{"id":179,"date":"2024-03-08T12:07:34","date_gmt":"2024-03-08T03:07:34","guid":{"rendered":"https:\/\/momoi.org\/?post_type=yada_wiki&#038;p=179"},"modified":"2025-10-03T14:23:34","modified_gmt":"2025-10-03T05:23:34","slug":"%e6%b4%bb%e5%8b%95%e7%b4%b9%e4%bb%8b","status":"publish","type":"yada_wiki","link":"https:\/\/momoi.org\/?yada_wiki=%e6%b4%bb%e5%8b%95%e7%b4%b9%e4%bb%8b","title":{"rendered":"ros_actor\u306e\u958b\u767a"},"content":{"rendered":"<p>Turtlebot+OpenManipulator\u3092\u5bfe\u8c61\u3068\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u958b\u767a\u3057\u305f\u306e\u3067\u3001\u305d\u306e\u6982\u8981\u306b\u3064\u3044\u3066\u89e3\u8aac\u3057\u307e\u3059\u3002Waffle Pi\u306bOpenManipultor\u3092\u4ed8\u3051\u305f\u3001<a href=\"https:\/\/e-shop.robotis.co.jp\/list.php?c_id=93\">MobileManipulator<\/a>\u30ed\u30dc\u30c3\u30c8\u306bRealSense\u3092\u4ed8\u52a0\u3057\u305f\u69cb\u6210\u3067\u3059\u3002<\/p>\n<p>\u958b\u767a\u3057\u305f\u30b3\u30fc\u30c9\u306f\u3001<a href=\"https:\/\/github.com\/momoiorg-repository\/actor_demo\">GitHub\u306e\u30ea\u30dd\u30b8\u30c8\u30ea<\/a>\u306b\u3042\u308a\u307e\u3059\u3002\u305d\u3053\u3067\u306f\u3001MobileManipulator\u3092Gazebo\u4e0a\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u74b0\u5883\u3068\u3001Python\u3067\u66f8\u304b\u308c\u305f\u3001Nav2\u3068MoveIt2\u306e\u4e21\u65b9\u3092\u5236\u5fa1\u3059\u308b\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u74b0\u5883\u4e2d\u306e\u30b3\u30fc\u30e9\u7f36\u3092\u63a2\u7d22\u3057\u3001\u30d4\u30c3\u30ad\u30f3\u30b0\u3092\u884c\u3044\u3001\u904b\u642c\u3057\u3066\u30d1\u30ec\u30c3\u30c8\u4e0a\u306b\u30d7\u30ec\u30fc\u30b9\u3059\u308b\u52d5\u4f5c\u3092\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u307e\u305f\u3001\u5c11\u3057\u306e\u6539\u9020\u3067\u3001\u30d4\u30c3\u30ad\u30f3\u30b0\u3057\u305f\u30b3\u30fc\u30e9\u7f36\u3092\u68da\u306b\u30d7\u30ec\u30fc\u30b9\u3059\u308b\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u3053\u308c\u3089\u306e\u52d5\u4f5c\u306e\u5b9f\u88c5\u306f\u304b\u306a\u308a\u8907\u96d1\u306b\u306a\u308b\u306e\u3067\u3001\u69cb\u9020\u7684\u306a\u30a2\u30d7\u30ed\u30fc\u30c1\u3092\u53ef\u80fd\u306b\u3059\u308b\u305f\u3081\u3001<\/p>\n<ul>\n<li>Behavior Tree\u306e\u5229\u7528\uff1a\u3000<a href=\"https:\/\/github.com\/momoiorg-repository\/pytwb_tutorial\">pytwb\u30e9\u30a4\u30d6\u30e9\u30ea<\/a>\u306b\u3088\u308b<\/li>\n<li>ros_actor\u306e\u5229\u7528\u3000\uff1a\u3000<a href=\"https:\/\/github.com\/momoiorg-repository\/ros_actor\">ros_actor\u30e9\u30a4\u30d6\u30e9\u30ea<\/a>\u306b\u3088\u308b<\/li>\n<\/ul>\n<p>\u3092\u8a66\u307f\u3066\u3044\u307e\u3059\u3002\u305d\u308c\u305e\u308c\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3001\u30e9\u30a4\u30d6\u30e9\u30ea\u306eGitHub\u30da\u30fc\u30b8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h3>&#8211; \u30b3\u30fc\u30e9\u7f36\u306e\u63a2\u7d22<\/h3>\n<p>\u30ed\u30dc\u30c3\u30c8\u304c\u884c\u52d5\u53ef\u80fd\u306a\u5168\u57df\u304b\u3089\u30b3\u30fc\u30e9\u7f36\u3092\u63a2\u3057\u51fa\u3057\u307e\u3059\u3002\u30e9\u30f3\u30c0\u30e0\u306b\u52d5\u304d\u56de\u3063\u3066\u3044\u3066\u306f\u57d2\u304c\u660e\u304b\u306a\u3044\u306