{"id":246,"date":"2024-09-01T16:30:00","date_gmt":"2024-09-01T07:30:00","guid":{"rendered":"https:\/\/momoi.org\/?post_type=yada_wiki&#038;p=246"},"modified":"2025-10-03T14:23:27","modified_gmt":"2025-10-03T05:23:27","slug":"limedemocode","status":"publish","type":"yada_wiki","link":"https:\/\/momoi.org\/?yada_wiki=limedemocode","title":{"rendered":"LimeDemoCode"},"content":{"rendered":"<p>LimeDemo\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u69cb\u9020\u306b\u3064\u3044\u3066\u3001\u6982\u7565\u3092\u8aac\u660e\u3057\u307e\u3059\u3002LimeDemo\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u30db\u30fc\u30e0\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3068\u3057\u3001\u305d\u3053\u304b\u3089\u306e\u76f8\u5bfe\u30d1\u30b9\u3067\u30d5\u30a1\u30a4\u30eb\u540d\u3092\u8868\u3057\u307e\u3059\u3002\u76f4\u4e0b\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306f\u3001\u4ee5\u4e0b\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<ul>\n<li>bin<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">docker\u5185\u3067\u7528\u3044\u3089\u308c\u308b\u30b3\u30de\u30f3\u30c9\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30d3\u30eb\u30c9\u6642\u306bdocker\u30a4\u30e1\u30fc\u30b8\u306b\u30b3\u30d4\u30fc\u3055\u308c\u307e\u3059\u3002<\/p>\n<ul>\n<li>doc<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">GitHub\u3067\u7528\u3044\u308b\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u307e\u3059\u3002docker\u30a4\u30e1\u30fc\u30b8\u306b\u306f\u30b3\u30d4\u30fc\u3055\u308c\u307e\u305b\u3093\u3002<\/p>\n<ul>\n<li>project<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">xacro\u306a\u3069\u306e\u3001\u5b9a\u7fa9\u30d5\u30a1\u30a4\u30eb\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u307e\u3059\u3002docker\u5185\u306e\u3001\/project\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u304b\u3001\/root\/turtlebot3_ws\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5206\u6563\u3057\u3066\u30b3\u30d4\u30fc\u3055\u308c\u307e\u3059\u3002<\/p>\n<ul>\n<li>pytwb_ws<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u4fdd\u5b58\u5834\u6240\u3067\u3059\u3002\u73fe\u5728\u306e\u69cb\u6210\u3067\u306f\u3001docker\u306e\u30de\u30a6\u30f3\u30c8\u6a5f\u80fd\u306b\u3088\u308a\u3001docker\u5916\u306e\u89aa\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5909\u66f4\u5185\u5bb9\u304c\u6b8b\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>roscommon<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u3001moveit2\u7b49\u306e\u30d3\u30eb\u30c9\u3092\u884c\u3046\u305f\u3081\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3067\u3059\u3002Docker\u306e\u30de\u30a6\u30f3\u30c8\u6a5f\u80fd\u306b\u3088\u308a\u3001docker\u5916\u306e\u89aa\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5185\u5bb9\u304c\u6b8b\u308b\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\uff11\u56de\u30d3\u30eb\u30c9\u3059\u308c\u3070\u3001docker\u3092\u518d\u521d\u671f\u5316\u3057\u3066\u3082\u6700\u521d\u306e\u30d3\u30eb\u30c9\u7d50\u679c\u304c\u518d\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<h2>\u3007\u3000\u5b9f\u884c\u65b9\u5f0f<\/h2>\n<p>LimeDemo\/LimeSimulDemo\u306f\u3001docker\u5f62\u5f0f\u3067\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002\u5b9f\u6a5f\u306e\u5834\u5408(LimeDemo)\u306f\u3001Lime\u672c\u4f53\u3068\u3001WiFi\u3067\u63a5\u7d9a\u3055\u308c\u305fdocker\u3092\u5b9f\u884c\u3067\u304d\u308bPC\u304c\u5fc5\u8981\u3067\u3059\u3002docker\u306f\u3001Linux