export FASTRTPS_DEFAULT_PROFILES_FILE=\/home\/pi\/.fastdds\/DEFAULT_FASTRTPS_PROFILES.xml<\/code><\/pre>\n\n\n\n\uff12\uff09\u30d1\u30c3\u30b1\u30fc\u30b8\u4f5c\u6210<\/p>\n\n\n\n
\u4ee5\u4e0b\u3092\u30ef\u30fc\u30af\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u300c\u4eee\u306b~\/11_colcon_ws\/\u3068\u3057\u3066\u9032\u3081\u308b\u300d\u3067\u5b9f\u884c\u3059\u308c\u3070volc_disp\u3068\u3044\u3046\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u3063\u3066\u304f\u308c\u308b\u3002<\/p>\n\n\n\n
ros2 pkg create vol_disp –build-type ament_python –dependencies rclpy<\/p>\n\n\n\n
\uff13\uff09python\u3067\u30d7\u30ed\u30b0\u30e9\u30e0\u4f5c\u6210<\/p>\n\n\n\n
~\/11_colcon_ws\/src\/vol_disp\/vol_disp\/voldisp.py\u3092\u4f5c\u6210\uff08\u308f\u304b\u308a\u3084\u3059\u304f\u3059\u308b\u305f\u3081\u306b\u30d1\u30c3\u30b1\u30fc\u30b8\u540d\u3068\u306f\u540d\u524d\u3092\u5909\u3048\u3066\u3044\u307e\u3059\u3002\uff09<\/p>\n\n\n\n
#--------+----------+-------------------------------------------\n# v0.0 |240323 |create NEW\n# | |\n#--------+----------+-------------------------------------------\nimport rclpy\nfrom rclpy.node import Node\nfrom rclpy.qos import QoSProfile,ReliabilityPolicy,DurabilityPolicy\nfrom mbed2rasppik_msgs.msg import Mbed2rasppik\nfrom rasppi2mbedk_msgs.msg import Rasppi2mbedk\n\nimport time\n\nimport pyaudio\nimport numpy as np\n\nimport signal\nimport sys\n\n# PyAudio\u306e\u8a2d\u5b9a\nFORMAT = pyaudio.paInt16\nCHANNELS = 1\nRATE = 44100\nCHUNK = 1024\n\n# PyAudio\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u6210\naudio = pyaudio.PyAudio()\n\n# \u30b9\u30c8\u30ea\u30fc\u30e0\u3092\u958b\u304f\nstream = audio.open(format=FORMAT, channels=CHANNELS,\n rate=RATE, input=True,\n frames_per_buffer=CHUNK)\n\n\n#----------\u30af\u30e9\u30b9\u5b9a\u7fa9-----------\nclass Central_Controller(Node):\n \n #\u30b3\u30f3\u30b9\u30c8\u30e9\u30af\u30bf(\u521d\u671f\u5b9a\u7fa9)\n def __init__(self):\n \n super().__init__(\"vol_disp_node\")\n \n self.v_rx_cntr:int = 0\n self.v_bluestat1:int = 0\n self.v_bluestat_rpi1:int = 0\n self.v_volumeamp_rpi:int = 0\n\n self.v_volume:float= 0\n self.v_volume_max:float= 0\n\n #\u901a\u4fe1\u54c1\u8cea\n profile = QoSProfile(depth=10, reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT,\\\n durability=rclpy.qos.DurabilityPolicy.VOLATILE)\n \n #\u9001\u4fe1\u8a2d\u5b9a\n self.pub = self.create_publisher(Rasppi2mbedk,'rasppi2mbedk',profile)\n \n #\u53d7\u4fe1\u8a2d\u5b9a\n self.sub = self.create_subscription(Mbed2rasppik,'mbed2rasppik',self.callback,profile) \n\n print(\"\u97f3\u91cf\u3092\u8868\u793a\u3057\u307e\u3059\u3002Ctrl+C\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002\")\n\n\n #\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\n def callback(self,msg):\n \n msg_pub = Rasppi2mbedk() \n #----------------mbed2rasppi\u8cfc\u8aad\u5024\u306e\u8aad\u307f\u8fbc\u307f\n self.v_bluestat1 = msg.v_bluestat1\n self.v_volumeamp_rpi = 100\n\n #-------------------------\u6f14\u7b97\n self.v_rx_cntr += 1\n self.v_bluestat_rpi1 = self.v_bluestat1\n\n # \u97f3\u58f0\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u53d6\u308b\n data = np.frombuffer(stream.read(CHUNK), dtype=np.int16)\n # \u97f3\u91cf\u3092\u8a08\u7b97\n self.v_volume = np.linalg.norm(data) \/ CHUNK\n print(f\"\u97f3\u91cf: {self.v_volume:.2f}\")\n self.v_volume_max = max(self.v_volume , self.v_volume_max)\n print(f\"\u6700\u5927\u97f3\u91cf: {self.v_volume_max:.2f}\")\n self.v_volumeamp_rpi = int(min(65535,self.v_volume*65))\n\n #-------------rasppi2mbed\u3078\u306e\u767a\u884c\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8--------------------------- \n msg_pub.v_bluestat_rpi1 = self.v_bluestat_rpi1\n msg_pub.v_volumeamplitude_rpi = self.v_volumeamp_rpi\n\n #----------------\u30b3\u30f3\u30bd\u30fc\u30eb\u3078\u306e\u30c7\u30fc\u30bf\u30e2\u30cb\u30bf------------------\n print('rx_counter='+str(self.v_rx_cntr))\n print('RX:v_bluestat1='+str(self.v_bluestat1))\n print('TX:v_bluestat_rpi1='+str(self.v_bluestat_rpi1),'v_volumeamplitude_rpi='+str(self.v_volumeamp_rpi))\n print('-------------------')\n \n self.pub.publish(msg_pub)\n \n\"\"\" \u30e1\u30a4\u30f3\u95a2\u6570 \"\"\"\ndef main():\n \n #RCL\u306e\u521d\u671f\u5316\u3092\u5b9f\u884c\n rclpy.init()\n \n #\u30af\u30e9\u30b9\u3092\u30b3\u30f3\u30b9\u30bf\u30f3\u30b9\u5316\n node = Central_Controller()\n\n #-----CTRL+C\u6642\u306e\u51e6\u7406\u3092\u8ffd\u52a0\n def signal_handler(sig, frame):\n print(\"CTRL+C \u7d42\u4e86\u3057\u307e\u3059\u3002\")\n node.destroy_node()\n rclpy.shutdown()\n stream.stop_stream()\n stream.close()\n audio.terminate()\n sys.exit(0)\n\n signal.signal(signal.SIGINT, signal_handler)\n \n try:\n #\u30eb\u30fc\u30d7\u306b\u5165\u308anode\u306e\u51e6\u7406\u3092\u5b9f\u884c\u3055\u305b\u308b\n rclpy.spin(node)\n except KeyboardInterrupt:\n pass\n finally:\n if rclpy.ok():\n node.destroy_node()\n rclpy.shutdown()\n stream.stop_stream()\n stream.close()\n audio.terminate()\n \nif __name__ == '__main__':\n main()\n<\/code><\/pre>\n\n\n\n\/11_colcon_ws\/src\/vol_disp\/setup.py\u3092\u7de8\u96c6<\/p>\n\n\n\n
from setuptools import find_packages, setup\n\npackage_name = 'vol_disp'\n\nsetup(\n name=package_name,\n version='0.0.0',\n packages=find_packages(exclude=['test']),\n data_files=[\n ('share\/ament_index\/resource_index\/packages',\n ['resource\/' + package_name]),\n ('share\/' + package_name, ['package.xml']),\n ],\n install_requires=['setuptools'],\n zip_safe=True,\n maintainer='pi',\n maintainer_email='pi@todo.todo',\n description='TODO: Package description',\n license='TODO: License declaration',\n tests_require=['pytest'],\n entry_points={\n 'console_scripts': [\n 'voldisp = vol_disp.voldisp:main',\n ],\n },\n)<\/code><\/pre>\n\n\n\n\uff13\uff09\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u30ea\u30b9\u30c8\u3092\u4f5c\u308b\u3002<\/p>\n\n\n\n