e\u3067\u3001\u5730\u56f3\u3092\u81ea\u52d5\u7684\u306b\u8907\u6570\u306e\u9818\u57df\u306b\u5206\u5272\u3057\u3066\u3001\u52b9\u7387\u7684\u306a\u63a2\u7d22\u3092\u53ef\u80fd\u306b\u3057\u3066\u3044\u307e\u3059\u3002\u5206\u5272\u306e\u969b\u3001\u58c1\u304c\u5185\u5074\u306b\u5f35\u308a\u51fa\u3057\u3066\u8996\u754c\u3092\u906e\u308b\u90e8\u5206\u306b\u6ce8\u76ee\u3057\u3066\u533a\u5207\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u898b\u901a\u3057\u306e\u3088\u3044\u9818\u57df\u3054\u3068\u306b\u5206\u5272\u3055\u308c\u308b\u3088\u3046\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u4f5c\u3063\u3066\u3042\u308a\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-186\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_06-300x207.png\" alt=\"\" width=\"300\" height=\"207\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_06-300x207.png 300w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_06-1024x707.png 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_06-768x530.png 768w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_06-1536x1061.png 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_06-2048x1414.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>\u3053\u306e\u3088\u3046\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u52d5\u304b\u3059\u305f\u3081\u306b\u306f\u3001SLAM\u304c\u751f\u6210\u3057\u305f\u70b9\u7fa4\u5730\u56f3\u3092\u76f4\u63a5\u5229\u7528\u3059\u308b\u306e\u306f\u52b9\u7387\u304c\u3088\u304f\u3042\u308a\u307e\u305b\u3093\u3002\u5730\u56f3\u8868\u73fe\u3092\u70b9\u7fa4\u306e\u96c6\u307e\u308a\u304b\u3089\u5e7e\u4f55\u5b66\u7684\u306a\u76f4\u7dda\u306e\u96c6\u307e\u308a\u306b\u5909\u63db\u3059\u308b<a href=\"https:\/\/github.com\/RobotSpatialCognition\/vector_map\">vector_map\u30e9\u30a4\u30d6\u30e9\u30ea<\/a>\u3092\u958b\u767a\u3057\u3001\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<h3>&#8211; \u30b3\u30fc\u30e9\u7f36\u3092\u79fb\u52d5\u3057\u306a\u304c\u3089\u30d4\u30c3\u30ad\u30f3\u30b0<\/h3>\n<p>\u30d4\u30c3\u30ad\u30f3\u30b0\u306e\u5b9f\u88c5\u306f\u3051\u3063\u3053\u3046\u5927\u5909\u3067\u3059\u3002\u307e\u305a\u3001Gazebo(classic)\u3067\u3001\u30b0\u30ea\u30c3\u30d1\u304c\u30b3\u30fc\u30e9\u7f36\u3092\u63b4\u3080\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306b\u306f\u3001\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u8ffd\u52a0\u304c\u5fc5\u8981\u3067\u3059\uff1a\u3000<a href=\"https:\/\/qiita.com\/yulat214\/items\/84b266fc55739134c234\">\u30e1\u30f3\u30d0\u306eQiita\u8a18\u4e8b<\/a><\/p>\n<p>\u307e\u305f\u3001\u4f4d\u7f6e\u3092mm\u5358\u4f4d\u3067\u6b63\u78ba\u306b\u8a2d\u5b9a\u3057\u306a\u3044\u3068\u30d4\u30c3\u30ad\u30f3\u30b0\u304c\u6210\u529f\u3057\u307e\u305b\u3093\u3002\u79fb\u52d5\u3057\u306a\u304c\u3089\u3060\u3068\u3053\u308c\u306f\u304b\u306a\u308a\u5927\u5909\u3067\u3059\u3002\u3053\u306e\u305f\u3081\u3001\u79fb\u52d5\u3092\u591a\u6bb5\u968e\u306b\u5206\u5272\u3057\u3066\u3001\u79fb\u52d5\u306e\u305f\u3073\u306b\u3001RealSense\u60c5\u5831\u3092\u7528\u3044\u3066\u79fb\u52d5\u65b9\u5411\u3084\u30a2\u30fc\u30e0\u89d2\u5ea6\u306e\u88dc\u6b63\u3092\u3059\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-187\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_51-300x207.png\" alt=\"\" width=\"300\" height=\"207\" srcset=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_51-300x207.png 