{"id":5854,"date":"2025-02-02T05:01:09","date_gmt":"2025-02-01T20:01:09","guid":{"rendered":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5854"},"modified":"2025-02-02T06:03:01","modified_gmt":"2025-02-01T21:03:01","slug":"raspberry-pi-5raspberrypi-os-bookworm-%e3%81%abros2-humbe%e3%82%92%e5%b0%8e%e5%85%a5","status":"publish","type":"page","link":"http:\/\/shinku.ddo.jp\/wordpress\/?page_id=5854","title":{"rendered":"raspberry pi 5+RaspberryPi OS bookworm \u306bROS2 Humbe\u3092\u5c0e\u5165"},"content":{"rendered":"\n

\u25cf\u76ee\u6b21<\/h2>\n\n\n\n

\u30fbOS\u5c0e\u5165<\/p>\n\n\n\n

\u30fbROS2\u3000\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n\n\n\n

\u30fbmros2<\/p>\n\n\n\n

\u30fb\u30a4\u30e1\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u914d\u5e03<\/p>\n\n\n\n

\uff08Ubuntu\uff12\uff12\uff0e\uff10\uff14\uff0bHumble\u3068\u306e\u5dee\u7570\u304c\u3042\u308b\u70b9\u306b\u306e\u307f\u8a18\u8f09\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

\u3000\u30c7\u30e2\u30f3\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u985e\u306f\u4ed6\u30da\u30fc\u30b8\u3092\u53c2\u8003<\/a>\u304f\u3060\u3055\u3044\u3002\u4f55\u56de\u3082\u66f8\u304f\u306e\u3082\u75b2\u308c\u305f\u3002\u3002\u3002\uff09<\/p>\n\n\n\n

\u25cfOS\u5c0e\u5165<\/h2>\n\n\n\n

\uff11\uff0ebookworm 64bit\u3092\u5165\u308c\u308b<\/p>\n\n\n\n

\u3000\u3000\u3053\u308c\u306f\u516c\u5f0f\u901a\u308a\u3067\u3059\u3002\u3069\u3053\u306eHP\u3067\u3082\u8a18\u8f09\u304c\u3042\u308b\u306e\u3067\u305d\u3061\u3089\u3067\u304a\u9858\u3044\u3057\u307e\u3059<\/p>\n\n\n\n

\u3000\u3000\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306f\u30d8\u30c3\u30c9\u30ec\u30b9\u3067\u3082\u3067\u304d\u307e\u3059\u3057\u30ed\u30fc\u30ab\u30eb\u3067\u3082\u3067\u304d\u307e\u3059\u304c\u3001\u3053\u306e\u8fba\u306e\u3084\u308a\u65b9\u3082\u308f\u304b\u3063\u3066\u3044\u308b\u524d\u63d0\u3067\u884c\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

\uff12\uff0e\u30ea\u30e2\u30fc\u30c8\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u3092\u901a\u308b\u3088\u3046\u306b\u3059\u308b<\/p>\n\n\n\n

