{"id":42,"date":"2023-06-10T21:24:43","date_gmt":"2023-06-10T12:24:43","guid":{"rendered":"https:\/\/momoi.org\/?post_type=yada_wiki&#038;p=42"},"modified":"2024-09-02T21:16:29","modified_gmt":"2024-09-02T12:16:29","slug":"momoi-org-ros%e9%96%a2%e9%80%a3%e3%83%97%e3%83%ad%e3%82%b8%e3%82%a7%e3%82%af%e3%83%88","status":"publish","type":"yada_wiki","link":"https:\/\/momoi.org\/?yada_wiki=momoi-org-ros%e9%96%a2%e9%80%a3%e3%83%97%e3%83%ad%e3%82%b8%e3%82%a7%e3%82%af%e3%83%88","title":{"rendered":"Momoi org ROS\u95a2\u9023\u30d7\u30ed\u30b8\u30a7\u30af\u30c8"},"content":{"rendered":"<h1>\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306e\u958b\u767a<\/h1>\n<p>\u3059\u3067\u306b\u3001\u3044\u304f\u3064\u304b\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092GitHub\u4e0a\u3067\u516c\u958b\u3057\u3066\u3044\u308b\u3002<\/p>\n<h1>TurtleBot3 Lime\u306e\u5171\u540c\u958b\u767a<\/h1>\n<p><a href=\"https:\/\/momoi.org\/?yada_wiki=lime\">\u8a73\u7d30\u306f\u3053\u3061\u3089<\/a><\/p>\n<h1>ROS\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u7528\u30df\u30c9\u30eb\u30a6\u30a7\u30a2\uff08GitHub: <a href=\"https:\/\/github.com\/momoiorg-repository\/actor_demo\">actor_demo<\/a>(\u5229\u7528\u4f8b\uff09<a href=\"https:\/\/github.com\/momoiorg-repository\/ros_actor\">ros_actor<\/a>(\u672c\u4f53\u958b\u767a))<\/h1>\n<p>pytwb\u306b\u7d9a\u3044\u3066\u3001ROS\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u958b\u767a\u3092\u5bb9\u6613\u306b\u884c\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306e\u6a5f\u69cb\u3068\u3057\u3066\u3001ros_actor\u30df\u30c9\u30eb\u30a6\u30a7\u30a2\u3092\u958b\u767a\u3057\u305f\u3002\u3053\u308c\u306f\u3001actor like\u306a\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u30e2\u30c7\u30eb\u3092Python\u4e0a\u3067\u5b9f\u73fe\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u51e6\u7406\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8a18\u8ff0\u306e\u5bb9\u6613\u5316\u3092\u56f3\u3063\u305f\u3082\u306e\u3067\u3042\u308b\u3002<\/p>\n<p>actor_demo\u3067\u306f\u3001\u30a2\u30fc\u30e0\u4ed8\u304d\u306eTurtlebot\u3092\u7528\u3044\u3066\u3001\u30b3\u30fc\u30e9\u7f36\u306e\u63a2\u7d22\u3001\u30d4\u30c3\u30ad\u30f3\u30b0\u3001\u642c\u9001\u3068\u30d7\u30ec\u30fc\u30b9\u7b49\u306e\u4f5c\u696d\u3092\u884c\u3046\u30b5\u30f3\u30d7\u30eb\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092ros_actor\u4e0a\u3067\u4f5c\u6210\u3057\u3001\u516c\u958b\u3057\u3066\u3044\u308b\u3002<\/p>\n<p><a href=\"https:\/\/momoi.org\/?yada_wiki=%e6%b4%bb%e5%8b%95%e7%b4%b9%e4%bb%8b\">\u3088\u308a\u8a73\u7d30\u306a\u89e3\u8aac\u306f\u3053\u3061\u3089\u3002<\/a><\/p>\n<h1>ROS\u958b\u767a\u74b0\u5883(GitHub: <a href=\"https:\/\/github.com\/momoiorg-repository\/pytwb_tutorial\">pytwb_tutorial<\/a>(\u5229\u7528\uff09<a