{"id":5787,"date":"2024-07-06T20:39:06","date_gmt":"2024-07-06T11:39:06","guid":{"rendered":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5787"},"modified":"2024-07-06T21:51:41","modified_gmt":"2024-07-06T12:51:41","slug":"ros2mros2%e3%82%ab%e3%82%b9%e3%82%bf%e3%83%a0%e3%83%a1%e3%83%83%e3%82%bb%e3%83%bc%e3%82%b8%e3%81%ae%e5%a4%89%e6%9b%b4%e6%96%b9%e6%b3%95","status":"publish","type":"page","link":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5787","title":{"rendered":"ROS2:mros2\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u5909\u66f4\u65b9\u6cd5"},"content":{"rendered":"\n<p>\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u3068\u306f\u3001ROS2\u306e\u30c8\u30d4\u30c3\u30af\u901a\u4fe1\u306e\u4e2d\u3067\u3082\u3001\u300c\u8907\u6570\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u540c\u6642\u306b\u914d\u4fe1\u3059\u308b\u65b9\u6cd5\u300d\u3067\u3059<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3053\u308c\u304c\u306a\u305c\u5fc5\u8981\u304b\u3068\u3044\u3046\u3068\u3001PC\u306e\u3088\u3046\u306b\u300c\u30af\u30ea\u30c3\u30af\u3057\u305f\u5f8c\u3001\u3067\u304d\u306a\u308a\u3067\u51e6\u7406\u304c\u7d42\u308f\u308c\u3070\u3088\u3044\u300d\u7cfb\u3068\u306f\u9055\u3044\u3001\u6307\u793a\u3092\u9001\u3063\u305f\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u9045\u5ef6\u306a\u304f\uff08\u53b3\u5bc6\u306b\u306f\u8a31\u5bb9\u3055\u308c\u308b\u9045\u5ef6\u5185\u306b\uff09\u51e6\u7406\u3092\u3057\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u3088\u3046\u306a\u7cfb\u3067\u306f\u3001\u300c\u3042\u308b\u6642\u9593\u6642\u70b9\u3067\u306e\u60c5\u5831\u3092\u540c\u6642\u306b\u3084\u308a\u53d6\u308a\u3057\u306a\u3051\u308c\u3070\u300d\u3044\u3051\u306a\u3044\u3053\u3068\u304c\u591a\u3005\u3042\u308b\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u305f\u3068\u3048\u3070\u3001\u3067\u3044\u3048\u3070\u300c\u30ab\u30e1\u30e9\u306e\u6620\u50cf\u300d\u306b\u3001\u8ddd\u96e2\u60c5\u5831\u3092\u300c\u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc\u300d\u3067\u306e\u305b\u308b\u3088\u3046\u306a\u5834\u5408\u3001\u30ab\u30e1\u30e9\u306e\u753b\u50cf\u3068\u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc\u306e\u30c7\u30fc\u30bf\u306f\u540c\u3058\u77ac\u9593\u3067\u306a\u3044\u3068\u300c\u305a\u308c\u3066\u3057\u307e\u3046\u300d<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u305d\u3046\u3044\u3046\u6642\u306b\u6642\u9593\u60c5\u5831\u3068\u30ab\u30e1\u30e9\u306e\u30c7\u30fc\u30bf\u3068\u8d85\u97f3\u6ce2\u30bb\u30f3\u30b5\u30fc\u3092\u540c\u6642\u306b\u30c7\u30fc\u30bf\u3092\u8ee2\u9001\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u305d\u3046\u3044\u3046\u7528\u9014\u306e\u305f\u3081\u306b\u8907\u6570\u306e\u30c7\u30fc\u30bf\u3092\u30ef\u30f3\u30bb\u30c3\u30c8\u306b\u3057\u3066\u9001\u4fe1\u3059\u308b\u306e\u304c\u300c\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u300d\u3067\u3042\u308b<