{"id":5173,"date":"2022-11-09T03:40:15","date_gmt":"2022-11-08T18:40:15","guid":{"rendered":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5173"},"modified":"2024-06-22T14:26:44","modified_gmt":"2024-06-22T05:26:44","slug":"%e3%83%9e%e3%82%a4%e3%82%b3%e3%83%b3-%e9%9b%bb%e6%b0%97%e9%96%a2%e4%bf%82%ef%bc%9aros%ef%bc%92%e7%92%b0%e5%a2%83%e5%b0%8e%e5%85%a5","status":"publish","type":"page","link":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5173","title":{"rendered":"\u30de\u30a4\u30b3\u30f3\/\u96fb\u6c17\u95a2\u4fc2\uff1aROS\uff12Foxy+mROS2\u74b0\u5883\u5c0e\u5165"},"content":{"rendered":"\n
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\"\"<\/a><\/figure>\n<\/div>\n<\/div>\n\n\n\n

\u25cfROS2\u3067\u5206\u6563\u51e6\u7406\u3092\u3057\u3088\u3046\u3002<\/h2>\n\n\n\n

\u57fa\u672c\u7684\u306b\u3001ROS2\u306f\u300c\u4f55\u304b\u3092\u52d5\u304b\u3057\u3066\u306a\u3093\u307c\u300d\u3067\u3059\u3002<\/p>\n\n\n\n

\u305d\u306e\u305f\u3081\u306b\u3001\u57fa\u672c\u7684\u306b\u306f\u300c\uff32\uff2f\uff33\uff12\u3067\u8003\u3048\u305f\u6307\u793a\u300d\u3092\u300c\uff32\uff34\uff2f\uff33\u306b\u6e21\u3057\u3066\u300d\u5236\u5fa1\u3059\u308b\u306e\u304c\u901a\u5e38\u3067\u3059\u3002<\/p>\n\n\n\n

\u305d\u306e\u305f\u3081\u306e\u6700\u4f4e\u9650\u306a\u69cb\u6210\u3092\u69cb\u7bc9\u3057\u3066\u307f\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

\u3000ROS2\u306e\u307f\u3067\u306f\u3060\u3081\u306a\u7406\u7531\u3002mROS2\u306e\u4fa1\u5024\u3068\u306f\u3002<\/a><\/p>\n\n\n\n

\u3053\u3053\u3067\u306fROS2\uff0b\uff4dROS2\u306b\u3066\u3001\u30e9\u30ba\u30d1\u30a4\u3092\u30bb\u30f3\u30c8\u30e9\u30ebCU\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0OS\u3092\u3082\u3064\u30de\u30a4\u30b3\u30f3\u3092\u30be\u30fc\u30f3CU\u3068\u3057\u305f\u5206\u6563\u51e6\u7406\u30b7\u30b9\u30c6\u30e0\u306e\u7c21\u5358\u306a\u4f5c\u4f8b\u3092\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

\u25cfROS2-Mbed Ethernet\u901a\u4fe1\u306e\u4f8b<\/h2>\n\n\n\n

\u74b0\u5883\uff1a<\/p>\n\n\n\n

SBC\uff1aRaspberryPi4 + Ubuntu20.04 + ROS2 Foxy(Python)<\/p>\n\n\n\n

MCU\uff1aNUCREO-F746ZG(F767ZI) + mROS2 0.5.2<\/p>\n\n\n\n

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\u203b\uff11\uff1amROS2\u306f\u300cFoxy\u5bfe\u5fdc\u300d\u3068\u3044\u3046\u610f\u5473\u3067\u65e7\u7248\u3092\u4f7f\u3063\u3066\u3044\u307e\u3059\u3002himble+mROS2\u306f\u307e\u3060\u3044\u3058\u3063\u3066\u306a\u3044\u306e\u3067\u8f09\u305b\u3089\u308c\u307e\u305b\u3093<\/p>\n\n\n\n

\u203b\uff12\uff1a\u3068\u308a\u3042\u3048\u305a\u3053\u3053\u3067\u306f\u540c\u4e00\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u4e0a\u3067\u540c\u3058\u30c8\u30d4\u30c3\u30af\u540d\u304c\u5b58\u5728\u3057\u306a\u3044\u3053\u3068\u3092\u524d\u63d0\u306b\u3057\u307e\u3059\u3002\uff08DIMAIN ID\uff1d\uff10\uff09<\/p>\n\n\n\n

\"\"<\/a><\/figure>\n\n\n\n

\u203b\u9593\u9055\u3044\u767a\u899a\u3002192.168.11.1\u3067\u306f\u306a\u304f192.168.11.3\u3067\u3059\uff01<\/p>\n\n\n\n