href=\"https:\/\/github.com\/momoiorg-repository\/pytwb\">pytwb <\/a>(\u672c\u4f53\u958b\u767a\uff09\uff09<\/h1>\n<p>ROS\u306f\u3001ROS2\u306e\u767b\u5834\u306b\u3088\u308a\u3001\u30ed\u30dc\u30c3\u30c8\u672c\u4f53\u306e\u958b\u767a\u3060\u3051\u3067\u306a\u304f\u3001\u305d\u306e\u5229\u7528\u306b\u7126\u70b9\u304c\u79fb\u308a\u3064\u3064\u3042\u308b\u3002\u305d\u3053\u3067\u306f\u3001\u5fc5\u305a\u3057\u3082ROS\u306b\u8a73\u3057\u304f\u306a\u3044\u3001\u5225\u5206\u91ce\u306e\u5c02\u9580\u5bb6\u304cROS\u3092\u5229\u7528\u3059\u308b\u6a5f\u4f1a\u304c\u5897\u3048\u3066\u304f\u308b\u3068\u4e88\u60f3\u3055\u308c\u308b\u3002\u305d\u306e\u3088\u3046\u306a\u72b6\u6cc1\u306b\u5bfe\u5fdc\u3057\u3001\u5225\u5206\u91ce\u306e\u5c02\u9580\u5bb6\u3092\u5bfe\u8c61\u3068\u3057\u3001ROS\u3092\u5229\u7528\u3057\u305f\u30b7\u30b9\u30c6\u30e0\u306e\u958b\u767a\u30bf\u30fc\u30f3\u30a2\u30e9\u30a6\u30f3\u30c9\u30bf\u30a4\u30e0\u306e\u77ed\u7e2e\u3092\u53ef\u80fd\u306b\u3059\u308b\u30c4\u30fc\u30eb\u306e\u958b\u767a\u3092\u884c\u3063\u3066\u3044\u308b\u3002<\/p>\n<p>\u5177\u4f53\u7684\u306b\u306f\u3001<\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ul>\n<li>\u6559\u80b2\uff1a<br \/>\n\u5c11\u306a\u3044\u8ca0\u62c5\u3067\u73fe\u5b9f\u7684\u306a\u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u304c\u884c\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u304c\u91cd\u8981\u3067\u3042\u308b\u3002<\/li>\n<li>\u7814\u7a76\uff1a<br \/>\n\u7814\u7a76\u306f\u3001ROS\u81ea\u4f53\u3092\u5bfe\u8c61\u3068\u3057\u3066\u884c\u3046\u306e\u3067\u306f\u306a\u304f\u3001ROS\u3092\u30c4\u30fc\u30eb\u3068\u3057\u3066\u5b9f\u65bd\u3055\u308c\u3001\u305d\u308c\u3092\u5b9f\u884c\u3059\u308b\u4eba\u3082ROS\u3092\u6df1\u304f\u7406\u89e3\u3057\u3066\u3044\u308b\u3068\u306f\u9650\u3089\u306a\u3044\u3002<\/li>\n<li>\u88fd\u54c1\u4f01\u753b\u3084\u30bd\u30eb\u30fc\u30b7\u30e7\u30f3\u306b\u304a\u3051\u308b\u30d7\u30ed\u30c8\u30bf\u30a4\u30d4\u30f3\u30b0\uff1a<br \/>\n\u5b9f\u969b\u306e\u88fd\u54c1\u958b\u767a\u306b\u304a\u3044\u3066\u3082\u3001\u7279\u306b\u30d7\u30ed\u30c8\u30bf\u30a4\u30d4\u30f3\u30b0\u306b\u304a\u3044\u3066\u3001\u958b\u767a\u306e\u30bf\u30fc\u30f3\u30a2\u30e9\u30a6\u30f3\u30c9\u30bf\u30a4\u30e0\u3092\u77ed\u7e2e\u3059\u308b\u3053\u3068\u306f\u91cd\u8981\u3067\u3042\u308b\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>\u7b49\u3067\u306e\u5229\u7528\u306b\u9069\u3057\u305f\u30c4\u30fc\u30eb\u306e\u958b\u767a\u3092\u76ee\u7684\u3068\u3057\u3066\u3044\u308b\u3002<\/p>\n<p>\u6700\u521d\u306b\u958b\u767a\u3055\u308c\u305f\u306e\u304c\u3001pytwb\u3067\u3042\u308b\u3002\u3053\u308c\u306f\u3001Python\u30d9\u30fc\u30b9\u306ebehavior