{"id":76,"date":"2021-10-05T18:58:24","date_gmt":"2021-10-05T09:58:24","guid":{"rendered":"https:\/\/xn--1sq5lj3di25i.com\/?page_id=76"},"modified":"2021-10-05T18:58:24","modified_gmt":"2021-10-05T09:58:24","slug":"magi%e3%81%a7ros%e3%82%92%e4%bd%bf%e3%81%86","status":"publish","type":"page","link":"https:\/\/xn--1sq5lj3di25i.com\/?page_id=76","title":{"rendered":"MAGI\u3067ROS\u3092\u4f7f\u3046"},"content":{"rendered":"<p><a href=\"http:\/\/wiki.ros.org\/ja\">ROS(Robot Operating System)<\/a>\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u4f5c\u308b\u4e0a\u3067\u91cd\u8981\u306a\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3059\u3002\u3053\u3053\u3067\u306f\u3001ROS\u30d7\u30ed\u30b0\u30e9\u30de\u306b\u306a\u308b\u306e\u3067\u306f\u306a\u304f\u3001\u4e0a\u624b\u306b\u3053\u308c\u3092\u5229\u7528\u3059\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8a18\u8ff0\u3057\u307e\u3059\u3002ROS\u306f\u3001\u305f\u3068\u3048\u3070\u3001\u81ea\u5f8b\u79fb\u52d5\u30ed\u30dc\u30c3\u30c8\u3092\u4f5c\u308b\u3068\u304d\u306b\u3068\u3066\u3082\u6709\u7528\u3067\u3059\u3002\u5fc5\u8981\u306a\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u30b9\u30bf\u30c3\u30af\u306e\u3059\u3079\u3066\u3001\u3059\u306a\u308f\u3061<\/p>\n<ul>\n<li>\u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d0<\/li>\n<li>Lidar\u7b49\u306e\u30bb\u30f3\u30b5\u30c9\u30e9\u30a4\u30d0<\/li>\n<li>\u30bb\u30f3\u30b5\u30c7\u30fc\u30bf\u306e\u5909\u63db\u30d5\u30a3\u30eb\u30bf<\/li>\n<li>SLAM<\/li>\n<li>\u5730\u56f3\u7ba1\u7406<\/li>\n<li>\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3<\/li>\n<li>\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3<\/li>\n<li>\u30ed\u30dc\u30c3\u30c8\u306b\u5bfe\u3059\u308b\u30b3\u30de\u30f3\u30c9\u306e\u767a\u884c<\/li>\n<\/ul>\n<p>\u7b49\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u304c\u63d0\u4f9b\u3055\u308c\u308b\u3068\u3068\u3082\u306b\u3001\u305d\u308c\u3089\u306e\u9593\u306e\u9023\u643a\u65b9\u6cd5\u304c\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u3068\u3057\u3066\u52d5\u304b\u3059\u305f\u3081\u306b\u306f\u3001\u3053\u308c\u3089\u3092\u3001\u30ed\u30dc\u30c3\u30c8\u4e0a\u306e\uff23\uff30\uff35\u3084P\uff23\u4e0a\u3067\u5206\u6563\u3057\u3066\u5b9f\u884c\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<h2>\u30ed\u30dc\u30c3\u30c8\u306e\u69cb\u9020<\/h2>\n<p>\u3053\u308c\u3089\u3092\u5b9f\u88c5\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u3082\u591a\u6570\u8ca9\u58f2\u3055\u308c\u3066\u3044\u307e\u3059\u304c\u3001\u81ea\u5206\u3067\u4f5c\u6210\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002ROS\u30ed\u30dc\u30c3\u30c8\u306f\u3001\u591a\u304f\u306e\u5834\u5408<\/p>\n<ul>\n<li>Raspberry Pi\u7b49\u306e\u7d44\u307f\u8fbc\u307f\uff23\uff30\uff35<\/li>\n<li>Arduino\u7b49\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3067\u52d5\u304fATmega\u7b49\u306e\u5236\u5fa1\uff23\uff30\uff35<\/li>\n<\/ul>\n<p>\u306e\u7d44\u307f\u5408\u308f\u305b\u3067\u4f5c\u3089\u308c\u3066\u3044\u307e\u3059\u3002ROS\u306f\u3001Raspberry