{"id":1043,"date":"2025-11-29T18:19:33","date_gmt":"2025-11-29T10:19:33","guid":{"rendered":"https:\/\/www.kakosci.com\/?p=1043"},"modified":"2025-12-05T09:16:08","modified_gmt":"2025-12-05T01:16:08","slug":"ubuntu-22-04-lts-%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bb%bf%e7%9c%9f%e7%ba%aa%e5%ae%9e%ef%bc%88ros2px4gazebo%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kakosci.com\/index.php\/2025\/11\/29\/ubuntu-22-04-lts-%e6%97%a0%e4%ba%ba%e6%9c%ba%e4%bb%bf%e7%9c%9f%e7%ba%aa%e5%ae%9e%ef%bc%88ros2px4gazebo%ef%bc%89\/","title":{"rendered":"Ubuntu 22.04 LTS \u65e0\u4eba\u673a\u4eff\u771f\u7eaa\u5b9e\uff08ROS2+PX4+Gazebo\uff09"},"content":{"rendered":"\n<blockquote class=\"wp-block-quote is-style-default has-small-font-size is-layout-flow wp-block-quote-is-layout-flow\">\n<blockquote class=\"wp-block-quote is-style-default is-layout-flow wp-block-quote-is-layout-flow\">\n<p><em>\u5982\u4eca\u6211\u6210\u4e3a\u4e86\u6b7b\u795e\uff0c\u4e50\u961f\u7684\u6bc1\u706d\u8005\u3002\u2014\u2014\u5965\u672c\u6d77\u7766<\/em><\/p>\n<\/blockquote>\n<\/blockquote>\n\n\n\n<p>\u516b\u516d\uff1a\u662f\u5417\u2026\u2026\u4e3a\u4ec0\u4e48\u8981\u544a\u8bc9\u6211\u8fd9\u4e2a<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u975e\u5e38\u574f\u60e0\u666e\u6697\u5f71\u7cbe\u70755060ti\u4e3b\u673a\u88c5ubuntu\u53cc\u7cfb\u7edf<\/h2>\n\n\n\n<p>\u603b\u4e4b\u4ece\u7b14\u8bb0\u672c\u8fc1\u79fb\u5230\u53f0\u5f0f\u4e86\uff0c\u4f46\u662f\u60e0\u666e\u8fd9\u4e2a\u53f0\u5f0f\u4f3c\u4e4e\u663e\u5361\u592a\u65b0\u4e14\u5e95\u5c42\u8ddf\u5b89\u88c5\u76d8\u6709\u70b9\u51b2\u7a81\uff0c\u5b89\u88c5\u4e00\u5f00\u59cb\u5c31\u4f1a\u9ed1\u5c4f\uff0c\u5c31\u7b97\u88c5\u5b8c\u8fd8\u6709grub\u6302\u8f7d\u95ee\u9898\uff0c\u89e3\u51b3\u529e\u6cd5\u6765\u81eaCSDN\uff1a<\/p>\n\n\n\n<p><a href=\"https:\/\/blog.csdn.net\/qq_61133322\/article\/details\/149222506#:~:text=%E6%91%98%E8%A6%81%EF%BC%9A%E6%9C%AC%E6%96%87%E5%88%86%E4%BA%AB%E4%BA%86Ubuntu%E5%AE%89%E8%A3%85%E8%BF%87%E7%A8%8B%E4%B8%AD%E4%B8%A4%E4%B8%AA%E5%B8%B8%E8%A7%81%E9%BB%91%E5%B1%8F%E9%97%AE%E9%A2%98%E7%9A%84%E8%A7%A3%E5%86%B3%E6%96%B9%E6%A1%88%E3%80%82%20%E7%AC%AC%E4%B8%80%E4%B8%AA%E9%97%AE%E9%A2%98%E6%98%AF%E5%9C%A8%E5%90%AF%E5%8A%A8%E6%97%B6%E6%8C%81%E7%BB%AD%E9%BB%91%E5%B1%8F%EF%BC%8C%E5%8F%AF%E9%80%9A%E8%BF%87%E4%BF%AE%E6%94%B9%E5%90%AF%E5%8A%A8%E5%8F%82%E6%95%B0%E6%B7%BB%E5%8A%A0nomodeset%E7%AD%89%E9%80%89%E9%A1%B9%E8%A7%A3%E5%86%B3%E3%80%82%20%E7%AC%AC%E4%BA%8C%E4%B8%AA%E9%97%AE%E9%A2%98%E6%98%AFGRUB%E5%AE%89