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LaTeX2e 常用命令参考手册

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"这是一份非官方的LaTeX参考手册,主要涵盖了LaTeX2e的常用命令。手册最初由George D. Greenwade基于VMS Help Library的LATEX.HLPv1.0a编写,经过Stephen Gilmore更新到LaTeX2.09版本,再由Torsten Martensen改编为LaTeX2e版本。Karl Berry在此基础上进行了进一步的更新和添加,他参考了Sheldon Green的Hypertext Help with LaTeX和L. Botway与C. Biemesderfer的LaTeX Command Summary (for LaTeX2.09)。手册的版权分别归Karl Berry、Stephen Gilmore和Torsten Martensen所有,并允许复制和分发原始副本,前提是保留版权通知和许可声明。" LaTeX是一种基于TeX的文字处理系统,用于排版结构化的文档。它提供了一系列命令来帮助用户创建高质量的文档,包括数学公式、表格、图形和复杂的引用格式。LaTeX2e是LaTeX的一个版本,它包含了对早期版本的改进和扩展。 以下是一些LaTeX2e中的常见命令: 1. **文档类命令**:`\documentclass`用于定义文档类型,如`\documentclass{article}`用于创建文章类型的文档。 2. **环境命令**:LaTeX使用环境来控制文档的布局和格式。例如,`\begin{enumerate}`和`\end{enumerate}`用于创建编号列表,`\begin{figure}`和`\end{figure}`用于插入图像并控制其浮动属性。 3. **数学模式**:在LaTeX中,数学公式可以通过`$...$`或`\[...\]`命令在行内或单独段落中输入。例如,`$\sum_{i=1}^{n} i^2$`将显示求和公式。 4. **章节命令**:`\section`, `\subsection`, 和 `\subsubsection` 用于创建文档的结构,分别对应主标题、次级标题和子次级标题。 5. **引用和交叉引用**:`\label{标识符}`用于为某个位置设置标签,`\ref{标识符}`用于引用该位置,而`\eqref`可以引用数学公式的标签。 6. **字体和样式命令**:`\textbf{文本}`, `\textit{文本}`, `\texttt{文本}`分别用于设置粗体、斜体和等宽字体。`\emph{文本}`则根据当前环境切换强调样式(通常是斜体)。 7. **列表命令**:`\item`用于列表项,`\description`环境可以创建描述列表,而`\enumerate`和`\itemize`则分别创建有序和无序列表。 8. **引文和参考文献**:`\cite`命令用于插入文献引用,配合 BibTeX 或 BibLaTeX 管理参考文献数据库。 9. **图片命令**:`\includegraphics[选项]{图片文件名}`用于插入图像,可以设置宽度、高度、对齐方式等选项。 10. **表格命令**:`\begin{tabular}{列定义}`和`\end{tabular}`定义表格,`|`表示分隔线,`c`, `l`, `r`分别代表居中、左对齐和右对齐的列。 这只是LaTeX2e命令的冰山一角,实际上还有许多其他命令用于创建复杂的文档结构,如章节标题样式、脚注、索引、多栏布局、页眉页脚自定义等。掌握这些基本命令后,用户可以创建出专业且美观的学术论文、报告和技术文档。

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rjh@rjh-Legion-Y7000-IRX9:~$ sudo chrt 10 bash [sudo] rjh 的密码: root@rjh-Legion-Y7000-IRX9:/home/rjh# cd catkin_ws root@rjh-Legion-Y7000-IRX9:/home/rjh/catkin_ws# source devel/setup.bash root@rjh-Legion-Y7000-IRX9:/home/rjh/catkin_ws# roslaunch elfin_robot_bringup elfin_ros_control.launch ... logging to /root/.ros/log/26502f3c-62ba-11f0-8430-fb5811965425/roslaunch-rjh-Legion-Y7000-IRX9-4179.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://rjh-Legion-Y7000-IRX9:34493/ SUMMARY ======== PARAMETERS * /elfin_arm_controller/action_monitor_rate: 10 * /elfin_arm_controller/constraints/goal_time: 0.6 * /elfin_arm_controller/constraints/stopped_velocity_tolerance: 0.1 * /elfin_arm_controller/joints: ['elfin_joint1', ... * /elfin_arm_controller/state_publish_rate: 25 * /elfin_arm_controller/stop_trajectory_duration: 0.05 * /elfin_arm_controller/type: position_controll... * /elfin_ros_control/elfin/axis_position_factors: [131072, 131072, ... * /elfin_ros_control/elfin/axis_torque_factors: [2536.224, 2536.2... * /elfin_ros_control/elfin/count_zeros: [10392149, 114135... * /elfin_ros_control/elfin/joint_names: ['elfin_joint2', ... * /elfin_ros_control/elfin/reduction_ratios: [101, 101, 101, 1... * /elfin_ros_control/elfin/slave_no: [1, 2, 3] * /elfin_ros_control/elfin_ethernet_name: enxf8e43be2c806 * /joint_state_controller/joints: ['elfin_joint1', ... * /joint_state_controller/publish_rate: 50 * /joint_state_controller/type: joint_state_contr... * /rosdistro: noetic * /rosversion: 1.17.3 