ROS has software commands that, for instance, provide ways of controlling a robot's navigation, and its arms, grippers and sensors, without needing details of how the hardware functions.
When ROS boots up on a robot's computer, it asks for a description of the robot that includes things like the length of its arm segments and how the joints rotate.
3
机器人臂绕枢轴转动并伸直,好像伸出它的机械手。
It pivots around and straightens as it extends its mechanical hand.