%E8%A3%85%E5%A4%B1%E8%B4%A5%EF%BC%8C%E9%9C%80%E8%BF%9B%E5%85%A5%E8%AF%95%E7%94%A8%E6%A8%A1%E5%BC%8F%E6%89%8B%E5%8A%A8%E6%8C%82%E8%BD%BD%E5%88%86%E5%8C%BA%E5%B9%B6%E4%BF%AE%E5%A4%8DGRUB%E3%80%82,%E5%85%B7%E4%BD%93%E6%AD%A5%E9%AA%A4%E5%8C%85%E6%8B%AC%EF%BC%9A%E7%A1%AE%E8%AE%A4EFI%E5%88%86%E5%8C%BA%E3%80%81%E6%8C%82%E8%BD%BD%E7%B3%BB%E7%BB%9F%E7%9B%AE%E5%BD%95%E3%80%81%E7%BB%91%E5%AE%9A%E7%BD%91%E7%BB%9C%E9%85%8D%E7%BD%AE%E3%80%81%E5%AE%89%E8%A3%85GRUB%E7%BB%84%E4%BB%B6%EF%BC%8C%E6%9C%80%E5%90%8E%E4%BD%BF%E7%94%A8Boot-Repair%E5%B7%A5%E5%85%B7%E8%87%AA%E5%8A%A8%E4%BF%AE%E5%A4%8D%E3%80%82%20%E5%A4%9A%E6%AC%A1%E4%BF%AE%E6%94%B9%E5%90%AF%E5%8A%A8%E5%8F%82%E6%95%B0%E5%92%8C%E6%9B%B4%E6%96%B0%E7%B3%BB%E7%BB%9F%E5%90%8E%EF%BC%8C%E6%88%90%E5%8A%9F%E8%A7%A3%E5%86%B3%E9%BB%91%E5%B1%8F%E9%97%AE%E9%A2%98%E5%B9%B6%E6%AD%A3%E5%B8%B8%E8%BF%9B%E5%85%A5%E7%B3%BB%E7%BB%9F%E3%80%82%20_ubuntu22.04%2B5060%E6%98%BE%E5%8D%A1\" target=\"_blank\" rel=\"noopener\">ubuntu22.04+5060\u663e\u5361\u53cc\u7cfb\u7edf\u5b89\u88c5\uff0c\u5404\u79cd\u9ed1\u5c4f\u8e29\u5751\u8bb0\u5f55<\/a><\/p>\n\n\n\n<p>\u603b\u4e4bu\u76d8\u542f\u52a8\u521a\u5f00\u59cb\u7684grub\u754c\u9762\u5728try or install ubuntu\u9009\u9879\u6309e\uff0c\u8fdb\u53bb\u5728<strong>quiet splash<\/strong>\u540e\u9762\u6539\u4e3a\u4ee5\u4e0b\u53c2\u6570\u662f\u5bf9\u7684\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">nomodeset acpi=off noapic<\/code><\/pre>\n\n\n\n<p>\u5b89\u88c5\u63a8\u8350\u90fd\u9009\u82f1\u6587\u3002\u88c5\u5b8c\u62a5\u9519\u5148\u4e0d\u7ba1\uff0c\u7cfb\u7edf\u5df2\u7ecf\u88c5\u597d\u53ea\u662f\u9700\u8981\u4fee\u590dgrub\u3002\u91cd\u65b0\u7528\u5b89\u88c5\u76d8\u542f\u52a8\u5e76\u9009\u62e9\u8bd5\u7528\uff0c\u7136\u540eboot-repair\u9009\u81ea\u52a8\u4fee\u590d\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">sudo apt update\nsudo apt install -y software-properties-common\nsudo add-apt-repository ppa:yannubuntu\/boot-repair\nsudo apt update\nsudo apt install -y boot-repair\nboot-repair<\/code><\/pre>\n\n\n\n<p>\u65b0\u7cfb\u7edf\u8fdb\u53bb\u518d\u88c5\u4e2anvidia\u9a71\u52a8\uff0c\u5f00\u673a\u5c31\u4e0d\u7528\u518d\u52a0\u53c2\u6570\u4e86\u3002\u6211\u8fd9\u88c5\u4e86open kernel\u7684\u7248\u672c\u624d\u80fd\u6b63\u5e38\u914d\u7f6envidia-smi\u548c<strong>CUDA<\/strong>\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">ROS\u5b89\u88c5<\/h2>\n\n\n\n<p>\u5b98\u65b9Humble\u5b89\u88c5\u6b65\u9aa4\uff1a<a