300w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_51-1024x707.png 1024w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_51-768x530.png 768w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_51-1536x1061.png 1536w, https:\/\/momoi.org\/wp-content\/uploads\/2024\/03\/Gazebo@docker-desktop-2024_03_08-12_21_51-2048x1414.png 2048w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<h3>&#8211; \u30b3\u30fc\u30e9\u7f36\u306e\u30d7\u30ec\u30fc\u30b9<\/h3>\n<p>\u30b3\u30fc\u30e9\u7f36\u3092\u30d1\u30ec\u30c3\u30c8\u306e\u4e0a\u306b\u30d7\u30ec\u30fc\u30b9\u3059\u308b\u305f\u3081\u306b\u306f\u3001\u30d1\u30ec\u30c3\u30c8\u306b\u975e\u5e38\u306b\u63a5\u8fd1\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u6b8b\u5ff5\u306a\u304c\u3089\u3001ROS\u306e\u901a\u5e38\u306e\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u6a5f\u80fd\u3067\u306f\u3001\u305d\u3053\u307e\u3067\u306e\u4f4d\u7f6e\u5236\u5fa1\u306f\u3067\u304d\u307e\u305b\u3093\u3002RealSense\u306edepth\u60c5\u5831\u3092\u7528\u3044\u305f\u30d3\u30b8\u30e5\u30a2\u30eb\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u6a5f\u69cb\u3092\u5b9f\u88c5\u3057\u3001\u30d1\u30ec\u30c3\u30c8\u306b\u5bfe\u3057\u3066\u30d7\u30ec\u30fc\u30b9\u306b\u5fc5\u8981\u306a\u8ddd\u96e2\u307e\u3067\u63a5\u8fd1\u3059\u308b\u6a5f\u69cb\u3092\u5b9f\u73fe\u3057\u307e\u3057\u305f\u3002<\/p>\n<p>\u30a2\u30fc\u30e0\u306e\u89d2\u5ea6\u3092\u8abf\u7bc0\u3059\u308b\u3068\u3001\u68da\u306b\u53ce\u7d0d\u3059\u308b\u3088\u3046\u306b\u3082\u3067\u304d\u307e\u3059\u3002\uff08\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u306f\u542b\u307e\u308c\u307e\u305b\u3093\uff09<\/p>\n<div style=\"width: 640px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-179-1\" width=\"640\" height=\"360\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/momoi.org\/media\/shelf.mp4?_=1\" \/><a href=\"https:\/\/momoi.org\/media\/shelf.mp4\">https:\/\/momoi.org\/media\/shelf.mp4<\/a><\/video><\/div>\n<h1><\/h1>\n","protected":false},"author":1,"featured_media":0,"template":"","meta":{"footnotes":""},"wiki_cats":[3],"wiki_tags":[],"class_list":["post-179","yada_wiki","type-yada_wiki","status-publish","hentry","wiki_cats-ros"],"_links":{"self":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/179","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki"}],"about":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/types\/yada_wiki"}],"author":[{"embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"version-history":[{"count":13,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/179\/revisions"}],"predecessor-version":[{"id":266,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/179\/revisions\/266"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=179"}],"wp:term":[{"taxonomy":"wiki_cats","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_cats&post=179"},{"taxonomy":"wiki_tags","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_tags&post=179"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}