{"id":10151,"date":"2019-09-07T11:24:39","date_gmt":"2019-09-07T02:24:39","guid":{"rendered":"http:\/\/www.moonmile.net\/blog\/?p=10151"},"modified":"2019-09-07T11:26:06","modified_gmt":"2019-09-07T02:26:06","slug":"%e3%83%a9%e3%82%ba%e3%83%91%e3%82%a4%e4%bb%a5%e5%a4%96%e3%81%a7%e3%82%82ros2%e3%81%97%e3%81%a6%e3%81%bf%e3%82%88%e3%81%86%ef%bc%88pine-a64%e7%b7%a8%ef%bc%89","status":"publish","type":"post","link":"http:\/\/www.moonmile.net\/blog\/archives\/10151","title":{"rendered":"\u30e9\u30ba\u30d1\u30a4\u4ee5\u5916\u3067\u3082ROS2\u3057\u3066\u307f\u3088\u3046\uff08PINE A64\u7de8\uff09"},"content":{"rendered":"

\u53bb\u5e74\u306e\u5e74\u672b \u5e74\u672b\u306a\u306e\u3067 ROS \u3092\u8abf\u3079\u3066\u3061\u3089\u307b\u3089\u3068 | Moonmile Solutions Blog<\/a> \u4ee5\u6765\u3055\u308f\u3063\u3066\u3044\u306a\u3044\u3001ROS2 \u306a\u306e\u3060\u304c\u3001\u901a\u4fe1\u307e\u308f\u308a\u3060\u3051\u3067\u3082\u518d\u69cb\u7bc9\u3057\u3066\u304a\u3053\u3046\u3068\u601d\u3063\u305f\u8a18\u9332\u3092\u6b8b\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n

ROS2 \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306b\u95a2\u3057\u3066\u306f WEB \u3067\u8272\u3005\u8abf\u3079\u308b\u3068\u51fa\u3066\u304f\u308b\u306e\u3060\u3051\u3069\u3001ROS\uff08\u3044\u308f\u3086\u308bver.1\uff09\u3068\u3001\u65b0\u3057\u3044 ROS2 \u304c\u6df7\u5728\u3057\u3066\u3057\u307e\u3063\u3066\u3001\u3084\u3084\u3053\u3057\u3044\u3053\u3068\u306b\u306a\u3063\u3066\u3044\u308b\u3002\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3068\u6700\u521d\u306e\u8af8\u3005\u306b\u95a2\u3057\u3066\u306f\u3001\u6b21\u306e\u672c\u3092\u8cb7\u3063\u305f\u307b\u3046\u304c\u6642\u9593\u306e\u7bc0\u7d04\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n

ROS2\u3067\u306f\u3058\u3081\u3088\u3046 \u6b21\u4e16\u4ee3\u30ed\u30dc\u30c3\u30c8\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0
\nhttps:\/\/www.amazon.co.jp\/dp\/4297107422<\/a><\/p>\n

Kindle \u7248\u3060\u30683,000\u5186\u3061\u3087\u3063\u3068\u3060\u3057\u3001\u534a\u65e5\u6642\u9593\u3092\u3064\u3076\u3057\u3066\u3042\u308c\u3053\u308c\u8abf\u3079\u308b\u3088\u308a\u3082\uff08\u5b9f\u969b\u306b\u6f70\u3057\u3066\u3057\u307e\u3063\u305f…\uff09\u3001\u3053\u306e\u672c\u3092\u8cb7\u3063\u305f\u307b\u3046\u304c\u65e9\u3044\u3067\u3057\u3087\u3046\u3002<\/p>\n

\u3068\u306f\u8a00\u3048\u3001\u6700\u521d\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u90e8\u5206\u3060\u3051\u629c\u304d\u51fa\u305b\u3070\u3001Raspberry Pi 3\u306bROS2\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb \u2013 RT Robot Shop Blog<\/a> \u306b\u3042\u308b\u901a\u308a\u3001<\/p>\n