href=\"https:\/\/docs.ros.org\/en\/humble\/Installation\/Ubuntu-Install-Debs.html\" target=\"_blank\" rel=\"noopener\">https:\/\/docs.ros.org\/en\/humble\/Installation\/Ubuntu-Install-Debs.html<\/a><\/p>\n\n\n\n<p>\u6700\u540e\u5efa\u8bae\u628a\u8fd9\u4e2a\u73af\u5883\u53d8\u91cf\u76f4\u63a5\u5199\u5230~\/.bashrc\u91cc\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">source \/opt\/ros\/humble\/setup.bash<\/code><\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">PX4\u4e0eGazebo\u914d\u7f6e<\/h2>\n\n\n\n<p>PX4\u98de\u63a7\u6309\u5b98\u65b9\u6b65\u9aa4git\u4e0b\u6765\u5c31\u884c\uff1a<a href=\"https:\/\/docs.px4.io\/main\/en\/dev_setup\/building_px4\" target=\"_blank\" rel=\"noopener\">https:\/\/docs.px4.io\/main\/en\/dev_setup\/building_px4<\/a>\uff0c\u4f1a\u987a\u4fbf\u81ea\u52a8\u88c5\u4e00\u4e2agazebo sim 8\uff08Harmonic\uff09\uff0c\u56e0\u4e3a\u7248\u672c\u95ee\u9898\uff08ROS2 Humble\u4e00\u822c\u9002\u914dFortress\u7684Gazebo\uff0c\u4f46\u6211\u6015PX4\u51fa\u95ee\u9898\u6ca1\u5c1d\u8bd5\u6362\u7248\u672c\u2026\u2026\uff09\uff0c\u5176\u548cROS2\u7684\u6865\u63a5\u5305\u8981\u6ce8\u610f\uff0c\u4e0d\u7136gz\u8bdd\u9898\u65e0\u6cd5\u6b63\u5e38\u53d1\u5e03\u5230ROS2\u4e0a\uff0c\u5f88\u96be\u6536\uff0c\u4eb2\u6d4b\u8fd9\u4e2a\u80fd\u7528\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">sudo apt install ros-humble-ros-gzharmonic<\/code><\/pre>\n\n\n\n<p>\u4e3a\u4e86\u548c\u7ec4\u7684\u5b9e\u673a\u5339\u914d\uff0cgit\u5b8c\u4ed3\u5e93\u4e4b\u540e\u6211\u6362\u6210\u4e86v1.16.0\uff0c\u53c2\u8003\uff1a<a href=\"https:\/\/blog.csdn.net\/qq_62689471\/article\/details\/136214621\" target=\"_blank\" rel=\"noopener\">https:\/\/blog.csdn.net\/qq_62689471\/article\/details\/136214621<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">QGC\u5730\u9762\u7ad9<\/h2>\n\n\n\n<p>\u540c\u6837\u6309\u5b98\u65b9\u6d41\u7a0b\uff1a<a href=\"https:\/\/docs.qgroundcontrol.com\/Stable_V5.0\/en\/qgc-user-guide\/getting_started\/download_and_install.html\" target=\"_blank\" rel=\"noopener\">https:\/\/docs.qgroundcontrol.com\/Stable_V5.0\/en\/qgc-user-guide\/getting_started\/download_and_install.html<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u57fa\u672c\u7684\u4eff\u771f\uff0c\u987a\u4fbfpython\u63a7\u5236\u8d77\u964d<\/h2>\n\n\n\n<p>\u4ee3\u7801\u63a7\u5236\u65e0\u4eba\u673a\u53ef\u4ee5\u901a\u8fc7\u4e24\u79cd\u63a5\u53e3\uff0c\u5c01\u88c5\u597d\u7684MAVLink\uff0c\u6216\u8005\u6bd4\u8f83\u5e95\u5c42\u7684XRCE-DDS\u3002\u540e\u8005\u641e\u4e86\u534a\u5929\u9009\u62e9\u653e\u5f03\u2026\u2026PX4\u5b98\u65b9\u548cAI\u90