{"id":5626,"date":"2024-03-23T15:03:42","date_gmt":"2024-03-23T06:03:42","guid":{"rendered":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5626"},"modified":"2024-06-22T14:03:50","modified_gmt":"2024-06-22T05:03:50","slug":"ros2%ef%bd%8dros2%e9%96%8b%e7%99%ba%e7%92%b0%e5%a2%83%e3%81%ae%e4%bd%9c%e6%88%90","status":"publish","type":"page","link":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5626","title":{"rendered":"ROS2:\uff4dROS2\u958b\u767a\u74b0\u5883\u306e\u4f5c\u6210"},"content":{"rendered":"\n<p>\u307e\u305a\u3001\u57fa\u672c\u7684\u306b\u306fMbed\u958b\u767a\u74b0\u5883\u306b\uff4dROS2\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u7d44\u307f\u8fbc\u3080\u3001\u3068\u3044\u3046\u624b\u9806\u3067\u3042\u308b\u304c\uff01<\/p>\n\n\n\n<p>mROS2\u304c\u304b\u306a\u308a\u7279\u6b8a\u3067\u306a\u304b\u306a\u304b\u74b0\u5883\u304c\u9650\u5b9a\u3055\u308c\u308b\u3002<\/p>\n\n\n\n<p>Mbed\u306f<\/p>\n\n\n\n<p>\u30fb\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\uff08KeilCloudStudio\uff09\uff08\u304a\u305d\u3089\u304f\u3053\u308c\u304cARM\u306e\u57fa\u672c\u63a8\u5968\u74b0\u5883\uff09<\/p>\n\n\n\n<p>\u30fb\u30ed\u30fc\u30ab\u30eb\u74b0\u5883<\/p>\n\n\n\n<p>\u30fbDocker<\/p>\n\n\n\n<p>\u304c\u3042\u308b\u304c<\/p>\n\n\n\n<p>\uff4dROS\uff12\u306f\uff08\u958b\u767a\u30ea\u30bd\u30fc\u30b9\u306e\u517c\u306d\u5408\u3044\u3060\u3068\u601d\u3046\u304c\uff09\u30ed\u30fc\u30ab\u30eb\u3068Docker\u3057\u304b\u5bfe\u5fdc\u3057\u3066\u3044\u306a\u3044\u3002<\/p>\n\n\n\n<p>\u6700\u65b0\u306e\uff4dROS\u306f\u57fa\u672cDocker\u74b0\u5883\u3067\u3057\u304b\u5bfe\u5fdc\u3057\u3066\u3044\u306a\u3044\u3002\uff08\u30ed\u30fc\u30ab\u30eb\u74b0\u5883\u304c\u7f6e\u3044\u3066\u304d\u307c\u308a\u6c17\u5473\uff1f\uff09<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u79c1\u304c\u73fe\u5728\u4f7f\u3063\u3066\u3044\u308bFoxy\u4e16\u4ee3\u306emROS2 0.5.2\u306f\u4e21\u65b9\u4f7f\u3048\u3066\u304a\u308a\u3001\u79c1\u306f\u30ed\u30fc\u30ab\u30eb\u74b0\u5883\u3067\u4f7f\u3063\u3066\u3044\u308b\u3002<\/p>\n\n\n\n<p>\uff08\u666e\u6bb5\u306fVM\u4e0a\u306eLubuntu20.04\u3092\u4f7f\u3063\u3066\u3044\u308b\u304c\u3001\u30e9\u30ba\u30d1\u30a4\u306b\u3082\u540c\u3058\u74b0\u5883\u304c\u69cb\u7bc9\u3057\u3066\u3042\u308b\u3002\uff09<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u69cb\u7bc9\u306e\u624b\u9806\u306f\u4ee5\u4e0b\u306e\uff12\u30b9\u30c6\u30c3\u30d7<\/p>\n\n\n\n<p>\u2460Mbed\u30b3\u30f3\u30d1\u30a4\u30eb\u74b0\u5883\u306e\u6574\u5099\uff08\u57fa\u672c\u7684\u306bMbedCL2)<\/p>\n\n\n\n<p>\u2461mROS2\u30ef\u30fc\u30af\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u8a2d\u5b9a\uff08\uff4dROS2\u306e\u7279\u6b8a\u306a\u624b\u9806\uff09<\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2>\u2460Mbed\u30b3\u30f3\u30d1\u30a4\u30eb\u74b0\u5883\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/h2>\n\n\n\n<pre class=\"wp-block-code\"><code>$sudo apt-get install python3-pip\n$pip3 install future\n$echo \"export PATH=~\/.local\/bin:${PATH}\" &gt;&gt; ~\/.bashrc\n$source ~\/.bashrc<\/code><\/pre>\n\n\n\n<p><strong>\u25cfST-Link\u306e\u30c4\u30fc\u30eb\u985e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$sudo