\u5236\u5fa1\u3067\u901a\u5e38\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u306a\u304f\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u4f7f\u3046\u306e\u306f\u300c\u540c\u4e00\u306e\u30bf\u30a4\u30df\u30f3\u30b0\u3067\u306e\u5236\u5fa1\u306b\u4f7f\u3046\u72b6\u614b\u5024\u306f\u540c\u4e00\u306e\u30bf\u30a4\u30df\u30f3\u30b0\u306e\u3082\u306e\u3067\u306a\u3044\u3068\u3044\u308d\u3044\u308d\u554f\u984c\u304c\u8d77\u3053\u308b\u300d\u304b\u3089\u3067\u3059\u3002<\/p>\n\n\n\n
\u3053\u308c\u3067\u308f\u304b\u3089\u306a\u3044\u65b9\u306f\u3001\u306a\u304b\u306a\u304b\u8aac\u660e\u304c\u3080\u3064\u304b\u3057\u3044\u306e\u3067\u3001\u4e00\u56de\u3044\u3064\u304b\u75db\u3044\u76ee\u306b\u3042\u3063\u3066\u899a\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
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\u25cf\u30e9\u30ba\u30d1\u30a4\u5074\u30bd\u30d5\u30c8\u30a6\u30a8\u30a2<\/h2>\n\n\n\n
\u307e\u305a\u3001\u3054\u6ce8\u610f\u3002<\/p>\n\n\n\n
\u3053\u3053\u3067\u306f\u3042\u3048\u3066PIP\u3092\u5f37\u5f15\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304a\u308a\u3001\u4eca\u63a8\u5968\u306evenv\u306f\u4f7f\u3063\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
\u306a\u305c\u304b\uff01\u30fb\u30fb\u30fb\u306a\u3093\u304bROS2\u3068\u76f8\u6027\u60aa\u3044\u304b\u3089\u3002\u3076\u3063\u3061\u3083\u3051\u3001venv\u3060\u3068\u3046\u307e\u304f\u52d5\u304b\u3093\u304cpip\u3092\u5f37\u5f15\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308c\u3070\u52d5\u304f\u3093\u3067\u305d\u308c\u3067\u3084\u3063\u3061\u3083\u3063\u3066\u307e\u3059<\/p>\n\n\n\n
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\u30b9\u30c6\u30c3\u30d7\uff11\uff09\u307e\u305a\u3001\u97f3\u91cf\u3092\u30c6\u30ad\u30b9\u30c8\u3067\u8868\u793a\u3059\u308b\u3002<\/p>\n\n\n\n
\u30fb\u6e96\u5099<\/p>\n\n\n\n
sudo apt install python3 python3-pip\nsudo apt install portaudio19-dev<\/code><\/pre>\n\n\n\n\u300c\u30e1\u30e2\u300dvenv\u3068ros2\u306e\u76f8\u6027\u304c\u306a\u3093\u304b\u3088\u304f\u306a\u3044\u306e\u3067\u4ee5\u4e0b\u3067\u5f37\u5f15\u306bvenv\u306a\u3057\u3067pip\u3059\u308b\u624b\u3082\u3042\u308b pip install pyaudio –break-system-packages \u3068\u304b pip install transitions –break-system-packages \uff08ROS2\u3067\u3088\u304f\u4f7f\u3046\u3084\u3064\uff09\u3068\u304b\u3002<\/p>\n\n\n\n
pip install pyaudio --break-system-packages\npip install numpy --break-system-packages\n<\/code><\/pre>\n\n\n\n\u30fb\u30d7\u30ed\u30b0\u30e9\u30e0\u672c\u4f53\uff08volume_display_py\uff09<\/p>\n\n\n\n
