{"id":345073,"date":"2023-08-17T17:03:01","date_gmt":"2023-08-17T08:03:01","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=345073"},"modified":"2024-05-15T15:10:33","modified_gmt":"2024-05-15T06:10:33","slug":"limo_ros2_foxy","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/agilex\/limo_ros2_foxy.html","title":{"rendered":"\u3010AgileX LIMO\u3011ROS 2 Foxy\u3067\u52d5\u4f5c\u3055\u305b\u308b"},"content":{"rendered":"

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

LIMO \u3092 ROS 2 \u3067\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u3001AgileX \u793e\u306f limo_ros2 \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n

ROS 2 \u3084 limo_ros2 \u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067 LIMO \u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u306a\u3044\u305f\u3081\u3001\u672c\u7a3f\u3067\u306f LIMO \u4e0a\u3067 ROS 2 \u3092\u52d5\u4f5c\u3055\u305b limo_ros2 \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5b9f\u884c\u3059\u308b\u307e\u3067\u306e\u65b9\u6cd5\u3092\u3054\u6848\u5185\u3057\u307e\u3059\u3002<\/p>\n

limo_ros2(foxy branch): https:\/\/github.com\/agilexrobotics\/limo_ros2<\/a><\/p>\n

LIMO \u3067 ROS 2 \u3092\u52d5\u4f5c\u3055\u305b\u308b\u969b\u306b\u306f\u3001docker \u3092\u7528\u3044\u3066 LIMO \u4e0a\u306b\u4eee\u60f3\u74b0\u5883\u3092\u7528\u610f\u3059\u308b\u65b9\u6cd5\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n

\u306a\u304a\u3001limo_ros2\u306f\u73fe\u5728\u3082\u958b\u767a\u304c\u7d9a\u3044\u3066\u3044\u308b\u305f\u3081\u3001\u4eca\u5f8c\u306e\u52d5\u4f5c\u65b9\u6cd5\u306f\u672c\u7a3f\u3068\u7570\u306a\u308b\u3082\u306e\u306b\u306a\u308b\u53ef\u80fd\u6027\u3082\u3054\u3056\u3044\u307e\u3059\u3002\u4e88\u3081\u3054\u4e86\u627f\u304f\u3060\u3055\u3044\u3002<\/p>\n

 <\/p>\n

\u203b\u672c\u8a18\u4e8b\u306f\u300cLIMO Basic\u300d\u4e0a\u306bROS2 foxy\u306e\u4eee\u60f3\u74b0\u5883\u3092\u69cb\u7bc9\u3059\u308b\u65b9\u6cd5\u3092\u7d39\u4ecb\u3059\u308b\u3082\u306e\u3067\u3059\u3002<\/strong><\/p>\n

\u300cLIMO Pro\u300d\u300cLIMO ROS2\u300d\u3067\u306f\u3053\u306e\u65b9\u6cd5\u306f\u4f7f\u7528\u3067\u304d\u307e\u305b\u3093\u3002<\/strong><\/p>\n

 <\/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<\/p>\n

 <\/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\u30fb\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\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

\u4ee5\u4e0b\u306e\u64cd\u4f5c\u306f\u5168\u3066LIMO\u306e\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u753b\u9762\u4e0a\u3067\u884c\u3063\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n

 <\/p>\n

4. docker\u74b0\u5883\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/span><\/h4>\n

ROS 2 foxy \u304a\u3088\u3073 limo_ros2 \u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u6e08\u307f\u306edocker\u30b3\u30f3\u30c6\u30ca\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n

\u4ee5\u4e0b\u306eGithub\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u3082\u540c\u69d8\u306e\u624b\u9806\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u306e\u3067\u3054\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n

https:\/\/github.com\/TechShare-inc\/limo_ros2_docker<\/a><\/p>\n

 <\/p>\n

(1) \u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30af\u30ed\u30fc\u30f3\u3059\u308b<\/h6>\n

LIMO\u306e\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u4e0a\u3067Terminal\u3092\u958b\u304d\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n