apt install cmake libusb-1.0-0-dev\n$mkdir ~\/bin\n$cd bin\n$git clone https:\/\/github.com\/texane\/stlink.git\n$cd stlink\n$make\n$cd build\/Release\n$sudo make install\n$sudo ldconfig<\/code><\/pre>\n\n\n\n<p>\u203bsu\u6a29\u9650\u304c\u5fc5\u8981\u306abin\u3060\u304b\u3069\u3053\u304b\u3078\u306e\u30b3\u30d4\u30fc\u304c\u542b\u307e\u308c\u308b\u306e\u3067make install \u306fsudo\u3055\u3093\u3067\u3059<\/p>\n\n\n\n<p><strong>\u25cfmbed-tools\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/strong><\/p>\n\n\n\n<p>\u3044\u308f\u3086\u308bMbed CLI2\u3067\u3059\u3002<a href=\"https:\/\/os.mbed.com\/docs\/mbed-os\/v6.16\/build-tools\/install-or-upgrade.html\">https:\/\/os.mbed.com\/docs\/mbed-os\/v6.16\/build-tools\/install-or-upgrade.html<\/a><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$sudo apt install pip\n$python3 -m pip install mbed-tools\n$echo \"export PATH=~\/.local\/bin:${PATH}\" &gt;&gt; ~\/.bashrc\n$source ~\/.bashrc<\/code><\/pre>\n\n\n\n<p><strong>\u25cfNinja\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>sudo apt install ninja-build\npython3 -m pip install intelhex prettytable<\/code><\/pre>\n\n\n\n<p><strong>\u25cfcmake 3.24.2 \u3092snap\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$sudo snap install cmake --classic\n$echo \"export PATH=\/snap\/bin:${PATH}\" &gt;&gt; ~\/.bashrc\n$source ~\/.bashrc\n<\/code><\/pre>\n\n\n\n<p>\u203bsystemd\u304c\u306a\u3044\u3068\u82e6\u96e3\u3057\u305d\u3046(snap\u304csystemd\u4f9d\u5b58)\uff1e\u624b\u52d5\u3067\u30a4\u30f3\u30b9\u30b3\u624b\u6bb5\u306f\u4ee5\u4e0b<\/p>\n\n\n\n<p>\u3000\u3000(\u30a4\u30f3\u30b9\u30b3\u4f5c\u696d\u7528\u30d5\u30a9\u30eb\u30c0\u304b\u3089<\/p>\n\n\n\n<p>\u3000\u3000\u3000wget https:\/\/cmake.org\/files\/v3.24\/cmake-3.24.2.tar.gz<\/p>\n\n\n\n<p>\u3000\u3000\u3000tar xvf cmake-3.24.2.tar.gz<\/p>\n\n\n\n<p>\u3000\u3000\u3000.\/bootstrap &#8212; -DCMAKE_USE_OPENSSL=OFF &amp;&amp; make &amp;&amp; sudo make install<\/p>\n\n\n\n<p>\u3000\u3000\u3000\u30d6\u30fc\u30c8\u30b9\u30c8\u30e9\u30c3\u30d7\u304b\u3089\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u3002OPENSSL\u3092\u4f7f\u308f\u306a\u3044\u30fb\uff09<\/p>\n\n\n\n<p>\u203b\u3046\u307e\u304f\u3044\u304b\u306a\u3044\u3068\u304d\u306f\u4e8b\u524d\u306bapt-get purge cmake \u3067\u4f59\u8a08\u306a\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\u9664\u53bb\u3057\u3066\u304a\u3051\u30fc<\/p>\n\n\n\n<p><strong>\u25cfGCC-ARM\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/strong><\/p>\n\n\n\n<p>\u3000GCC\u306e\u30b3\u30f3\u30d1\u30a4\u30e9\u304c\u4f7f\u7528\u3059\u308b\u306e\u3067\u4eca\u5f8c\u6d88\u305b\u306a\u3044\u3002\u30d5\u30a9\u30eb\u30c0\u540d\u306f\u3088\u304f\u8003\u3048\u308b\u3088\u3046\u306b\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$cd ~\/bin\nwget <mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">https:\/\/developer.arm.com\/-\/media\/Files\/downloads\/gnu-rm\/10.3-2021.07\/gcc-arm-none-eabi-10.3-2021.07-aarch64-linux.tar.bz2<\/mark>\n$tar -xjvf <mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">gcc-arm-none-eabi-10.3-2021.07-aarch64-linux.tar.bz2<\/mark>\n$echo \"export MBED_GCC_ARM_PATH=`pwd`\/gcc-arm-none-eabi-10.3-2021.07\/bin\/\" &gt;&gt; ~\/.bashrc\n$source ~\/.bashrc\n$echo \"export PATH=\"${PATH}:${MBED_GCC_ARM_PATH}\"\" &gt;&gt; ~\/.bashrc\n$source ~\/.bashrc<\/code><\/pre>\n\n\n\n<p>\u203b\u8d64\u5b57\u90e8\u5206\u306b\u3064\u3044\u3066\u306f\u3001VM\u306a\u3093\u304b\u306b\u5165\u308c\u308b\u3068\u304d\u306f\u51e6\u7406\u7cfb\u306b\u3088\u3063\u3066\u5909\u66f4\u3059\u308b\u3053\u3068\u3002<\/p>\n\n\n\n<p>\u3000\u4f8b\uff1awget https:\/\/developer.arm.com\/-\/media\/Files\/downloads\/gnu-rm\/10.3-2021.07\/gcc-arm-none-eabi-10.3-2021.07-x86_64-linux.tar.bz2<\/p>\n\n\n\n<p>\u3010\u53c2\u8003\u3011 <a href=\"https:\/\/packages.debian.org\/bullseye\/gcc-arm-none-eabi\">https:\/\/packages.debian.org\/bullseye\/gcc-arm-none-eabi<\/a><\/p>\n\n\n\n<p>\u3000\u3000\u3000\u3000\u3000<a href=\"http:\/\/ftp.debian.org\/debian\/pool\/main\/g\/gcc-arm-none-eabi\/\">http:\/\/ftp.debian.org\/debian\/pool\/main\/g\/gcc-arm-none-eabi\/<\/a> \u3000\u3000\u3000\u3000\u3000\u3000\u3000\u3000   <\/p>\n\n\n\n<p>\u3000\u3000\u3000\u3000\u3000<a href=\"https:\/\/www.fedora.is\/debian\/pool\/main\/g\/gcc-arm-none-eabi\/\">https:\/\/www.fedora.is\/debian\/pool\/main\/g\/gcc-arm-none-eabi\/<\/a><\/p>\n\n\n\n<p>\u203b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5f8c\u306fgcc-arm-none-eabi-10.3-2021.07-aarch64-linux.tar.bz2\u30fb\u30fb\u30fb\u306f\u6d88\u3057\u3066\u5927\u4e08\u592b<\/p>\n\n\n\n<p><strong>\u25cf\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u7528\u306epicocom\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$sudo apt install picocom<\/code><\/pre>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2>\u2461mROS2\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30ef\u30fc\u30af\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u8a2d\u5b9a<\/h2>\n\n\n\n<p>\u516c\u5f0f\u306f\u4ee5\u4e0b\u3067\u3059\u304c\u3001\u6b63\u76f4\u7d50\u69cb\u8aac\u660e\u304c\u3064\u3089\u3044\u3001\u516c\u5f0f\u89e3\u8aac\u3092\u9811\u5f35\u3063\u3066\u3084\u3063\u3066\u3082\u3089\u3046\u304b\u3001<a href=\"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5633\">\u3053\u3061\u3089\u3067\u7528\u610f\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8<\/a>\u3067\u3084\u3063\u3066\u307b\u3057\u3044\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"has-text-align-center\">\u516c\u5f0f\uff1a<a href=\"https:\/\/github.com\/mROS-base\/mros2-mbed\/tree\/68965c9af6e440809fc260c6886989d6edca1aed\">\u3053\u3061\u3089\u304b\u3089<\/a>\u74b0\u5883\u4e00\u5f0f\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/p>\n\n\n\n<p class=\"has-text-align-center\"><a href=\"https:\/\/github.com\/mROS-base\/mros2#v0.5.2\">\u516c\u5f0f\uff1a\u3053\u3061\u3089\u304b\u3089<\/a>\u30e9\u30a4\u30d6\u30e9\u30ea\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>\u4e0a\u8ff0\u30d1\u30c3\u30b1\u30fc\u30b8\u3067\u3084\u308b\u5834\u5408\u306f\u3001\uff4dROS2\u306e\u30ef\u30fc\u30af\u30d5\u30a9\u30eb\u30c0\u4e00\u5f0f\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u2460\u3067\u74b0\u5883\u4f5c\u6210\u3057\u305f\u30e9\u30ba\u30d1\u30a4\u306e\