{"id":344483,"date":"2023-06-09T16:43:41","date_gmt":"2023-06-09T07:43:41","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344483"},"modified":"2023-06-15T10:46:07","modified_gmt":"2023-06-15T01:46:07","slug":"mg400-wsl2-rviz","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/dobot\/mg400\/mg400-wsl2-rviz.html","title":{"rendered":"[MG400] Windows\u306eWSL2\u306bROS\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3001MG400\u3092rviz\u4e0a\u3067\u52d5\u304b\u3059\u65b9\u6cd5"},"content":{"rendered":"

1. \u306f\u3058\u3081\u306b<\/span><\/h4>\n

rviz\u306fRobot Operating System (ROS) \u306e3\u6b21\u5143\u53ef\u8996\u5316\u30c4\u30fc\u30eb\u3067\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3084\u59ff\u52e2\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u53d6\u5f97\u3057\u305f\u8ddd\u96e2\u30c7\u30fc\u30bf\u3084\u30ab\u30e1\u30e9\u304b\u3089\u306e\u6620\u50cf\u3092\u8868\u793a\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002<\/p>\n

\n
\n

\u672c\u7a3f\u3067\u306f\u3001 Windows \u306e Windows Subsystem for Linux<\/span> (WSL) \u3092\u5229\u7528\u3057\u3066ROS\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3001MG400\u3092rviz\u4e0a\u3067\u52d5\u304b\u3059\u65b9\u6cd5\u306b\u3064\u3044\u3066\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<\/div>\n

 <\/p>\n

2. \u74b0\u5883<\/span><\/h4>\n<\/div>\n
\n
\n

\u4ee5\u4e0b\u306e\u74b0\u5883\u306b\u3066\u3001\u3053\u306e\u624b\u9806\u304c\u6709\u52b9\u3067\u3042\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u3044\u307e\u3059\u3002<\/span><\/p>\n

OS: Windows 10 (64bit)
\nWSL: version 2
\nUbuntu: 20.04
\nROS: Noetic<\/p>\n<\/div>\n

3. WSL2\u3092\u4f7f\u3063\u305fROS (Noetic) \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span><\/h4>\n

ROS\u306f\u4e3b\u306bLinux\u306eOS\u3067\u52d5\u4f5c\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001Windows\u4e0a\u3067Ubuntu Linux\u3092\u4f7f\u3063\u3066ROS\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u305f\u3081\u306b\u3001Ubuntu\u3092Windows\u4e0a\u3067\u52d5\u304b\u3059\u3053\u3068\u304c\u3067\u304d\u308bWSL\u3092\u5229\u7528\u3057\u307e\u3059\u3002<\/p>\n

3-1. ROS\u3068Ubuntu \u306e\u5bfe\u5fdc\u95a2\u4fc2<\/span><\/h5>\n

\u306f\u3058\u3081\u306b\u3001ROS\u3068Ubuntu\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306e\u5bfe\u5fdc\u95a2\u4fc2\u3092\u3054\u78ba\u8a8d\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n\n\n
ROS<\/strong>\u306e\u30d0\u30fc\u30b8\u30e7\u30f3<\/strong><\/td>\nUbuntu<\/strong>\u306e\u30d0\u30fc\u30b8\u30e7\u30f3<\/strong><\/td>\n<\/tr>\n
Melodic<\/strong><\/td>\n18.04<\/td>\n<\/tr>\n
Noetic<\/strong><\/td>\n20.04<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

\u672c\u7a3f\u3067\u306f\u3001Ubuntu 20.04\u3092\u4f7f\u3044\u3001ROS Noetic\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3057\u305f\u3002<\/p>\n

 <\/p>\n

\n
3-2. WSL2\u30fbUbuntu \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span><\/h5>\n

(\u53c2\u8003\uff1ahttps:\/\/learn.microsoft.com\/ja-jp\/windows\/wsl\/install<\/a>)<\/p>\n

(1) Powershell\u3092\u7ba1\u7406\u8005\u30e2\u30fc\u30c9\u3067\u8d77\u52d5\u3002<\/p>\n