\n
$ cd ~\r\n\r\n$ git clone -b foxy https:\/\/github.com\/TechShare-inc\/limo_ros2_docker.git<\/code><\/pre>\n<\/div>\n
(2) \u5fc5\u8981\u306a\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u7528\u610f\u3059\u308b<\/h6>\n
Terminal\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
$ sudo -i<\/code><\/pre>\n<\/div>\n
\u30d7\u30ed\u30f3\u30d7\u30c8\u304croot\u6a29\u9650\u306b\u306a\u308b\u306e\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u3092\u9806\u306b\u5b9f\u884c\u3057\u307e\u3059\u3002<\/span><\/p>\n
\n
# apt install -y curl\r\n\r\n# curl -s -L https:\/\/nvidia.github.io\/nvidia-docker\/gpgkey | sudo apt-key add -\r\n\r\n# distribution=$(. \/etc\/os-release;echo $ID$VERSION_ID)\r\n\r\n# curl -s -L https:\/\/nvidia.github.io\/nvidia-docker\/$distribution\/nvidia-docker.list | sudo tee \/etc\/apt\/sources.list.d\/nvidia-docker.list\r\n\r\n# apt update\r\n\r\n# apt install -y nvidia-docker2\r\n\r\n# systemctl daemon-reload\r\n\r\n# systemctl restart docker\r\n\r\n# curl -L https:\/\/github.com\/docker\/compose\/releases\/download\/v2.20.2\/docker-compose-`uname -s`-`uname -m` > \/usr\/local\/bin\/docker-compose\r\n\r\n# chmod +x \/usr\/local\/bin\/docker-compose \r\n\r\n# exit<\/code><\/pre>\n<\/div>\n
\u6700\u5f8c\u306e\u884c(exit)\u3092\u5b9f\u884c\u3059\u308b\u3068root\u6a29\u9650\u3067\u306f\u306a\u3044\u4e00\u822c\u30e6\u30fc\u30b6\u30fc\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u306b\u623b\u308a\u307e\u3059\u3002<\/span><\/p>\n
(3) docker\u30a4\u30e1\u30fc\u30b8\u3092\u30d3\u30eb\u30c9\u3059\u308b<\/h6>\n
Terminal\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
$ cd ~\/limo_ros2_docker\r\n\r\n$ sudo docker-compose build<\/code><\/pre>\n<\/div>\n
\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u304b\u3089\u5fc5\u8981\u306a\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066docker\u30a4\u30e1\u30fc\u30b8\u306e\u4f5c\u6210\u304c\u884c\u308f\u308c\u307e\u3059\u3002<\/span><\/p>\n
\u3053\u306e\u64cd\u4f5c\u306b\u306f10\u5206\u4ee5\u4e0a\u304b\u304b\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
(4) \u30d3\u30eb\u30c9\u3057\u305f\u30a4\u30e1\u30fc\u30b8\u304b\u3089docker\u30b3\u30f3\u30c6\u30ca\u3092\u4f5c\u6210\u30fb\u8d77\u52d5\u3059\u308b<\/h6>\n
Terminal\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
$ sudo docker-compose up -d<\/code><\/pre>\n<\/div>\n
\u5148\u307b\u3069\u4f5c\u6210\u3057\u305f\u30a4\u30e1\u30fc\u30b8\u3092\u57fa\u306blimo_foxy_dev\u3068\u3044\u3046\u30b3\u30f3\u30c6\u30ca\u304c\u4f5c\u6210\u3055\u308c\u3001\u8d77\u52d5\u3057\u307e\u3059\u3002<\/span><\/p>\n
 <\/p>\n
5. docker\u4e0a\u3067\u306eROS 2\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u5b9f\u884c<\/span><\/h4>\n
(0) docker\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3059\u308b<\/h6>\n
\u4e0a\u8a18\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u624b\u9806(4)\u3067docker-compose up<\/code>\u3092\u884c\u3046\u3068\u30b3\u30f3\u30c6\u30ca\u306e\u4f5c\u6210\u3068\u8d77\u52d5\u304c\u540c\u6642\u306b\u884c\u308f\u308c\u307e\u3059\u304c\u3001LIMO\u3092\u518d\u8d77\u52d5\u3057\u305f\u308a\u30b3\u30f3\u30c6\u30ca\u3092\u624b\u52d5\u3067\u505c\u6b62\u3055\u305b\u305f\u5834\u5408\u306f\u3001\u4f5c\u6210\u6e08\u307f\u306e\u30b3\u30f3\u30c6\u30ca\u3092\u518d\u5ea6\u8d77\u52d5\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
\u505c\u6b62\u3057\u3066\u3044\u308b\u30b3\u30f3\u30c6\u30ca\u3092\u8d77\u52d5\u3059\u308b\u306b\u306f\u3001LIMO\u306e\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u4e0a\u3067Terminal\u3092\u958b\u304d\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
$ cd ~\/limo_ros2_docker\r\n\r\n$ sudo docker-compose start<\/code><\/pre>\n<\/div>\n