import pyaudio\nimport numpy as np\n\n# PyAudio\u306e\u8a2d\u5b9a\nFORMAT = pyaudio.paInt16\nCHANNELS = 1\nRATE = 44100\nCHUNK = 1024\n\n# PyAudio\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u6210\naudio = pyaudio.PyAudio()\n\n# \u30b9\u30c8\u30ea\u30fc\u30e0\u3092\u958b\u304f\nstream = audio.open(format=FORMAT, channels=CHANNELS,\n rate=RATE, input=True,\n frames_per_buffer=CHUNK)\n\nprint(\"\u97f3\u91cf\u3092\u8868\u793a\u3057\u307e\u3059\u3002Ctrl+C\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002\")\n\ntry:\n while True:\n # \u97f3\u58f0\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u53d6\u308b\n data = np.frombuffer(stream.read(CHUNK), dtype=np.int16)\n # \u97f3\u91cf\u3092\u8a08\u7b97\n volume = np.linalg.norm(data) \/ CHUNK\n print(f\"\u97f3\u91cf: {volume:.2f}\")\nexcept KeyboardInterrupt:\n print(\"\u7d42\u4e86\u3057\u307e\u3059\u3002\")\n\n# \u30b9\u30c8\u30ea\u30fc\u30e0\u3092\u9589\u3058\u308b\nstream.stop_stream()\nstream.close()\naudio.terminate()<\/code><\/pre>\n\n\n\n\u3067\u3001\u4ee5\u4e0b\u5b9f\u884c<\/p>\n\n\n\n
python volume_display_py<\/code><\/pre>\n\n\n\n\u30b9\u30c6\u30c3\u30d7\uff12\uff09ROS2\u306e\u901a\u4fe1\u3092\u7d44\u307f\u8fbc\u3080<\/p>\n\n\n\n
\uff12\uff0d\uff11\uff0d\uff11\uff09\u30ce\u30fc\u30c9\u4f5c\u6210<\/p>\n\n\n\n
\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067<\/p>\n\n\n\n
ros2 pkg create vol_disp --build-type ament_python --dependencies rclpy\n<\/code><\/pre>\n\n\n\n\uff12\uff0d\uff11\uff0d\uff12\uff09\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\/src\/vol_disp\/setup.py\u7de8\u96c6<\/p>\n\n\n\n
from setuptools import setup\n\npackage_name = 'my_python_pkg'\n\nfrom setuptools import find_packages, setup\n\npackage_name = 'vol_disp'\n\nsetup(\n name=package_name,\n version='0.0.0',\n packages=find_packages(exclude=['test']),\n data_files=[\n ('share\/ament_index\/resource_index\/packages',\n ['resource\/' + package_name]),\n ('share\/' + package_name, ['package.xml']),\n ],\n install_requires=['setuptools'],\n zip_safe=True,\n maintainer='pi',\n maintainer_email='pi@todo.todo',\n description='TODO: Package description',\n license='TODO: License declaration',\n tests_require=['pytest'],\n entry_points={\n 'console_scripts': [\n 'voldisp = vol_disp.voldisp:main',\n ],\n },\n)<\/code><\/pre>\n\n\n\n\uff12\uff0d\uff11\uff0d\uff13\uff09<\/p>\n\n\n\n
\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\/src\/vol_disp\/vol_disp\/voldisp.py<\/p>\n\n\n\n
import rclpy\nfrom rclpy.node import Node\nfrom rclpy.qos import QoSProfile,ReliabilityPolicy,DurabilityPolicy\nfrom mbed2rasppik_msgs.msg import Mbed2rasppik\nfrom rasppi2mbedk_msgs.msg import Rasppi2mbedk\n\nimport time\n\nimport pyaudio\nimport numpy as np\n\nimport signal\nimport sys\n\n# PyAudio\u306e\u8a2d\u5b9a\nFORMAT = pyaudio.paInt16\nCHANNELS = 1\nRATE = 44100\nCHUNK = 1024\n\n# PyAudio\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u4f5c\u6210\naudio = pyaudio.PyAudio()\n\n# \u30b9\u30c8\u30ea\u30fc\u30e0\u3092\u958b\u304f\nstream = audio.open(format=FORMAT, channels=CHANNELS,\n rate=RATE, input=True,\n frames_per_buffer=CHUNK)\n\n\n#----------\u30af\u30e9\u30b9\u5b9a\u7fa9-----------\nclass Central_Controller(Node):\n \n #\u30b3\u30f3\u30b9\u30c8\u30e9\u30af\u30bf(\u521d\u671f\u5b9a\u7fa9)\n def __init__(self):\n \n super().