{"id":344876,"date":"2023-07-31T18:13:09","date_gmt":"2023-07-31T09:13:09","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=344876"},"modified":"2023-07-31T18:13:09","modified_gmt":"2023-07-31T09:13:09","slug":"ros_blockly","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/dobot\/mg400\/ros_blockly.html","title":{"rendered":"Blockly \u3067 ROS \u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u3092\u884c\u3046\u65b9\u6cd5"},"content":{"rendered":"<h4><span style=\"color: #333333;\">1. \u306f\u3058\u3081\u306b<\/span><\/h4>\n<p>\u672c\u7a3f\u3067\u306f\u3001\u30d6\u30e9\u30a6\u30b6\u4e0a\u304b\u3089 Blockly \u3092\u4f7f\u3063\u3066 ROS \u306e\u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u3092\u884c\u3046\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n<p>Blockly\u3068\u306f\u3001Google \u304c\u63d0\u4f9b\u3057\u3066\u3044\u308b\u30d3\u30b8\u30e5\u30a2\u30eb\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u3002\u4eca\u56de\u3054\u7d39\u4ecb\u3059\u308b ros_blockly \u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3067\u306f\u3001Blockly \u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u5143\u306b\u3057\u3066\u3001Unitree Go1\u3001AgileX LIMO\u3001Dobot MG400 \u306e\u57fa\u672c\u7684\u306a\u64cd\u4f5c\u306b\u5fc5\u8981\u3068\u306a\u308b\u30d6\u30ed\u30c3\u30af\u3082\u5229\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>Github ros_blockly: <a href=\"https:\/\/github.com\/TechShare-inc\/ros_blockly.git\" target=\"_blank\" rel=\"noopener\">https:\/\/github.com\/TechShare-inc\/ros_blockly.git<\/a><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly-1.png\" alt=\"\" width=\"775\" height=\"502\" class=\"wp-image-344878 aligncenter\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly-1.png 1434w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly-1-300x194.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly-1-1024x663.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly-1-768x497.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly-1-309x200.png 309w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly-1-426x276.png 426w\" sizes=\"auto, (max-width: 775px) 100vw, 775px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h4><span style=\"color: #333333;\">2. \u74b0\u5883<\/span><\/h4>\n<p><span>\u5916\u90e8PC:<br \/>\nOS \u2013 Windows 10 (64bit)<br \/>\n<\/span><span>WSL2 &#8211; Linux Ubuntu 20.04<\/span><br \/>\n<span> ROS &#8211; Noetic<\/span><br \/>\n<span> Web \u30d6\u30e9\u30a6\u30b6 &#8211; Google Chrome<\/span><\/p>\n<p>&nbsp;<\/p>\n<h4><span style=\"color: #333333;\">3. \u6e96\u5099<\/span><\/h4>\n<p>(1) ROS \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n<p>\u5916\u90e8PC\u3067\u5404\u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u306e\u305f\u3081\u306e ROS \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5b9f\u884c\u3059\u308b\u5834\u5408\u3001ROS \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>(2) ros_blockly \u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ git clone https:\/\/github.com\/TechShare-inc\/ros_blockly.git<\/code><\/pre>\n<\/div>\n<p>\u4f9d\u5b58\u306e\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u3001roslib.js \u3092ros_blockly \u5185\u306b\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002roslibjs \u306f\u30d6\u30e9\u30a6\u30b6\u304b\u3089ROS\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306eJavascript \u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u3002\u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306f index.html \u3067\u8aad\u307f\u8fbc\u3093\u3067\u3044\u307e\u3059\u3002<\/p>\n<p>roslib.js \u30d5\u30a1\u30a4\u30eb\u306f\u3001\u4e0b\u8a18\u306eGithub \u30ea\u30dd\u30b8\u30c8\u30ea\u306e build\/roslib.js \u304b\u3089\u898b\u3064\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>Github roslibjs: <a href=\"https:\/\/github.com\/RobotWebTools\/roslibjs\" target=\"_blank\" rel=\"noopener\">https:\/\/github.com\/RobotWebTools\/roslibjs<\/a><\/p>\n<p>&nbsp;<\/p>\n<p>(3) rosbridge \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n<p>rosbridge\u306f\u3001\u975eROS\u30d7\u30ed\u30b0\u30e9\u30e0\u5411\u3051\u306bROS\u3078\u306eJSON