NODES / elfin_arm_controller_spawner (controller_manager/controller_manager) elfin_joint_controller_spawner (controller_manager/controller_manager) elfin_ros_control (elfin_ros_control/elfin_hardware_interface) ROS_MASTER_URI=http://localhost:11311 process[elfin_ros_control-1]: started with pid [4231] process[elfin_joint_controller_spawner-2]: started with pid [4232] process[elfin_arm_controller_spawner-3]: started with pid [4233] Initializing etherCAT master SOEM found and configured 3 slaves SOEM IOMap size: 384 Finished configuration successfully recognizing joint positions, please wait a few minutes ... ... The voltage of slave 3 is: 48.301918V. [WARN] [1752721350.031541438]: recognizePose phase1 failed while pose recognition in slave 3, channel 1 The voltage of slave 1 is: 48.539201V. [WARN] [1752721350.042707511]: recognizePose phase1 failed while pose recognition in slave 1, channel 1 The voltage of slave 2 is: 48.435390V. [WARN] [1752721350.116324490]: recognizePose phase1 failed while pose recognition in slave 2, channel 1 [INFO] [1752721350.123945958]: positions are recognized automatically Loaded 'elfin_arm_controller' [INFO] [1752721350.475878958]: Joints parameter specified, publishing specified joints in desired order. Loaded 'joint_state_controller' Started ['joint_state_controller'] successfully [elfin_arm_controller_spawner-3] process has finished cleanly log file: /root/.ros/log/26502f3c-62ba-11f0-8430-fb5811965425/elfin_arm_controller_spawner-3*.log [elfin_joint_controller_spawner-2] process has finished cleanly log file: /root/.ros/log/26502f3c-62ba-11f0-8430-fb5811965425/elfin_joint_controller_spawner-2*.log Failed to read from ret:0, slave_no:4, index:0x6001, subidx:0x01 Failed to read from ret:0, slave_no:4, index:0x7001, subidx:0x01 rjh@rjh-Legion-Y7000-IRX9:~/catkin_ws$ roslaunch elfin_basic_api elfin_basic_api.launch ... logging to /home/rjh/.ros/log/26502f3c-62ba-11f0-8430-fb5811965425/roslaunch-rjh-Legion-Y7000-IRX9-5148.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://rjh-Legion-Y7000-IRX9:40751/ SUMMARY ======== PARAMETERS * /elfin_basic_api/octomap_resolution: 0.1 * /rosdistro: noetic * /rosversion: 1.17.3 NODES / elfin_basic_api (elfin_basic_api/elfin_basic_api_node) elfin_gui (elfin_basic_api/elfin_gui.py) ROS_MASTER_URI=http://localhost:11311 process[elfin_basic_api-1]: started with pid [5200] process[elfin_gui-2]: started with pid [5201] [INFO] [1752721529.688475482]: Loading robot model 'elfin5'... [INFO] [1752721529.688876405]: No root/virtual joint specified in SRDF. Assuming fixed joint [WARN] [1752721529.946238642]: IK plugin for group 'elfin_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). [INFO] [1752721529.947269409]: IK Using joint elfin_link1 -3.14 3.14 [INFO] [1752721529.947281856]: IK Using joint elfin_link2 -2.35 2.35 [INFO] [1752721529.947288023]: IK Using joint elfin_link3 -2.61 2.61 [INFO] [1752721529.947292380]: IK Using joint elfin_link4 -3.14 3.14 [INFO] [1752721529.947297802]: IK Using joint elfin_link5 -2.56 2.56 [INFO] [1752721529.947301917]: IK Using joint elfin_link6 -3.14 3.14 [INFO] [1752721529.947308671]: Looking in common namespaces for param name: elfin_arm/position_only_ik [INFO] [1752721529.947716105]: Looking in common namespaces for param name: elfin_arm/solve_type [INFO] [1752721529.948068494]: Using solve type Speed [INFO] [1752721530.264556136]: Loading robot model 'elfin5'... [INFO] [1752721530.264810423]: No root/virtual joint specified in SRDF. Assuming fixed joint [WARN] [1752721530.495684411]: IK plugin for group 'elfin_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). [INFO] [1752721530.497156629]: IK Using joint elfin_link1 -3.14 3.14 [INFO] [1752721530.497179966]: IK Using joint elfin_link2 -2.35 2.35 [INFO] [1752721530.497185712]: IK Using joint elfin_link3 -2.61 2.61 [INFO] [1752721530.497191200]: IK Using joint elfin_link4 -3.14 3.14 [INFO] [1752721530.497196378]: IK Using joint elfin_link5 -2.56 2.56 [INFO] [1752721530.497201236]: IK Using joint elfin_link6 -3.14 3.14 [INFO] [1752721530.497208263]: Looking in common namespaces for param name: elfin_arm/position_only_ik [INFO] [1752721530.498114765]: Looking in common namespaces for param name: elfin_arm/solve_type [INFO] [1752721530.498724410]: Using solve type Speed [INFO] [1752721531.021208287]: Ready to take commands for planning group elfin_arm. [INFO] [1752721531.294994673]: Loading robot model 'elfin5'... [INFO] [1752721531.295013267]: No root/virtual joint specified in SRDF. Assuming fixed joint [WARN] [1752721531.496140760]: IK plugin for group 'elfin_arm' relies on deprecated API. Please implement initialize(RobotModel, ...). [INFO] [1752721531.498108863]: IK Using joint elfin_link1 -3.14 3.14 [INFO] [1752721531.498123597]: IK Using joint elfin_link2 -2.35 2.35 [INFO] [1752721531.498129693]: IK Using joint elfin_link3 -2.61 2.61 [INFO] [1752721531.498134908]: IK Using joint elfin_link4 -3.14 3.14 [INFO] [1752721531.498140359]: IK Using joint elfin_link5 -2.56 2.56 [INFO] [1752721531.498144824]: IK Using joint elfin_link6 -3.14 3.14 [INFO] [1752721531.498149704]: Looking in common namespaces for param name: elfin_arm/position_only_ik [INFO] [1752721531.498780865]: Looking in common namespaces for param name: elfin_arm/solve_type [INFO] [1752721531.499309872]: Using solve type Speed [INFO] [1752721531.519259723]: Ready to take commands for planning group elfin_arm. [INFO] [1752721532.042548619]: Starting planning scene monitor [INFO] [1752721532.043202235]: Listening to '/planning_scene' [INFO] [1752721532.044296324]: Listening to '/attached_collision_object' for attached collision objects [INFO] [1752721532.044308055]: Starting world geometry update monitor for collision objects, attached objects, octomap updates. [INFO] [1752721532.044810705]: Listening to '/collision_object' [INFO] [1752721532.045350412]: Listening to '/planning_scene_world' for planning scene world geometry [WARN] [1752721532.045472964]: Target frame "world" specified but no TF instance (buffer) specified. No transforms will be applied to received data. [INFO] [1752721532.045575570]: No 3D sensor plugin(s) defined for octomap updates Waiting for service /elfin_basic_api/set_parameters... ^C[elfin_gui-2] killing on exit [elfin_basic_api-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done 如何解决

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