{"id":344713,"date":"2023-07-05T11:18:21","date_gmt":"2023-07-05T02:18:21","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344713"},"modified":"2023-07-11T09:52:12","modified_gmt":"2023-07-11T00:52:12","slug":"limo_gazebo","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/agilex\/limo_gazebo.html","title":{"rendered":"\u3010AgileX LIMO\u3011LIMO\u3092Gazebo\u4e0a\u3067\u52d5\u304b\u3059"},"content":{"rendered":"

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

Gazebo\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1\u30923D\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002AgileX\u793e\u304c\u516c\u958b\u3057\u3066\u3044\u308b ugv_gazebo_sim \u306b\u306f\u3001\u5404\u88fd\u54c1\u306eGazebo\u3067\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n

\u672c\u7a3f\u3067\u306f\u3001LIMO \u3092 Gazebo\u4e0a\u3067\u52d5\u4f5c\u3055\u305b\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/a><\/p>\n

ugv_gazebo_sim: https:\/\/github.com\/agilexrobotics\/ugv_gazebo_sim<\/a><\/p>\n

 <\/p>\n

\n

2. \u74b0\u5883<\/span><\/h4>\n<\/div>\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)
\nCPU: Intel(R) Core(TM) i7-6700HQ
\n\u30e1\u30e2\u30ea\u5bb9\u91cf: 16GB
\nWSL2: Ubuntu-20.04
\nROS: Noetic
\nGazebo: 11.11.0<\/p>\n

 <\/p>\n

3. \u624b\u9806<\/span><\/h4>\n
3.1 ROS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span><\/h6>\n<\/div>\n

\u672c\u7a3f\u3067\u306f\u3001ROS Noetic \u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u5fc5\u8981\u304c\u3042\u308b\u5834\u5408\u306f\u3001\u4ee5\u524d\u306e\u8a18\u4e8b<\/a>\u306e 3-3. ROS Noetic \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30013-4. ROS \u306e\u74b0\u5883\u8a2d\u5b9a\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n

3.2 \u5fc5\u8981\u306a\u30c4\u30fc\u30eb\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span><\/h6>\n

ROS\u3092\u4f7f\u3063\u305fGazebo \u3067\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n