API\u3092\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002rosbridge websocket \u30b5\u30fc\u30d0\u30fc\u3092\u5229\u7528\u3059\u308b\u3068\u3001web\u30d6\u30e9\u30a6\u30b6\u4e0a\u304b\u3089\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067ROS\u5236\u5fa1\u3092\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ sudo apt-get install ros-&lt;rosdistro&gt;-rosbridge-server <\/code><\/pre>\n<\/div>\n<p>ROS wiki: <a href=\"http:\/\/wiki.ros.org\/rosbridge_suite\" target=\"_blank\" rel=\"noopener\">http:\/\/wiki.ros.org\/rosbridge_suite<\/a><\/p>\n<p>&nbsp;<\/p>\n<p>(4) \u30ed\u30fc\u30ab\u30eb web \u30b5\u30fc\u30d0\u30fc\u306e\u8d77\u52d5<\/p>\n<p>HTML \u30d5\u30a1\u30a4\u30eb\u3092\u30d6\u30e9\u30a6\u30b6\u3067\u76f4\u63a5\u8aad\u307f\u8fbc\u3082\u3046\u3068\u3059\u308b\u3068\u3001\u5916\u90e8\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u8aad\u307f\u8fbc\u3081\u306a\u3044\u5834\u5408\u306a\u3069\u3046\u307e\u304f\u8868\u793a\u3055\u308c\u306a\u3044\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001\u30ed\u30fc\u30ab\u30eb\u3067 web\u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u3066\u3001HTML \u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3080\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>\u3053\u3053\u3067\u306f\u3001VS Code \u306e\u62e1\u5f35\u6a5f\u80fd\u306b\u3042\u308b Live Server \u3092\u5229\u7528\u3057\u307e\u3059\u3002Live Server \u306f\u3001\u7c21\u6613\u7684\u306b\u30ed\u30fc\u30ab\u30eb\u30b5\u30fc\u30d0\u30fc\u3092\u8d77\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u3055\u3089\u306bVS Code \u3067\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u5909\u66f4\u306b\u5fdc\u3058\u3066\u5373\u6642\u306b\u30da\u30fc\u30b8\u3092\u66f4\u65b0\u3057\u307e\u3059\u3002<\/p>\n<p>\u30e1\u30cb\u30e5\u30fc\u306e\u300c\u62e1\u5f35\u6a5f\u80fd\u300d\u304b\u3089 Live Server \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u5f8c\u3001VS Code \u753b\u9762\u53f3\u4e0b\u306e\u300cGo Live\u300d\u3068\u3044\u3046\u30dc\u30bf\u30f3\u304b\u3089\u30ed\u30fc\u30ab\u30eb\u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go_live_button.png\" alt=\"\" width=\"377\" height=\"88\" class=\"alignnone wp-image-344881\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go_live_button.png 416w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go_live_button-300x70.png 300w\" sizes=\"auto, (max-width: 377px) 100vw, 377px\" \/> <img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/live_server_port.png\" alt=\"\" width=\"363\" height=\"88\" class=\"alignnone wp-image-344880\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/live_server_port.png 467w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/live_server_port-300x73.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/live_server_port-426x103.png 426w\" sizes=\"auto, (max-width: 363px) 100vw, 363px\" \/><\/p>\n<p>\u30d6\u30e9\u30a6\u30b6\u4e0a\u3067\u300chttp:\/\/localhost:5500\/ros_blockly\/\u300d\u3092\u958b\u304f\u3068 ros_blockly \u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h4><span style=\"color: #333333;\">4. \u57fa\u672c\u64cd\u4f5c<\/span><\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly_window.png\" alt=\"\" width=\"592\" height=\"383\" class=\" wp-image-344960 aligncenter\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly_window.png 1434w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly_window-300x194.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly_window-1024x663.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly_window-768x497.