sudo apt update\nsudo apt upgrade\nsudo apt install xrdp tightvncserver\n\nsudo systemctl set-default multi-user.target<\/code><\/pre>\n\n\n\n
sudo systemctl set-default multi-user.target \u306f\u3001CLI\u3067\u30ed\u30b0\u30a4\u30f3\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3002<\/p>\n\n\n\n
startx\u3063\u3066\u3084\u308c\u3070\u3001GUI\u306b\u79fb\u884c\u3067\u304d\u308b\u306e\u3067\u3054\u5b89\u5fc3\u3092\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\uff13\uff0e\u305d\u306e\u307b\u304b\u8af8\u3005\u30c4\u30fc\u30eb\u985e\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u79c1\u7684\u304a\u6c7a\u307e\u308a\u54c1\uff09<\/p>\n\n\n\n
sudo apt install fcitx-mozc fdclone tightvncserver xrdp gddrescue parted gparted cpufrequtils remmina chromium-browser chromium-browser-l10n terminator pcmanfm-qt libc6-dev build-essential i2c-tools git vlc remmina-plugin-rdp remmina-plugin-vnc blueman net-tools netcat-traditional git build-essential libx11-dev python3-pip cmatrix hollywood sl fortune bastet curl code\n\nmkdir 00_temp\nmkdir 01_install<\/code><\/pre>\n\n\n\n
<\/p>\n\n\n\n
\u25cfROS2\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h2>\n\n\n\n
sudo apt install software-properties-common\nsudo curl -sSL https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.key -o \/usr\/share\/keyrings\/ros-archive-keyring.gpg\n\necho \"deb [arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/ros-archive-keyring.gpg] http:\/\/packages.ros.org\/ros2\/ubuntu bookworm main\" | sudo tee \/etc\/apt\/sources.list.d\/ros2.list > \/dev\/null\n\n\n<\/code><\/pre>\n\n\n\n
sudo apt update && sudo apt install -y \\\n  python3-flake8-docstrings \\\n  python3-pip \\\n  python3-pytest-cov \\\n  python3-flake8-blind-except \\\n  python3-flake8-builtins \\\n  python3-flake8-class-newline \\\n  python3-flake8-comprehensions \\\n  python3-flake8-deprecated \\\n  python3-flake8-import-order \\\n  python3-flake8-quotes \\\n  python3-pytest-repeat \\\n  python3-pytest-rerunfailures \\\n  ros-dev-tools<\/code><\/pre>\n\n\n\n
mkdir -p ~\/01_ros2_humble\/src\ncd ~\/01_ros2_humble\nvcs import --input https:\/\/raw.githubusercontent.com\/ros2\/ros2\/humble\/ros2.repos src\n\nsudo rosdep init\nrosdep update\nrosdep install --from-paths src --ignore-src -y --skip-keys \"fastcdr rti-connext-dds-6.0.1 urdfdom_headers\"\n\n\n\uff03\u4ee5\u4e0b\u3001Ubuntu\u3068\u540c\u3058\u3088\u3046\u306b\/opt\u4ee5\u4e0b\u306b\u57fa\u5e79\u30bd\u30d5\u30c8\u30a6\u30a8\u30a2\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u65b9\u6cd5\nsudo mkdir -p \/opt\/ros\/humble\nsudo colcon build --install-base \/opt\/ros\/humble\n<\/code><\/pre>\n\n\n\n
\u6700\u5f8c\u306e\uff11\u884c\u306e\u30b3\u30f3\u30d1\u30a4\u30eb\u30b3\u30de\u30f3\u30c9\u3001\u3088\u304f\u7d39\u4ecb\u3055\u308c\u3066\u3044\u308b\u306e\u306f\u300ccolcon build –symlink-install\u300d\u3060\u304c\u3001\u3053\u308c\u3060\u3068Ubuntu\u3067\u30d0\u30a4\u30ca\u30ea\u30fc\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3057\u305f\u6642\u3068\u540c\u3058\u306b\u306f\u306a\u3089\u306a\u3044\u3002<\/p>\n\n\n\n
\u305d\u3057\u3066\u5c0e\u5165\u6642\u306b\u4f7f\u3063\u305f\u30bd\u30fc\u30b9\u304c\u5165\u3063\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\uff08\u4eca\u56de\u306e\u4f8b\u3067\u306f~\/01_ros2_humble\/\uff09\u304c\u6d88\u305b\u306a\u3044\uff08\u6d88\u3057\u305f\u3089\u52d5\u304b\u306a\u304f\u306a\u308b\uff09<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u4ee5\u4e0b\u3001~\/.bashrc\u306b\u8ffd\u52a0<\/p>\n\n\n\n
source \/opt\/ros\/humble\/setup.bash\nsource ~\/11_colcon_ws\/install\/setup.bash<\/code><\/pre>\n\n\n\n
\u3067\u3001\u4ee5\u4e0b\u304c\u52d5\u3051\u3070\u307e\u305a\u306f\u6210\u529f<\/p>\n\n\n\n
\u30fb\u78ba\u8a8d\u3002<\/h2>\n\n\n\n
\u65b0\u3057\u304f\u30b3\u30f3\u30bd\u30fc\u30eb\u30922\u3064\u8d77\u52d5\u3057<\/p>\n\n\n\n
\"\"<\/a>