\n
$ sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-joint-state-publisher-gui <\/span><\/code><\/pre>\n<\/div>\n
rqt_robot_steering \u306f\u3001\u30b9\u30e9\u30a4\u30c9\u30d0\u30fc\u3092\u4f7f\u3063\u3066\u30ed\u30dc\u30c3\u30c8\u306e\u76f4\u9032\u3084\u30b9\u30c6\u30a2\u30ea\u30f3\u30b0\u52d5\u4f5c\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306eROS\u30c4\u30fc\u30eb\u3067\u3059\u3002<\/p>\n
\n
$ sudo apt-get install ros-noetic-rqt-robot-steering<\/span><\/code><\/pre>\n<\/div>\n
telop-twist-keyboard \u306f\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u3067\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3067\u3059\u3002<\/p>\n
\n
$ sudo apt-get install ros-noetic-teleop-twist-keyboard <\/span><\/code><\/pre>\n<\/div>\n
 <\/p>\n
3.3 \u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/span><\/h6>\n
(1) \u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f5c\u6210<\/p>\n
\n
$ mkdir -p ~\/limo_ws\/src\r\n$ cd limo_ws\r\n$ catkin init<\/code><\/pre>\n<\/div>\n
(2) \u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30af\u30ed\u30fc\u30f3<\/p>\n
\n
$ cd src\r\n$ git clone https:\/\/github.com\/agilexrobotics\/ugv_gazebo_sim.git<\/code><\/pre>\n<\/div>\n
(3) \u4f9d\u5b58\u95a2\u4fc2\u306e\u78ba\u8a8d\u30fb\u89e3\u6c7a\u3068\u30d3\u30eb\u30c9<\/p>\n
\n
$ cd limo_ws\r\n<\/span>$ rosdep install --from-paths src --ignore-src -r -y \r\n$ catkin_make\r\n$ source devel\/setup.bash<\/code><\/pre>\n<\/div>\n
 <\/p>\n
3.4 \u5b9f\u884c<\/span><\/h6>\n
    \n
  • RViz\u3067LIMO\u306eURDF\u30d5\u30a1\u30a4\u30eb\u3092\u8996\u899a\u5316\u3059\u308b<\/li>\n<\/ul>\n
    \n
    $ roslaunch limo_description display_models.launch <\/code><\/pre>\n<\/div>\n
      \n
    • Gazebo \u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b<\/li>\n<\/ul>\n
      \u30a2\u30c3\u30ab\u30fc\u30de\u30f3\u578b<\/strong><\/span><\/p>\n
      \n
      $ roslaunch limo_gazebo_sim limo_ackerman.launch <\/code><\/pre>\n<\/div>\n
      \"\"<\/p>\n
      \u5dee\u52d5\u8f2a\u578b<\/strong><\/span><\/p>\n
      \n
      $ roslaunch limo_gazebo_sim limo_four_diff.launch <\/code><\/pre>\n<\/div>\n
      \"\"<\/p>\n
      \u203b PC \u306e\u52d5\u4f5c\u304c\u91cd\u304f Gazebo \u304c\u3059\u3050\u306b\u7acb\u3061\u4e0a\u304c\u3089\u306a\u3044\u5834\u5408\u306f\u3001\u30ed\u30fc\u30f3\u30c1\u30d5\u30a1\u30a4\u30eb\u5185\u306e RViz \u306e\u884c\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u3001RViz \u306e\u8d77\u52d5\u3092\u7121\u52b9\u5316\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
      \"\"<\/p>\n
       <\/p>\n
      \u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30c4\u30fc\u30eb<\/strong><\/span><\/p>\n
      Gazebo \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u8d77\u52d5\u3057\u3066\u304b\u3089\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3064\u3068\u3001LIMO \u3092\u64cd\u4f5c\u3059\u308b\u30c4\u30fc\u30eb\u304c\u5229\u7528\u3067\u304d\u307e\u3059\u3002<\/p>\n
      (1) \u30b9\u30e9\u30a4\u30c9\u30d0\u30fc\u3067\u306e\u5236\u5fa1<\/p>\n
      \n
      $ rosrun rqt_robot_steering rqt_robot_steering<\/code><\/pre>\n<\/div>\n
      \"\"<\/p>\n
      (2) \u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u306e\u5236\u5fa1<\/p>\n
      \n
      $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/code><\/pre>\n<\/div>\n
      \"\"<\/p>\n
       <\/p>\n
      RViz \u3067\u306e\u753b\u50cf\u8868\u793a<\/span><\/strong><\/p>\n
      RViz \u3067\u306f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u3067\u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u53d6\u5f97\u3057\u305f ROS \u306e\u30c7\u30fc\u30bf\u3092\u53ef\u8996\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002Gazebo \u3092\u30ed\u30fc\u30f3\u30c1\u3059\u308b\u969b\u306b Rviz \u3092\u7121\u52b9\u5316\u3057\u305f\u5834\u5408\u3001$ rviz<\/code> \u3068\u6253\u3063\u3066 RViz \u3092\u8d77\u52d5\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
      \u3053\u3053\u3067\u306f\u3001LIMO \u306e Image \u578b\u306e ROS \u30c8\u30d4\u30c3\u30af\u306e\u30c7\u30fc\u30bf\u3092\u8868\u793a\u3055\u305b\u307e\u3059\u3002\u307e\u305a\u3001Gazebo \u4e0a\u3067 LIMO \u306e\u524d\u306b\u7403\u4f53\u3092\u914d\u7f6e\u3057\u307e\u3059\u3002\u305d\u3057\u3066\u3001RViz \u306e\u300cAdd\u300d\u30dc\u30bf\u30f3\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u300cImage\u300d\u306e\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u30bf\u30a4\u30d7\u3092\u9078\u629e\u3001\u300cOK\u300d\u3092\u62bc\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
      \"\" \"\"<\/p>\n
      \u300cImage Topic\u300d\u3092\u9078\u629e\u3059\u308b\u3068\u3001\u30c7\u30fc\u30bf\u3092\u8868\u793a\u3067\u304d\u307e\u3059\u3002<\/p>\n
      \"\"\u3000\"\"<\/p>\n","protected":false},"excerpt":{"rendered":"
      1. \u306f\u3058\u3081\u306b Gazebo\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5236\u5fa1\u30923D\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002AgileX\u793e\u304c\u516c\u958b\u3057\u3066\u3044\u308b ugv_gazebo_sim \u306b\u306f\u3001\u5404\u88fd\u54c1\u306eGazebo\u3067\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059 …<\/p>\n","protected":false},"author":20,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[27,44],"tags":[],"class_list":["post-344713","post","type-post","status-publish","format-standard","hentry","category-agilex","category-limo"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344713","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/20"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=344713"}],"version-history":[{"count":10,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344713\/revisions"}],"predecessor-version":[{"id":344842,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344713\/revisions\/344842"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344713"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344713"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344713"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}