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly_window-309x200.png 309w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/ros_blockly_window-426x276.png 426w\" sizes=\"auto, (max-width: 592px) 100vw, 592px\" \/><\/p>\n<p><strong><span style=\"color: #000000;\">\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9<\/span><\/strong><\/p>\n<p>\u30c7\u30d5\u30a9\u30eb\u30c8\u3067\u7f6e\u304b\u308c\u3066\u3044\u308b\u30b9\u30bf\u30fc\u30c8\u30d6\u30ed\u30c3\u30af\u306b\u3064\u306a\u3052\u308b\u5f62\u3067\u30d6\u30ed\u30c3\u30af\u3092\u914d\u7f6e\u3057\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u7d44\u307f\u307e\u3059\u3002\u53f3\u4e0b\u306e\u3054\u307f\u7bb1\u3067\u30d6\u30ed\u30c3\u30af\u3092\u524a\u9664\u3067\u304d\u307e\u3059\u3002<\/p>\n<p><span style=\"color: #000000;\"><strong>\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9<\/strong><\/span><\/p>\n<p>\u5de6\u306e\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u306e\u30ab\u30c6\u30b4\u30ea\u30fc\u304b\u3089\u3001\u4efb\u610f\u306e\u30d6\u30ed\u30c3\u30af\u3092\u30c9\u30e9\u30c3\u30b0&amp;\u30c9\u30ed\u30c3\u30d7\u3067\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306b\u7f6e\u304f\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u7528\u610f\u3055\u308c\u3066\u3044\u308b\u5404\u30ed\u30dc\u30c3\u30c8\u306e\u30d6\u30ed\u30c3\u30af\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blocks.png\" alt=\"\" width=\"224\" height=\"293\" class=\"wp-image-344895 alignnone\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blocks.png 446w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blocks-229x300.png 229w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blocks-153x200.png 153w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blocks-426x558.png 426w\" sizes=\"auto, (max-width: 224px) 100vw, 224px\" \/> \u00a0<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blocks.png\" alt=\"\" width=\"283\" height=\"291\" class=\"alignnone wp-image-344894\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blocks.png 493w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blocks-292x300.png 292w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blocks-194x200.png 194w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blocks-426x438.png 426w\" sizes=\"auto, (max-width: 283px) 100vw, 283px\" \/> \u00a0 <img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blocks.png\" alt=\"\" width=\"260\" height=\"292\" class=\"alignnone wp-image-344893\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blocks.png 499w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blocks-267x300.png 267w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blocks-178x200.png 178w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blocks-426x478.png 426w\" sizes=\"auto, (max-width: 260px) 100vw, 260px\" \/><\/p>\n<p><span style=\"color: #000000;\"><strong>\u30dc\u30bf\u30f3<\/strong><\/span><\/p>\n<ul>\n<li>Show Code: \u4f5c\u6210\u3057\u305f\u30d6\u30ed\u30c3\u30af\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u304b\u3089\u751f\u6210\u3055\u308c\u308b\u30b3\u30fc\u30c9\u3092\u8868\u793a\u3057\u307e\u3059\u3002ros_blockly\u3067\u306f\u3001\u3059\u3079\u3066\u306e\u30d6\u30ed\u30c3\u30af\u306e\u30b3\u30fc\u30c9\u304c Javascript \u3067\u66f8\u304b\u308c\u3066\u3044\u307e\u3059\u3002<\/li>\n<li>Run: \u30d6\u30ed\u30c3\u30af\u304b\u3089\u751f\u6210\u3055\u308c\u305f\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/li>\n<li>Restore: \u30d6\u30e9\u30a6\u30b6\u3092\u66f4\u65b0\u3057\u3066\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u304c\u521d\u671f\u5316\u3055\u308c\u305f\u969b\u306b\u3001\u66f4\u65b0\u524d\u306e\u30d6\u30ed\u30c3\u30af\u3092\u8868\u793a\u3057\u307e\u3059\u3002<\/li>\n<\/ul>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/before_refresh_2.png\" alt=\"\" width=\"549\" height=\"189\" class=\"wp-image-344951 aligncenter\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/before_refresh_2.png 1446w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/before_refresh_2-300x103.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/before_refresh_2-1024x352.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/before_refresh_2-768x264.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/before_refresh_2-582x200.png 582w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/before_refresh_2-426x146.png 426w\" sizes=\"auto, (max-width: 549px) 100vw, 549px\" \/> <img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/restore_2.png\" alt=\"\" width=\"549\" height=\"172\" class=\"wp-image-344952 aligncenter\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/restore_2.png 1376w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/restore_2-300x94.