PC\u3001\u3082\u3057\u304f\u306f\u3001Windows \u4e0a\u306eDocker Desktop\u306b\u3088\u3063\u3066\u5b9f\u884c\u53ef\u80fd\u3067\u3059\u3002\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5834\u5408(LimeSimulDemo)\u306f\u3001\u5358\u4f53\u306ePC\u4e0a\u3067\u5b9f\u884c\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>LimeSimulDemo\u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528\u306edocker\u306e\u30b3\u30fc\u30c9\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3092\u30d9\u30fc\u30b9\u306b\u3001\u30c7\u30e2\u304c\u3069\u306e\u3088\u3046\u306b\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u304b\u898b\u3066\u3086\u304f\u3053\u3068\u306b\u3057\u307e\u3059\u3002\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5834\u5408\u3001run_all\u30b3\u30de\u30f3\u30c9\u306b\u3088\u3063\u3066Gazebo\u304c\u8d77\u52d5\u3057\u3001\u4e8b\u524d\u306b\u6307\u5b9a\u3057\u305fworld\u5185\u306bLime\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u307e\u305f\u3001\u305d\u308c\u3092\u64cd\u4f5c\u3059\u308b\u305f\u3081\u306eRviz\u304c\uff12\u3064\u8d77\u52d5\u3057\u307e\u3059\u3002\u305d\u308c\u306b\u3088\u308a\u3001Nav2, MoveIt2\u304c\u5185\u90e8\u3067\u8d77\u52d5\u3057\u3001\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u3001\u304a\u3088\u3073\u3001\u30a2\u30fc\u30e0\u64cd\u4f5c\u306e\u305f\u3081\u306eROS\u901a\u4fe1\u3092\u53d7\u3051\u4ed8\u3051\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u3063\u3066\u3001\u30c7\u30e2\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306e\u74b0\u5883\u304c\u6574\u3044\u307e\u3059\u3002<\/p>\n<p>\u30c7\u30e2\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u672c\u4f53\u306f\u3001\u5225\u9014Python\u30b3\u30fc\u30c9\u3068\u3057\u3066\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002VSCode\u5185\u90e8\u304b\u3089\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u304a\u52e7\u3081\u3067\u3059\u3002\u4ee5\u4e0b\u3001\u3053\u306e\u72b6\u614b\u3092\u524d\u63d0\u3068\u3057\u305f\u3001\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u52d5\u304d\u3068\u69cb\u9020\u3092\u898b\u3066\u3086\u304d\u307e\u3059\u3002<\/p>\n<p>\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u30b3\u30fc\u30c9\u306f\u3001\u5b9f\u884c\u6642\u306f\u3001~\/pytwb_ws\/src\/cm1\u306b\u914d\u7f6e\u3055\u308c\u307e\u3059\u3002cm1\u306f\u3001\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u540d\u524d\u306b\u306a\u308a\u307e\u3059\u3002~\/pytwb_ws\/src\/cm1\/__main__.py\u304c\u30e1\u30a4\u30f3\u30d7\u30ed\u30b0\u30e9\u30e0\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u3053\u304b\u3089ros_actor\u304c\u8d77\u52d5\u3057\u3001\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u305d\u306e\u4ed6\u306e\u5927\u534a\u306e\u30b3\u30fc\u30c9\u306f\u3001~\/pytwb_ws\/src\/cm1\/cm1\u306e\u4e0b\u306b\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304b\u3089\u3001actor\u540d\u3082\u3057\u304f\u306fBehavior