fd\u4f1a\u63a8\u8350\u540e\u9762\u8fd9\u4e2a\uff0c\u4f46\u4e00\u770b\u76f8\u5173github\u4ed3\u5e93\u91cc\u90fd\u6ca1\u51e0\u4e2a\u4eba\u5728\u7528\u3002\u800cMAVLink\u534f\u8bae\u7684\u65b9\u6cd5\u53c8\u5206\u4e24\u79cd\uff1a\u4e00\u662fMAVROS\uff0c\u901a\u8fc7ROS2\u505a\u4e2d\u95f4\u5546\u8f6c\u53d1\u6307\u4ee4\uff0c\u540e\u671f\u518d\u770b\u770b\u6709\u6ca1\u6709\u5fc5\u8981\u5427\uff0c\u522b\u4eba\u8bba\u6587\u91cc\u662f\u7528\u7684\u8fd9\u4e2a\u2026\u2026\u4e8c\u662fpython\u7684mavsdk\u5e93\uff0c\u6211\u5927\u6982\u6216\u8bb8\u4f3c\u4e4e\u786e\u51ff\u662f\u76f4\u63a5pip\u7684\u3002\u4e00\u4e2a\u5b9e\u4f8b\uff1a<\/p>\n\n\n\n<p>\u5148cd\u5230PX4\u4ed3\u5e93\u7684\u6839\u76ee\u5f55\uff0c\u7136\u540e\u542f\u52a8\u65e0\u4eba\u673a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">make px4_sitl gz_x500<\/code><\/pre>\n\n\n\n<p>python\u8fd0\u884c\u5b9e\u4f8b\u8d77\u964d\u4ee3\u7801\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"python\" class=\"language-python\">import asyncio\nfrom mavsdk import System\n\n# 14540 \u662f S.I.T.L. (Software-in-the-Loop) \u9ed8\u8ba4\u66b4\u9732\u7684 MAVLink \u9065\u6d4b\u7aef\u53e3\nMAVLINK_ADDRESS = \"udp:\/\/:14540\" \n\nasync def run():\n    \"\"\"\u8fde\u63a5\u5230\u65e0\u4eba\u673a\u5e76\u6267\u884c\u57fa\u672c\u4efb\u52a1\"\"\"\n    \n    # --- \u521d\u59cb\u5316 ---\n    drone = System()\n    print(f\"\u5c1d\u8bd5\u8fde\u63a5\u5230\u65e0\u4eba\u673a\uff1a{MAVLINK_ADDRESS}\")\n    await drone.connect(system_address=MAVLINK_ADDRESS)\n\n    print(\"\u7b49\u5f85\u65e0\u4eba\u673a\u8fde\u63a5...\")\n    async for state in drone.core.connection_state():\n        if state.is_connected:\n            print(f\"\u65e0\u4eba\u673a\u5df2\u8fde\u63a5\uff01\")\n            break\n\n    # --- \u7b49\u5f85\u98de\u63a7\u521d\u59cb\u5316 (\u4f8b\u5982\uff0c\u7b49\u5f85 GPS \u9501\u5b9a\/Home \u4f4d\u7f6e\u8bbe\u7f6e) ---\n    print(\"\u7b49\u5f85 Home \u4f4d\u7f6e\u8bbe\u7f6e...\")\n    async for health in drone.telemetry.health():\n        if health.is_global_position_ok and health.is_home_position_ok:\n            print(\"Home \u4f4d\u7f6e\u548c\u5168\u5c40\u5b9a\u4f4d\u6b63\u5e38\u3002\")\n            break\n\n    # --- \u89e3\u9501\/\u5e03\u9632 ---\n    print(\"-- \u6b63\u5728\u89e3\u9501\/\u5e03\u9632\u65e0\u4eba\u673a\")\n    await drone.action.arm()\n    \n    # --- \u8d77\u98de ---\n    # \u9ed8\u8ba4\u9ad8\u5ea6\u662f 2.5 \u7c73\n    print(\"-- \u6b63\u5728\u8d77\u98de\")\n    await drone.action.takeoff()\n    \n    # \u7b49\u5f85\u4e00\u6bb5\u65f6\u95f4\uff0c\u8ba9\u65e0\u4eba\u673a\u5230\u8fbe\u8d77\u98de\u9ad8\u5ea6\n    await asyncio.sleep(30)\n\n    # --- \u964d\u843d ---\n    print(\"-- \u6b63\u5728\u964d\u843d\")\n    await drone.action.land()\n\n    # \u7b49\u5f85\u964d\u843d\u5b8c\u6210\n    await asyncio.sleep(10)\n    \n    # --- \u4e0a\u9501\/\u64a4\u9632 (\u53ef\u9009) ---\n    print(\"-- \u6b63\u5728\u4e0a\u9501\/\u64a4\u9632\u65e0\u4eba\u673a\")\n    # \u6ce8\u610f\uff1a\u8bb8\u591a\u98de\u63a7\u5728\u964d\u843d\u540e\u4f1a\u81ea\u52a8\u4e0a\u9501\n    try:\n        await drone.action.disarm()\n    except Exception as e:\n        print(f\"\u4e0a\u9501\u5931\u8d25\u6216\u5df2\u81ea\u52a8\u4e0a\u9501: {e}\")\n\n# Python \u7a0b\u5e8f\u7684\u5165\u53e3\u70b9\nif __name__ == \"__main__\":\n    # \u4f7f\u7528 asyncio \u8fd0\u884c\u5f02\u6b65\u4efb\u52a1\n    asyncio.run(run())<\/code><\/pre>\n\n\n\n<p>\u5f55\u5c4f\uff1a\uff08\u4e2d\u9014\u7528\u65b9\u5757\u7838\u4e86\u4e0b\u521a\u4f53\u65e0\u4eba\u673a\uff0c\u516b\u516d\u6559\u6211\u600e\u4e48\u9020\u51fa\u8fd9\u79cd\u2026\u2026\uff09<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1440\" style=\"aspect-ratio: 2560 \/ 1440;\" width=\"2560\" controls src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/simulation.webm\"><\/video><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u6df1\u5ea6\u76f8\u673a\u4eff\u771f<\/h2>\n\n\n\n<p>\u89e3\u51b3\u4e86gz\u548cROS2\u7684\u6865\u63a5\u95ee\u9898\u8fd9\u4e2a\u5c31\u6ca1\u95ee\u9898\u3002\u8fd9\u6b21\u542f\u52a8\u53e6\u4e00\u53f0\u5e26\u6df1\u5ea6\u76f8\u673a\u7684\u65e0\u4eba\u673a\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">make px4_sitl gz_x500_depth<\/code><\/pre>\n\n\n\n<p>\u628agz\u91cc\u6df1\u5ea6\u56fe\u548c\u70b9\u4e91\u8bdd\u9898\u6865\u63a5\u5230ROS2\u4e0a\uff0c\u7136\u540e\u542f\u52a8rviz2\uff0c\u6dfb\u52a0image\u548cPointCloud2\u5bf9\u8c61\uff0c\u8bbe\u5b9a\u597d\u5bf9\u5e94\u7684topic\u5c31\u663e\u793a\u51fa\u6765\u4e86\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">ros2 run ros_gz_bridge parameter_bridge   \/depth_camera\/points@sensor_msgs\/msg\/PointCloud2@gz.msgs.PointCloudPacked\n\nros2 run ros_gz_bridge parameter_bridge   \/depth_camera@sensor_msgs\/msg\/Image@gz.msgs.Image\n\nros2 run rviz2 rviz2<\/code><\/pre>\n\n\n\n<p>\u573a\u666f\u7ed5\u5708\u62cd\u6444\u793a\u4f8b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1440\" style=\"aspect-ratio: 2560 \/ 1440;\" width=\"2560\" controls