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\u304a\u984c\uff1a\u9752\u30dc\u30bf\u30f3\u3092\u62bc\u3059\u3068\u3001\u305d\u306e\u4fe1\u53f7\u304c\u30e9\u30ba\u30d1\u30a4\u306b\u884c\u304d\u3001\u305d\u306e\u307e\u307eMbed\u306b\u5e30\u3063\u3066\u304d\u3066LED\u304c\u5149\u308b\u3001\u3092\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\uff08\u8907\u6570\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u540c\u6642\u901a\u4fe1\uff09\u3067\u3084\u308b\u3002<\/p>\n\n\n\n

\u2460SBC\u5074\uff08ROS2\u5074\uff09\u8a2d\u5b9a<\/p>\n\n\n\n

\u2460\uff0d\uff11\uff1a\u30e9\u30ba\u30d1\u30a4\u306e\u74b0\u5883\u8a2d\u5b9a<\/a>\uff08\u3068\u3044\u3044\u3064\u3064\u3001\u672c\u8cea\u306f\u30e9\u30ba\u30d1\u30a4\u3067\u3082PC\u3067\u3082\u3044\u3044\u306e\u3067\u3059\u304c\uff09<\/p>\n\n\n\n

\u2460\uff0d\uff12\uff1a\u30e9\u30ba\u30d1\u30a4\u5074\u30ef\u30fc\u30af\u30d5\u30a9\u30eb\u30c0\u306e\u69cb\u6210\u3068\u30bd\u30d5\u30c8\u30a6\u30a8\u30a2\u306e\u4f5c\u6210<\/a><\/p>\n\n\n\n

\u2461MCU\u5074\uff08mROS2\u5074\uff09\u8a2d\u5b9a<\/p>\n\n\n\n

\u2461\uff0d\uff11\uff1a\u30e9\u30ba\u30d1\u30a4\u3078\u306e\uff4dROS2\u3092\u542b\u3080\u958b\u767a\u74b0\u5883\u306e\u69cb\u7bc9<\/a>\uff5e\u30d3\u30eb\u30c9\uff08\u3053\u308c\u3082\u672c\u8cea\u306f\u30e9\u30ba\u30d1\u30a4\u3067\u3082PC\u3067\u3082\u69cb\u308f\u306a\u3044\uff09<\/p>\n\n\n\n

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\u2462\u4e0a\u3067\u4f7f\u3063\u305f\u30a4\u30e1\u30fc\u30b8\u30bb\u30c3\u30c8\u3092\u7528\u610f\u3057\u3066\u307f\u305f<\/a>\uff08\u65e9\u304f\u8a00\u3048\uff1f\uff09<\/p>\n\n\n\n

\u2463\u7d50\u679c<\/a><\/p>\n\n\n\n

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\u4ee5\u4e0b\u3001\u904e\u53bb\u306e\u3054\u3061\u3083\u3054\u3061\u3083\u3002\u4e0a\u304c\u6574\u7406\u51fa\u6765\u305f\u3089\u305d\u306e\u3046\u3061\u6d88\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

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\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u306f\u4ee5\u4e0a\u3067\u3059\u3002\u3002\u3002<\/p>\n\n\n\n

\u3053\u3053\u304b\u3089\u4e0b\u306f\u8a66\u884c\u932f\u8aa4\u306e\u6b74\u53f2\u3067\u3059\u3002\u53c2\u8003\u7a0b\u5ea6\u3002<\/p>\n\n\n\n

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\u25cfROS\u306e\u4f7f\u3044\u65b9\u8a66\u884c\u932f\u8aa4\u3044\u308d\u3044\u308d\u30e1\u30e2<\/h2>\n\n\n\n

\u7686\u3055\u3093\u300c\u308f\u304b\u3063\u3066\u3044\u308b\u300d\u524d\u63d0\u306e\u300c\u304d\u308c\u3044\u306a\u6587\u7ae0\u300d\u304c\u591a\u304f\u3001\u7d20\u4eba\u306b\u53d6\u3063\u3066\u4f7f\u3048\u308b\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u304c\u5c11\u306a\u304b\u3063\u305f\u306e\u3067\u6ce5\u81ed\u3044\u30c8\u30e9\u30a4\u30a2\u30eb\u30e1\u30e2\u3092\u6b8b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

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\u25cfRaspberryPi(RPI)\u306bUbuntu\uff08lubuntu\uff09\u3092\u5c0e\u5165\u3059\u308b<\/a><\/p>\n\n\n\n