tree\u306b\u3088\u308bROS\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u958b\u767a\u652f\u63f4\u3092\u4e3b\u306a\u76ee\u7684\u3068\u3057\u3066\u304a\u308a\u3001docker\u74b0\u5883\u3068VSCode\u304c\u3042\u308c\u3070\u3059\u3050\u306bROS\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u767a\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308b\u3002<\/p>\n<p>behavior\u3000tree\u306f\u3001\u307e\u3059\u307e\u3059\u8907\u96d1\u306b\u306a\u308a\u3064\u3064\u3042\u308bROS\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u9aa8\u683c\u69cb\u9020\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3001\u63d0\u793a\u3057\u3001\u958b\u767a\u3092\u3088\u308a\u5bb9\u6613\u306b\u3059\u308b\u52b9\u679c\u304c\u3042\u308b\u3002\u307e\u305f\u3001behavior\u306e\u5358\u4f4d\u3067\u5206\u5272\u3057\u3066\u30d7\u30ed\u30b0\u30e9\u30e0\u958b\u767a\u3092\u884c\u3046\u3053\u3068\u306b\u3088\u308a\u3001\u90e8\u54c1\u5316\u3001\u518d\u5229\u7528\u53ef\u80fd\u6027\u304c\u4fc3\u9032\u3055\u308c\u308b\u5229\u70b9\u3092\u6301\u3064\u3002<\/p>\n<p>pytwb\u306f\u3001Web\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306b\u304a\u3051\u308bruby on rails\u306e\u3088\u3046\u306b\u3001ROS\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u958b\u767a\u306e\u5b9a\u578b\u5316\u3092\u56f3\u308c\u308b\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u304c\u4e00\u3064\u306e\u76ee\u7684\u3067\u3042\u308b\u3002\u307e\u305a\u3001behavior tree\u3092\u7528\u3044\u308b\u3053\u3068\u306b\u3088\u3063\u3066\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u5168\u4f53\u69cb\u9020\u306e\u898f\u683c\u5316\u304c\u56f3\u308c\u308b\u3002\u3055\u3089\u306b\u3001behavior tree\u3092\u6271\u3044\u3084\u3059\u304f\u3059\u308b\u305f\u3081\u306b\u3001pytwb\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u6a5f\u80fd\u3092\u52a0\u3048\u308b\u3002<\/p>\n<ul>\n<li>Python\u30d9\u30fc\u30b9\u3067\u3042\u3063\u3066\u3082\u3001XML\u306b\u3088\u308bbehaviro tree\u8a18\u8ff0\u3092\u53ef\u80fd\u306b\u3059\u308b<\/li>\n<li>\u3044\u304f\u3064\u304b\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u4f9d\u5b58\u95a2\u4fc2\u306e\u8a2d\u5b9a\u4f5c\u696d\u3092\u81ea\u52d5\u5316\u3059\u308b<\/li>\n<li>\u901a\u5e38\u306e\u30d3\u30eb\u30c9\u624b\u9806\u3068\u306e\u4e92\u63db\u6027\u3092\u4fdd\u3061\u306a\u304c\u3089\u3001\u660e\u793a\u7684\u306a\u30d3\u30eb\u30c9\u624b\u9806\u3092\u7701\u7565\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b(direct