src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/depth2.webm\"><\/video><\/figure>\n\n\n\n<p>\u8036\u914d\u7f6e\u597d\u4e86\uff0c\u6b21\u56de\uff1a\u5b9e\u673a\u5b9e\u9a8c\uff08\u5c0f\u5fc3mamba out\uff09\uff0c\u6700\u540e\u795d\u60a8\uff0c\u8eab\u4f53\u5065\u5eb7\u3002<\/p>\n\n\n<figure class=\"wp-block-post-featured-image\"><img loading=\"lazy\" decoding=\"async\" width=\"2560\" height=\"1707\" src=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-scaled.jpg\" class=\"attachment-post-thumbnail size-post-thumbnail wp-post-image\" alt=\"\" style=\"object-fit:cover;\" srcset=\"https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-scaled.jpg 2560w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-300x200.jpg 300w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-1024x683.jpg 1024w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-768x512.jpg 768w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-1536x1024.jpg 1536w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-2048x1365.jpg 2048w, https:\/\/www.kakosci.com\/wp-content\/uploads\/2025\/11\/J20-fly-670x447.jpg 670w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\" \/><\/figure>","protected":false},"excerpt":{"rendered":"<p>\u516b\u516d\uff1a\u662f\u5417\u2026\u2026\u4e3a\u4ec0\u4e48\u8981\u544a\u8bc9\u6211\u8fd9\u4e2a \u975e\u5e38\u574f\u60e0\u666e\u6697\u5f71\u7cbe\u70755060ti\u4e3b\u673a\u88c5ubunt&#46;&#46;&#46;<\/p>\n","protected":false},"author":1,"featured_media":1045,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[87],"tags":[92,90,91,89,88,86],"class_list":["post-1043","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-87","tag-gazebo","tag-px4","tag-ros2","tag-ubuntu","tag-88","tag-86"],"_links":{"self":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1043","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/comments?post=1043"}],"version-history":[{"count":31,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1043\/revisions"}],"predecessor-version":[{"id":1077,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/posts\/1043\/revisions\/1077"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media\/1045"}],"wp:attachment":[{"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/media?parent=1043"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/categories?post=1043"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kakosci.com\/index.php\/wp-json\/wp\/v2\/tags?post=1043"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}