Pi\u4e0a\u3067\u5b9f\u884c\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u304c\u3001\u901a\u5e38\u306f\u5225\u306e\uff30\uff23\u4e0a\u306eLinux\u3068\u901a\u4fe1\u3067\u9023\u643a\u3055\u305b\u306a\u304c\u3089\u904b\u7528\u3057\u307e\u3059\u3002\u7279\u306b\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u3001\u901a\u5e38\uff30\uff23\u304c\uff11\u53f0\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\u3002\u307e\u305f\u3001\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u306e\u958b\u767a\u3082\u3001ROS\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u305f\uff30\uff23\u4e0a\u3067\u884c\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u5236\u5fa1\uff23\uff30\uff35\u306b\u306f\u3001\u30e2\u30fc\u30bf\u3092\u99c6\u52d5\u3059\u308b\u305f\u3081\u306e\u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d0IC\u3068\u3001\u8eca\u8f2a\u306e\u56de\u8ee2\u3092\u691c\u77e5\u3059\u308b\u30ed\u30fc\u30bf\u30ea\u30a8\u30f3\u30b3\u30fc\u30c0\u304c\u63a5\u7d9a\u3055\u308c\u3001\u5de6\u53f3\u306e\u8eca\u8f2a\u306e\u56de\u8ee2\u306e\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u5236\u5fa1\u3092\u884c\u3044\u307e\u3059\u3002\u7d44\u307f\u8fbc\u307f\uff23\uff30\uff35\u3068\u306f\u3001I2C\u3084\u30b7\u30ea\u30a2\u30eb\u56de\u7dda\u3067\u63a5\u7d9a\u3055\u308c\u3001\u4e00\u5b9a\u6642\u9593\u3054\u3068\u306b\u9001\u3089\u308c\u308b\u30b3\u30de\u30f3\u30c9\u306b\u3057\u305f\u304c\u3063\u3066\u52d5\u4f5c\u3059\u308b\u3088\u3046\u306b\u5b9f\u88c5\u3055\u308c\u307e\u3059\u3002\u57fa\u76e4\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3068\u3057\u3066Arduino\u3092\u7528\u3044\u308b\u5834\u5408\u304c\u591a\u3044\u3067\u3059\u3002<\/p>\n<p>\u7d44\u307f\u8fbc\u307f\uff23\uff30\uff35\u306b\u306f\u3001Linux\u304c\u52d5\u4f5c\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u60f3\u5b9a\u3055\u308c\u3001ROS\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u307e\u3059\u3002ROS\u306epub\/sub\u901a\u4fe1\u306b\u3088\u3063\u3066\u52d5\u4f5c\u3059\u308b\u30e2\u30fc\u30bf\u30c9\u30e9\u30a4\u30d0\u3067\u3042\u308b\u3001base_controller\u30e2\u30b8\u30e5\u30fc\u30eb\u304c\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002\u7d44\u307f\u8fbc\u307fCPU\u306b\u306f\u3001\u3053\u308c\u3068\u306f\u5225\u306b\u3001Lidar\u304c\u63a5\u7d9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u901a\u5e38\u9ad8\u901f\u306e\u30b7\u30ea\u30a2\u30eb\u56de\u7dda\u3067\u63a5\u7d9a\u3055\u308c\u3001Lidar\u306e\u56de\u8ee2\u306b\u5408\u308f\u305b\u3066\u5468\u8fba\u306e\u969c\u5bb3\u7269\u306b\u5bfe\u3059\u308b\u8ddd\u96e2\u60c5\u5831\u304c\u5b9a\u671f\u7684\u306b\u8ee2\u9001\u3055\u308c\u307e\u3059\u3002\u3053\u308c\u3082\u3001\u7d44\u307f\u8fbc\u307fCPU\u5185\u3067ROS\u306e\u901a\u4fe1\u3092\u884c\u3046\u30e2\u30b8\u30e5\u30fc\u30eb\u306b\u3088\u3063\u3066\u5236\u5fa1\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>\u30ed\u30dc\u30c3\u30c8\u4e0a\u306b\u306f\u3001\u5c11\u306a\u304f\u3068\u3082\u4ee5\u4e0a\u306e\u6a5f\u69cb\u304c\u52d5\u4f5c\u3057\u3066\u3044\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u6a19\u6e96\u5b9f\u88c5\u3068\u3057\u3066\u3001Turtlebot 