{"id":9006,"date":"2017-12-31T11:20:39","date_gmt":"2017-12-31T02:20:39","guid":{"rendered":"http:\/\/www.moonmile.net\/blog\/?p=9006"},"modified":"2017-12-31T11:30:30","modified_gmt":"2017-12-31T02:30:30","slug":"%e5%b9%b4%e6%9c%ab%e3%81%aa%e3%81%ae%e3%81%a7-ros-%e3%82%92%e8%aa%bf%e3%81%b9%e3%81%a6%e3%81%a1%e3%82%89%e3%81%bb%e3%82%89%e3%81%a8","status":"publish","type":"post","link":"http:\/\/www.moonmile.net\/blog\/archives\/9006","title":{"rendered":"\u5e74\u672b\u306a\u306e\u3067 ROS \u3092\u8abf\u3079\u3066\u3061\u3089\u307b\u3089\u3068"},"content":{"rendered":"<p>\u3056\u3063\u3068\u3001\u8abf\u3079\u3066\u3044\u3063\u305f\u3053\u3068\u3092\u611f\u60f3\u3092\u30e1\u30e2\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n<h2>\u53c2\u8003\u6587\u732e<\/h2>\n<p>\u8aad\u3093\u3067\u3044\u308b\u66f8\u7c4d\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n<ul>\n<li><a href=\"https:\/\/www.amazon.co.jp\/%E3%83%97%E3%83%AD%E3%82%B0%E3%83%A9%E3%83%9F%E3%83%B3%E3%82%B0ROS-%E2%80%95Python%E3%81%AB%E3%82%88%E3%82%8B%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88%E3%82%A2%E3%83%97%E3%83%AA%E3%82%B1%E3%83%BC%E3%82%B7%E3%83%A7%E3%83%B3%E9%96%8B%E7%99%BA-%E3%82%AA%E3%83%A9%E3%82%A4%E3%83%AA%E3%83%BC%E3%83%BB%E3%82%B8%E3%83%A3%E3%83%91%E3%83%B3-Morgan-Quigley\/dp\/4873118093\/ref=sr_1_1?s=books&amp;ie=UTF8&amp;qid=1514681702&amp;sr=1-1&amp;keywords=ros\">\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0ROS \u2015Python\u306b\u3088\u308b\u30ed\u30dc\u30c3\u30c8\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u958b\u767a (\u30aa\u30e9\u30a4\u30ea\u30fc\u30fb\u30b8\u30e3\u30d1\u30f3)<\/a><\/li>\n<li><a href=\"https:\/\/www.amazon.co.jp\/Programming-Robots-ROS-Practical-Introduction-ebook\/dp\/B01882NRUQ\/ref=tmm_kin_swatch_0?_encoding=UTF8&amp;qid=1514681794&amp;sr=8-1\">Programming Robots with ROS: A Practical Introduction to the Robot Operating System<\/a><\/li>\n<li><a href=\"https:\/\/www.amazon.co.jp\/ROS%E3%81%A7%E3%81%AF%E3%81%98%E3%82%81%E3%82%8B%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88%E3%83%97%E3%83%AD%E3%82%B0%E3%83%A9%E3%83%9F%E3%83%B3%E3%82%B0%E2%80%95%E3%83%95%E3%83%AA%E3%83%BC%E3%81%AE%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88%E7%94%A8%E3%80%8C%E3%83%95%E3%83%AC%E3%83%BC%E3%83%A0%E3%83%AF%E3%83%BC%E3%82%AF%E3%80%8D-I%E3%83%BB-BOOKS-%E5%B0%8F%E5%80%89-%E5%B4%87\/dp\/4777519015\/ref=sr_1_3?s=books&amp;ie=UTF8&amp;qid=1514681702&amp;sr=1-3&amp;keywords=ros\">ROS\u3067\u306f\u3058\u3081\u308b\u30ed\u30dc\u30c3\u30c8\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u2015\u30d5\u30ea\u30fc\u306e\u30ed\u30dc\u30c3\u30c8\u7528\u300c\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u300d (I\u30fbO BOOKS)<\/a><\/li>\n<li><a href=\"https:\/\/www.amazon.co.jp\/Raspberry-Pi%E3%81%A7%E5%AD%A6%E3%81%B6-ROS%E3%83%AD%E3%83%9C%E3%83%83%E3%83%88%E5%85%A5%E9%96%80-%E4%B8%8A%E7%94%B0-%E9%9A%86%E4%B8%80\/dp\/4822239292\/ref=sr_1_2?s=books&amp;ie=UTF8&amp;qid=1514681702&amp;sr=1-2&amp;keywords=ros\">Raspberry Pi\u3067\u5b66\u3076 ROS\u30ed\u30dc\u30c3\u30c8\u5165\u9580<\/a><\/li>\n<\/ul>\n<p>\u5b9f\u306f\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3082\u542b\u3081\u3066\u3001\u516c\u5f0f\u306e ros.org \u306b\u3042\u3063\u305f\u308a\u3059\u308b\u306e\u3067\u3059\u304c\u3001\u66f8\u7c4d\/Kindle \u3067\u30d6\u30fc\u30b9\u30c8\u3057\u3066\u3044\u307e\u3059\u3002\u90a6\u8a33\u30aa\u30e9\u30a4\u30ea\u30fc\u672c\u306f\u3001\u82f1\u8a9e\u30aa\u30e9\u30a4\u30ea\u30fc\u672c\u304c\u5143\u30cd\u30bf\u306b\u306a\u308b\u306e\u3067\u3001\u5b9f\u306f\u4e2d\u8eab\u306f\u3061\u3087\u3063\u3068\u53e4\u3081\u3067\u3059\u3002\u3067\u3059\u304c\u3001\u5b9f\u306f\u305d\u308c\u3067\u5341\u5206\u3060\u3063\u305f\u308a\u3057\u307e\u3059\u3002\u8a33\u306f\u5f8c\u8ff0\u3057\u307e\u3059\u3002<\/p>\n<p><a href=\"http:\/\/www.ros.org\/\">ROS.org | Powering the world&#8217;s robots<\/a><\/p>\n<h2>OpenRTM \u3068 ROS<\/h2>\n<p>\u5b9f\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u306e\u65b9\u6cd5\u3068\u3057\u3066\u4e00\u65b9\u3067 <a href=\"http:\/\/www.openrtm.org\/openrtm\/ja\">OpenRTM-aist | The power to connect<\/a> \u304c\u3042\u308a\u307e\u3059\u3002OpenRTM \u306e\u307b\u3046\u306f\u56fd\u7523\u3067\u306a\u306e\u3067\u3001\u65e5\u672c\u3067\u30ed\u30dc\u30c3\u30c8\u3092\u3084\u3063\u3066\u3044\u304f\u5206\u306b\u306f OpenRTM \u306e\u307b\u3046\u304c\u826f\u3044\u306e\u3067\u306f\uff1f\u3068\u601d\u3063\u3066\u3044\u305f\uff08\u500b\u4eba\u7684\u306b\uff09\u6642\u671f\u3082\u3042\u308b\u306e\u3067\u3059\u304c\u3001\u81ea\u5206\u306f\u3044\u307e\u306e\u3068\u3053\u308d ROS \u306a\u65b9\u5411\u3067\u52c9\u5f37\u4e2d\u3002\u305d\u3046\u3044\u3048\u3070\u3001OpenRTM \u306f Open \u3068\u540d\u306f\u3064\u3044\u3066\u3044\u308b\u3051\u3069\u30aa\u30fc\u30d7\u30f3\u3067\u306f\u306a\u304b\u3063\u305f\u3082\u306e\u3067\u3059\u304c\u3001\u4eca\u3056\u3063\u3068\u307f\u308b\u3068\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306a\u611f\u3058\u306b\u306a\u3063\u305f\u3088\u3046\u3067\u3059\u3002<\/p>\n<h2>Ubuntu \u3068 ROS<\/h2>\n<p>\u306a\u3093\u3067\u3001ROS \u306f Linux \u4e0a\u3067\uff08\u7279\u306b Ubuntu \u4e0a\u3067\uff09\u3092\u60f3\u5b9a\u3057\u3044\u308b\u3093\u3060\u308d\u3046\u304b\uff1f\u3068\u601d\u3063\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u7406\u7531\u304c\u308f\u304b\u308a\u307e\u3057\u305f\u3002<\/p>\n<ul>\n<li>ROS \u306e\u5b89\u5b9a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308a\u3084\u3059\u304f\u3059\u308b<\/li>\n<li>Ubuntu \u306e LTS (Long Time Support) \u3068\u6642\u671f\u3092\u5408\u308f\u305b\u3066\u3044\u308b\u3002<\/li>\n<\/ul>\n<p>2\u5e74\u307b\u3069\u524d PLAN2 \u3092\u8cfc\u5165\u3057\u3088\u3046\u3068\u6c7a\u3081\u305f\u3068\u304d\u306b\u3001ROS \u5bfe\u5fdc\u306e Intel Edison \u7248\u3068\u3044\u3046\u306e\u304c\u3042\u308a\u307e\u3057\u305f\u3002\u305d\u306e\u3068\u304d\u306f\u6f20\u7136\u3068 ROS + Linux \u306e\u30a4\u30e1\u30fc\u30b8\u3057\u304b\u306a\u304b\u3063\u305f\u306e\u3067\u3059\u304c\u3001Edison \u3092\u3064\u304b\u3046\u3053\u3068\u306b\u3088\u308a ROS \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u305d\u306e\u307e\u307e\u4f7f\u3046\u3053\u3068\u304c\u3067\u304d\u308b\u3068\u3044\u3046\u30e1\u30ea\u30c3\u30c8\u304c\u3042\u3063\u305f\u306e\u3067\u3059\u3002\u5b9f\u306f ROS \u306b\u306f Arduino \u306b\u30b7\u30ea\u30a2\u30eb\u63a5\u7d9a\u3059\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u3082\u3042\u308b\u306e\u3067\u3059\u304c\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u4f5c\u308a\u3084\u3059\u3055\uff08\u914d\u5e03\u3057\u3084\u3059\u3055\uff1f\uff09\u3068\u3057\u3066\u306f Linux \u4e0a\u306e\u30d7\u30ed\u30bb\u30b9\u3068\u3057\u3066\u7d71\u4e00\u3057\u305f\u307b\u3046\u304c\u958b\u767a\u52b9\u7387\u304c\u3088\u3044\u3001\u3068\u3044\u3046\u3068\u3053\u308d\u3067\u3057\u3087\u3046\u3002<\/p>\n<p>\u305f\u3060\u3057\u3001\u73fe\u5b9f\u306b\u306f Edison \u81ea\u4f53\u304c\u30c7\u30a3\u30b9\u30b3\u30f3\u306b\u306a\u3063\u3066\u3057\u307e\u3063\u305f\u306e\u3067\u3001PLEN2 + ROS \u5bfe\u5fdc\u3068\u3044\u3046\u306e\u306f\u30b5\u30dd\u30fc\u30c8\u7684\u306b\u96e3\u3057\u304f\u306a\u3063\u3066\u3057\u307e\u3063\u305f\u3068\u3044\u3046\u3053\u3068\u308d\u3067\u3059\u3002<\/p>\n<h2>ROS \u306f\u3072\u3068\u3064\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u6271\u3046<\/h2>\n<p>\u8907\u6570\u306e\u30d7\u30ed\u30bb\u30b9\u304c\u5354\u8abf\u52d5\u4f5c\u3092\u3059\u308b\uff08\u5b9f\u969b\u306f master \u304c\u3044\u308b\u306e\u3067\u3059\u304c\uff09ROS \u3067\u306f\u3001\u3072\u3068\u3064\u306e\u30d7\u30ed\u30bb\u30b9\u304c\u3072\u3068\u3064\u306e\u5236\u5fa1\u6a5f\u5668\u3092\u6271\u3046\uff08\u8907\u6570\u6271\u3048\u308b\u3051\u3069\u3001\u3072\u3068\u3064\u306b\u5bfe\u5fdc\u3055\u305b\u305f\u307b\u3046\u304c\u3088\u3055\u305d\u3046\uff09\u306e\u3067\u3001\u8907\u6570\u306e\u30d7\u30ed\u30bb\u30b9\u3067\u300c\u3072\u3068\u3064\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3059\u300d\u3068\u3044\u3046\u306e\u304c\u524d\u63d0\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u3058\u3083\u3042\u3001\u5354\u8abf\u52d5\u4f5c\u3059\u308b\u30ed\u30dc\u30c3\u30c8\uff08\u53cc\u8155\u306e\u30ed\u30dc\u30c3\u30c8\u3068\u304b\u3001\u8907\u6570\u53f0\u304c\u5354\u8abf\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u3068\u304b\uff09\u306f\u3069\u3046\u3059\u308b\u306e\u304b\u3068\u3044\u3046\u3068\u3001\u307e\u3042\u3001\u305d\u306e\u307e\u307e ROS \u3067\u4f5c\u3063\u3066\u3082\u3088\u3044\u3057\u3001\u6b21\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u3042\u308b ROS2 \u3067\u4f5c\u308b\u306e\u304c\u3088\u3044\u3068\u3044\u3046\u3068\u3053\u308d\u306a\u3093\u3067\u3057\u3087\u3046\u3002ROS2 \u81ea\u4f53\u306f\u307e\u3067\u8abf\u3079\u3066\u3044\u306a\u3044\u306e\u3067\u8a00\u53ca\u306f\u3057\u307e\u305b\u3093\u304c\u3001<\/p>\n<ul>\n<li>\u7d44\u307f\u8fbc\u307f\u6a5f\u5668\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\uff08\u73fe\u72b6\u306eROS\u3067\u306f\u3001Linux\u6a5f\u5668\u306b\u9650\u3089\u308c\u308b\uff09<\/li>\n<li>\u5404\u30d7\u30ed\u30bb\u30b9\u304c\u76f4\u63a5\u76f8\u4e92\u306b\u901a\u4fe1\u3059\u308b\uff08\u73fe\u72b6\u306f master \u3092\u901a\u3057\u3066\u3044\u308b\uff09<\/li>\n<\/ul>\n<p>\u3068\u3044\u3046\u30b9\u30bf\u30a4\u30eb\u306b\u306a\u308b\u305d\u3046\u3067\u3059\u3002\u79c1\u3068\u3057\u3066\u306f\u3001\u307e\u305a\u3072\u3068\u3064\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u305b\u308b\u4f4d\u306b ROS \u3092\u3084\u3063\u3066\u304b\u3089\u3068\u601d\u3063\u3066\u3044\u308b\u306e\u3067\u3001\u3082\u3046\u3061\u3087\u3063\u3068\u30b9\u30bf\u30fc\u30c8\u306f\u524d\u304b\u3089<\/p>\n<h2>ROS Indigo \u3067\u5341\u5206\u304b\u3082<\/h2>\n<p><a href=\"http:\/\/wiki.ros.org\/Distributions\">Distributions &#8211; ROS Wiki<\/a> \u3092\u898b\u308b\u3068\u3001ROS \u306f\u6bce\u5e741\u56de\u5b9a\u671f\u7684\u306b\u30d0\u30fc\u30b8\u30e7\u30f3\u30a2\u30c3\u30d7\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u304a\u305d\u3089\u304f\u3001Ubuntu \u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u30a2\u30c3\u30d7\u3068\u5408\u308f\u305b\u308b\u5f62\u3067\u3082\u3042\u308b\u306e\u3067\u3057\u3087\u3046\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u3088\u3046\u306a\u30cf\u30fc\u30c9\u30a6\u30a7\u30a2\u3092\u6271\u3046\u5834\u5408\u3001\u9577\u671f\u7684\u306b\u5b89\u5b9a\u3057\u3066\u5236\u5fa1\u88c5\u7f6e\u304c\u52d5\u304f\u5fc5\u8981\u304c\u3042\u308b\u306e\u3067\u300c\u3042\u307e\u308a\u983b\u7e41\u306a\u30df\u30c9\u30eb\u30a6\u30a7\u30a2\u306e\u66f4\u65b0\u306f\u671b\u307e\u3057\u304f\u306a\u3044\u300d\u3068\u3057\u305f\u306e\u3067\u3057\u3087\u3046\u3002<\/p>\n<p>\u305d\u3093\u306a\u4e2d\u3067\u3001\u73fe\u5728\u306e\u6700\u65b0\u306e