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea(~\/)\u306b\u5185\u5bb9\u7269\u3092\u5165\u308c\u3066\u304f\u3060\u3055\u3044<\/p>\n\n\n\n<p>tar.gz\u306fUbuntu\u306e\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u74b0\u5883\uff08Lubuntu\u3068\u304b\uff09\u304c\u3042\u308c\u3070\u7c21\u5358\u306b\u89e3\u51cd\u3067\u304d\u308b\u306f\u305a\u3067\u3059<\/p>\n\n\n\n<p>\u8a2d\u7f6e\u5f8c\u306e\u8377\u59ff\u306f\u4ee5\u4e0b\u306e\u3068\u304a\u308a\u3067\u3059<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>~\/mros2-mbed\/\n          \u251cbuild.bash\n          \u251cCMakeLists.txt\n          \u251cLICENSE\n          \u251cmbed_app.json\n          \u251cmbed-os.lib\n          \u251cmros2.lib\n          \u251cREADME.md\n          \u251ccmake_build\/ \u30fb\u30fb\u30fb\uff08\u4e2d\u8eab\u306f\u7a7a\uff09\n          \u251cmros2\/\u3000\u3000\u3000\u3000\u30fb\u30fb\u30fb\uff08\u4e2d\u8eab\u306f\u7565\uff09\n          \u251cplatform\/\u3000\u3000\u30fb\u30fb\u30fb\uff08\u4e2d\u8eab\u306f\u7565\uff09\n          \u2514workspace\/\u3000\u3000\u30fb\u30fb\u30fb\uff08\u4e2d\u8eab\u306f\u7565\uff09\n                 \u251c<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">00_mbed_rpi_min<\/mark>\/\n                 \u251c<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">custom_msgs<\/mark>\/\n                 \u2502\u3000\u3000\u3000\u3000\u251c<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">mbed2rasppi_msgs\/msg\/Mbed2rasppi.msg<\/mark>\n                 \u2502\u3000\u3000\u3000\u3000\u251c<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">rasppi2mbed_msgs\/msg\/Rasppi2mbed.msg<\/mark>\n                 \u2502\u3000\u3000\u3000\u3000\u251c\u30fb\u30fb\u30fb\n                 \u2502\u3000\u3000\u3000\u3000\u251c\u30fb\u30fb\u30fb\n                 \u251c\u30fb\u30fb\u30fb\n                 \u251c\u30fb\u30fb\u30fb\uff08\u4ee5\u4e0b\u7565\uff09<\/code><\/pre>\n\n\n\n<p>\u3053\u306e<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">\u8d64\u3044\u30d5\u30a1\u30a4\u30eb\u306a\u3044\u3057\u30d5\u30a9\u30eb\u30c0\u30fc<\/mark>\u304c\u3001\u6539\u9020\u6642\u306b\u3088\u304f\u5909\u66f4\u3059\u308b\u5834\u6240\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3053\u3061\u3089\u3067\u6e96\u5099\u3057\u305f\u30c7\u30e2\u3092\u52d5\u304b\u3059\u3060\u3051\u306a\u3089\u3070\u3053\u306e\u307e\u307e<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>cd ~\/mros2-mbed\/\n.\/build.bash all NUCLEO_F746ZG <mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">00_mbed_rpi_min<\/mark> native<\/code><\/pre>\n\n\n\n<p>\u3068\u3059\u308c\u3070\u3001\u30d3\u30eb\u30c9\u304c\u59cb\u307e\u308b\u3002<\/p>\n\n\n\n<p>\u6700\u7d42\u7684\u306b<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"http:\/\/shinku.ddo.jp\/wordpress\/wp-content\/uploads\/2024\/03\/image-23.png\"><img