\n
export CHOOSE_ROS_DISTRO=dashing\nsudo apt install curl\ncurl http:\/\/repo.ros2.org\/repos.key | sudo apt-key add -\nsudo sh -c 'echo \"deb [arch=amd64,arm64] http:\/\/repo.ros2.org\/ubuntu\/main `lsb_release -cs` main\" > \/etc\/apt\/sources.list.d\/ros2-latest.list'\nexport CHOOSE_ROS_DISTRO=dashing\nsudo apt update\nsudo apt install ros-$CHOOSE_ROS_DISTRO-ros-base\nsudo apt install python3-argcomplete\nsudo apt install python3-colcon-common-extensions\n<\/div>\n<\/code><\/pre>\n
\u3067\u3001\u6700\u521d\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u307e\u3067\u306f\u5b8c\u4e86\u3067\u3059\u3002\u3053\u308c\u3067\u3001\u30e9\u30ba\u30d1\u30a43\u3068 Windows 10 \u4e0a\u306e Ubuntu(WSL:Windows Subsystem for Linux) \u306e\u4e21\u65b9\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n
\u516c\u5f0f\u306f ROS Index: Installation<\/a> \u306b\u306a\u308b\u306e\u3067\u3001\u4f55\u304b\u56f0\u3063\u305f\u3053\u3068\u304c\u8d77\u3053\u3063\u305f\u3089\u3001\u3053\u3053\u3092\u898b\u308b\u3068\u3088\u3044\u3002\u82f1\u8a9e\u3060\u304c\u3001\u30b3\u30de\u30f3\u30c9\u304c\u7f85\u5217\u3055\u308c\u3066\u3044\u308b\u3060\u3051\u306a\u306e\u3067\u3001\u306a\u3093\u3068\u304b\u306a\u308b\u3067\u3057\u3087\u3046\u3002<\/p>\n
\u3042\u3068\u3001\u30e9\u30ba\u30d1\u30a43 \u3078\u306e Ubuntu \u306f 64bit \u7248\u304c\u5fc5\u8981\u306a\u306e\u3067\u3001http:\/\/cdimage.ubuntu.com\/ubuntu\/releases\/bionic\/release\/ubuntu-18.04.2-preinstalled-server-arm64+raspi3.img.xz \u3092\u4f7f\u3046\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n
\u901a\u4fe1\u3060\u3051\u8a66\u3057\u3066\u307f\u308b<\/h2>\n
ROS2 \u306b\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u30a8\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u304b\u5404\u7a2e\u30bb\u30f3\u30b5\u30fc\u306e\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u5316\u3068\u304b\u3001GUI \u3082\u542b\u3081\u3066\u30ed\u30dc\u30c3\u30c8\u958b\u767a\u306b\u306f\u5fc5\u8981\u306a\u6a5f\u80fd\u304c\u6e80\u8f09\u306a\u306e\u3067\u3059\u304c\u3001\u79c1\u306e\u5834\u5408\u3001\u901a\u4fe1\u90e8\u5206\u3060\u3051\u304c\u4f7f\u3044\u305f\u3044\u306e\u3067\u3001\u901a\u4fe1\u3060\u3051\u3084\u3063\u3066\u3044\u304d\u307e\u3059\u3002
\n\u6700\u7d42\u7684\u306b\u306f\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u5236\u5fa1\u3068\u30013D\u30d7\u30ea\u30f3\u30bf\u3001PLAN2 \u306e ROS2 \u5316\u307e\u3067\u3084\u308a\u305f\u3044\u306e\u3060\u3051\u3069\u3001\uff08\u4f55\u5ea6\u3082\u5931\u6557\u3057\u3066\u3044\u308b\u306e\u3067\uff09\u5c0f\u3055\u304f\u59cb\u3081\u308b\u3068\u3044\u3046\u3053\u3068\u3067\u3002<\/p>\n
<\/a><\/p>\n
ROS2 \u306f\u3001Publisher\/Subscriber\u65b9\u5f0f\u3067\u901a\u4fe1\u3092\u3057\u3066\u3044\u3066\u3001\u65e5\u672c\u8a9e\u3067\u8a00\u3048\u3070\u300c\u51fa\u7248-\u8cfc\u8aad\u8005\u300d\u306e\u30d1\u30bf\u30fc\u30f3\u3067\u3059\u3002GoF \u3067\u8a00\u3048\u3070\u300cSubject\/Observer\u300d\u3060\u3063\u305f\u308a\u3057\u307e\u3059\u306d\u3002ROS1 \u306e\u3068\u304d\u306f\u4ef2\u4ecb\u30b5\u30fc\u30d0\u30fc\u304c\u5fc5\u8981\u3060\u3063\u305f\uff08\u30cf\u30ba\uff09\u306e\u3067\u3059\u304c\u3001ROS2 \u306f P2P \u3067\u7e4b\u304c\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u3066\u30b7\u30f3\u30d7\u30eb\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n
ROS2 \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u6700\u521d\u306b\u3084\u308b\u3053\u3068\u306f\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u30922\u3064\u958b\u3044\u3066\u3001<\/p>\n
Publisher\u5074<\/p>\n
\n
ros2 topic pub \/chatter std_msgs\/String \"{data: Hello world.}\"\n<\/div>\n<\/code><\/pre>\n
Subscriber\u5074<\/p>\n
\n
ros2 topic echo \/chatter\n<\/div>\n<\/code><\/pre>\n
\u3067\u52d5\u304b\u3059\u3053\u3068\u3067\u3059\u3002<\/p>\n
\u203b \u5b9f\u969b\u306f\u3001\u74b0\u5883\u5909\u6570\u306e\u8a2d\u5b9a\u304c\u3042\u308b\u306e\u3067\u3001\u4ee5\u4e0b\u3092\u52d5\u304b\u3057\u3066\u30d1\u30b9\u3092\u901a\u3059\u3002\u3042\u3068\u30c7\u30e2\u7528\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<\/p>\n
\n
echo \"source \/opt\/ros\/$CHOOSE_ROS_DISTRO\/setup.bash\" >> ~\/.bashrc\nsource ~\/.bashrc\n<\/div>\n<\/code><\/pre>\n