Tree\u540d\u3092\u5165\u529b\u3059\u308b\u3068\u3001\u305d\u308c\u304c\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002<\/p>\n<h2>\u3007\u3000pytwb_ws\u306e\u69cb\u6210<\/h2>\n<p>\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u69cb\u6210\u3059\u308b\u3001~\/pytwb_ws\/src\/cm1\/cm1\u304b\u3089\u4e0b\u306e\u30d5\u30a1\u30a4\u30eb\u69cb\u9020\u3092\u898b\u3066\u307f\u307e\u3059\u3002\u76f4\u4e0b\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3068\u3057\u3066\u3001<\/p>\n<ul>\n<li>lib<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u5171\u901a\u306b\u7528\u3044\u3089\u308c\u308b\u30b3\u30fc\u30c9\u3092\u7f6e\u304d\u307e\u3059\u3002<\/p>\n<ul>\n<li>lib\/actor<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">actor\u306e\u30b3\u30fc\u30c9\u3092\u7f6e\u304d\u307e\u3059\u3002<\/p>\n<ul>\n<li>behavior<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">Behavior Tree\u3067\u7528\u3044\u3089\u308c\u308b\u3001Behavior\u306e\u30b3\u30fc\u30c9\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002Behavior\u306e\u5b9a\u7fa9\u306f\u3001\u30af\u30e9\u30b9\u5b9a\u7fa9\u306b\u2019@behavior\u2019\u3092\u4ed8\u52a0\u3059\u308b\u3053\u3068\u306b\u3088\u3063\u3066\u884c\u3044\u307e\u3059\u3002Behavior\u3092\u5b9a\u7fa9\u3059\u308b\u30af\u30e9\u30b9\u306b\u306f\u3001update\u30e1\u30bd\u30c3\u30c9\u304c\u5fc5\u305a\u542b\u307e\u308c\u3066\u3044\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002Behavior\u306e\u5b9a\u7fa9\u30af\u30e9\u30b9\u306e\u591a\u304f\u306f\u3001Behavior\u3068\u3001\u305d\u306e\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308bactor\u306e\u5bfe\u5fdc\u95a2\u4fc2\u3092\u5b9a\u7fa9\u3057\u3066\u3044\u308b\u3060\u3051\u3067\u3001\u5b9f\u969b\u306e\u52d5\u4f5c\u306f\u542b\u307e\u308c\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n<ul>\n<li>trees<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">XML\u3067\u8a18\u8ff0\u3055\u308c\u308bBehavior Tree\u306e\u30c7\u30fc\u30bf\u304c\u7f6e\u304b\u308c\u307e\u3059\u3002\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u304b\u3089\u5165\u529b\u3059\u308b\u306e\u306f\u3001\u3053\u3053\u306b\u7f6e\u304b\u308c\u305fxxx.xml\u30d5\u30a1\u30a4\u30eb\u306e\u3001xxx\u90e8\u5206\u3067\u3059\u3002<\/p>\n<p>\u3053\u308c\u4ee5\u5916\u306b\u3001\u76f4\u4e0b\u306e\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u3001app_main.py\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<h2>\u3007 ~\/pytwb_ws\/src\/cm1\/cm1\/lib\/actor\u306e\u69cb\u6210<\/h2>\n<p>~\/pytwb_ws\/src\/cm1\/cm1\u4e0b\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u3046\u3061\u3001\u6700\u3082\u91cd\u8981\u306a\u30b3\u30fc\u30c9\u306f\u3001lib\/actor\u306b\u3042\u308bactor\u306e\u30b3\u30fc\u30c9\u3067\u3059\u3002\u4e3b\u8981\u306a\u3082\u306e\u3092\u3042\u3052\u3066\u307f\u307e\u3059\u3002<\/p>\n<ul>\n<li>system.py<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u30ed\u30dc\u30c3\u30c8\u306e\u69cb\u6210\u5168\u4f53\u3092\u898f\u5b9a\u3059\u308b\u30b3\u30fc\u30c9\u304c\u7f6e\u304b\u308c\u307e\u3059\u3002\u305d\u3053\u3067\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5168\u6a5f\u80fd\u3092\u7d71\u5408\u3057\u305f\u3001Tb3\u30af\u30e9\u30b9\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002Tb3\u30af\u30e9\u30b9\u5185\u3067\u306f\u3001actor\u306e\u96c6\u5408\u3067\u3042\u308b\u3001\u2019subsystem\u2019\u3092Tb3\u30af\u30e9\u30b9\u6a5f\u80fd\u306b\u8ffd\u52a0\u3057\u3066\u3044\u307e\u3059