
</a>
<a href="mailto:[email protected]" class="tooltipped" target="_blank" data-tooltip="邮件联系我" data-position="top" data-delay="50">
<i class="fas fa-envelope-open"></i>
</a>
<a href="tencent://AddContact/?fromId=50&fromSubId=1&subcmd=all&uin=1686477193" class="tooltipped" target="_blank" data-tooltip="QQ联系我: 1686477193" data-position="top" data-delay="50">
<i class="fab fa-qq"></i>
</a>
<a href="/atom.xml" class="tooltipped" target="_blank" data-tooltip="RSS 订阅" data-position="top" data-delay="50">
<i class="fas fa-rss"></i>
</a>
</div>
</div>
</div>
</div>
<script>
$(function () {
let coverSlider = $('.carousel');
//用户触摸轮播自动 restartPlay 是否生效
let initUserPressedOrDraggedActive = false
//用户触摸轮播自动 restartPlay
function initUserPressedOrDragged(instance) {
setInterval(() => {
if (instance.pressed || instance.dragged) {
// console.log('initUserPressedOrDragged: ',instance.pressed,instance.dragged)
restartPlay()
}
}, 1000)
}
coverSlider.carousel({
duration: Number('120'),
fullWidth: true,
indicators: 'true' === 'true',
onCycleTo() {
if (!initUserPressedOrDraggedActive) {
// console.log('initUserPressedOrDraggedActive')
initUserPressedOrDragged(this)
initUserPressedOrDraggedActive = true
}
},
})
let carouselIntervalId;
// Loop to call the next cover article picture.
let autoCarousel = function () {
carouselIntervalId = setInterval(function () {
coverSlider.carousel('next');
}, 5000);
};
autoCarousel();
function restartPlay() {
clearInterval(carouselIntervalId);
autoCarousel();
};
// prev and next cover post.
$('#prev-cover').click(function () {
coverSlider.carousel('prev');
restartPlay();
});
$('#next-cover').click(function () {
coverSlider.carousel('next');
restartPlay();
});
});
</script>
<main class="content">
<div id="indexCard" class="index-card">
<div class="container ">
<div class="card">
<div class="card-content">
<div class="dream">
<div class="title center-align">
<i class="far fa-lightbulb"></i> 近期目标
</div>
<div class="row">
<div class="col l8 offset-l2 m10 offset-m1 s10 offset-s1 center-align text">
一个小的ros项目，学习深度学习
</div>
</div>
</div>
<div id="recommend-sections" class="recommend">
</div>
</div>
</div>
</div>
</div>
<!-- 所有文章卡片 -->
<article id="articles" class="container articles">
<div class="row article-row">
<div class="article col s12 m6 l4" data-aos="zoom-in">
<div class="card">
<a href="/2021/07/05/blog13/">
<div class="card-image">
<img src="/medias/featureimages/12.jpg" class="responsive-img" alt="blog13">
<span class="card-title">blog13</span>
</div>
</a>
<div class="card-content article-content">
<div class="summary block-with-text">
CMAKE 的使用与实践前言： CMAKE历史之类，这里就不再介绍了，只需要知道CMAKE是一个非常好用的工具，他可以帮助人们快速的构建项目
最简单的CMAKE 实践
如果你想要构建最简单的项目，只需要一个程序文件，一个CMake
</div>
<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-07-05
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
</span>
</div>
</div>
<div class="card-action article-tags">
<a href="/tags/robomaster-cmake/">
<span class="chip bg-color">robomaster, cmake</span>
</a>
</div>
</div>
</div>
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<div class="card">
<a href="/2021/06/17/mathtest/">
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<img src="/medias/featureimages/2.jpg" class="responsive-img" alt="mathtest">
<span class="card-title">mathtest</span>
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</a>
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<div class="summary block-with-text">
\begin{gather*}\begin{matrix} 0 & 1 \\ 1 & 0 \end{matrix}\quad\begin{pmatrix} 0 & -i \\ i & 0 \end{pmatr
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-06-17
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<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
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</div>
</div>
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<div class="article col s12 m6 l4" data-aos="zoom-in">
<div class="card">
<a href="/2021/05/24/blog12/">
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<img src="/medias/featureimages/16.jpg" class="responsive-img" alt="深入理解move_group与moveit">
<span class="card-title">深入理解move_group与moveit</span>
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<div class="card-content article-content">
<div class="summary block-with-text">
今天一下子梳理两个重要的知识，解决了困扰了两周的问题，也警示我了看问题一定要长远，研究这个东西某种意义上就是慢就是快，下面我们进一步对move_group进行考察我们这次也是按照上次的思路，按照一个launch文件进行分析，然后总结和归纳相
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-24
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
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</div>
<div class="card-action article-tags">
<a href="/tags/ros/">
<span class="chip bg-color">ros</span>
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<a href="/2021/05/24/blog11/">
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<img src="/medias/featureimages/9.jpg" class="responsive-img" alt="对于ros与move_group的深入理解">
<span class="card-title">对于ros与move_group的深入理解</span>
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<div class="card-content article-content">
<div class="summary block-with-text">
之前对这些操作只是囫囵吞枣，没有好好的去真正掌握它的精髓，以为给他们进行运动学规划只需要使用moveit_assistant来生成相应的配置，这样虽然一时方便，但缺乏了后续对于这套系统的进一步认知，下来就来谈一谈关于这些方面更加细节的内容。
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-24
