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请问：刚开始学ros2，现在机器人功能包已经有了（git下载的越疆机器人），然后单独买了深度相机D435和夹爪，想要将这两个东西加入到机器人功能包的话，是需要为深度相机和夹爪创建新的ROS2功能包吧，有具体该如何做的相关资料推荐吗？