ROS \u306f\u3001Lunar \u3068\u3044\u3046\u3082\u306e\u306a\u306e\u3067\u3059\u304c\u3001\u5b9f\u306f 2014\u5e74\u306b\u30ea\u30ea\u30fc\u30b9\u3055\u308c\u305f Indigo \u3068\u30b5\u30dd\u30fc\u30c8\u671f\u9593\u304c\u540c\u3058\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>ROS \u306e\u5834\u5408\u3001Ubuntu \u306e apt-get \u3067\u69d8\u3005\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5165\u308c\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u304c\u3001\u305d\u308c\u305e\u308c\u306e ROS \u30e9\u30a4\u30d6\u30e9\u30ea\u304c Linux \u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u306b\u4f9d\u5b58\u3057\u3066\u3044\u3044\u307e\u3059\u3002\u305d\u308c\u3089\u306e\u4f9d\u5b58\u72b6\u6cc1\u306b\u3088\u3063\u3066\u3001\u6bce\u5e74\u306e ROS \u306e\u66f4\u65b0\u306b\u5bfe\u3057\u3066 ROS \u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u66f4\u65b0\u3055\u308c\u3066\u3044\u305f\u308a\u3055\u308c\u3066\u3044\u306a\u304b\u3063\u305f\u308a\u3059\u308b\u3093\u3067\u3059\u3088\u306d\u3002\u3053\u306e\u3042\u305f\u308a\u306f\u3001Linux \u306e\u5404\u7a2e\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306b ROS \u30d1\u30c3\u30b1\u30fc\u30b8 + ROS \u305d\u306e\u3082\u306e\u304c\u4f9d\u5b58\u3059\u308b\u3068\u3044\u3046\u5236\u9650\u306e\u305f\u3081\u3067\u3059\u3002<\/p>\n<p>\u3053\u306e\u7406\u7531\u304b\u3089\u3001\u4e00\u756a ROS \u304c\u76db\u3093\u3060\u3063\u305f\uff08\u3063\u307d\u3044\uff09ROS Indigo \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u7fa4 <a href=\"http:\/\/www.ros.org\/browse\/list.php?package_type=package&amp;distro=indigo\">ROS packages<\/a> \u304c\u4e00\u756a\u5145\u5b9f\u3057\u3066\u3044\u307e\u3059\u3002\u304a\u305d\u3089\u304f\u3001\u3053\u306e\u6642\u671f\u304b\u3089 ROS2 \u306e\u958b\u767a\u304c\u9032\u307f\u3060\u3057\u305f\u3057\u305f\u306e\u3067\u3001\u305d\u308c\u4ee5\u964d\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u66f4\u65b0\u306b\u624b\u304c\u56de\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u306f\u306a\u3044\u304b\uff1f\u3068\u60f3\u50cf\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u6700\u521d\u3001\u6700\u65b0\u7248\u304c\u3044\u3044\u3060\u308d\u3046\u3068\u601d\u3063\u3066 ROS Lunar \u3067\u3084\u308d\u3046\u3068\u3057\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u3001\u3042\u3068\u3067 ROS Indigo \u3092\u5165\u308c\u3066\u8a66\u3057\u3066\u3044\u307e\u3059\u3002\u305f\u3060\u3057\u3001Indigo \u3092\u4f7f\u304a\u3046\u3068\u3059\u308b\u3068\u3001\u5f53\u6642\u306b\u30ea\u30ea\u30fc\u30b9\u3057\u3066\u3044\u305f Ubuntu \u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306b\u5408\u308f\u305b\u306a\u3044\u3068\u52d5\u304b\u306a\u3044\u3068\u3053\u308d\u304c\u591a\u3044\u306e\u3067\u3001\u305d\u306e\u3042\u305f\u308a\u306f\u75db\u3057\u75d2\u3057\u3002<\/p>\n<h2>\u30ed\u30dc\u30c3\u30c8\u3092\u4f7f\u308f\u306a\u3044 ROS \u306e\u52d5\u4f5c\u74b0\u5883<\/h2>\n<p>\u30ed\u30dc\u30c3\u30c8\u3084\u5404\u7a2e\u30bb\u30f3\u30b5\u30fc\u3092\u6271\u3046\u305f\u3081\u306e ROS \u3067\u3059\u304c\u3001ROS \u81ea\u4f53\u306f\u4e3b\u306b\u30d7\u30ed\u30bb\u30b9\u9593\u901a\u4fe1\u3092\u6271\u3046\u306e\u3067\u30bb\u30f3\u30b5\u30fc\u7121\u3057\u3067\u3082\u5229\u7528\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u306a\u306e\u3067\u3001ROS \u3092\u8a66\u3059\u3060\u3051\u306a\u308c\u3070\u3001<\/p>\n<ul>\n<li>VMWare \u4e0a\u306b Ubuntu \u3092\u5165\u308c\u3066 ROS \u3092\u5c0e\u5165\u3059\u308b<\/li>\n<li>Ubuntu on Windows \u3092\u5165\u308c\u3066 ROS \u3092\u5c0e\u5165\u3059\u308b<\/li>\n<li>\u30e9\u30ba\u30d1\u30a4\u306e Ubuntu \u3092\u4f7f\u3044 ROS \u3092\u5c0e\u5165\u3059\u308b<\/li>\n<\/ul>\n<p>\u3068\u3044\u3046\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002\u3053\u308c\u306f\u3001Windows 10 \u306e Ubuntu on Windows\uff08WSL\/ Windows Subsystem for Linux\uff09\u3067 ROS \u3092\u5165\u308c\u305f\u4f8b\u3067\u3059\u304c\u3001\u304d\u3061\u3093\u3068 ROS \u306e roscore\/talker\/listener \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u52d5\u3044\u3066\u307e\u3059\u3002<\/p>\n<p><a href=\"http:\/\/www.moonmile.net\/blog\/wp-content\/uploads\/2017\/12\/image-11.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.moonmile.net\/blog\/wp-content\/uploads\/2017\/12\/image_thumb-11.png\" border=\"0\" alt=\"image\" title=\"image\" width=\"640\" height=\"322\" style=\"margin: 0px; border: 0px currentcolor; display: inline; background-image: none;\" \/><\/a><\/p>\n<p>ROS Lunar \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806\u306f\u3001\u3072\u305f\u3059\u3089 <a href=\"http:\/\/wiki.ros.org\/lunar\/Installation\/Ubuntu\">lunar\/Installation\/Ubuntu &#8211; ROS Wiki<\/a> \u3092\u8ffd\u3063\u3066\u3044\u304f\u3060\u3051\u3067\u3059\u3002\u30da\u30bf\u30da\u30bf\u3068\u30b3\u30d4\u30da\u3057\u3066\u3044\u3051\u3070\u3001\u6642\u9593\u306f\u304b\u304b\u304b\u308a\u307e\u3059\u304c\u78ba\u5b9f\u306b ROS \u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u307e\u3059\u3002<\/p>\n<h2>\u8d85\u7c21\u5358\u306a ROS \u306e\u4ed5\u7d44\u307f<\/h2>\n<p>\u8981\u306f\u3001<a href=\"https:\/\/ja.wikipedia.org\/wiki\/%E5%87%BA%E7%89%88-%E8%B3%BC%E8%AA%AD%E5%9E%8B%E3%83%A2%E3%83%87%E3%83%AB\">\u51fa\u7248-\u8cfc\u8aad\u578b\u30e2\u30c7\u30eb<\/a> \u3067\u3059\u3002Publish\/Subscribe \u30d1\u30bf\u30fc\u30f3\u304c\u5206\u304b\u3063\u3066\u3044\u308c\u3070\u3001ROS \u306e\u5404\u30d7\u30ed\u30bb\u30b9\u306e\u52d5\u304d\u306b\u7d0d\u5f97\u304c\u3044\u304f\u3057\u3001\u65b0\u3057\u304f\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308b\u306e\u3082\u3084\u308a\u3084\u3059\u3044\u3067\u3057\u3087\u3046\u3002<\/p>\n<p><a href=\"http:\/\/www.moonmile.net\/blog\/wp-content\/uploads\/2017\/12\/image-12.png\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/www.moonmile.net\/blog\/wp-content\/uploads\/2017\/12\/image_thumb-12.png\" border=\"0\" alt=\"image\" title=\"image\" width=\"640\" height=\"356\" style=\"margin: 0px; border: 0px currentcolor; display: inline; background-image: none;\" \/><\/a><\/p>\n<p>\u8981\u306f\u3001\u30d7\u30ed\u30bb\u30b9\u9593\u901a\u4fe1\u3092\u3059\u308b\u3068\u304d\u306b\u3001Publisher\uff08\u9001\u308a\u624b\uff09\u3068Subscriber\uff08\u53d7\u3051\u624b\uff09\u304c\u76f4\u63a5\u4f1a\u8a71\u3092\u3057\u307e\u305b\u3093\u3002\u3044\u3063\u305f\u3093\u3001\u30c8\u30d4\u30c3\u30af\u3068\u3044\u3046\u5f62\u5f0f\u306b\u306b\u76f4\u3057\u3066\u4e2d\u592e\u306e master\uff08ROS \u3067\u306f roscore \uff09\u3092\u901a\u3057\u307e\u3059\u3002\u3053\u308c\u3001\u3044\u3061\u3044\u3061 master \u3092\u901a\u3059\u306e\u304c\u9762\u5012\u3068\u3044\u3046\u8a71\u3082\u3042\u308a\u307e\u3059\u304c\u3001\u5229\u70b9\u3068\u3057\u3066\u3001<\/p>\n<ul>\n<li>publisher \u306f\u3001\u53d7\u3051\u624b\u306e\u751f\u304d\u6b7b\u306b\u95a2\u308f\u3089\u305a topic \u3092\u9001\u308c\u308b\uff08master \u306b\u9001\u308b\u306e\u3067\uff09<\/li>\n<li>subscriber \u306f\u3001\u9001\u308a\u624b\u306e\u751f\u304d\u6b7b\u306b\u306b\u304b\u304b\u308f\u3089\u305a topic \u3092\u53d7\u3051\u53d6\u308c\u308b\uff08master \u304c\u30ad\u30fc\u30d7\u3057\u3066\u3044\u308b\u306e\u3067\uff09<\/li>\n<\/ul>\n<p>\u3068\u3044\u3046\u5229\u70b9\u304c\u3042\u308a\u307e\u3059\u3002\u3044\u308f\u3086\u308b amazon \u306e\u5728\u5eab\u3084\u6d41\u901a\u306e\u5009\u5eab\u307f\u305f\u3044\u306a\u5f79\u5272\u3092\u6301\u305f\u305b\u308b\u306e\u304c pub\/sub \u30d1\u30bf\u30fc\u30f3\u3067\u3059\u3002\u3053\u308c\u3067\u3001\u4f55\u304c\u4fbf\u5229\/\u5b09\u3057\u3044\u304b\u3068\u3044\u3046\u3068\uff08\u3053\u308c\u3001\u82f1\u8a9e\u3067\u306f Are you happy ? &#8230; \u3053\u308c\u3067\u826f\u3044\u304b\uff1f\u3068\u805e\u304b\u308c\u308b\u306e\u3067\u3001Happy = \u5b09\u3057\u3044\/\u5e78\u305b\u306e\u76f4\u8a33\u3067\u3059\u3088\uff09\u3001<\/p>\n<ul>\n<li>\u9ad8\u901f\u306a\u30bb\u30f3\u30b5\u30fc\u306e\u985e\u306f\u3001\u3072\u3068\u307e\u305a\u9ad8\u901f\u306b master \u306b\u30c7\u30fc\u30bf\u3092\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3067\u304d\u308b<\/li>\n<li>\u5b9a\u671f\u7684\u306a\u30c7\u30fc\u30bf\u62bd\u51fa\u306f\u3001\u30bb\u30f3\u30b5\u30fc\u306e\u72b6\u614b\u306b\u304b\u304b\u308f\u3089\u305a Subscriber \u5f79\u306e PC \u306a\u3069\u304b\u3089\u53d6\u308a\u51fa\u305b\u308b<\/li>\n<\/ul>\n<p>\u3068\u3044\u3046\u3053\u3068\u3067\u3059\u3002\u3044\u308f\u3086\u308b\u3001\u30af\u30e9\u30a6\u30c9\u306e IoT Hub \u306e\u4ed5\u7d44\u307f\u3067\u3059\u3002\u3068\u3044\u3046\u304b\u30af\u30e9\u30a6\u30c9\u306e IoT Hub \u304c\u3053\u308c\u3067\u3059\u3088\u306d\u3002<\/p>\n<p>\u305d\u3093\u306a\u8a33\u3067\u3001\u30bb\u30f3\u30b5\u30fc\u3084\u30ab\u30e1\u30e9\u6a5f\u5668\u3001\u5834\u5408\u306b\u3088\u3063\u3066\u306f Android \u306e\u3088\u3046\u306a\u3082\u306e\u304c Publisher \u3068\u3057\u3066\u4f5c\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u305d\u308c\u3092\u62bd\u51fa\u3059\u308b\u5074\u306e PC \u3060\u3063\u305f\u308a Web \u30b5\u30fc\u30d0\u30fc\u3060\u3063\u305f\u308a\u30b9\u30de\u30db\u3060\u3063\u305f\u308a\u3059\u308b\u306e\u304c Subscriber \u3068\u3057\u3066\u4f5c\u308c\u3070\u3088\u3044\u306e\u3067\u3059\u3002\u3082\u3061\u308d\u3093\u3001\u4e21\u65b9\u306e\u6a5f\u80fd\u3092\u6301\u305f\u305b\u3066\u30b3\u30f3\u30d0\u30fc\u30bf\u30fc\u3068\u3057\u3066\u50cd\u304f\u30d7\u30ed\u30bb\u30b9\u3092\u4f5c\u308b\u4e8b\u3082\u53ef\u80fd\u3067\u3059\uff08\u5b9f\u969b\u3001\u305d\u3046\u3044\u3046\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u3042\u308b\uff09\u3002<\/p>\n<p>\u30c7\u30fc\u30bf\u306f\u3001Topic \u3067\u5f15\u304d\u6e21\u3057\u307e\u3059\u3002ROS \u306e\u5834\u5408\u306f\u3001\u3042\u3089\u304b\u3058\u3081 msg \u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\u3053\u3068\u306b\u306a\u308a\u3001\u5927\u65b9\u306e\u30c7\u30fc\u30bf\u5f62\u5f0f\u306f\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u3053\u306e Topic \u3067\u6271\u3046\u69cb\u9020\u4f53\u306f\u3001\u30aa\u30e9\u30a4\u30ea\u30fc\u306e ROS \u672c\u3067\u306f\u300c\u6a19\u6e96\u306e\u3082\u306e\u3092\u63a8\u5968\u300d\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u81ea\u524d\u3067\u69cb\u7bc9\u3059\u308b\u5834\u5408\u306f\u3001BLE \u306e GATT \u3088\u308d\u3057\u304f\u30d0\u30f3\u30d0\u30f3\u4f5c\u3063\u3066\u3057\u307e\u3063\u305f\u307b\u3046\u304c\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u3084\u308a\u53d6\u308a\u3092\u3059\u308b\u306e\u304c\u4fbf\u5229\u3067\u306f\u306a\u3044\u304b\u3001\u3068\u601d\u3063\u3066\u3044\u307e\u3059\u3002\u307e\u3042\u3001\u305d\u308c\u3060\u3068\u65e2\u5b58\u306e\u6a5f\u5668\u306b\u3064\u306a\u304c\u3089\u306a\u304f\u306a\u308b\u30d1\u30bf\u30fc\u30f3\u306b\u9665\u308b\u306e\u3067\u3059\u304c\u3001\u8981\u6240\u8981\u6240\u306b\u30c7\u30fc\u30bf\u30b3\u30f3\u30d0\u30fc\u30c8\u3092\u3059\u308b Pub\/Sub \u306a\u30d7\u30ed\u30bb\u30b9\u3092\u631f\u307f\u8fbc\u3081\u3070\u3044\u3044\u306e\u3067\u3059\uff08\u591a\u5c11\u3001\u901a\u4fe1\u52b9\u7387\u306f\u843d\u3061\u308b\u3051\u3069\uff09\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2>\u30d7\u30ed\u30b0\u30e9\u30e0\u8a00\u8a9e\u306f Python \u3068 C++<\/h2>\n<p>ROS \u306e\u5404\u7a2e\u30b5\u30f3\u30d7\u30eb\u306f Python \u3067\u66f8\u304b\u308c\u306f\u3044\u307e\u3059\u304c\u3001C++ \u3082\u4f7f\u3048\u307e\u3059\u3002\u3068\u3044\u3046\u304b C++ \u3092\u4f7f\u3063\u305f\u307b\u3046\u304c\u4fbf\u5229\u3067\u3059\u3088\u3001\u304d\u3063\u3068\u305f\u3076\u3093\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/pbs.twimg.com\/media\/DRSi4kWUQAAmqvz.jpg:large\" width=\"608\" height=\"480\" \/><\/p>\n<p>\u3061\u3087\u3063\u3068\u3057\u305f\u64cd\u4f5c\u306a\u3089\u3070 Python \u3067\u3082\u3044\u3044\u3093\u3067\u3059\u304c\u3001\u3042\u308c\u3053\u308c\u3068\u5404\u7a2e\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u4f7f\u3063\u3066\u30b3\u30f3\u30d0\u30fc\u30c8\u3057\u305f\u308a\u65e2\u5b58\u306e\u79d1\u5b66\u8a08\u7b97\u3092\u5229\u7528\u3057\u3088\u3046\u3068\u3059\u308b\u3068\u3001\u305d\u306e\u307e\u307e\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u7d44\u307f\u8fbc\u3081\u308b C++ \u306e\u307b\u3046\u304c\u4fbf\u5229\u3067\u3059\u3002\u3068\u306f\u8a00\u3044\u3064\u3064\u3001OpenCV \u3082 Python \u304b\u3089\u6271\u3048\u308b\u3057\uff08ROS \u81ea\u4f53\u306b\u3082 OpenCV \u3092\u6271\u3046\u30d1\u30c3\u30b1\u30fc\u30b8\u3082\u3042\u308b\u3057\uff09\u3001Python \u3067\u7a81\u304d\u9032\u3093\u3067\u3082\u3044\u3044\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u306d\u3002<\/p>\n<p>\u307e\u3042\u3001\u79c1\u306e\u5834\u5408\u3001C++ \u306e\u307b\u3046\u304c\u3084\u308a\u3084\u3059\u3044\u306e\u3067\u3002<\/p>\n<p>\u672c\u683c\u7684\u306a ROS \u306e Python \u30b3\u30fc\u30c9\u306f\u9577\u304b\u3063\u305f\u308a\u3059\u308b\u306e\u3067\u3059\u304c\u3001\u57fa\u672c\u306f Pub\/Sub \u30d1\u30bf\u30fc\u30f3\u3067\u4f5c\u3089\u308c\u305f ROS \u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u4f7f\u3046\u3053\u3068\u306b\u306a\u308b\u306e\u3067\u3001\u3072\u3068\u3064\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f 100 \u884c\u7a0b\u5ea6\u3067\u66f8\u3051\u308b\u611f\u3058\u3067\u3059\uff08\u307e\u3060\u672c\u683c\u7684\u306b\u4f5c\u3063\u3066\u306f\u3044\u306a\u3044\u306e\u3067\uff09\u3002\u305f\u3068\u3048\u3070\u3001\u753b\u50cf\u3092\u52a0\u5de5\u3059\u308b\u90e8\u5206\u306e\u30b3\u30fc\u30c9\u306f\u3001ROS \u3067\u3042\u3063\u3066\u3082\u306a\u304f\u3066\u3082\u95a2\u4fc2\u306a\u3044\u308f\u3051\u3067\u3001\u81ea\u524d\u30e9\u30a4\u30d6\u30e9\u30ea\u3068\u3057\u3066 