decoding=\"async\" loading=\"lazy\" width=\"702\" height=\"504\" src=\"http:\/\/shinku.ddo.jp\/wordpress\/wp-content\/uploads\/2024\/03\/image-23.png\" alt=\"\" class=\"wp-image-5643\"\/><\/a><\/figure>\n\n\n\n<p>\u4e0a\u306e\u3088\u3046\u306a\u5404\u30d5\u30a9\u30eb\u30c0\u306e\u524d\u56de\u304b\u3089\u306e\u4f7f\u7528\u91cf\u5909\u5316\u307f\u305f\u3044\u306a\u753b\u9762\u304c\u51fa\u308c\u3070\u307e\u305a\u306f\u6210\u529f\u3063\u3066\u3053\u3068\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u3053\u307e\u3048\u304f\u308c\u3070\u3001<\/p>\n\n\n\n<p>~\/mros2-mbed\/cmake_build\/NUCLEO_F746ZG\/develop\/GCC_ARM\/<\/p>\n\n\n\n<p>\u306b\u300cmros2-mbed.bin\u300d\u3068\u3044\u3046\u30d5\u30a1\u30a4\u30eb\u304c\u3067\u304d\u3066\u3044\u3066\u3001\u305d\u306e\u307e\u307eMbed\u3068USB\u63a5\u7d9a\u3057\u3066\u30c9\u30e9\u30c3\u30b0\uff06\u30c9\u30ed\u30c3\u30d7\u3067\u30ea\u30d7\u30ed\u5b8c\u4e86\u3001\u306a\u306e\u3067\u3059\u304c\u3001\u4ee5\u4e0b\u3001\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u8efd\u304f\u89e3\u8aac\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p>\u3053\u3053\u3067\u306e\u30df\u30bd\u306f\u8d64\u306e\u30d5\u30a9\u30eb\u30c0\u3067\u3059<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">\u300c00_mbed_rpi_min<\/mark>\/\u300d\u306b\u3064\u3044\u3066\u306f\u3001\u4e2d\u306b\u3044\u308f\u3086\u308bmain.cpp\uff08\u5b9f\u969b\u306f\u8af8\u4e8b\u60c5\u306b\u3088\u308aapp.cpp\u3068\u3044\u3046\u540d\u524d\uff09\u304c\u5165\u3063\u3066\u3044\u3066\u3001\u3053\u308c\u3092\u5909\u66f4\u3059\u308c\u3070Mbed\u306e\u6319\u52d5\u3092\u5909\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3093\u3060\u306a\u3068\u3044\u3046\u306e\u304c\u5206\u304b\u308b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3082\u30461\u304b\u6240\u3044\u3058\u308b\u5834\u6240\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u5b9a\u7fa9\u3059\u308b\u5834\u6240\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3069\u3046\u3044\u3046\u4fe1\u53f7\u3092\u901a\u4fe1\u3059\u308b\u304b\u306e\u5b9a\u7fa9\uff08\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u5b9a\u7fa9\uff09\u306f\u300c<mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">custom_msgs<\/mark>\/(\u30e1\u30c3\u30bb\u30fc\u30b8\u540d)\/msg\/\u300d\u30d5\u30a9\u30eb\u30c0\u5185\u306e.msg\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u3057\u3066\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3067\uff01\u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306fROS2\u5074\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u8a2d\u5b9a\u3092\u3059\u308b\u3068\u304d\u306b\u4f7f\u3063\u305f\u30d5\u30a1\u30a4\u30eb\u3068\u5168\u304f\u540c\u4e00\u306e\u30d5\u30a9\u30fc\u30e0\u3067\u3059\u3002\uff08\u306a\u306e\u3067\u3001\u30d5\u30a1\u30a4\u30eb\u540d\u306e\u4e00\u6587\u5b57\u76ee\u306f\u5927\u6587\u5b57\u3067\u3059\u3002\u3057\u3064\u3053\u3044\u3067\u3059\u304c\u3002\uff09<\/p>\n\n\n\n<p>\u3067\u3059\u304b\u3089\u3001\u57fa\u672c\u7684\u306b\u306f\u300c\u4f5c\u308a\u76f4\u3059\u300d\u3082\u306e\u3067\u306f\u306a\u304f\u3001\u6d41\u7528\u3057\u307e\u3057\u3087\u3046\u3002<\/p>\n\n\n\n<p>\u4eca\u56de\u4f7f\u7528\u3059\u308b\u306e\u306f\u3001<\/p>\n\n\n\n<p>&#8230;\/custom_msgs\/mbed2rasppi_msgs\/msg\/Mbed2rasppi.msg<\/p>\n\n\n\n<p>&#8230;\/custom_msgs\/rasppi2mbed_msgs\/msg\/Rasppi2mbed.msg<\/p>\n\n\n\n<p>\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3057\u304b\u3057\u3053\u306e\u307e\u307e\u3067\u306fC\u8a00\u8a9e\u7684\u306b\u306f\u4f55\u306e\u610f\u5473\u3082\u306a\u3044\u3082\u306e\u3067\u3059\u304b\u3089\u3001mROS2\u4ed8\u5c5e\u306e\u30c4\u30fc\u30eb\u3092\u4f7f\u3044\u81ea\u52d5\u5909\u63db\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4f8b\u3048\u3070\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>$cd ~\/mros2-mbed\/workspace\/\n$python3 ..