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/restore_2-1024x321.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/restore_2-768x241.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/restore_2-639x200.png 639w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/restore_2-426x133.png 426w\" sizes=\"auto, (max-width: 549px) 100vw, 549px\" \/><\/p>\n<p>&nbsp;<\/p>\n<h4><span style=\"color: #000000;\">5. \u5b9f\u884c<\/span><\/h4>\n<h5><span style=\"color: #000000;\">MG400<\/span><\/h5>\n<p>(1) ROS\u306e\u30ce\u30fc\u30c9\u3092\u7acb\u3061\u4e0a\u3052\u308b<\/p>\n<p><a href=\"https:\/\/techshare.co.jp\/faq\/dobot\/mg400\/mg400-ros-python.html\" target=\"_blank\" rel=\"noopener\">[MG400, Python] ROS\u3067MG400\u3092\u52d5\u304b\u3059\u65b9\u6cd5<\/a> \u306e 3.3 \u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3059\u308b (1)~(3) \u306b\u6cbf\u3063\u3066\u3001mg400_bringup \u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ roslaunch mg400_bringup mg400_bringup.launch robot_ip:=192.168.1.6<\/code><\/pre>\n<\/div>\n<p>(2) rosbridge \u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u308b<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ roslaunch rosbridge_server rosbridge_websocket.launch<\/code><\/pre>\n<\/div>\n<p>(3) web \u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u3001\u30d6\u30e9\u30a6\u30b6\u3067 ros_blockly \u3092\u8868\u793a\u3059\u308b<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0<\/strong><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly_1.png\" alt=\"\" width=\"258\" height=\"284\" class=\"wp-image-344907 alignleft\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly_1.png 463w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly_1-273x300.png 273w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly_1-182x200.png 182w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly_1-426x468.png 426w\" sizes=\"auto, (max-width: 258px) 100vw, 258px\" \/><\/p>\n<p>\u203b \u30d6\u30ed\u30c3\u30af\u304b\u3089\u30b3\u30de\u30f3\u30c9\u304c\u9001\u3089\u308c\u3066\u3082 MG400 \u304c\u52d5\u304b\u306a\u3044\u5834\u5408\u306f\u3001DobotStudioPro\u3067\u52d5\u304f\u304b\u78ba\u8a8d\u3059\u308b\u3053\u3068\u3084\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u304b\u3089\u76f4\u63a5\u30b3\u30de\u30f3\u30c9\u3092\u9001\u3063\u3066\u52d5\u4f5c\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u300cResetRobot\u300d\u30d6\u30ed\u30c3\u30af\u3067\u6b63\u5e38\u306b\u306a\u308b\u3053\u3068\u3082\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>\u52d5\u4f5c\u306e\u69d8\u5b50\uff1a<br \/>\n<span>MG400 \u30d5\u30a1\u30fc\u30e0\u30a6\u30a7\u30a2 &#8211; v1.5.8.1<\/span><\/p>\n<div style=\"width: 1249px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-344876-1\" width=\"1249\" height=\"946\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly.mp4?_=1\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/mg400_blockly.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h5><span style=\"color: #000000;\">Go1<\/span><\/h5>\n<p>(1) ROS \u306e\u30ce\u30fc\u30c9\u3092\u7acb\u3061\u4e0a\u3052\u308b<\/p>\n<p>Go1 \u306e ROS\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002\u5916\u90e8PC \u304b\u3089\u5236\u5fa1\u3057\u305f\u3044\u5834\u5408\u306f\u3001<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/go1_ros_highlevel.html\" target=\"_blank\" rel=\"noopener\">\u3010Unitree Go1\u3011\u5916\u90e8PC\u4e0a\u304b\u3089\u7121\u7dda\u3067 unitree_ros_to_real \u3092\u5b9f\u884c\u3059\u308b\uff1a\u30cf\u30a4\u30ec\u30d9\u30eb\u5236\u5fa1<\/a> \u306e 3.4 \u5b9f\u884c (1) \u307e\u3067\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ roslaunch unitree_legged_real real.launch ctrl_level:=highlevel<\/code><\/pre>\n<\/div>\n<p>(2) rosbridge \u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u308b<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ roslaunch rosbridge_server rosbridge_websocket.launch<\/code><\/pre>\n<\/div>\n<p>(3) \u4e00\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u8aad\u307f\u8fbc\u3080\u305f\u3081\u306b\u3001PC \u3092\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u306b\u63a5\u7d9a\u3057\u307e\u3059<\/p>\n<p>(4) web \u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u3001\u30d6\u30e9\u30a6\u30b6\u3067 ros_blockly \u3092\u8868\u793a\u3059\u308b<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0<\/strong><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blockly-e1690524523688.png\" alt=\"\" width=\"226\" height=\"257\" class=\"wp-image-344913 alignleft\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blockly-e1690524523688.png 409w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blockly-e1690524523688-264x300.png 264w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blockly-e1690524523688-176x200.png 176w\" sizes=\"auto, (max-width: 226px) 100vw, 226px\" \/><\/p>\n<p>\u203b Go1 \u3092\u52d5\u304b\u3059\u969b\u306f\u3001\u7acb\u3061\u4e0a\u304c\u3063\u3066\u3044\u308b\u72b6\u614b\u3067\u3082\u300cStand Up\u300d\u30d6\u30ed\u30c3\u30af\u3092\u4e0a\u306b\u914d\u7f6e\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>\u203b Go1 \u306e\u300cWalk\u300d\u30d6\u30ed\u30c3\u30af\u306f1\u56de\u3067\u6c38\u7d9a\u7684\u306b\u6b69\u304b\u305b\u7d9a\u3051\u308b\u305f\u3081\u3001\u300cStop moving\u300d\u30d6\u30ed\u30c3\u30af\u3084\u4ed6\u306e\u52d5\u4f5c\u30d6\u30ed\u30c3\u30af\u306a\u3069\u3001\u52d5\u4f5c\u3092\u6b62\u3081\u308b\u30d6\u30ed\u30c3\u30af\u3092\u5fc5\u305a\u914d\u7f6e\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>\u52d5\u4f5c\u306e\u69d8\u5b50\uff1a<br \/>\nGo1 \u6a5f\u7a2e &#8211; R&amp;D(Edu)\/R&amp;D+(Edu+)\u3001unitree_legged_sdk &#8211; v3.8.6<\/p>\n<div style=\"width: 1249px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-344876-2\" width=\"1249\" height=\"673\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blockly.mp4?_=2\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blockly.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/go1_blockly.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<h5><span style=\"color: #000000;\">LIMO<\/span><\/h5>\n<p>(1) \u5185\u90e8\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u306b\u63a5\u7d9a\u3059\u308b<\/p>\n<p><span>LIMO \u3068\u5916\u90e8 PC \u3092\u540c\u3058Wi-Fi \u306b\u63a5\u7d9a\u3057\u3001<\/span>LIMO \u306e IP\u30a2\u30c9\u30ec\u30b9\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<br \/>\n<span><\/span>\u305d\u306e\u5f8c\u3001PC \u306e\u30bf\u30fc\u30df\u30ca\u30eb\u304b\u3089 LIMO \u306e\u5185\u90e8\u306b ssh \u63a5\u7d9a\u3057\u3001\u30d1\u30b9\u30ef\u30fc\u30c9\u3092\u5165\u529b\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ ssh agilex@&lt;LIMO\u306eIP\u30a2\u30c9\u30ec\u30b9&gt;<\/code><\/pre>\n<\/div>\n<p>(2) \u5185\u90e8\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u3067ROS\u306e\u30ce\u30fc\u30c9\u3092\u7acb\u3061\u4e0a\u3052\u308b<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ roslaunch limo_bringup limo_start.launch<\/code><\/pre>\n<\/div>\n<p>LIMO \u306e ROS\u5236\u5fa1\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u3064\u3044\u3066\u306f\u3001<a href=\"https:\/\/techshare.co.jp\/faq\/agilex\/limo_ros.html\" target=\"_blank\" rel=\"noopener\">\u3010AgileX LIMO\u3011ROS \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5b9f\u884c\u3059\u308b<\/a>\u00a0\u3092\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<br \/>\n<span>\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<\/span><\/p>\n<p>(3) index.html \u306eIP\u30a2\u30c9\u30ec\u30b9\u3092\u5909\u66f4<\/p>\n<p>index.html \u3092\u958b\u304d\u3001\u901a\u4fe1\u5148\u306e rosbridge \u30b5\u30fc\u30d0\u30fc\u306e IP\u30a2\u30c9\u30ec\u30b9\u3092 localhost \u304b\u3089 ssh\u63a5\u7d9a\u3057\u3066\u3044\u308b LIMO \u306e IP\u30a2\u30c9\u30ec\u30b9\u306b\u5909\u66f4\u3057\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_index.png\" alt=\"\" width=\"711\" height=\"217\" class=\"alignnone size-full wp-image-344914\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_index.png 711w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_index-300x92.