run)<\/li>\n<\/ul>\n<p>\u5b9a\u578b\u5316\u3055\u308c\u305f\u624b\u9806\u3067ROS\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u958b\u767a\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u304c\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u6700\u7d42\u7684\u306a\u76ee\u7684\u3067\u3042\u308a\u3001pytwb\u306f\u305d\u306e\u6700\u521d\u306e\u30c4\u30fc\u30eb\u3067\u3042\u308b\u3002\u73fe\u5728\u3001\u3055\u3089\u306a\u308b\u30c4\u30fc\u30eb\u306e\u6539\u826f\u3001\u8ffd\u52a0\u3092\u884c\u3063\u3066\u3044\u308b\u3002<\/p>\n<h1>\u74b0\u5883\u8a8d\u8b58\u6a5f\u80fd\u57fa\u76e4\u306e\u5b9f\u73fe(GitHub: <a href=\"https:\/\/github.com\/RobotSpatialCognition\/vector_map\">vector_map<\/a>)<\/h1>\n<p>\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1\u3067\u306f\u3001\u74b0\u5883\u4e2d\u3092\u884c\u52d5\u3057\u3001\u305d\u3053\u304b\u3089\u7a2e\u3005\u306e\u60c5\u5831\u3092\u53ce\u96c6\u3057\u3066\u3088\u308a\u9ad8\u5ea6\u306a\u884c\u52d5\u304c\u3068\u308c\u308b\u3088\u3046\u306b\u3059\u308b\u3053\u3068\u304c\u6700\u7d42\u7684\u306a\u76ee\u6a19\u3068\u306a\u308b\u3002\u305d\u306e\u305f\u3081\u306b\u306f\u3001\u53ce\u96c6\u3057\u305f\u60c5\u5831\u3092\u9069\u5207\u306b\u6574\u7406\u3067\u304d\u308b\u72b6\u614b\u7a7a\u9593\u306e\u5b9f\u73fe\u304c\u91cd\u8981\u306b\u306a\u308b\u3002<\/p>\n<p>\u305f\u3068\u3048\u3070\u3001ROS\u306e\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u306b\u304a\u3044\u3066\u306f\u3001\u5360\u6709\u683c\u5b50\u5f62\u5f0f\u306b\u3088\u308b\u5730\u56f3\u304c\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u3002\u6700\u8fd1\u3067\u306f\u3001\u6df1\u5c64\u5b66\u7fd2\u306e\u767a\u5c55\u306b\u3088\u308a\u3001\u3053\u308c\u306b\u52a0\u3048\u3066\u3001sematic SLAM\u306b\u898b\u3089\u308c\u308b\u3088\u3046\u306a\u3001\u74b0\u5883\u4e2d\u306b\u73fe\u308c\u305f\u5bfe\u8c61\u7269\u306b\u95a2\u3059\u308b\u5f62\u72b6\u3084\u7a2e\u985e\u306b\u95a2\u3059\u308b\u610f\u5473\u60c5\u5831\u3092\u53ce\u96c6\u3059\u308b\u3053\u3068\u304c\u884c\u308f\u308c\u308b\u3088\u3046\u306b\u306a\u308a\u3001\u4e0a\u4f4d\u306e\u884c\u52d5\u30d7\u30e9\u30f3\u30cb\u30f3\u30b0\u7b49\u306b\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u3002\u610f\u5473\u60c5\u5831\u3092\u96c6\u7d04\u3059\u308b\u305f\u3081\u306f\u3001\u5730\u56f3\u306b\u4ed8\u52a0\u3059\u308b\u3053\u3068\u304c\u9069\u5207\u3067\u3042\u308b\u304c\u3001\u5360\u6709\u683c\u5b50\u5f62\u5f0f\u3067\u306f\u969c\u5bb3\u7269\u306e\u5834\u6240\u3092\u70b9\u7fa4\u306b\u3088\u3063\u3066\u8868\u3057\u3066\u304a\u308a\u3001\u58c1\u3084\u9818\u57df\u7b49\u3001\u74b0\u5883\u306e\u69cb\u9020\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u6b20\u3044\u3066\u3044\u308b\u305f\u3081\u306b\u3001\u60c5\u5831\u3092\u4ed8\u4e0e\u3059\u308b\u3053\u3068\u304c\u56f0\u96e3\u3067\u3042\u308b\u3002<\/p>\n<p>\u305d\u3053\u3067\u3001\u672c\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3067\u306f\u3001\u60c5\u5831\u3092\u6bb5\u968e\u7684\u306b\u4ed8\u4e0e\u3067\u304d\u308b\u5730\u56f3\u306e\u5b9f\