(1) docker\u30b3\u30f3\u30c6\u30ca\u306bGUI\u3078\u306e\u30a2\u30af\u30bb\u30b9\u6a29\u9650\u3092\u4ed8\u4e0e\u3059\u308b<\/h6>\n
docker\u5185\u3067\u5b9f\u884c\u3055\u308c\u308bRviz\u306a\u3069\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u753b\u9762\u3092\u30c7\u30b9\u30af\u30c8\u30c3\u30d7\u306b\u8868\u793a\u51fa\u6765\u308b\u3088\u3046\u306b\u3059\u308b\u306b\u306f\u3001\u6a29\u9650\u3092\u4e0e\u3048\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
Terminal\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
$ xhost +local:<\/code><\/pre>\n<\/div>\n
\u3053\u306e\u64cd\u4f5c\u306fLIMO\u672c\u4f53\u3092\u518d\u8d77\u52d5\u3059\u308b\u305f\u3073\u306b\u5fc5\u8981\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n
~\/.bashrc\u306a\u3069\u306b\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u8a18\u8f09\u3059\u308b\u3053\u3068\u3067\u81ea\u52d5\u7684\u306b\u5b9f\u884c\u3055\u305b\u308b\u3053\u3068\u3082\u51fa\u6765\u307e\u3059\u3002<\/p>\n
(2) docker\u30b3\u30f3\u30c6\u30ca\u306b\u30a2\u30bf\u30c3\u30c1\u3059\u308b<\/h6>\n
docker\u5185\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u306f\u3001docker\u30b3\u30f3\u30c6\u30ca\u306b\u30a2\u30bf\u30c3\u30c1\u3059\u308b(\u5185\u90e8\u306b\u5165\u308b)\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
Terminal\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
$ sudo docker exec -it limo_foxy_dev bash<\/code><\/pre>\n<\/div>\n
\u5b9f\u884c\u3059\u308b\u3068\u3001docker\u30b3\u30f3\u30c6\u30ca\u5185\u306eroot\u30e6\u30fc\u30b6\u30fc\u3068\u3057\u3066\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u304c\u958b\u304d\u307e\u3059\u3002\uff08root@agilex:~\/ros2_ws#\u3068\u8868\u793a\u3055\u308c\u308b\uff09<\/span><\/p>\n
\u4ee5\u4e0b\u300c\u5225\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u300d\u3068\u8a18\u8f09\u3055\u308c\u3066\u3044\u308b\u5834\u5408\u306f\u3001\u65b0\u3057\u3044Terminal\u3092\u958b\u304d\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3092\u610f\u5473\u3057\u307e\u3059\u3002<\/span><\/p>\n
\u307e\u305f\u3001docker\u30b3\u30f3\u30c6\u30ca\u304b\u3089\u30c7\u30bf\u30c3\u30c1\u3059\u308b(\u5916\u306eTerminal\u306b\u623b\u308b)\u969b\u306b\u306f\u3001docker\u30b3\u30f3\u30c6\u30ca\u5185\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
# exit<\/code><\/pre>\n<\/div>\n
(3) LIMO\u3092\u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u64cd\u4f5c\u3059\u308b<\/h6>\n
\u5b9f\u969b\u306bROS 2 \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5b9f\u884c\u3057\u3066\u3001LIMO\u3092\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u306b\u3066\u64cd\u7e26\u3057\u307e\u3059\u3002<\/p>\n
\u307e\u305aLIMO\u672c\u4f53\u304c\u901f\u5ea6\u6307\u4ee4\u3092\u53d7\u3051\u53d6\u308b\u305f\u3081\u306e\u30d9\u30fc\u30b9\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/span>docker\u30b3\u30f3\u30c6\u30ca\u5185\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
# ros2 launch limo_bringup limo_start.launch.py<\/code><\/pre>\n<\/div>\n
\u6b21\u306b\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u3067\u901f\u5ea6\u6307\u4ee4\u30c8\u30d4\u30c3\u30af\u3092\u9001\u308b\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059<\/span>\u3002\u5225\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
# ros2 run teleop_twist_keyboard teleop_twist_keyboard<\/code><\/pre>\n<\/div>\n
\u753b\u9762\u306b\u8868\u793a\u3055\u308c\u308b\u30e1\u30c3\u30bb\u30fc\u30b8\u306b\u5f93\u3063\u3066\u3001\u901f\u5ea6\u6307\u4ee4\u3092\u9001\u4fe1\u3057LIMO\u3092\u64cd\u4f5c\u3059\u308b\u3053\u3068\u304c\u51fa\u6765\u307e\u3059\u3002<\/p>\n
\u30b9\u30de\u30fc\u30c8\u30d5\u30a9\u30f3\u30a2\u30d7\u30ea\u3092\u63a5\u7d9a\u3057\u3066\u3044\u305f\u5834\u5408\u306f\u3001ROS \/ ROS 2 \u306b\u3088\u308b\u64cd\u4f5c\u3092\u6709\u52b9\u306b\u3059\u308b\u305f\u3081\u306b\u3001\u30a2\u30d7\u30ea\u5185\u53f3\u4e0a\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
