{"id":344810,"date":"2023-07-13T09:46:02","date_gmt":"2023-07-13T00:46:02","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344810"},"modified":"2023-07-13T09:46:02","modified_gmt":"2023-07-13T00:46:02","slug":"limo_ros","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/agilex\/limo_ros.html","title":{"rendered":"\u3010AgileX LIMO\u3011ROS \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5b9f\u884c\u3059\u308b"},"content":{"rendered":"

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

LIMO \u3092 ROS \u3067\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u3001AgileX \u793e\u306f limo_ros \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002ROS \u3084 limo_ros \u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067 LIMO \u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n

\u672c\u7a3f\u3067\u306f\u3001\u30ea\u30e2\u30fc\u30c8\u304b\u3089 limo_ros \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5b9f\u884c\u3059\u308b\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n

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

LIMO \u306e\u30e6\u30fc\u30b6\u30fc\u30de\u30cb\u30e5\u30a2\u30eb\uff08\u82f1\u8a9e\uff09\u306f\u3053\u3061\u3089<\/a>\u3002<\/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

\u5916\u90e8PC: Windows 10 (64bit)
\nLIMO:
\n\u5185\u90e8\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf – Jetson Nano
\nOS – Ubuntu 18.04
\nROS – Melodic<\/p>\n

3. \u30ea\u30e2\u30fc\u30c8\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/span><\/h4>\n

\u5916\u90e8PC\u304b\u3089\u7121\u7dda\u63a5\u7d9a\u3057\u3066\u3044\u308b LIMO \u3092 GUI \u4e0a\u304b\u3089\u64cd\u4f5c\u3057\u305f\u308a RViz \u3092\u8868\u793a\u3057\u305f\u308a\u3059\u308b\u306e\u306b\u3001\u30ea\u30e2\u30fc\u30c8\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u30c4\u30fc\u30eb\u306e NoMachine \u3092\u5229\u7528\u3057\u307e\u3059\u3002<\/p>\n<\/div>\n

(1) LIMO \u3068\u5916\u90e8PC\u3092\u540c\u3058Wi-Fi \u306b\u63a5\u7d9a<\/p>\n

(2) \u30ea\u30e2\u30fc\u30c8\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u30c4\u30fc\u30eb NoMachine \u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/p>\n

\u5bfe\u5fdc\u3059\u308b NoMachine<\/a> \u3092\u5916\u90e8PC\u306b\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

(3) NoMachine \u3092\u8d77\u52d5\u3057\u3001Add \u30dc\u30bf\u30f3\u304b\u3089 LIMO \u3092\u767b\u9332<\/p>\n

\u300cName\u300d\u306b\u306f\u4efb\u610f\u306e\u540d\u524d\u3092\u5165\u308c\u3001\u300cHost\u300d\u306b\u306fLIMO\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092\u5165\u529b\u3057\u307e\u3059\u3002LIMO \u306eIP\u30a2\u30c9\u30ec\u30b9\u306f\u3001LIMO\u5074\u306e NoMachine \u306e\u30a2\u30a4\u30b3\u30f3\u304b\u3089\u300cshow server status\u300d\u3092\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002<\/p>\n

\"\"<\/p>\n

(4) \u767b\u9332\u3057\u305f\u30c7\u30d0\u30a4\u30b9\u3092\u9078\u629e\u3057\u3001LIMO \u306e\u30e6\u30fc\u30b6\u30fc\u540d\uff08agilex\uff09\u3001\u30d1\u30b9\u30ef\u30fc\u30c9\u3092\u5165\u529b<\/p>\n

 <\/p>\n

4. ROS\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u5b9f\u884c<\/span><\/h4>\n

NoMachine \u306e\u30bf\u30fc\u30df\u30ca\u30eb\u304b\u3089\u3001\u306f\u3058\u3081\u306b\u30d9\u30fc\u30b9\u3068\u306a\u308b\u30ce\u30fc\u30c9\u3092\u7acb\u3061\u4e0a\u3052\u307e\u3059\u3002<\/p>\n

\n
$ roslaunch limo_bringup limo_start.launch<\/code><\/pre>\n<\/div>\n
\u30b3\u30de\u30f3\u30c9\u304b\u3089\u76f4\u63a5\u5236\u5fa1\u3059\u308b\u306b\u306f\u3001\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067rostopic pub <\u30c8\u30d4\u30c3\u30af\u540d> <\u30c8\u30d4\u30c3\u30af\u578b> <\u5024><\/code>\u3067\u30c8\u30d4\u30c3\u30af\u3092\u914d\u4fe1\u3057\u307e\u3059\u3002\u305f\u3068\u3048\u3070\u3001<\/p>\n
\n
$ rostopic pub \/cmd_vel geometry_msgs\/Twist \"linear:\r\n  x: 0.2\r\n  y: 0.0\r\n  z: 0.0\r\nangular:\r\n  x: 0.0\r\n  y: 0.0\r\n  z: 0.0\"  <\/code><\/pre>\n<\/div>\n
\u3092\u6253\u3064\u3068\u3001LIMO \u306f\u524d\u65b9\u3078\u5c11\u3057\u9032\u307f\u307e\u3059\u3002<\/p>\n
\u203b \u30b3\u30de\u30f3\u30c9\u5236\u5fa1\u3092\u53ef\u80fd\u306b\u3059\u308b\u305f\u3081\u306b\u3001\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u30fc\u30a2\u30d7\u30ea\u5185\u306e\u30dc\u30bf\u30f3\u3067\u30a2\u30d7\u30ea\u304b\u3089\u306e\u5236\u5fa1\u3092\u30aa\u30d5\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
 <\/p>\n
\u307e\u305f\u3001\u30ce\u30fc\u30c9\u3092\u7acb\u3061\u4e0a\u3052\u3066\u304b\u3089\u3001\u5225\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u7528\u610f\u3055\u308c\u3066\u3044\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002\u4ee5\u4e0b\u306f\u3001\u3044\u304f\u3064\u304b\u306e\u4f8b\u3067\u3059\u3002<\/p>\n