__init__(\"input_control\")\n \n self.v_rx_cntr:int = 0\n self.v_bluestat1:int = 0\n self.v_bluestat_rpi1:int = 0\n self.v_volumeamp_rpi:int = 0\n\n self.v_volume:float= 0\n self.v_volume_max:float= 0\n\n #\u901a\u4fe1\u54c1\u8cea\n profile = QoSProfile(depth=10, reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT,\\\n durability=rclpy.qos.DurabilityPolicy.VOLATILE)\n \n #\u9001\u4fe1\u8a2d\u5b9a\n self.pub = self.create_publisher(Rasppi2mbedk,'rasppi2mbedk',profile)\n \n #\u53d7\u4fe1\u8a2d\u5b9a\n self.sub = self.create_subscription(Mbed2rasppik,'mbed2rasppik',self.callback,profile) \n\n print(\"\u97f3\u91cf\u3092\u8868\u793a\u3057\u307e\u3059\u3002Ctrl+C\u3067\u7d42\u4e86\u3057\u307e\u3059\u3002\")\n\n\n #\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\n def callback(self,msg):\n \n msg_pub = Rasppi2mbedk() \n #----------------mbed2rasppi\u8cfc\u8aad\u5024\u306e\u8aad\u307f\u8fbc\u307f\n self.v_bluestat1 = msg.v_bluestat1\n self.v_volumeamp_rpi = 100\n\n #-------------------------\u6f14\u7b97\n self.v_rx_cntr += 1\n self.v_bluestat_rpi1 = self.v_bluestat1\n\n # \u97f3\u58f0\u30c7\u30fc\u30bf\u3092\u8aad\u307f\u53d6\u308b\n data = np.frombuffer(stream.read(CHUNK), dtype=np.int16)\n # \u97f3\u91cf\u3092\u8a08\u7b97\n self.v_volume = np.linalg.norm(data) \/ CHUNK\n print(f\"\u97f3\u91cf: {self.v_volume:.2f}\")\n self.v_volume_max = max(self.v_volume , self.v_volume_max)\n print(f\"\u6700\u5927\u97f3\u91cf: {self.v_volume_max:.2f}\")\n self.v_volumeamp_rpi = int(min(65535,self.v_volume*65))\n\n #-------------rasppi2mbed\u3078\u306e\u767a\u884c\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8--------------------------- \n msg_pub.v_bluestat_rpi1 = self.v_bluestat_rpi1\n msg_pub.v_volumeamplitude_rpi = self.v_volumeamp_rpi\n\n #----------------\u30b3\u30f3\u30bd\u30fc\u30eb\u3078\u306e\u30c7\u30fc\u30bf\u30e2\u30cb\u30bf------------------\n print('rx_counter='+str(self.v_rx_cntr))\n print('RX:v_bluestat1='+str(self.v_bluestat1))\n print('TX:v_bluestat_rpi1='+str(self.v_bluestat_rpi1),'v_volumeamplitude_rpi='+str(self.v_volumeamp_rpi))\n print('-------------------')\n \n self.pub.publish(msg_pub)\n \n\"\"\" \u30e1\u30a4\u30f3\u95a2\u6570 \"\"\"\ndef main():\n \n #RCL\u306e\u521d\u671f\u5316\u3092\u5b9f\u884c\n rclpy.init()\n \n #\u30af\u30e9\u30b9\u3092\u30b3\u30f3\u30b9\u30bf\u30f3\u30b9\u5316\n node = Central_Controller()\n\n #-----CTRL+C\u6642\u306e\u51e6\u7406\u3092\u8ffd\u52a0\n def signal_handler(sig, frame):\n print(\"CTRL+C \u7d42\u4e86\u3057\u307e\u3059\u3002\")\n node.destroy_node()\n rclpy.shutdown()\n stream.stop_stream()\n stream.close()\n audio.terminate()\n sys.exit(0)\n\n signal.signal(signal.SIGINT, signal_handler)\n \n try:\n #\u30eb\u30fc\u30d7\u306b\u5165\u308anode\u306e\u51e6\u7406\u3092\u5b9f\u884c\u3055\u305b\u308b\n rclpy.spin(node)\n except KeyboardInterrupt:\n pass\n finally:\n if rclpy.ok():\n node.destroy_node()\n rclpy.shutdown()\n stream.stop_stream()\n stream.close()\n audio.terminate()\n \nif __name__ == '__main__':\n main()\n\n<\/code><\/pre>\n\n\n\n\uff12\uff0d\uff12\uff0d\uff11\uff09ROS2TOPIC\u30fb\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u300cmbed2rasppik\u300d\u4f5c\u6210<\/p>\n\n\n\n