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<p>\u3067\u3001ROS2\u3067\u306f\u3001COLCON\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u306b\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u5b9a\u7fa9\u3059\u308b\u30d5\u30a9\u30eb\u30c0\u30fc\u3092\u4f5c\u3063\u3066\u3001\u578b\u3068\u540d\u524d\u3092UTF-8\u3067\u30c6\u30ad\u30b9\u30c8\u3067\u7e26\u306b\u7f85\u5217\u3057\u3066\u8a18\u8f09\u3057\u305f.msg\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u3063\u3066colcon build\u3001\u3001\u3001\u306a\u306e\u3067\u3059\u304c\u3001\uff08\u305f\u3076\u3093\u305f\u304f\u3055\u3093\u4f5c\u6210\u4f8b\u304c\u3042\u308b\uff09mros2\u306e\u60c5\u5831\u306f\u5c11\u306a\u3044\u306e\u3067\u8a18\u8f09\u3057\u3066\u304a\u304f<\/p>\n\n\n\n<p>\u57fa\u672c\u7684\u306b\u306f\u3001\u3053\u306e.msg\u3092\u6d41\u7528\u3059\u308b\u3002<\/p>\n\n\n\n<p>\u5f53\u7136<\/p>\n\n\n\n<p>mros2\u306e\u76ee\u7684\u306fROS2\u306e\u30c8\u30d4\u30c3\u30af\u901a\u4fe1\u7db2\u306b\u300cRTOS\u306a\u30de\u30a4\u30b3\u30f3\uff08\uff1dZONE-CU\u3068\u547c\u3070\u308c\u305f\u308a\u3057\u307e\u3059\uff09\u300d\u3092\u53c2\u52a0\u3055\u305b\u308b\u3053\u3068\u3067\u3059\u306e\u3067\u3001\u5f53\u7136\u3001ROS2\u3067\u5148\u306b.mes\u30d5\u30a1\u30a4\u30eb\u306f\u4f5c\u3089\u308c\u3066\u3044\u308b\u306f\u305a\uff01\u3067\u306f\u3042\u308a\u307e\u3059\u3088\u306d\u3002<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity is-style-wide\"\/>\n\n\n\n<p>\u74b0\u5883\u306f\u3001\u5148\u306b\u4f5c\u6210\u3057\u305fmros2-mbed\u30d5\u30a9\u30eb\u30c0\u3092\u30ef\u30fc\u30af\u3068\u3059\u308b\u6a19\u6e96\u74b0\u5883\u3068\u3057\u307e\u3059<\/p>\n\n\n\n<p>\uff08\uff12\uff13\u5e74\u306e\u5f8c\u534a\u3042\u305f\u308a\u4ee5\u964d\u3068\u4ee5\u524d\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u3001mros2-mbed\u306e\u4e2d\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u69cb\u6210\u304c\u5909\u308f\u3063\u3066\u304a\u308a\u307e\u3059\u3002\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u69cb\u6210\u306b\u306a\u3063\u305f\u5f8c\u306e\u8a71\u3060\u3068\u601d\u3063\u3066\u304f\u3060\u3055\u3044\u3002\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><a href=\"http:\/\/shinku.ddo.jp\/wordpress\/wp-content\/uploads\/2024\/07\/image.png\"><img decoding=\"async\" loading=\"lazy\" width=\"292\" height=\"573\" src=\"http:\/\/shinku.ddo.jp\/wordpress\/wp-content\/uploads\/2024\/07\/image.png\" alt=\"\" class=\"wp-image-5793\"\/><\/a><\/figure>\n\n\n\n<p>\u7279\u306b\u308f\u304b\u308a\u3084\u3059\u3044\u306e\u306f\u3001workspace\u306e\u4e0b\u306b\u3042\u3063\u305f\u30e1\u30c3\u30bb\u30fc\u30b8\u95a2\u4fc2\u306e\u30d5\u30a9\u30eb\u30c0\u304cmros2\u306e\u4e0b\u306b\u79fb\u52d5\u3057\u3066\u3044\u307e\u3059\u306e\u3067\u3001\u3053\u306e\u8fba\u3067\u5224\u5225\u304c\u3064\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3053\u3053\u3067\u306fROS2\u3067\u30e1\u30c3\u30bb\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\uff08