\u3000\u57fa\u672c\u7684\u306bRaspberryPi\u5411\u3051\u3060\u304c\u30a2\u30d7\u30ea\u7b49\u306f\u5171\u901a<\/p>\n\n\n\n

\u30fbNetworkManager\u306b\u3088\u308b\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u7ba1\u7406<\/a><\/p>\n\n\n\n

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\u25cfROS2\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u4f5c\u6210~\u52d5\u4f5c\u306e\u4e00\u822c\u624b\u9806<\/a><\/p>\n\n\n\n

\u3000PC\u3001RaspberryPi\u5171\u901a<\/p>\n\n\n\n

\u25cfROS2\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u307e\u3068\u3081<\/a><\/p>\n\n\n\n

\u3000Python\u524d\u63d0\u3067\u96c6\u3081\u305f<\/p>\n\n\n\n

\u25cf\u62fe\u3063\u3066\u304d\u305fROS2\u306ePython\u30b3\u30fc\u30c9\u3092\u30d3\u30eb\u30c9\u3059\u308b\u3002<\/a><\/p>\n\n\n\n

\u3000\u3069\u3053\u304b\u3067\u62fe\u3063\u3066\u304d\u305f\u30b3\u30fc\u30c9\u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u8a71\u3002\u306f\u3058\u3081\u3066ROS\uff12\u3092\u3044\u3058\u308b\u4eba\u304cpy\u306e\u30b3\u30fc\u30c9\u3060\u3051\u6e21\u3055\u308c\u3066\u52d5\u304b\u305b\u308b\u308f\u3051\u304c\u306a\u3044\u3002<\/p>\n\n\n\n

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\u25cfROS2\u306e\u958b\u767a\u74b0\u5883\u3044\u308d\u3044\u308d<\/h2>\n\n\n\n

\u3044\u308d\u3044\u308d\u306a\u5165\u308c\u65b9\u3092\u8a66\u3057\u3066\u3069\u308c\u304c\u3044\u3044\u304b\u3084\u3063\u3066\u307f\u306a\u304c\u3089\u9032\u3081\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

\u6700\u7d42\u7684\u306b\u306fDocker\u306e\u52c9\u5f37\u3092\u907f\u3051\u308b\u305f\u3081\u306bVertualBOX\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

\u25cfPC\u74b0\u5883\uff1aDocker\u5c0e\u5165\u30e1\u30e2<\/a>\uff08\u4eca\u56de\u843d\u9078\uff09<\/p>\n\n\n\n

\u25cfPC\u74b0\u5883\uff1avmware<\/a>\uff08\u4eca\u56de\u843d\u9078\uff09<\/p>\n\n\n\n

\u25cfPC\u74b0\u5883\uff1aHyperV\uff08\u4eca\u56de\u843d\u9078\uff09<\/p>\n\n\n\n

\u25cfPC\u74b0\u5883\uff1aWindows\u3067ROS2\u3092\u52d5\u304b\u3059<\/a>\uff08\u4e26\u884c\u5229\u7528\u4e2d\uff09<\/p>\n\n\n\n

\u25cfPC\u74b0\u5883\uff1aVertualBOX<\/a>\uff08\u308a\u3053\u3081\u3093\u3069\uff09<\/p>\n\n\n\n

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\u25cfMicro-ROS\u3000\uff08\uff06\u3000RaspberryPi PICO\uff09<\/p>\n\n\n\n

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\u3000\u3000PICO\u3067ROS\u3092\u52d5\u304b\u3059<\/a>\uff08\u8abf\u67fb\u4e2d\u30fb\u30fb\u30fbMICRO-ROS<\/p>\n\n\n\n

\u3000\u3000MICRO-ROS\u5b9f\u884c\u74b0\u5883\u3092PC\u3068\u30e9\u30ba\u30d1\u30a4\u3067\u69cb\u7bc9\u3059\u308b<\/p>\n\n\n\n

\u3000\u3000\u3000Raspberry Pi&Ubuntu Server&ROS2(Foxy)\u3067micro-ROS&Raspberry Pi Pico\u52d5\u4f5c\u78ba\u8a8d (zenn.dev)<\/a><\/p>\n\n\n\n

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\u25cfROS\uff12\u3067\u306eUART\u901a\u4fe1\u306e\u4f8b<\/p>\n\n\n\n

Ubuntu20.04(on \u30e9\u30ba\u30d1\u30a44)\uff06ROS2\u3067LD06\u3068BNO055\u3092\u4f7f\u3046 (zenn.dev)<\/a>\uff1a\u30e9\u30ba\u30d1\u30a4\u306eTX\/RX\u3092\u4f7f\u3063\u305fLider\u4ed6\u3068\u306e\u901a\u4fe1<\/p>\n\n\n\n