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_index-655x200.png 655w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_index-426x130.png 426w\" sizes=\"auto, (max-width: 711px) 100vw, 711px\" \/><\/p>\n<p>(4) \u5185\u90e8\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc\u306brosbridge \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3001rosbridge \u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u308b<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-plain\"><code>$ roslaunch rosbridge_server rosbridge_websocket.launch<\/code><\/pre>\n<\/div>\n<p>(5) web \u30b5\u30fc\u30d0\u30fc\u3092\u7acb\u3061\u4e0a\u3052\u3001\u30d6\u30e9\u30a6\u30b6\u3067 ros_blockly \u3092\u8868\u793a\u3059\u308b<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0<\/strong><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly.png\" alt=\"\" width=\"204\" height=\"360\" class=\"wp-image-344911 alignleft\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly.png 479w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly-170x300.png 170w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly-113x200.png 113w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly-426x752.png 426w\" sizes=\"auto, (max-width: 204px) 100vw, 204px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u203b LIMO \u306e\u8d70\u884c\uff08Move\u3001Turn\uff09\u306e\u30b9\u30d4\u30fc\u30c9\u3092\u4fdd\u3064\u305f\u3081\u306b\u306f\u3001\u4f55\u5ea6\u3082\u30d6\u30ed\u30c3\u30af\u3067\u30b3\u30de\u30f3\u30c9\u3092\u9001\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001\u6307\u5b9a\u3057\u305f\u79d2\u6570\u9593\u305a\u3063\u3068\u30b3\u30de\u30f3\u30c9\u3092\u9001\u308b\u30d6\u30ed\u30c3\u30af\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u203b \u4e0a\u306e\u524d\u5f8c\u904b\u52d5\u306e\u30d6\u30ed\u30c3\u30af\u3067\u8a2d\u5b9a\u3057\u305f\u30b9\u30d4\u30fc\u30c9\u306f\u3001\u4e0b\u306e\u56de\u8ee2\u30d6\u30ed\u30c3\u30af\u306b\u5f15\u304d\u7d99\u304c\u308c\u308b\u305f\u3081\u3001\u305d\u306e\u5834\u3067\u56de\u8ee2\u3057\u305f\u3044\u5834\u5408\u306f\u4e00\u5ea6\u3001\u524d\u5f8c\u904b\u52d5\u306e\u30d6\u30ed\u30c3\u30af\u30670 m\/s \u306b\u30b9\u30d4\u30fc\u30c9\u3092\u8a2d\u5b9a\u3057\u76f4\u3059\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u56de\u8ee2\u30d6\u30ed\u30c3\u30af\u3067\u8a2d\u5b9a\u3057\u305f\u5834\u5408\u3082\u540c\u69d8\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>\u52d5\u4f5c\u306e\u69d8\u5b50\uff1a<br \/>\n<span>LIMO <\/span><span>\u5185\u90e8\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf &#8211; Jetson Nano\u3001<\/span><span>OS &#8211; Ubuntu 18.04\u3001<\/span><span>ROS &#8211; Melodic<\/span><\/p>\n<div style=\"width: 1249px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-344876-3\" width=\"1249\" height=\"800\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly.mp4?_=3\" \/><a href=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly.mp4\">https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/07\/limo_blockly.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. \u306f\u3058\u3081\u306b \u672c\u7a3f\u3067\u306f\u3001\u30d6\u30e9\u30a6\u30b6\u4e0a\u304b\u3089 Blockly \u3092\u4f7f\u3063\u3066 ROS \u306e\u30ed\u30dc\u30c3\u30c8\u5236\u5fa1\u3092\u884c\u3046\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002 Blockly\u3068\u306f\u3001Google \u304c\u63d0\u4f9b\u3057\u3066\u3044\u308b\u30d3\u30b8\u30e5\u30a2\u30eb\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3059\u3002\u4eca\u56de\u3054\u7d39\u4ecb\u3059 &hellip;<\/p>\n","protected":false},"author":20,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[31,44,5],"tags":[],"class_list":["post-344876","post","type-post","status-publish","format-standard","hentry","category-go1","category-limo","category-mg400"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344876","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=344876"}],"version-history":[{"count":37,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344876\/revisions"}],"predecessor-version":[{"id":344966,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/344876\/revisions\/344966"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=344876"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=344876"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=344876"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}