\u3002\u8ffd\u52a0\u3055\u308c\u308bsubsystem\u306f\u3001<\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>Tb3NavigationSystem\u30af\u30e9\u30b9\uff1a\u3000\u81ea\u5f8b\u79fb\u52d5\u6a5f\u80fd\u3092\u53f8\u308bactor\u306e\u96c6\u5408<\/li>\n<li>Tb3ManipulatorSystem\u30af\u30e9\u30b9\uff1a\u3000\u30a2\u30fc\u30e0\u64cd\u4f5c\u3092\u53f8\u308bactor\u306e\u96c6\u5408<\/li>\n<li>Tb3CameraSystem\u30af\u30e9\u30b9\uff1a\u3000\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u51e6\u7406\u3092\u53f8\u308bactor\u306e\u96c6\u5408<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u3067\u3059\u3002<\/p>\n<p style=\"padding-left: 40px;\">Tb3NavigationSystem\u30af\u30e9\u30b9\u3082\u540c\u4e00\u30d5\u30a1\u30a4\u30eb\u5185\u3067\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u305d\u3053\u3067\u306f\u3001Nav2\u3001\u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d0\u3001odom\u7b49\u306b\u95a2\u3059\u308bROS\u901a\u4fe1\u3092actor\u306e\u5f62\u5f0f\u3067\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u5ba3\u8a00\u3057\u3066\u3044\u307e\u3059\u3002\u307e\u305f\u3001\u3053\u3053\u306b\u306f\u66f8\u304d\u304d\u308c\u306a\u3044actor\u306e\u5b9a\u7fa9\u3068\u3057\u3066\u3001\u5225\u9014\u3001ApproachAction\u30af\u30e9\u30b9\u4e2d\u3067\u5b9a\u7fa9\u3055\u308c\u305factor\u3092\u8ffd\u52a0\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p style=\"padding-left: 40px;\">\u540c\u69d8\u306b\u3001Tb3ManipulatorSystem\u30af\u30e9\u30b9\u3001Tb3CameraSystem\u30af\u30e9\u30b9\u3082\u540c\u4e00\u30d5\u30a1\u30a4\u30eb\u5185\u3067\u5b9a\u7fa9\u3055\u308c\u3001ROS\u901a\u4fe1\u306e\u5b9a\u7fa9\u3001\u304a\u3088\u3073\u3001\u4ed6\u306eactor\u5b9a\u7fa9\u306e\u53d6\u308a\u8fbc\u307f\u3092\u884c\u3063\u3066\u3044\u307e\u3059\u3002Tb3ManipulatorSystem\u30af\u30e9\u30b9\u306f\u3001ManipulatorNetwork\u30af\u30e9\u30b9\u3001Tb3CameraSystem\u30af\u30e9\u30b9\u306f\u3001CognitiveNetwork\u30af\u30e9\u30b9\u306b\u3042\u308bactor\u5b9a\u7fa9\u3092\u53d6\u308a\u8fbc\u3093\u3067\u3044\u307e\u3059\u3002<\/p>\n<p style=\"padding-left: 40px;\">\u307e\u305f\u3001MapSystem\u30af\u30e9\u30b9\u306e\u5b9a\u7fa9\u3082\u884c\u3063\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u306f\u3001SLAM\u5730\u56f3\u3092\u3001\u3088\u308a\u5229\u7528\u3057\u3084\u3059\u3044\u30d9\u30af\u30c8\u30eb\u5316\u3055\u308c\u305f\u5730\u56f3\u306e\u5f62\u5f0f\u306b\u5909\u63db\u3057\u3001\u305d\u306e\u60c5\u5831\u3092\u4ed6\u306eactor\u306b\u63d0\u4f9b\u3059\u308b\u6a5f\u80fd\u3092\u62c5\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p style=\"padding-left: 40px;\">\u30b7\u30b9\u30c6\u30e0\u306e\u8d77\u52d5\u6642\u306b\u306f\u3001app_main.py\u304c\u3001\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u305f\u521d\u671f\u5316\u3092\u884c\u3044\u307e\u3059\u3002Tb\uff13\u30af\u30e9\u30b9\u3001MapSystem\u30af\u30e9\u30b9\u3092actor\u30b7\u30b9\u30c6\u30e0\u306b\u767b\u9332\u3059\u308b\u3068\u3068\u3082\u306b\u3001\u3059\u3079\u3066\u306eBehavior