\/mros2\/mros2_header_generator\/header_generator.py mbed2rasppi_msgs\/msg\/Mbed2rasppi.msg<\/code><\/pre>\n\n\n\n<p>\u3053\u308c\u306f\u300c\u30e1\u30c3\u30bb\u30fc\u30b8\u5b9a\u7fa9\u3092\u5909\u3048\u308b\u305f\u3073\u306b\u300d\u884c\u3046\u5fc5\u8981\u304c\u3042\u308b\u3053\u3068\u306f\u308f\u304b\u308b\u304b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\uff08\u30d1\u30c3\u30b1\u30fc\u30b8\u5185\u306e\u3082\u306e\u306f\u3059\u3067\u306b\u3084\u3063\u3066\u3042\u308a\u307e\u3059\uff09<\/p>\n\n\n\n<p>\uff08\u3061\u306a\u307f\u306b\u3001\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u306b\u306f#include\u306e\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u30e9\u30a4\u30d6\u30e9\u30ea\u5316\u3057\u305f\u30bd\u30fc\u30b9\u306e\u4e00\u90e8\u3092\u3053\u306e\u4e2d\u306b\u5165\u308c\u3066\u3001\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u6574\u7406\u3059\u308b\u306e\u306b\u4f7f\u3048\u305f\u308a\u3057\u307e\u3059\uff09<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3044\u304d\u306a\u308a\u306f\u3080\u3064\u304b\u3057\u3044\u306e\u3067\u3001\u5c0f\u6539\u9020\u3092\u3057\u306a\u304c\u3089\u3001\u3060\u3093\u3060\u3093\u6163\u308c\u3066\u3066\u3044\u3063\u3066\u307f\u308b\u3068\u3044\u3044\u3068\u601d\u3044\u307e\u3059<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\uff0d\u6700\u5f8c\u306b<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3092mROS2 0.5.2\u3067\u4f7f\u7528\u3059\u308b\u65b9\u6cd5<\/p>\n\n\n\n<p><a href=\"https:\/\/github.com\/pilotak\/mbed-text-display\">https:\/\/github.com\/pilotak\/mbed-text-display<\/a><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>1. mros2-mbed\/ \u306e\u30c8\u30c3\u30d7\u306b mbed-text-display.lib \u3092\u4f5c\u6210\u3059\u308b \u3002\u4e2d\u8eab\u306f\u4ee5\u4e0b\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>https:&#47;&#47;github.com\/pilotak\/mbed-text-display#master<\/code><\/pre>\n\n\n\n<p>2. CMakeLists.txt \u3092\u7de8\u96c6\u3057\u3066 mbed-text-display \u3092\u30ea\u30f3\u30af\u3055\u305b\u308b\u300038\u884c\u76ee\u3092\u7de8\u96c6\uff0c45-47\u884c\u76ee\u3092\u8ffd\u52a0\uff0e <\/p>\n\n\n\n<pre class=\"wp-block-code has-black-color has-text-color\"><code># Copyright (c) 2021 smorita_emb\n# SPDX-License-Identifier: Apache-2.0\n\ncmake_minimum_required(VERSION 3.19.0)\n\nset(MBED_PATH\n  ${CMAKE_CURRENT_SOURCE_DIR}\/mbed-os\n  CACHE INTERNAL \"\")\nset(MBED_CONFIG_PATH\n  ${CMAKE_CURRENT_BINARY_DIR}\n  CACHE INTERNAL \"\")\nset(APP_TARGET mros2-mbed)\n\ninclude(${MBED_PATH}\/tools\/cmake\/app.cmake)\n\nproject(${APP_TARGET})\n\nadd_subdirectory(${MBED_PATH})\n\nif(DEFINED ENV{APPNAME})\n  set(APP_NAME $ENV{APPNAME})\nelse()\n  set(APP_NAME \"echoback_string\")\nendif()\nmessage(STATUS \"APP_NAME=${APP_NAME}\")\n\n# specify