{"id":226,"date":"2024-08-31T14:16:04","date_gmt":"2024-08-31T05:16:04","guid":{"rendered":"https:\/\/momoi.org\/?post_type=yada_wiki&#038;p=226"},"modified":"2025-10-03T14:23:31","modified_gmt":"2025-10-03T05:23:31","slug":"lime","status":"publish","type":"yada_wiki","link":"https:\/\/momoi.org\/?yada_wiki=lime","title":{"rendered":"Lime"},"content":{"rendered":"<p>TurtleBot3 Lime\u3092\u3054\u7d39\u4ecb\u3044\u305f\u3057\u307e\u3059\u3002\u3053\u308c\u306f\u3001TurtleBot3 Friends\u3068\u3057\u3066\u6b63\u5f0f\u767b\u9332\u3055\u308c\u305f\u3001TurtleBot3\u306e\u6d3e\u751f\u30e2\u30c7\u30eb\u3067\u3042\u308a\u3001Waffle\u3092\u30d9\u30fc\u30b9\u3068\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u306b\u3001<\/p>\n<ul>\n<li>Raspberry Pi\u304b\u3089Jetson Orin Nano\u3078\u306e\u7f6e\u63db<\/li>\n<li>\uff16\u8ef8\u30a2\u30fc\u30e0\u8ffd\u52a0<\/li>\n<li>\u8eca\u8f2a\u5f84\u306e\u62e1\u5927<\/li>\n<li>RealSense D435i\u8ffd\u52a0<\/li>\n<\/ul>\n<p>\u7b49\u3092\u884c\u3063\u305f\u3082\u306e\u3067\u3001ROBOTIS Japan\u304b\u3089\u30ad\u30c3\u30c8\u3068\u3057\u3066\u8ca9\u58f2\u3055\u308c\u3066\u3044\u307e\u3059\uff08\u5f53\u521d\u306f\u65e5\u672c\u9650\u5b9a\uff09(<a href=\"https:\/\/e-shop.robotis.co.jp\/product.php?id=531\">ROBOTIS\u30da\u30fc\u30b8<\/a>)\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-medium wp-image-238\" src=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/08\/lime-225x300.jpg\" alt=\"\" width=\"225\" height=\"300\" \/><\/p>\n<h2>\u3007\u3000Lime\u958b\u767a\u306e\u72d9\u3044<\/h2>\n<p>Lime\u306f\u3001\u201cROS\u30ed\u30dc\u30c3\u30c8\u306e\u6b21\u4e16\u4ee3\u6a19\u6e96\u201d\u3092\u76ee\u6307\u3057\u3066\u3044\u307e\u3059\u3002momoi.org\u306f\u3001\u305d\u306e\u4f01\u753b\u306b\u5f53\u521d\u304b\u3089\u53c2\u52a0\u3059\u308b\u3068\u3068\u3082\u306b\u3001\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u958b\u767a\u3092\u884c\u3063\u3066\u304a\u308a\u307e\u3059\u3002\u305d\u3053\u3067\u306f\u3001\u6df1\u5c64\u5b66\u7fd2\u6280\u8853\u306e\u5c0e\u5165\u3092\u3088\u308a\u5bb9\u6613\u306b\u3059\u308b\u57fa\u76e4\u30bd\u30d5\u30c8\u306e\u958b\u767a\u3092\u884c\u3046\u3068\u3068\u3082\u306b\u3001NVIDIA\u793e\u306eOmniverse\/Isaac ROS\u306e\u6d3b\u7528\u3082\u8a66\u307f\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u6df1\u5c64\u5b66\u7fd2\u6280\u8853\u306e\u7206\u767a\u7684\u306a\u767a\u5c55\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u6280\u8853\u306b\u3082\u5927\u304d\u306a\u5f71\u97ff\u3092\u4e0e\u3048\u3066\u3044\u307e\u3059\u3002\u305f\u3068\u3048\u3070\u3001\u753b\u50cf\u51e6\u7406\u3067\u306f\u4e0d\u53ef\u6b20\u306e\u8981\u7d20\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3057\u3001LLM\u306b\u3088\u308b\u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u3082\u8a71\u984c\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002ROS\u6280\u8853\u3082\u3001\u305d\u306e\u3088\u3046\u306a\u50be\u5411\u306b\u914d\u616e\u3059\u308b\u5fc5\u8981\u306b\u8feb\u3089\u308c\u3066\u3044\u308b\u3068\u8a00\u3063\u3066\u3082\u904e\u8a00\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n<p>Lime\u306f\u3001\u305d\u306e\u3088\u3046\u306a\u80cc\u666f\u304b\u3089\u3001\u30a8\u30c3\u30b8GPU\u3001\u6df1\u5ea6\u30ab\u30e1\u30e9\u306e\u5c0e\u5165\u3092\u8a66\u307f\u305f\u3082\u306e\u3067\u3059\u3002\u307e\u305f\u3001\u6df1\u5c64\u5b66\u7fd2\u6280\u8853\u3092\u4e2d\u5fc3\u3068\u3057\u305f\u3001\u3044\u308f\u3086\u308b\u30ed\u30dc\u30c3\u30c8AI\u6280\u8853\u3092\u7528\u3044\u305f\u9ad8\u5ea6\u6280\u8853\u