\u4f8b\uff1aMbed2rasppi.msg\u30fb\u30fb\u30fb\u30e1\u30c3\u30bb\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u540d\u306f\u6700\u521d\u306e\uff11\u6587\u5b57\u306f\u5927\u6587\u5b57\u3067\u3042\u308b\u3053\u3068\u304c\u898f\u5247\u3089\u3057\u3044\uff09\u3092\u4f5c\u3063\u3066\u3042\u308b\u3068\u3057\u3066\u30fb\u30fb\u30fb<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u307e\u305a\u3001\u3053\u308c\u3092mros2\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u4ee5\u4e0b\u306b<\/p>\n\n\n\n<p>~\/mros2-mbed\/mros2\/custom_msgs\/mbed2rasppi_msg\/msg\/Mbed2rasppi.msg<\/p>\n\n\n\n<p>\u306e\u3088\u3046\u306b\u8a2d\u7f6e\u3059\u308b\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3053\u308c\u3092\u81ea\u52d5\u3067\u7d44\u307f\u8fbc\u307f\u7528\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306b\u5909\u63db\u3059\u308b\u30c4\u30fc\u30eb\u304cmros2-base\u3068\u3057\u3066\u63d0\u4f9b\u3055\u308c\u3066\u304a\u308a<\/p>\n\n\n\n<p>~\/mros2-mbed\/mros2\/<\/p>\n\n\n\n<p>\u30d5\u30a9\u30eb\u30c0\u3067<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>python3 ..\/mros2_header_generator\/header_generator.py costom_msgs\/mbed2raspppi_msg\/msg\/Mbed2rasppi.msg<\/code><\/pre>\n\n\n\n<p>\u3068\u3059\u308b\u3053\u3068\u3067\u3001\u30aa\u30fc\u30c8\u30b3\u30fc\u30c7\u30a3\u30f3\u30b0\u3067\u304d\u308b\u3002<\/p>\n\n\n\n<p>\u21d2~\/mros2-mbed\/mros2\/custom_msgs\/mbed2rasppi_msg\/msg\/\u306b\u300cmbed2rasppi.hpp\u300d\u304c\u3067\u304d\u308b\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>\u3053\u308c\u3067\u3001~\/mros2-mbed\/workspace\/(hogehoge)\/app.cpp\u304b\u3089\u5229\u7528\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308b\u3002<\/p>\n\n\n\n<p>\u5229\u7528\u306e\u4ed5\u65b9\u306f\u30b5\u30f3\u30d7\u30eb\u306eapp.cpp\u3092\u898b\u3066\u3082\u3089\u3044\u305f\u3044\u3002<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u3068\u306f\u3001ROS2\u306e\u30c8\u30d4\u30c3\u30af\u901a\u4fe1\u306e\u4e2d\u3067\u3082\u3001\u300c\u8907\u6570\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u540c\u6642\u306b\u914d\u4fe1\u3059\u308b\u65b9\u6cd5\u300d\u3067\u3059 \u3053\u308c\u304c\u306a\u305c\u5fc5\u8981\u304b\u3068\u3044\u3046\u3068\u3001PC\u306e\u3088\u3046\u306b\u300c\u30af\u30ea\u30c3\u30af\u3057\u305f\u5f8c\u3001\u3067\u304d\u306a\u308a\u3067\u51e6\u7406\u304c\u7d42\u308f\u308c\u3070\u3088\u3044\u300d\u7cfb\u3068\u306f\u9055\u3044\u3001\u6307\u793a\u3092\u9001\u3063\u305f\u30bf\u30a4\u30df\u30f3 [&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\/5787"}],"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=5787"}],"version-history":[{"count":8,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5787\/revisions"}],"predecessor-version":[{"id":5797,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5787\/revisions\/5797"}],"wp:attachment":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5787"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}