Tree\u3092\u3001\u305d\u308c\u305e\u308cactor\u3068\u3057\u3066\u767b\u9332\u3057\u3001\u6700\u5f8c\u306b\u30b3\u30de\u30f3\u30c9\u30a4\u30f3\u30bf\u30d7\u30ea\u30bf\u3092\u8d77\u52d5\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>approach_action.py<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">Nav2\u3067\u306f\u5b9f\u73fe\u3057\u306b\u304f\u3044\u3001\u5fae\u5c0f\u306a\u79fb\u52d5\u306e\u5236\u5fa1\u3092\u5b9f\u73fe\u3059\u308bactor\u7fa4\u3092\u5b9f\u73fe\u3057\u3001ApproachAction\u30af\u30e9\u30b9\u3068\u3057\u3066\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u305f\u3068\u3048\u3070\u3001targetted_walk\u306f\u3001\u30d3\u30b8\u30e5\u30a2\u30eb\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u306b\u3088\u3063\u3066\u3001\u30b3\u30fc\u30e9\u7f36\u306b\u6b63\u5bfe\u3057\u306a\u304c\u3089\u524d\u9032\u3059\u308b\u6a5f\u80fd\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3092\u7528\u3044\u3066\u3001reach_coke\u3068shift actor\u304c\u5b9f\u73fe\u3055\u308c\u3066\u3044\u307e\u3059\u3002shift\u306f\u3001\u30a2\u30fc\u30e0\u3092\u30d4\u30c3\u30ad\u30f3\u30b0\u4f4d\u7f6e\u307e\u3067\u4e0b\u3052\u305f\u72b6\u614b\u3067\u3001\u30b0\u30ea\u30c3\u30d1\u3068\u30b3\u30fc\u30e9\u7f36\u304c\u5e72\u6e09\u3057\u306a\u3044\u3088\u3046\u306b\u5236\u5fa1\u3057\u306a\u304c\u3089\u3001\u30d4\u30c3\u30ad\u30f3\u30b0\u304c\u53ef\u80fd\u306a\u4f4d\u7f6e\u307e\u3067\u524d\u9032\u3059\u308b\u6a5f\u80fd\u3092\u6301\u3061\u307e\u3059\u3002<\/p>\n<ul>\n<li>cognitive.py<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u51e6\u7406\u3092\u884c\u3046actor\u7fa4\u3092\u5b9f\u73fe\u3057\u3001CognitiveNetwork\u30af\u30e9\u30b9\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u30ab\u30e1\u30e9\u753b\u50cf\u3092\u76f4\u63a5\u53d7\u4fe1\u3057\u3066\u3001OpenCV\u306e\u30c7\u30fc\u30bf\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308bpic_receiver actor, \u753b\u50cf\u4e2d\u304b\u3089\u30b3\u30fc\u30e9\u7f36\u3092\u898b\u3064\u3051\u51fa\u3059pic_find actor, \u767a\u898b\u3057\u305f\u30b3\u30fc\u30e9\u7f36\u306e\u76f8\u5bfe\u5ea7\u6a19\u3092\u8a08\u7b97\u3059\u308bfind_object actor, \u30a2\u30fc\u30e0\u304c\u30d4\u30c3\u30ad\u30f3\u30b0\u4f4d\u7f6e\u307e\u3067\u4e0b\u304c\u3063\u305f\u72b6\u614b\u3067\u30b3\u30fc\u30e9\u7f36\u306e\u76f8\u5bfe\u5ea7\u6a19\u3092\u8a08\u7b97\u3059\u308bmeasure_center actor, \u8907\u6570\u56de\u30b3\u30fc\u30e9\u7f36\u306e\u4f4d\u7f6e\u3092\u8a08\u6e2c\u3057\u3066\u78ba\u8a8d\u3057\u3001\u6b63\u78ba\u306a\u5ea7\u6a19\u3092\u6c42\u3081\u308bget_found actor, \u6c42\u3081\u305f\u30b3\u30fc\u30e9\u7f36\u306e\u5ea7\u6a19\u306btf\u306b\u3088\u308b\u5ea7\u6a19\u5909\u63db\u3092\u65bd\u3057\u3066world\u5ea7\u6a19\u7cfb\u306b\u304a\u3051\u308b\u5ea7\u6a19\u5024\u3092\u6c42\u3081\u308bobject_loc actor\u7b49\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>manipulator.py<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u30a2\u30fc\u30e0\u5236\u5fa1\u306eactor\u7fa4\u3092\u5b9f\u73fe\u3057\u3001ManipulatorNetwork\u30af\u30e9\u30b9\u306b\u307e\u3068\u3081\u3066\u3044\u307e\u3059\u3002\u30a2\u30fc\u30e0\u3092\u6a19\u6e96\u4f4d\u7f6e\u307e\u3067\u79fb\u52d5\u3059\u308bhome actor, \u30b0\u30ea\u30c3\u30d1\u3092\u958b\u304fopen actor, \u30b0\u30ea\u30c3\u30d1\u3092\u9589\u3058\u308bclose actor, \u30a2\u30fc\u30e0\u4f4d\u7f6e\u3092\u8abf\u7bc0\u3057\u3066\u30b3\u30fc\u30e9\u7f36\u306b\u6b63\u5bfe\u3055\u305b\u308bad actor, fit actor\u3001\u30b0\u30ea\u30c3\u30d1\u3092\u6700\u3082\u4f4e\u3044\u4f4d\u7f6e\u306b\u79fb\u52d5\u3055\u305b\u308bpick