\u3053\u3046\u306a\u3063\u305f\u3089\u6210\u529f<\/figcaption><\/figure>\n\n\n\n
\u305d\u308c\u305e\u308c\u3067<\/p>\n\n\n\n
ros2 run demo_nodes_cpp talker<\/code><\/pre>\n\n\n\n
ros2 run demo_nodes_py listener<\/code><\/pre>\n\n\n\n
\u3092\u5b9f\u884c\u3002<\/p>\n\n\n\n
\"\"<\/a>
\u3053\u3046\u306a\u3063\u305f\u3089\u6210\u529f\u3002<\/figcaption><\/figure>\n\n\n\n
<\/p>\n\n\n\n
\u25cfMBED\u30b3\u30f3\u30d1\u30a4\u30eb\u74b0\u5883+mros2\u958b\u767a\u74b0\u5883\u5c0e\u5165<\/h2>\n\n\n\n
\u4eca\u56de\u306fDocker\u3067\u884c\u304d\u307e\u3059\u3002\u3044\u308d\u3044\u308dUbuntu\u3068\u306e\u63a1\u70b9\u3092\u5438\u53ce\u3059\u308b\u306e\u304c\u975e\u5e38\u306b\u5384\u4ecb\u306a\u306e\u3067\u3002<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u3042\u3068\u3001\u306a\u306b\u3082\u30e9\u30ba\u30d1\u30a4\uff15\u3067\u30af\u30ed\u30b9\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u5fc5\u8981\u306f\u306a\u304f\u3066\u3001Win\u4e0a\u3067\u30d0\u30fc\u30c1\u30e3\u30eb\u30de\u30b7\u30f3\u3067Ubuntu\u3092\u52d5\u304b\u3057\u3066\u3082\u3044\u3044\u308f\u3051\u3067\uff08\u3080\u3057\u308d\u305d\u306e\u65b9\u304c\u9078\u629e\u80a2\u304c\u5897\u3048\u308b\uff09\u3001\u305d\u306e\u5834\u5408\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306e\u4ed5\u65b9\u306f\u3053\u3061\u3089<\/a><\/p>\n\n\n\n
\u30fbDocker\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<\/strong><\/p>\n\n\n\n
\u73fe\u72b6\u3001Docker\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u305f\u5834\u5408\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u306b\u3088\u308a\u751f\u6210\u3055\u308c\u305f\u30d5\u30a1\u30a4\u30eb\u3084\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306froot\u304c\u6301\u3061\u4e3b\u3068\u306a\u308a\u307e\u3059\u3002\u5f8c\u65e5Mbed-CLI\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u305f\u308a\u30d5\u30a1\u30a4\u30eb\u64cd\u4f5c\u3057\u305f\u308a\u3059\u308b\u3068\u304d\u306b\u652f\u969c\u304c\u51fa\u305f\u5834\u5408\u3001\u30a8\u30e9\u30fc\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u3088\u304f\u898b\u3066permission Denied\u3068\u304b\u8a00\u3063\u3066\u305f\u5834\u5408\u306f\u3053\u306e\u8fba\u306e\u6a29\u9650\u3092\u7591\u3063\u3066\u307f\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
\u307e\u305aDocker\u52d5\u4f5c\u74b0\u5883\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n\n\n\n
sudo apt install docker.io\nsudo docker pull ghcr.io\/armmbed\/mbed-os-env:mbed-os-6-latest<\/code><\/pre>\n\n\n\n
Docker\u3092pi\u30e6\u30fc\u30b6\u30fc\u304b\u3089\u5b9f\u884c\u3067\u304d\u308b\u3088\u3046\u306b\u30b0\u30eb\u30fc\u30d7\u306b\u767b\u9332<\/p>\n\n\n\n
sudo gpasswd -a pi docker<\/code><\/pre>\n\n\n\n
\u25cf\u30a4\u30e1\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u914d\u5e03<\/h2>\n\n\n\n
\u6e96\u5099\u4e2d<\/p>\n\n\n\n
<\/p>\n\n\n\n
<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"
\u25cf\u76ee\u6b21 \u30fbOS\u5c0e\u5165 \u30fbROS2\u3000\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb \u30fbmros2 \u30fb\u30a4\u30e1\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u914d\u5e03 \uff08Ubuntu\uff12\uff12\uff0e\uff10\uff14\uff0bHumble\u3068\u306e\u5dee\u7570\u304c\u3042\u308b\u70b9\u306b\u306e\u307f\u8a18\u8f09\u3057\u307e\u3059\u3002 \u3000\u30c7\u30e2\u30f3\u30b9\u30c8\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u985e\u306f\u4ed6\u30da\u30fc\u30b8\u3092\u53c2\u8003\u304f\u3060\u3055\u3044\u3002\u4f55\u56de\u3082\u66f8\u304f […]<\/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\/5854"}],"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=5854"}],"version-history":[{"count":9,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5854\/revisions"}],"predecessor-version":[{"id":5867,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5854\/revisions\/5867"}],"wp:attachment":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5854"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}