3\u304c\u6307\u5b9a\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u308c\u3092\u8cfc\u5165\u3059\u308c\u3070\u3059\u3079\u3066\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u304c\u3042\u3089\u304b\u3058\u3081\u6e96\u5099\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u3068\u306f\u5225\u306b\u3001\u305f\u3068\u3048\u3070\u3001Pololu\u793e\u304b\u3089\u3001\u30ed\u30fc\u30bf\u30ea\u30a8\u30f3\u30b3\u30fc\u30c0\u4ed8\u304d\u306e\u30ed\u30dc\u30c3\u30c8\u7b50\u4f53\u3084\u3001\u30e2\u30fc\u30bf\u5236\u5fa1\u57fa\u677f\u304c\u8ca9\u58f2\u3055\u308c\u3066\u304a\u308a\u3001\u305d\u308c\u3089\u3092\u7d44\u307f\u5408\u308f\u305b\u3066\u81ea\u4f5c\u3059\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<h2>\u5168\u4f53\u306e\u5236\u5fa1<\/h2>\n<p>\u901a\u5e38\u3001\uff32\uff2f\uff33\u306e\u3053\u308c\u4ee5\u5916\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u306f\u3001PC\u3084\u30b5\u30fc\u30d0\u4e0a\u3067\u52d5\u304b\u3057\u307e\u3059\u3002\u3053\u308c\u307e\u3067\u306f\u3001\u81ea\u5206\u3067ROS\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u5fc5\u8981\u306a\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u52d5\u304b\u3057\u3066\u3044\u307e\u3057\u305f\u304c\u3001MAGI\u3067\u306f\u3059\u3079\u3066\u3042\u3089\u304b\u3058\u3081\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3059\u306a\u308f\u3061\u3001MAGI\u4e0a\u3067\u306f\u3001<\/p>\n<ul>\n<li>SLAM<\/li>\n<li>Navigation<br \/>\nmove base<\/li>\n<li>Rviz<br \/>\nGUI\u304b\u3089\u30ed\u30dc\u30c3\u30c8\u306e\u79fb\u52d5\u5148\u7b49\u3092\u6307\u5b9a<\/li>\n<li>Gazebo<br \/>\n\u30b7\u30df\u30e5\u30ec\u30fc\u30bf<\/li>\n<li>Rqt-graph<br \/>\nROS\u306e\u901a\u4fe1\u306e\u63a5\u7d9a\u72b6\u614b\u306e\u53ef\u8996\u5316<\/li>\n<\/ul>\n<p>\u7b49\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u304c\u30b3\u30f3\u30c6\u30ca\u3068\u3057\u3066\u7528\u610f\u3055\u308c\u3066\u304a\u308a\u3001\u5168\u4f53\u304c\uff11\u56de\u306e\u64cd\u4f5c\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002Gazebo\u306b\u3088\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u3001\u305d\u306e\u307e\u307eRviz\u304b\u3089\u30ed\u30dc\u30c3\u30c8\u306e\u79fb\u52d5\u5148\u3092\u6307\u5b9a\u3057\u3066\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3057\u3066\u307f\u308b\u3053\u3068\u304c\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<h2>\u6b21\u4e16\u4ee3\u306e\u30ed\u30dc\u30c3\u30c8<\/h2>\n<p>\u73fe\u72b6\u3067\u306f\u3001Lidar\u3092\u60f3\u5b9a\u3057\u305f\u8a2d\u8a08\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u304c\u3001\u30b9\u30c6\u30ec\u30aa\u30ab\u30e1\u30e9\u3092\u7528\u3044\u3066\u3082\u540c\u69d8\u306e\u52d5\u4f5c\u304c\u53ef\u80fd\u3067\u3059\u3002\u30ab\u30e1\u30e9\u753b\u50cf\u306f\u3001\u4eba\u5de5\u77e5\u80fd\u3092\u7528\u3044\u3066\u5468\u56f2\u306e\u74b0\u5883\u3092\u78ba\u8a8d\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u884c\u52d5\u8a08\u753b\u3092\u305f\u3066\u308b\u305f\u3081\u306b\u3082\u5fc5\u8981\u306a\u306e\u3067\u3001\u30ab\u30e1\u30e9\u306f\u6a19\u6e96\u7684\u306b\u88c5\u5099\u3055\u308c\u3066\u3086\u304f\u3068\u8003\u3048\u3089\u308c\u307e\u3059\u3002\u3057\u305f\u304c\u3063\u3066\u3001\u30ab\u30e1\u30e9\u3092\u7528\u3044\u305f\u30ed\u30dc\u30c3\u30c8\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u306e\u65