ros2 pkg create --build-type ament_cmake mbed2rasppik<\/code><\/pre>\n\n\n\ncd ~\/ros2_ws\/src\/mbed2rasppik\nmkdir msg\necho \"int32 num\" > <\/code><\/pre>\n\n\n\n\uff08\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\uff09\/src\/mbed2rasppik\/Mbed2rasppik\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u7de8\u96c6<\/p>\n\n\n\n
uint8 v_bluestat1<\/code><\/pre>\n\n\n\n\uff08\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\uff09\/src\/mbed2rasppik\/CMakeLists.txt<\/p>\n\n\n\n
\u306e\u3001find_package\u306e\u3068\u3053\u308d\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u5909\u66f4<\/p>\n\n\n\n
find_package(rosidl_default_generators REQUIRED)\n\nset(msg_files\n \"msg\/Mbed2rasppik.msg\"\n)\nrosidl_generate_interfaces(${PROJECT_NAME}\n ${msg_files}\n)<\/code><\/pre>\n\n\n\n\uff08\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\uff09\/src\/mbed2rasppik\/package.xml<\/p>\n\n\n\n
<?xml version=\"1.0\"?>\n<?xml-model href=\"http:\/\/download.ros.org\/schema\/package_format3.xsd\" schematypens=\"http:\/\/www.w3.org\/2001\/XMLSchema\"?>\n<package format=\"3\">\n <name>mbed2rasppik_msgs<\/name>\n <version>0.0.0<\/version>\n <description>TODO: Package description<\/description>\n <maintainer email=\"pi@todo.todo\">pi<\/maintainer>\n <license>TODO: License declaration<\/license>\n\n <buildtool_depend>ament_cmake<\/buildtool_depend>\n\n <test_depend>ament_lint_auto<\/test_depend>\n <test_depend>ament_lint_common<\/test_depend>\n\n <build_depend>rosidl_default_generators<\/build_depend>\n <exec_depend>rosidl_default_runtime<\/exec_depend>\n <member_of_group>rosidl_interface_packages<\/member_of_group>\n\n <export>\n <build_type>ament_cmake<\/build_type>\n <\/export>\n<\/package><\/code><\/pre>\n\n\n\n<\/p>\n\n\n\n
<\/p>\n\n\n\n
\uff12\uff0d\uff13\uff0d\uff11\uff09ROS2TOPIC\u30fb\u30ab\u30b9\u30bf\u30e0\u30e1\u30c3\u30bb\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u300crasppi2mbedk\u300d\u4f5c\u6210<\/p>\n\n\n\n
<\/p>\n\n\n\n
<\/p>\n\n\n\n
<\/p>\n\n\n\n
cd ~\/ros2_ws\ncolcon build<\/code><\/pre>\n\n\n\n<\/p>\n\n\n\n
\u30b9\u30c6\u30c3\u30d7\uff13\uff09\u81ea\u52d5\u8d77\u52d5<\/p>\n\n\n\n
Raspberry Pi 5\u3067Raspberry Pi OS\u3092\u4f7f\u7528\u3057\u3001OS\u8d77\u52d5\u6642\u306bPython\u3067\u66f8\u304b\u308c\u305fROS2\u30ce\u30fc\u30c9\u3092\u8907\u6570\u8d77\u52d5\u3059\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
\u624b\u9806<\/h3>\n\n\n\n\n- ROS2\u30ce\u30fc\u30c9\u306e\u4f5c\u6210<\/strong>:\n
\n- \u5404\u30ce\u30fc\u30c9\u306ePython\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u4f8b\u3048\u3070\u3001
node1.py<\/code>\u3068node2.py<\/code>\u3068\u3044\u3046\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n- \u30b7\u30b9\u30c6\u30e0\u30b5\u30fc\u30d3\u30b9\u306e\u4f5c\u6210<\/strong>:\n