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
</span>
</div>
</div>
<div class="card-action article-tags">
<a href="/tags/ros/">
<span class="chip bg-color">ros</span>
</a>
</div>
</div>
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<a href="/2021/05/24/blog10/">
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<img src="/medias/featureimages/19.jpg" class="responsive-img" alt="dobot操作">
<span class="card-title">dobot操作</span>
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<div class="card-content article-content">
<div class="summary block-with-text">
Magician Robotarm
======
本文件夹中包含了多个为Magician机械臂提供ROS支持的软件包。推荐的运行环境为 Ubuntu 16.04 + ROS Kinetic 或 Ubuntu 18.04 + ROS Melo
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-24
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
</span>
</div>
</div>
<div class="card-action article-tags">
<a href="/tags/ros/">
<span class="chip bg-color">ros</span>
</a>
</div>
</div>
</div>
<div class="article col s12 m6 l4" data-aos="zoom-in">
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<a href="/2021/05/23/blog9/">
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<img src="/medias/featureimages/11.jpg" class="responsive-img" alt="ros_controller">
<span class="card-title">ros_controller</span>
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contoller 插件里面继承 model 插件move_group ? ros_control?ros control 继承自 model plugin这个类
如果每个关节写，可能会非常复杂
提取公共信息使用ros control
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-23
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
</span>
</div>
</div>
<div class="card-action article-tags">
<a href="/tags/ros/">
<span class="chip bg-color">ros</span>
</a>
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<a href="/2021/05/22/blog8/">
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<img src="/medias/featureimages/1.jpg" class="responsive-img" alt="相机相关问题">
<span class="card-title">相机相关问题</span>
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<div class="card-content article-content">
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相机坐标变换：(http://robot.czxy.com/docs/camera/chapter01/04-coordinates/)在这里可以看到相关的相机标定相关的知识
相机的畸变来自于两个方面：
畸变参数透镜的性质导致的畸变，每个
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-22
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
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</div>
<div class="card-action article-tags">
<a href="/tags/%E7%9B%B8%E6%9C%BA/">
<span class="chip bg-color">相机</span>
</a>
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<div class="article col s12 m6 l4" data-aos="zoom-in">
<div class="card">
<a href="/2021/05/19/blog7/">
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<img src="/medias/featureimages/11.jpg" class="responsive-img" alt="ros出现过的问题">
<span class="card-title">ros出现过的问题</span>
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<div class="card-content article-content">
<div class="summary block-with-text">
launch param的理解：如果是node节点下面的param就是name是命名空间和参数 value就是参数值如果是rosparam file设置加载的文件的路径 param是参数名称 ns是命名空间将文件配置到服务器 然后从服务器中
</div>
<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-19
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
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</div>
</div>
<div class="card-action article-tags">
<a href="/tags/ros/">
<span class="chip bg-color">ros</span>
</a>
</div>
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<div class="article col s12 m6 l4" data-aos="zoom-in">
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<a href="/2021/05/07/blog6/">
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<img src="/medias/featureimages/16.jpg" class="responsive-img" alt="ros与arudino交互踩坑">
<span class="card-title">ros与arudino交互踩坑</span>
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<div class="card-content article-content">
<div class="summary block-with-text">
这几天遇到一些bug，自己最终都解决了，在这里记录一下：首先是
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-07
</span>
<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
</span>
</div>
</div>
<div class="card-action article-tags">
<a href="/tags/ros/">
<span class="chip bg-color">ros</span>
</a>
</div>
</div>
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<div class="card">
<a href="/2021/05/04/blog5/">
<div class="card-image">
<img src="/medias/featureimages/0.jpg" class="responsive-img" alt="ubuntu qt动态库的问题">
<span class="card-title">ubuntu qt动态库的问题</span>
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<div class="card-content article-content">
<div class="summary block-with-text">
昨天心血来潮来配置dobot结果由于ubuntu版本不一致，导致自己在配置的时候出现了一些问题，比如自己为了使用dobot中提供的库，采用环境变量变成了dobot使用的库，但是由于系统本身的库要更新一些，因此出现了兼容的问题，具体表现就是
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<div class="publish-info">
<span class="publish-date">
<i class="far fa-clock fa-fw icon-date"></i>2021-05-04
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<span class="publish-author">
<i class="fas fa-user fa-fw"></i>
郭毅
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<div class="card-action article-tags">
<a href="/tags/ubuntu/">
<span class="chip bg-color">ubuntu</span>
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