306e\u8a66\u884c\u304c\u884c\u3044\u3084\u3059\u3044\u3088\u3046\u306b\u3001\uff16\u8ef8\u30a2\u30fc\u30e0\u3092\u4ed8\u52a0\u3057\u3066\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u306b\u3088\u3063\u3066\u3001\u5bb6\u5ead\u3084\u5de5\u5834\u306a\u3069\u5b9f\u969b\u7684\u306a\u74b0\u5883\u3092\u60f3\u5b9a\u3057\u305f\u30ed\u30dc\u30c3\u30c8AI\u306e\u958b\u767a\u306b\u3082\u6d3b\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\u3002\u73fe\u5834\u3067\u7528\u3044\u3089\u308c\u308b\u30ed\u30dc\u30c3\u30c8\u3092\u8a66\u884c\u306e\u6700\u521d\u304b\u3089\u7528\u3044\u308b\u306e\u306f\u3001\u30b3\u30b9\u30c8\u3084\u5b89\u5168\u6027\u306e\u89b3\u70b9\u304b\u3089\u671b\u307e\u3057\u304f\u3042\u308a\u307e\u305b\u3093\u306e\u3067\u3001Lime\u3092\u7528\u3044\u305f\u7814\u7a76\u30fb\u958b\u767a\u3092\u307e\u305a\u884c\u3063\u3066\u307f\u308b\u306e\u304c\u5168\u4f53\u3068\u3057\u3066\u307f\u308b\u3068\u6700\u9069\u306a\u624b\u9806\u3067\u3042\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001Omniverse\u306b\u3088\u308bDigital Twin\u74b0\u5883\u3067\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3082\u6e96\u5099\u4e2d\u3067\u3059\u3002\u65b0\u3057\u3044\u6280\u8853\u3001\u65b0\u3057\u3044\u5bfe\u8c61\u3001\u65b0\u3057\u3044\u74b0\u5883\u3067\u3001ROS\u6280\u8853\u3092\u3088\u308a\u4e00\u5c64\u98db\u8e8d\u3055\u305b\u308b\u5951\u6a5f\u3068\u306a\u308b\u3053\u3068\u3092\u9858\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<h2>\u3007\u3000Lime\u5229\u7528\u306e\u5b9f\u969b<\/h2>\n<p>Lime\u306f\u3001Waffle\u3092\u30d9\u30fc\u30b9\u306b\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u65e2\u5b58\u306eTB3\u3068\u307b\u307c\u540c\u4e00\u306e\u5229\u7528\u6cd5\u3067\u3042\u308a\u3001ROBOTIS\u306ee-manual\u304c\u7528\u610f\u3055\u308c\u308b\u4e88\u5b9a\u3067\u3059\u3002Humble\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u5b9f\u6a5f\u3001Gazebo\u306b\u3088\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3068\u3082\u306b\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u3053\u308c\u3089\u306e\u30d9\u30fc\u30b9\u306b\u52a0\u3048\u3066\u3001momoi.org\u306b\u304a\u3044\u3066\u3001\u30b5\u30f3\u30d7\u30eb\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u7528\u610f\u3057\u307e\u3057\u305f\u3002\u9589\u9818\u57df\u306e\u3069\u3053\u304b\u306b\u7f6e\u304b\u308c\u305f\u30b3\u30fc\u30e9\u7f36\u306b\u5bfe\u3057\u3066\u3001Lime\u304c\u3001<\/p>\n<ul>\n<li>\u30b3\u30fc\u30e9\u7f36\u3092\u63a2\u7d22<\/li>\n<li>\u767a\u898b\u3057\u305f\u30b3\u30fc\u30e9\u7f36\u306b\u63a5\u8fd1<\/li>\n<li>\u30d4\u30c3\u30ad\u30f3\u30b0<\/li>\n<li>\u642c\u9001\u3068\u30d7\u30ec\u30fc\u30b9<\/li>\n<\/ul>\n<p>\u7b49\u3092\u884c\u3046\u8981\u7d20\u3092\u542b\u3093\u3067\u3044\u307e\u3059\u3002\u3053\u308c\u3089\u3092\u307e\u3068\u3081\u305f\u52d5\u4f5c\u4f8b\u306e\u30b3\u30fc\u30c9\u3092GitHub <a href=\"https:\/\/github.com\/momoiorg-repository\/LimeDemo\">LimeDemo<\/a>\u3068<a href=\"https:\/\/github.com\/momoiorg-repository\/LimeSimulDemo\">LimeSimulDemo<\/a>\u306b\u516c\u958b\u3057\u307e\u3057\u305f\u3002<\/p>\n<p><video src=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/08\/lime_tc.mov\" controls=\"controls\" width=\"400\" height=\"150\">lime_tc<\/video><\/p>\n<p>\u3053\u306e\u30c7\u30e2\u306e\u8da3\u65e8\u306f\u3001\u8907\u6570\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u542b\u3080\u8907\u96d1\u306a\u5236\u5fa1\u7cfb\u3092ROS\u4e0a\u306b\u69cb\u7bc9\u3059\u308b\u3001\u4e00\u3064\u306e\u65b9\u6cd5\u3092\u793a\u3059\u3053\u3068\u306b\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u3053\u308c\u3092\u53ef\u80fd\u306b\u3059\u308b\u305f\u3081\u306b\u3001Behavior