b9\u304c\u3001\u5168\u4f53\u3068\u3057\u3066\u306e\u30b3\u30b9\u30c8\u3092\u4f4e\u304f\u6291\u3048\u3089\u308c\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002MAGI\u4e0a\u3067\u753b\u50cf\u51e6\u7406\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u3059\u308b\u65b9\u5f0f\u306b\u3064\u3044\u3066\u3082\u691c\u8a0e\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u3053\u306e\u3088\u3046\u306a\u8a66\u307f\u3092\u884c\u3046\u305f\u3081\u306b\u306f\u3001ROS\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u3068\u901a\u4fe1\u3092\u884c\u3063\u3066\u3001<\/p>\n<ul>\n<li>\u753b\u50cf\u30c7\u30fc\u30bf\u306e\u53d7\u4fe1<\/li>\n<li>\u5730\u56f3\u30c7\u30fc\u30bf\u306e\u53d7\u4fe1<\/li>\n<li>\u30ed\u30dc\u30c3\u30c8\u79fb\u52d5\u547d\u4ee4\u306e\u9001\u4fe1<\/li>\n<\/ul>\n<p>\u7b49\u3092\u5b9f\u73fe\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002ROS\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u30b3\u30f3\u30c6\u30ca\u3067\u3042\u308c\u3070\u3001\u3053\u308c\u3092\u884c\u3046\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u304c\u3001ROS\u306e\u901a\u4fe1\u65b9\u5f0f\u306b\u3064\u3044\u3066\u77e5\u308b\u5fc5\u8981\u304c\u51fa\u3066\u304d\u3066\u3057\u307e\u3044\u307e\u3059\u3002\u305d\u3053\u3067\u3001python\u30ec\u30d9\u30eb\u3067\u306e\u7c21\u7565\u306aAPI\u3092\u5b9f\u88c5\u3057\u3001ROS\u306e\u8a73\u7d30\u3092\u96a0\u307a\u3044\u3057\u3066\u5229\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002\u3053\u306eAPI\u306b\u95a2\u3059\u308b\u77e5\u8b58\u304c\u3042\u308c\u3070\u3001\u753b\u50cf\u30c7\u30fc\u30bf\u3068\u4eba\u5de5\u77e5\u80fd\u6280\u8853\u306b\u57fa\u3065\u304f\u30ed\u30dc\u30c3\u30c8\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u30b7\u30b9\u30c6\u30e0\u3092\u5b9f\u73fe\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>ROS(Robot Operating System)\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u4f5c\u308b\u4e0a\u3067\u91cd\u8981\u306a\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3059\u3002\u3053\u3053\u3067\u306f\u3001ROS\u30d7\u30ed\u30b0\u30e9\u30de\u306b\u306a\u308b\u306e\u3067\u306f\u306a\u304f\u3001\u4e0a\u624b\u306b\u3053\u308c\u3092\u5229\u7528\u3059\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8a18\u8ff0\u3057\u307e\u3059\u3002ROS\u306f\u3001\u305f\u3068\u3048\u3070\u3001\u81ea\u5f8b\u79fb\u52d5 <a href=\"https:\/\/xn--1sq5lj3di25i.com\/?page_id=76\" class=\"more-link\">&#8230;<span class=\"screen-reader-text\">  MAGI\u3067ROS\u3092\u4f7f\u3046<\/span><\/a><\/p>\n","protected":false},"author":2,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"class_list":["post-76","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=\/wp\/v2\/pages\/76","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=76"}],"version-history":[{"count":2,"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=\/wp\/v2\/pages\/76\/revisions"}],"predecessor-version":[{"id":78,"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=\/wp\/v2\/pages\/76\/revisions\/78"}],"wp:attachment":[{"href":"https:\/\/xn--1sq5lj3di25i.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=76"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}