\n- \u5404\u30ce\u30fc\u30c9\u306e\u305f\u3081\u306b\u30b7\u30b9\u30c6\u30e0\u30b5\u30fc\u30d3\u30b9\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u4ee5\u4e0b\u306f\u3001
node1.service<\/code>\u306e\u4f8b\u3067\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n[Unit]\nDescription=ROS2 Node 1\nAfter=network.target\n\n[Service]\nExecStart=\/usr\/bin\/python3 \/path\/to\/your\/node1.py\nRestart=always\nUser=pi\n\n[Install]\nWantedBy=multi-user.target<\/code><\/pre>\n\n\n\n\n- \u540c\u69d8\u306b\u3001
node2.service<\/code>\u3082\u4f5c\u6210\u3057\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n\n- \u30b5\u30fc\u30d3\u30b9\u30d5\u30a1\u30a4\u30eb\u306e\u914d\u7f6e<\/strong>:\n
\n- \u4f5c\u6210\u3057\u305f\u30b5\u30fc\u30d3\u30b9\u30d5\u30a1\u30a4\u30eb\u3092
\/etc\/systemd\/system\/<\/code>\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u914d\u7f6e\u3057\u307e\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\nsudo cp node1.service \/etc\/systemd\/system\/\nsudo cp node2.service \/etc\/systemd\/system\/<\/code><\/pre>\n\n\n\n4.\u30b5\u30fc\u30d3\u30b9\u306e\u6709\u52b9\u5316\u3068\u8d77\u52d5<\/strong>:<\/p>\n\n\n\n\n- \u30b5\u30fc\u30d3\u30b9\u3092\u6709\u52b9\u5316\u3057\u3001\u8d77\u52d5\u3057\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n
sudo systemctl enable node1.service\nsudo systemctl enable node2.service\nsudo systemctl start node1.service\nsudo systemctl start node2.service<\/code><\/pre>\n\n\n\n<\/p>\n\n\n\n
<\/p>\n\n\n\n
\u25cf\u914d\u5e03<\/h2>\n\n\n\n
\u6e96\u5099\u4e2d<\/p>\n","protected":false},"excerpt":{"rendered":"
\u30e9\u30ba\u30d1\u30a4\u3067\u518d\u751f\u4e2d\u306e\u97f3\u91cf\u306b\u5408\u308f\u305b\u3066\u30a4\u30f3\u30b8\u30b1\u30fc\u30bf\u3092\u5149\u3089\u305b\u3088\u3046\u3002\u3067\u3059\u3002 \u524d\u56de\u306f\u30de\u30a4\u30b3\u30f3\u306e\u30a2\u30ca\u30ed\u30b0\u5165\u529b\u3067\u30e9\u30ba\u30d1\u30a4\u306e\u30e9\u30a4\u30f3\u51fa\u529b\u3092\u30e2\u30cb\u30bf\u30fc\u3057\u307e\u3057\u305f\u304c\u3001\u305d\u308c\u3060\u3068\u30ce\u30a4\u30ba\u304c\u4e57\u3063\u3066\u30ce\u30a4\u30ba\u306b\u30a4\u30f3\u30b8\u30b1\u30fc\u30bf\u304c\u53cd\u5fdc\u3059\u308b\u306e\u3067\u3042\u307e\u308a\u3046\u308c\u3057\u304f\u306a\u3044 \u306a\u306e\u3067 […]<\/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\/5865"}],"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=5865"}],"version-history":[{"count":10,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5865\/revisions"}],"predecessor-version":[{"id":5912,"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=\/wp\/v2\/pages\/5865\/revisions\/5912"}],"wp:attachment":[{"href":"http:\/\/shinku.ddo.jp\/wordpress\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=5865"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
![\"\"](\"http:\/\/shinku.ddo.jp\/wordpress\/wp-content\/uploads\/2025\/02\/image.png\")
<\/a><\/figure>\n\n\n\n