actor\u7b49\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<h2>\u3007 ~\/pytwb_ws\/src\/cm1\/cm1\/lib\/tree\u306e\u69cb\u6210<\/h2>\n<p>\u30ed\u30dc\u30c3\u30c8\u306e\u5168\u4f53\u7684\u306a\u52d5\u4f5c\u3092\u6c7a\u3081\u308b\u3001Behavior Tree\u30d5\u30a1\u30a4\u30eb\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30b3\u30de\u30f3\u30c9\u540d\u3068\u3057\u3066\u3001.xml\u3092\u3068\u3063\u3066\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n<ul>\n<li>bt_pick_place.xml<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">LimeDemo\u5168\u4f53\u306e\u52d5\u4f5c\u3092\u542b\u307f\u307e\u3059\u3002\u5185\u90e8\u3067\u306f\u3001bt_search, bt_catch, bt_carry\u3092\u547c\u3073\u51fa\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>bt_search.xml<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">bt_search \u3092\u5b9a\u7fa9\u3057\u3066\u3044\u307e\u3059\u3002\u5730\u56f3\u30c7\u30fc\u30bf\u304b\u3089\u3001\u63a2\u7d22\u3059\u3079\u304d\u9818\u57df\u3092\u5206\u5272\u3057\u3001\u305d\u308c\u305e\u308c\u306e\u9818\u57df\u306b\u79fb\u52d5\u3057\u306a\u304c\u3089\u3001\u4e26\u884c\u3057\u3066\u30ab\u30e1\u30e9\u753b\u50cf\u304b\u3089\u30b3\u30fc\u30e9\u7f36\u306e\u691c\u51fa\u3092\u884c\u3044\u3001\u30b3\u30fc\u30e9\u7f36\u3092\u767a\u898b\u3057\u305f\u5834\u5408\u306f\u3001\u767a\u898b\u3057\u305f\u5834\u6240\u306b\u3082\u3069\u3063\u3066\u30b3\u30fc\u30e9\u7f36\u304c\u898b\u3048\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n<ul>\n<li>bt_catch.xml<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u30b3\u30fc\u30e9\u7f36\u306e\u5ea7\u6a19\u3092\u78ba\u8a8d\u3057\u3001\u63a5\u8fd1\u3057\u3001\u30a2\u30fc\u30e0\u3092\u4e0b\u3052\u3001\u305d\u306e\u72b6\u614b\u3067\u518d\u5ea6\u63a5\u8fd1\u3057\u3001\u30b0\u30ea\u30c3\u30d1\u3092\u9589\u3058\u308b\u3053\u3068\u306b\u3088\u3063\u3066\u30d4\u30c3\u30ad\u30f3\u30b0\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>bt_carry.xml<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u30b3\u30fc\u30e9\u7f36\u3092\u6301\u3063\u305f\u307e\u307e\u3001\u5b9a\u4f4d\u7f6e\u307e\u3067\u79fb\u52d5\u3057\u3001\u30d1\u30ec\u30c3\u30c8\u3068\u306e\u8ddd\u96e2\u3092\u8a08\u6e2c\u3057\u306a\u304c\u3089\u30d3\u30b8\u30e5\u30a2\u30eb\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u306b\u3088\u3063\u3066\u30d7\u30ec\u30fc\u30b9\u4f4d\u7f6e\u307e\u3067\u79fb\u52d5\u3057\u305f\u5f8c\u3001\u30a2\u30fc\u30e0\u3092\u4e0b\u3052\u3001\u30b0\u30ea\u30c3\u30d1\u3092\u958b\u304f\u3053\u3068\u306b\u3088\u3063\u3066\u30d7\u30ec\u30fc\u30b9\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"template":"","meta":{"footnotes":""},"wiki_cats":[3],"wiki_tags":[],"class_list":["post-246","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\/246","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":5,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/246\/revisions"}],"predecessor-version":[{"id":251,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/246\/revisions\/251"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=246"}],"wp:term":[{"taxonomy":"wiki_cats","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_cats&post=246"},{"taxonomy":"wiki_tags","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_tags&post=246"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}