\u8d77\u52d5\u3057\u3066\u3044\u308b\u30ce\u30fc\u30c9\u3092\u505c\u6b62\u3059\u308b\u969b\u306f\u3001\u8a72\u5f53\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067Ctrl+C\u3092\u62bc\u3057\u307e\u3059\u3002<\/p>\n
(4) 2D Lidar\u306b\u3088\u308b\u5730\u56f3\u4f5c\u6210<\/h6>\n
LIMO\u642d\u8f09\u306e2D LiDAR\u3092\u4f7f\u7528\u3057\u3066SLAM\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n
\u307e\u305aLIMO\u672c\u4f53\u304c\u901f\u5ea6\u6307\u4ee4\u3092\u53d7\u3051\u53d6\u308b\u305f\u3081\u306e\u30d9\u30fc\u30b9\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002\u65e2\u306b\u8d77\u52d5\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u4e8c\u91cd\u306b\u8d77\u52d5\u3055\u305b\u306a\u3044\u3088\u3046\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/span><\/p>\n
\n
# ros2 launch limo_bringup limo_start.launch.py<\/code><\/pre>\n<\/div>\n
\u6b21\u306b\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u3067\u901f\u5ea6\u6307\u4ee4\u30c8\u30d4\u30c3\u30af\u3092\u9001\u308b\u30ce\u30fc\u30c9\u3092\u5225\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002\u65e2\u306b\u8d77\u52d5\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u4e8c\u91cd\u306b\u8d77\u52d5\u3055\u305b\u306a\u3044\u3088\u3046\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/span><\/p>\n
\n
# ros2 run teleop_twist_keyboard teleop_twist_keyboard<\/code><\/pre>\n<\/div>\n
\u7d9a\u3044\u3066\u3001\u5730\u56f3\u3092\u4f5c\u6210\u3059\u308b\u30ce\u30fc\u30c9\u3092\u5225\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u8d77\u52d5\u3057\u307e\u3059\u3002<\/span><\/p>\n
\n
# ros2 launch limo_bringup cartographer.launch.py<\/code><\/pre>\n<\/div>\n
\u5730\u56f3\u4f5c\u6210\u3092\u958b\u59cb\u3057\u305f\u3089\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u3067LIMO\u3092\u5468\u56f2\u3067\u8d70\u884c\u3055\u305b\u307e\u3059\u3002<\/p>\n
\u4f5c\u6210\u4e2d\u306e\u5730\u56f3\u3092\u78ba\u8a8d\u3059\u308b\u306b\u306f\u3001\u53ef\u8996\u5316\u30c4\u30fc\u30eb\u306eRviz\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002\u5225\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066Rviz\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/span><\/p>\n
\n
# rviz2<\/code><\/pre>\n<\/div>\n
Rviz\u304c\u8d77\u52d5\u3057\u305f\u3089\u3001\/map\u30c8\u30d4\u30c3\u30af\u3092\u8868\u793a\u306b\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n
\u5de6\u4e0b\u306eAdd\u30dc\u30bf\u30f3\u3092\u62bc\u3057\u3001\u958b\u3044\u305f\u30a6\u30a3\u30f3\u30c9\u30a6\u3067By topic\u2192\/map\u2192Map\u3092\u9078\u629e\u3057OK\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\u3002<\/p>\n
\"\"<\/p>\n
\u3042\u308b\u7a0b\u5ea6\u8d70\u884c\u3057\u305f\u3089\u3001\u4f5c\u6210\u3055\u308c\u305f\u5730\u56f3\u3092\u30d5\u30a1\u30a4\u30eb\u306b\u4fdd\u5b58\u3057\u307e\u3059\u3002\u5225\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
\n
# ros2 run nav2_map_server map_saver_cli -f \/root\/sample_map<\/code><\/pre>\n<\/div>\n
\u30b3\u30de\u30f3\u30c9\u672b\u5c3e\u306e\/root\/sample_map.yaml<\/code>\u306e\u90e8\u5206\u306f\u30de\u30c3\u30d7\u306e\u4fdd\u5b58\u5148\u3092\u793a\u3059\u90e8\u5206\u306a\u306e\u3067\u3001\u9069\u5b9c\u5834\u6240\u3084\u540d\u524d\u3092\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001\u6307\u5b9a\u3057\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b.pgm\u3068.yaml\u306e2\u3064\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u751f\u6210\u3055\u308c\u307e\u3059\u3002\uff08\u4e0a\u306e\u30b3\u30de\u30f3\u30c9\u3060\u3068\/root\/sample_map.pgm\u3068\/root\/sample_map.yaml\u306e2\u3064\uff09<\/span><\/p>\n
 <\/p>\n
(5) \u5730\u56f3\u3092\u7528\u3044\u305f\u81ea\u5f8b\u8d70\u884c(Navigation2)<\/h6>\n