(2) wsl \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002<\/p>\n

\n
$ wsl --install<\/code><\/pre>\n<\/div>\n
\u3092\u5b9f\u884c\u3057\u305f\u5f8c\u3001PC\u3092\u518d\u8d77\u52d5\u3002\u65e2\u5b9a\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u308bLinux\u306e\u30c7\u30a3\u30b9\u30c8\u30ea\u30d3\u30e5\u30fc\u30b7\u30e7\u30f3\u306fUbuntu\u3060\u304c\u3001\u30c7\u30a3\u30b9\u30c8\u30ea\u30d3\u30e5\u30fc\u30b7\u30e7\u30f3\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u308b\u3002<\/p>\n
\u203b \u30d8\u30eb\u30d7\u30c6\u30ad\u30b9\u30c8\u304c\u8868\u793a\u3055\u308c\u308b\u5834\u5408\u306f\u3001<\/p>\n
\n
$ wsl --install -d <\u30c7\u30a3\u30b9\u30c8\u30ea\u30d3\u30e5\u30fc\u30b7\u30e7\u30f3\u540d><\/code><\/pre>\n<\/div>\n
\u3092\u5b9f\u884c\u3057\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u30c7\u30a3\u30b9\u30c8\u30ea\u30d3\u30e5\u30fc\u30b7\u30e7\u30f3\u3092\u6307\u5b9a\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
(3) \u518d\u8d77\u52d5\u5f8c\u3001\u81ea\u52d5\u7684\u306bUbuntu\u304c\u7acb\u3061\u4e0a\u304c\u308b\u306e\u3067\u3001\u6307\u793a\u306b\u6cbf\u3063\u3066\u30e6\u30fc\u30b6\u30fc\u540d\u3068\u30d1\u30b9\u30ef\u30fc\u30c9\u8a2d\u5b9a\u3092\u884c\u3046\u3002<\/p>\n
(4) Ubuntu\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u78ba\u8a8d\u3057 (\u65e2\u5b9a\u3067\u306f\u6700\u65b0)\u3001\u5fc5\u8981\u3068\u306a\u308b\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002Ubuntu\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067<\/p>\n
\n
$ lsb_release -a<\/code><\/pre>\n<\/div>\n
3-1. \u3067\u78ba\u8a8d\u3057\u305f\u901a\u308aROS Noetic\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u305f\u3081\u306bubuntu 20.04\u304c\u5fc5\u8981\u3068\u306a\u308b\u305f\u3081\u3001Microsoft Store\u3092\u8d77\u52d5\u3057\u3001Ubuntu 20.04\u3092\u691c\u7d22\u3001\u5165\u624b\u3059\u308b\u3002<\/p>\n
(5) wsl\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u78ba\u8a8d\u3059\u308b\u3002Powershell\u3067<\/p>\n
\n
$ wsl -l -v<\/code><\/pre>\n<\/div>\n
\u3092\u4f7f\u3046\u3002ROS\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308bUbuntu\u306e\u30c7\u30a3\u30b9\u30c8\u30ea\u30d3\u30e5\u30fc\u30b7\u30e7\u30f3\u306e\u884c\u306b\u8868\u793a\u3055\u308c\u3066\u3044\u308bwsl\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u300c2\u300d\u306b\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\u3002\u300c1\u300d\u306e\u5834\u5408\u3001<\/p>\n
\n
$ wsl --set-version <\u30c7\u30a3\u30b9\u30c8\u30ea\u30d3\u30e5\u30fc\u30b7\u30e7\u30f3\u540d> 2<\/code><\/pre>\n<\/div>\n
\u3092\u5b9f\u884c\u3057\u3001\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u5909\u66f4\u3059\u308b\u3002<\/span><\/p>\n
 <\/p>\n
3-3. Ros Noetic \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span><\/h5>\n
(\u53c2\u8003\uff1ahttp:\/\/wiki.ros.org\/ja\/noetic\/Installation\/Ubuntu<\/a>)<\/p>\n
(1) apt update \u3092\u5b9f\u884c\u3059\u308b\u3002Ubuntu\u3067<\/p>\n
\n
$ sudo apt update<\/code><\/pre>\n<\/div>\n
(2) ROS\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u8ffd\u52a0\u3059\u308b\u3002<\/p>\n
\n
$ sudo sh -c 'echo \"deb http:\/\/packages.ros.org\/ros\/ubuntu $(lsb_release -sc) main\" > \/etc\/apt\/sources.list.d\/ros-latest.list'<\/code><\/pre>\n<\/div>\n