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\u3000\u3000<\/p>\n\n\n\n

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\u25cfPython\u306e\u52c9\u5f37<\/p>\n\n\n\n

\u3000\u3000Python\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/p>\n\n\n\n

\u3000\u3000\u3000Python \u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb \u2014 Python 3.11.0b5 \u30c9\u30ad\u30e5\u30e1\u30f3\u30c8<\/a><\/p>\n\n\n\n

\u3000\u3000\u3055\u3089\u306b\u5206\u304b\u308a\u3084\u3059\u3044Python\u5165\u9580\uff08\u30d6\u30e9\u30a6\u30b6\u30fc\u3067\u30a4\u30f3\u30bf\u30d7\u30ea\u30bf\u7684\u306b\u304a\u8a66\u3057\u3067\u304d\u308b\uff09<\/p>\n\n\n\n

\u3000\u3000\u3000\u3000\u30bc\u30ed\u304b\u3089\u306ePython\u5165\u9580\u8b1b\u5ea7 – python.jp<\/a><\/p>\n\n\n\n

\u3000\u3000\u3000\u3000Colaboratory \u3078\u3088\u3046\u3053\u305d – Colaboratory (google.com)<\/a>\uff08\u4e0a\u8ff0\u306b\u5bfe\u5fdc\u3057\u305f\u30d6\u30e9\u30a6\u30b6\u30a4\u30f3\u30bf\u30d7\u30ea\u30bf\uff09<\/p>\n\n\n\n

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\u25cfMBED\u5411\u3051\u306e\u60c5\u5831<\/a><\/p>\n\n\n\n

\u3000\u3000MBED\u306bMicroPython\u5165\u308c\u3066Publisher\uff08F446RE\uff09\u306a\u3069<\/p>\n\n\n\n

\n\n\n\n

\u25cfRaspberryPi OS\uff0bROS2\u3067MBED\u3068\u901a\u4fe1\u3059\u308b\u3002<\/h2>\n\n\n\n
\"\"<\/a><\/figure>\n\n\n\n

\u6700\u8fd1\u3001\u3061\u3087\u3063\u3068\u30d6\u30c1\u5207\u308c\u6c17\u5473\u3067\u3001\u3084\u3063\u3071\u3001\u3069\u3063\u3061\u3082Debian\u7cfb\u306a\u306e\u306bRaspberryPi\u306bUbuntu\u3068\u304b\u304a\u304b\u3057\u304f\u306d\uff1f\u3068\u304b\u3001Arduino\u306e\u4f55\u304c\u3044\u3044\u306e\uff1fMBED\u3058\u3083\u306d\uff1f\u3068\u304b\u601d\u308f\u306a\u3044\uff1f\u3068\u304b\u601d\u3063\u3066\u8abf\u3079\u3066\u307f\u305f\uff06\u3084\u3063\u3066\u307f\u305f\u3002<\/p>\n\n\n\n

\u2460RaspberryPi4 \u306bRaspberryPi OS Bullseye\u3092\u5165\u308c\u308b<\/a><\/strong><\/p>\n\n\n\n

\u4e0a\u306f\u3001\u307b\u304b\u306e\u30da\u30fc\u30b8\u3068\u5171\u7528\u3067\u3059\u304c\u3001Bullseye\u306b\u3064\u3044\u3066\u3082\u5927\u4f53\u5bfe\u5fdc\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

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\u2461ROS2 Humble\u3092\u5165\u308c\u3001\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3092\u884c\u3046<\/a><\/strong><\/p>\n\n\n\n

\u3044\u3044\u611f\u3058\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3057\u3066\u304f\u308c\u3066\u3044\u307e\u3059<\/p>\n\n\n\n

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\u2462\uff03\uff11\uff09RaspberryPiOS\u300cBluesEye\u300d\u5c0e\u5165\u304b\u3089MBED\u3068UDP\u901a\u4fe1\u3067\u304d\u308b\u74b0\u5883\u4f5c\u6210\u307e\u3067<\/a><\/p>\n\n\n\n

MBED\u306f\u672c\u5bb6\u3068STMicro\u306e\u5b50\u3067\u78ba\u8a8d\u3057\u3066\u307e\u3059<\/p>\n\n\n\n

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\u25cfPython\u3092OS\u306b\u3057\u305fSBC\u30ad\u30c3\u30c8<\/p>\n\n\n\n

ORANGE-Python (picosoft.co.jp)<\/a><\/p>\n\n\n\n

\u25cf\u6570\u5f0f\u89e3\u6790\u30bd\u30d5\u30c8\uff08Maxima\uff09<\/p>\n\n\n\n

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