your own file(s) for the application\nset(APP_SRCS\n  workspace\/${APP_NAME}\/app.cpp\n)\nmessage(STATUS \"APP_SRCS=${APP_SRCS}\")\n\nadd_executable(${APP_TARGET}\n  platform\/mros2-platform.cpp\n  ${APP_SRCS}\n)\n\ntarget_link_libraries(${APP_TARGET} mbed-os mbed-lwipstack mros2 mbed-text-display)\n\nexecute_process(COMMAND git submodule update --init --recursive\n  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}\/mros2)\nadd_library(mros2 INTERFACE)\nadd_subdirectory(mros2)\n\nadd_library(mbed-text-display INTERFACE)\nadd_subdirectory(mbed-text-display)\n\n# Generate plaform\/templates.hpp from mros2 application code\n## You can add dir(s) in `--indir` if you have several dirs \n## that contain application code files\nexecute_process(COMMAND\n  python3 ${CMAKE_CURRENT_SOURCE_DIR}\/mros2\/mros2_header_generator\/templates_generator.py --outdir ${CMAKE_CURRENT_SOURCE_DIR}\/platform --indir ${CMAKE_CURRENT_SOURCE_DIR}\/workspace\/${APP_NAME}\n  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})\n\nset(MROS2_TARGET_DIR \"${PROJECT_SOURCE_DIR}\/platform\")\n\ntarget_include_directories(\n  mros2-mbed\n  PRIVATE workspace\/${APP_NAME}\n  PRIVATE ${MROS2_TARGET_DIR}\n)\n\nmbed_set_post_build(${APP_TARGET})\n\noption(VERBOSE_BUILD \"Have a verbose build process\")\nif(VERBOSE_BUILD)\n  set(CMAKE_VERBOSE_MAKEFILE ON)\nendif()\n<\/code><\/pre>\n\n\n\n<p>3. mbed-text-display\/CMakeLists.txt \u3092\u4f5c\u6210\u3057\u3066\u914d\u7f6e\u3059\u308b<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># Copyright (c) 2023 mROS-base\n# SPDX-License-Identifier: Apache-2.0\n\ncmake_minimum_required(VERSION 3.16.3)\n\nproject(mbed-text-display)\n\ntarget_include_directories(mbed-text-display\n  BEFORE INTERFACE\n  ${PROJECT_SOURCE_DIR}\n)\n\ntarget_sources(mbed-text-display\n  INTERFACE\n  ${PROJECT_SOURCE_DIR}\/DisplayBase.cpp\n  ${PROJECT_SOURCE_DIR}\/TextLCD.cpp\n  ${PROJECT_SOURCE_DIR}\/TextLCD_I2C.cpp\n  ${PROJECT_SOURCE_DIR}\/TextOLED.cpp\n  ${PROJECT_SOURCE_DIR}\/TextOLED_I2C.cpp\n)\n<\/code><\/pre>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u307e\u305a\u3001\u57fa\u672c\u7684\u306b\u306fMbed\u958b\u767a\u74b0\u5883\u306b\uff4dROS2\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u7d44\u307f\u8fbc\u3080\u3001\u3068\u3044\u3046\u624b\u9806\u3067\u3042\u308b\u304c\uff01 mROS2\u304c\u304b\u306a\u308a\u7279\u6b8a\u3067\u306a\u304b\u306a\u304b\u74b0\u5883\u304c\u9650\u5b9a\u3055\u308c\u308b\u3002 Mbed\u306f \u30fb\u30aa\u30f3\u30e9\u30a4\u30f3\u74b0\u5883\uff08KeilCloudStudio\uff09\uff08\u304a\u305d\u3089\u304f\u3053\u308c\u304cA [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"_links":{"self":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5626"}],"collection":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=5626"}],"version-history":[{"count":15,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5626\/revisions"}],"predecessor-version":[{"id":5745,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5626\/revisions\/5745"}],"wp:attachment":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5626"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}