\u3092\u5b9f\u884c\u3002$(lsb_release -sc) \u306f\u62ec\u5f27\u5185\u306e\u30b3\u30de\u30f3\u30c9\u306e\u5b9f\u884c\u7d50\u679c\u306b\u7f6e\u304d\u63db\u3048\u308b\u3002<\/p>\n
(3) apt-key\u306e\u8a2d\u5b9a\u3059\u308b\u3002 curl\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u3053\u3068\u304c\u306a\u3044\u5834\u5408\u3001\u307e\u305a<\/p>\n
\n
$ sudo apt install curl<\/code><\/pre>\n<\/div>\n
\u3092\u884c\u3046\u3002\u305d\u306e\u5f8c\u3001<\/p>\n
\n
$ curl -s https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.asc | sudo apt-key add -<\/code><\/pre>\n<\/div>\n
(4) apt update \u3092\u518d\u5b9f\u884c\u3059\u308b\u3002<\/p>\n
\n
$ sudo apt update<\/code><\/pre>\n<\/div>\n
(5) ROS Noetic\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002<\/p>\n
\n
$ sudo apt install ros-noetic-desktop-full<\/code><\/pre>\n<\/div>\n
 <\/p>\n
3-4. Ros \u306e\u74b0\u5883\u8a2d\u5b9a<\/span><\/h5>\n
(1) .bashrc \u3078\u74b0\u5883\u8a2d\u5b9a\u3092\u8ffd\u52a0\u3059\u308b\u3002<\/p>\n
\n
$ echo \"source \/opt\/ros\/noetic\/setup.bash\" >> ~\/.bashrc\r\n$ source ~\/.bashrc<\/code><\/pre>\n<\/div>\n
(2) \u30c4\u30fc\u30eb\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002<\/p>\n
\n
$ sudo apt-get install python3-catkin-tools\r\n$ sudo apt-get install python3-rosdep<\/code><\/pre>\n<\/div>\n
\u3092\u5b9f\u884c\u3002\u203b Melodic\u306e\u5834\u5408\u3001\u300cpython3\u300d\u3092\u300cpython\u300d\u3067\u7f6e\u304d\u63db\u3048\u3066\u5b9f\u884c\u3002<\/p>\n
(3) rosdep \u3092\u521d\u671f\u5316\u3059\u308b\u3002<\/p>\n
\n
$ sudo rosdep init\r\n$ rosdep update<\/code><\/pre>\n<\/div>\n
(4) catkin\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u4f5c\u6210\u3059\u308b\u3002<\/p>\n
\n
$ mkdir -p ~\/catkin_ws\/src\r\n$ cd ~\/catkin_ws\r\n$ catkin init<\/code><\/pre>\n<\/div>\n
 <\/p>\n
4. rviz \u306e\u8d77\u52d5<\/span><\/strong><\/span><\/h4>\n
\uff08\u53c2\u8003: https:\/\/github.com\/Dobot-Arm\/MG400_ROS<\/a>\uff09<\/p>\n
Dobot\u793e\u304c\u767a\u8868\u3057\u3066\u3044\u308b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u304b\u3089MG400\u306erviz\u306e\u30c7\u30e2\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002<\/p>\n
(1) \u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306b\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u5c55\u958b\u3059\u308b\u3002<\/p>\n
\n
$ cd ~\/catkin_ws\/src\r\n$ git clone https:\/\/github.com\/Dobot-Arm\/MG400_ROS.git<\/code><\/pre>\n<\/div>\n
(2) \u30d3\u30eb\u30c9\u3059\u308b\u3002<\/p>\n
\n
$ cd ~\/catkin_ws\r\n$ catkin_make<\/code><\/pre>\n<\/div>\n
(3) \u74b0\u5883\u8a2d\u5b9a\u3092\u3059\u308b\u3002<\/p>\n
\n
$ echo \"source ~\/catkin_ws\/devel\/setup.bash\" >> ~\/.bashrc\r\n$ source ~\/.bashrc<\/code><\/pre>\n<\/div>\n
(4) rviz \u3092\u7acb\u3061\u4e0a\u3052\u308b\u3002<\/p>\n
\n
$ roslaunch mg400_description display.launch<\/code><\/pre>\n<\/div>\n
 <\/p>\n
\u30c8\u30e9\u30d6\u30eb\u30b7\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0<\/span><\/strong><\/span><\/h5>\n
rviz\u3092\u8d77\u52d5\u3059\u308b\u3068\u304d\u306b\u4ee5\u4e0b\u306e\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n