\u4f5c\u6210\u3057\u305f\u5730\u56f3\u3092\u7528\u3044\u3066\u81ea\u5f8b\u8d70\u884c\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n
RViz\u304a\u3088\u3073\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u3084\u5730\u56f3\u4f5c\u6210\u306e\u30ce\u30fc\u30c9\u304c\u8d77\u52d5\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u4e8b\u524d\u306bCtrl+C\u3067\u505c\u6b62\u3055\u305b\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
\u307e\u305a\u3001LIMO\u672c\u4f53\u304c\u901f\u5ea6\u6307\u4ee4\u3092\u53d7\u3051\u53d6\u308b\u305f\u3081\u306e\u30d9\u30fc\u30b9\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002\u65e2\u306b\u8d77\u52d5\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u4e8c\u91cd\u306b\u8d77\u52d5\u3055\u305b\u306a\u3044\u3088\u3046\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/span><\/p>\n
\n
# ros2 launch limo_bringup limo_start.launch.py<\/code><\/pre>\n<\/div>\n
\u6b21\u306b\u3001\u5225\u306e\u30d7\u30ed\u30f3\u30d7\u30c8\u3067Navigation2\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30ce\u30fc\u30c9\u7fa4\u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n
\n
# ros2 launch limo_bringup navigation2.launch.py map:=\/root\/sample_map.yaml<\/code><\/pre>\n<\/div>\n
map:=\u306e\u5f8c\u306e<\/span>\/root\/sample_map.yaml<\/code>\u306e\u90e8\u5206\u306f\u8aad\u307f\u8fbc\u3080\u5730\u56f3\u306e\u5834\u6240\u3092\u6307\u5b9a\u3059\u308b\u90e8\u5206\u306a\u306e\u3067\u3001\u4f5c\u6210\u3057\u305f\u5730\u56f3\u306e\u4fdd\u5b58\u5148\u306b\u5408\u308f\u305b\u3066\u9069\u5b9c\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/span><\/p>\n
\u53ef\u8996\u5316\u30c4\u30fc\u30eb\u306eRviz\u304c\u81ea\u52d5\u7684\u306b\u7acb\u3061\u4e0a\u304c\u308b\u306e\u3067\u30012D Pose Estimate\u3092\u30af\u30ea\u30c3\u30af\u3057\u305f\u5f8c\u306b\u5730\u56f3\u4e0a\u3067\u30af\u30ea\u30c3\u30af&\u30c9\u30e9\u30c3\u30b0\u3057\u3066\u73fe\u5728\u306eLIMO\u306e\u59ff\u52e2\u3092\u4e0e\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/span><\/p>\n
\"\"<\/p>\n
\u6b21\u306bNavigation2 Goal\u3092\u30af\u30ea\u30c3\u30af\u3057\u3001\u540c\u69d8\u306e\u624b\u9806\u3067\u76ee\u7684\u5730\u306e\u59ff\u52e2\u3092\u4e0e\u3048\u308b\u3068\u7d4c\u8def\u304c\u751f\u6210\u3055\u308cLIMO\u304c\u8d70\u884c\u3092\u59cb\u3081\u307e\u3059\u3002<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"
1. \u306f\u3058\u3081\u306b LIMO \u3092 ROS 2 \u3067\u5236\u5fa1\u3059\u308b\u305f\u3081\u306b\u3001AgileX \u793e\u306f limo_ros2 \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002 ROS 2 \u3084 limo_ros2 \u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u3067 LIMO \u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u306a\u3044 …<\/p>\n","protected":false},"author":18,"featured_media":345246,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[27,47,48,44],"tags":[],"class_list":["post-345073","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-agilex","category-agilex-resources","category-agilex-tips","category-limo"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345073","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\/18"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=345073"}],"version-history":[{"count":8,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345073\/revisions"}],"predecessor-version":[{"id":345841,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/345073\/revisions\/345841"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media\/345246"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=345073"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=345073"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=345073"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}