u73fe\u3092\u76ee\u7684\u3068\u3057\u3066\u3001\u5360\u6709\u683c\u5b50\u5730\u56f3\u3092\u3055\u3089\u306b\u753b\u50cf\u51e6\u7406\u3057\u3001\u7dda\u5206\u3084\u90e8\u5206\u66f2\u7dda\u306a\u3069\u306e\u5e7e\u4f55\u5b66\u7684\u306a\u8981\u7d20\u3067\u5730\u56f3\u3092\u8868\u73fe\u3059\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u74b0\u5883\u306e\u69cb\u9020\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u4fdd\u6301\u3059\u308b\u3053\u3068\u3092\u53ef\u80fd\u306b\u3059\u308b\u6a5f\u69cb\u3092\u958b\u767a\u3057\u305f\u3002\u305d\u3053\u3067\u306f\u3001\u90e8\u5c4b\u3001\u901a\u8def\u306a\u3069\u304cPython\u306e\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u5f62\u5f0f\u3067\u8868\u3055\u308c\u308b\u306e\u3067\u3001\u3055\u3089\u306b\u60c5\u5831\u3092\u4ed8\u52a0\u3059\u308b\u3053\u3068\u304c\u5bb9\u6613\u306b\u884c\u3048\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u3002<\/p>\n<p>\u3053\u306e\u5730\u56f3\u6a5f\u69cb\u306f\u3059\u3067\u306b\u5b9f\u88c5\u3055\u308c\u3066\u3044\u308b\u306e\u3067\u3001\u4eca\u5f8c\u3001\u3053\u308c\u306b\u5bfe\u8c61\u7269\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u4ed8\u52a0\u3057\u3066\u884c\u52d5\u30d7\u30e9\u30f3\u30cb\u30f3\u30b0\u3067\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u6a5f\u69cb\u3092\u52a0\u3048\u3066\u3086\u304f\u4e88\u5b9a\u3067\u3042\u308b\u3002<\/p>\n<h1>\u5168\u4f53\u306e\u30c7\u30e2(GitHub: <a href=\"https:\/\/github.com\/momoiorg-repository\/pytwb_demo\">pytwb_demo<\/a>)<\/h1>\n<p>pytwb\u3068vector_map\u3092\u5229\u7528\u3057\u305f\u3001ROS\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u4f8b\u3092\u4f5c\u6210\u3057\u305f\u3002\u8907\u96d1\u306a\u884c\u52d5\u3092\u7c21\u5358\u306b\u8a66\u305b\u308b\u306e\u3067\u3001\u5b66\u6821\u3084\u4f01\u696d\u3067\u306e\u7814\u4fee\u306b\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u3002<\/p>\n","protected":false},"author":1,"featured_media":0,"template":"","meta":{"footnotes":""},"wiki_cats":[],"wiki_tags":[],"class_list":["post-42","yada_wiki","type-yada_wiki","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/42","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":11,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/42\/revisions"}],"predecessor-version":[{"id":268,"href":"https:\/\/momoi.org\/index.php?rest_route=\/wp\/v2\/yada_wiki\/42\/revisions\/268"}],"wp:attachment":[{"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=42"}],"wp:term":[{"taxonomy":"wiki_cats","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_cats&post=42"},{"taxonomy":"wiki_tags","embeddable":true,"href":"https:\/\/momoi.org\/index.php?rest_route=%2Fwp%2Fv2%2Fwiki_tags&post=42"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}