TDD \u3092\u4f7f\u3063\u3066\u66f8\u3044\u3066\u304a\u304d\u307e\u3059\u3002\u305d\u308c\u3092 Pub\/Sub \u306e\u30d1\u30bf\u30fc\u30f3\u306b\u4e57\u305b\u308b\u305f\u3081\u306b\u3001100 \u884c\u4f4d\u8ffd\u52a0\u3059\u308c\u3070\u3088\u3044\u306e\u3067\u3001\u30bb\u30f3\u30b5\u30fc\u306e\u985e\u3092\u4f7f\u3063\u3066\u901a\u4fe1\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5834\u5408\u306f ROS \u3092\u4f7f\u3046\u3068\u958b\u767a\u52b9\u7387\u304c\u3044\u3044\u306e\u3067\u306f\uff1f\u3068\u601d\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u305d\u3093\u306a\u8a33\u3067\u3001\u307e\u3060\u672c\u683c\u7684\u306b ROS \u3092\u4f7f\u3063\u3066\u3044\u308b\u8a33\u3067\u306f\u306a\u3044\u306e\u3067\u3059\u304c\u3001\u3042\u308c\u3053\u308c\u306e\u60c5\u5831\u3092\u898b\u3066\u3056\u3063\u3068\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u3068\u3053\u308d\u307e\u3067\u306e\u611f\u60f3\u3067\u3059\u3002\u3069\u3046\u3084\u3089\u3001\u30e9\u30ba\u30d1\u30a4\u306e Ubuntu \u3092\u5165\u308c\u308c\u3070 ROS \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3082\u3055\u3063\u304f\u308a\u3068\u6e08\u3080\u3089\u3057\u3044\u306e\u3067\u3001<\/p>\n<ul>\n<li>Ubuntu on Raspberry Pi<\/li>\n<li>\u30bf\u30df\u30e4\u306e\u30ae\u30a2\u30dc\u30c3\u30af\u30b9<\/li>\n<li>Arduino \u3067\u30e2\u30fc\u30bf\u30fc\u3068\u8ddd\u96e2\u30bb\u30f3\u30b5\u30fc\u306e\u5236\u5fa1<\/li>\n<li>USB \u30ab\u30e1\u30e9 \u304b\u3089\u5165\u529b\u3057\u3066 PC \u3067\u95b2\u89a7<\/li>\n<\/ul>\n<p>\u307e\u3067\u3092\u4f5c\u3063\u3066\u307f\u3088\u3046\u304b\u306a\u3068\u3002\u305d\u3046\u305d\u3046\u3001\u540c\u6642\u306b\u30c7\u30eb\u30bf\u5f0f\u306e 3D \u30d7\u30ea\u30f3\u30bf\u3092\u7d44\u307f\u7acb\u3066\u3066\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306b\u4ed5\u7acb\u3066\u4e0a\u3052\u308b\u306e\u3082\uff081\u5e74\u8d8a\u3057\u306b\u306a\u3063\u3066\u308b\u3057\uff09\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3056\u3063\u3068\u3001\u8abf\u3079\u3066\u3044\u3063\u305f\u3053\u3068\u3092\u611f\u60f3\u3092\u30e1\u30e2\u3057\u3066\u304a\u304d\u307e\u3059\u3002 \u53c2\u8003\u6587\u732e \u8aad\u3093\u3067\u3044\u308b\u66f8\u7c4d\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002 \u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0ROS \u2015Python\u306b\u3088\u308b\u30ed\u30dc\u30c3\u30c8\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u958b\u767a (\u30aa\u30e9\u30a4\u30ea\u30fc\u30fb\u30b8\u30e3\u30d1\u30f3) Programming Rob &hellip; <a href=\"http:\/\/www.moonmile.net\/blog\/archives\/9006\">\u7d9a\u304d\u3092\u8aad\u3080 <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[94],"tags":[],"class_list":["post-9006","post","type-post","status-publish","format-standard","hentry","category-ros"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/9006","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/comments?post=9006"}],"version-history":[{"count":2,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/9006\/revisions"}],"predecessor-version":[{"id":9008,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/posts\/9006\/revisions\/9008"}],"wp:attachment":[{"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/media?parent=9006"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/categories?post=9006"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.moonmile.net\/blog\/wp-json\/wp\/v2\/tags?post=9006"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}