Tree\u3092\u7528\u3044\u308b\u3060\u3051\u3067\u306a\u304f\u3001ros_actor\u3068\u3088\u3070\u308c\u308b\u65b0\u3057\u3044\u6a5f\u69cb\u3092\u958b\u767a\u3057\u3066\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002Behavior Tree\u306f\u3001\u3059\u3067\u306bROS\u306e\u5236\u5fa1\u306b\u5e83\u304f\u7528\u3044\u3089\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u57fa\u672c\u7684\u306b\u5b9a\u671f\u7684\u306a\u30dd\u30fc\u30ea\u30f3\u30b0\u306b\u3057\u305f\u304c\u3063\u3066\u72b6\u614b\u304c\u9077\u79fb\u3057\u3066\u3086\u304f\u306e\u3067\u3001\u3088\u308a\u7d30\u304b\u306a\u3001\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u7b49\u306f\u5b9f\u73fe\u3067\u304d\u306a\u3044\u554f\u984c\u304c\u3042\u308a\u307e\u3057\u305f\u3002\u305d\u3053\u3067\u3001Behavior Tree\u306e\u4e0b\u4f4d\u3067\u7528\u3044\u308b\u3053\u3068\u3092\u60f3\u5b9a\u3057\u305f\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306e\u52d5\u4f5c\u5358\u4f4d\u3067\u3042\u308bactor\u6a5f\u69cb\u3092\u5b9f\u73fe\u3057\u3066\u3044\u308b\u306e\u304c\u3001ros_actor\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u3002<\/p>\n<p>ros_actor\u306f\u3001\u30b9\u30ec\u30c3\u30c9\u306e\u5272\u308a\u5f53\u3066\u6a5f\u69cb\u3092\u542b\u307f\u3001\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u7b49\u306e\u52d5\u4f5c\u5358\u4f4d\u3092\u7c21\u5358\u306a\u65b9\u6cd5\u3067\u547c\u3073\u51fa\u305b\u308b\u3088\u3046\u306b\u3057\u305f\u30b9\u30b1\u30b8\u30e5\u30fc\u30ea\u30f3\u30b0\u3001\u30e9\u30c3\u30d4\u30f3\u30b0\u6a5f\u69cb\u3067\u3059\u3002\u307e\u305f\u3001actor\u5358\u4f4d\u3067\u500b\u5225\u306b\u547c\u3073\u51fa\u3057\u3066\u5b9f\u884c\u3055\u305b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u306e\u3067\u3001\u958b\u767a\u30c4\u30fc\u30eb\u3068\u3057\u3066\u3082\u6709\u52b9\u3067\u3042\u308b\u3053\u3068\u304c\u5224\u660e\u3057\u307e\u3057\u305f\u3002<\/p>\n<p>\u5225\u30da\u30fc\u30b8\u306b\u304a\u3044\u3066\u3001\u4ee5\u4e0b\u306e\u8a73\u7d30\u3092\u8aac\u660e\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li><a href=\"https:\/\/momoi.org\/?yada_wiki=limedemo\">LimeDemo\/LimeSimulDemo\u306e\u5b9f\u884c\u65b9\u6cd5<\/a><\/li>\n<li><a href=\"https:\/\/momoi.org\/?yada_wiki=limedemocode\">\u30d7\u30ed\u30b0\u30e9\u30e0\u69cb\u9020\u306e\u6982\u8981<\/a><\/li>\n<li><a href=\"https:\/\/momoi.org\/wp-content\/uploads\/2025\/03\/LimeDemo\u306eBehaviorTree.pdf\">LimeDemo\u306eBehaviorTree<\/a><\/li>\n<li><a href=\"https:\/\/momoi.org\/wp-content\/uploads\/2024\/08\/actor\u6a5f\u69cb\u306e\u89e3\u8aac.pdf\">actor\u6a5f\u69cb\u306e\u89e3\u8aac<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"author":1,"featured_media":0,"template":"","meta":{"footnotes":""},"wiki_cats":[3],"wiki_tags":[],"class_list":["post-226","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\/226","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":18,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/226\/revisions"}],"predecessor-version":[{"id":302,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/226\/revisions\/302"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=226"}],"wp:term":[{"taxonomy":"wiki_cats","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_cats&post=226"},{"taxonomy":"wiki_tags","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_tags&post=226"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}