{"id":2555,"date":"2020-12-31T16:22:56","date_gmt":"2020-12-31T07:22:56","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2555"},"modified":"2020-12-31T16:43:13","modified_gmt":"2020-12-31T07:43:13","slug":"btr%e8%aa%b2%e9%a1%8c-fawkes-%e3%81%ae-plugin-%e3%82%92%e4%bd%9c%e3%81%a3%e3%81%a6%e3%81%bf%e3%81%be%e3%81%97%e3%82%87%e3%81%86%ef%bc%88interfaces%e7%b7%a8%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2555","title":{"rendered":"BTR\u8ab2\u984c : fawkes \u306e plugin \u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff08Interfaces\u7de8\uff09"},"content":{"rendered":"

BTR\u8ab2\u984c : fawkes \u306e plugin \u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff0e<\/a>\u306b\u3066plugin\u4f5c\u6210\u306e\u52c9\u5f37\u3092\u3057\u307e\u3057\u305f\u304c\uff0c\u4eca\u56de\u306f\u305d\u3053\u304b\u3089\u4e00\u6b69\u8e0f\u307f\u8fbc\u3093\u3067\u4ed6\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3068\u306e\u30c7\u30fc\u30bf\u306e\u3084\u308a\u53d6\u308a\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff0e
\nROS\u3067\u8a00\u3046\u3068\u3053\u308d\u306ePublisher\u3068Subscriber\u306e\u4f5c\u6210\u307f\u305f\u3044\u306a\u3082\u3093\u3067\u3059\uff0e
\n\u30d7\u30e9\u30b0\u30a4\u30f3\u9593\u306e\u30c7\u30fc\u30bf\u306e\u3084\u308a\u3068\u308a\u306b\u306f\uff0cBlackBoard\u3092\u4ecb\u3057\u307e\u3059\uff0e
\n\u305d\u3053\u306b\u30c7\u30fc\u30bf\u3092\u66f8\u304d\u8fbc\u3080\u306b\u306f\uff0c\u30c7\u30fc\u30bf\u306e\u578b\u306e\u5ba3\u8a00\u304c\u5fc5\u8981\u3067\u3059\uff0e
\n\u69cb\u9020\u4f53\u307f\u305f\u3044\u306a\u30e2\u30ce\u3000\u3068\u601d\u3048\u3070\u5927\u4e08\u592b\u3067\u3059\uff0e<\/p>\n

\u3053\u3053\u3067\u306f\uff0cLRF\u3067\u53d6\u5f97\u3057\u305f\u30c7\u30fc\u30bf\u3092\u30d5\u30a1\u30a4\u30eb\u306b\u66f8\u304d\u8fbc\u3093\u3067\u307f\u307e\u3057\u3087\u3046\u304b\uff0e
\n\u30d7\u30e9\u30b0\u30a4\u30f3\u540d\u306f\uff0c\u5358\u7d14\u306bLRFLogger\u3068\u3067\u3082\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n

\r\ncd ~\/fawkes-robotino\/src\/plugin\/\r\ncp -r plugin_template lrf_logger\r\ncd lrf_logger\/\r\nmv plugin_template_plugin.cpp lrf_logger_plugin.cpp\r\nmv plugin_template_thread.cpp lrf_logger_thread.cpp\r\nmv plugin_template_thread.h lrf_logger_thread.h\r\n<\/pre>\n
\u4e2d\u8eab\u306e\u30af\u30e9\u30b9\u540d\u3084\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\u540d\u3092\u4fee\u6b63\u3057\uff0cMakefile \u306e\u4e2d\u3082\u66f4\u65b0\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n
\n
\u3055\u3066\uff0c\u30b5\u30f3\u30d7\u30eb\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\uff0cRobotino \u306e\u30e2\u30fc\u30bf\u30fc\u306e\u5024\u3092\u66f8\u304d\u63db\u3048\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
\nBlackBoard\u4e0a\u3067\u306e\u540d\u524d\u306f\uff0cMotorInterface\u306e\u300cRobotino\u300d\u3067\u3059\uff0e
\n\u3053\u308c\u3092\u524d\u63d0\u306b\u8aad\u307f\u9032\u3081\u3066\u3044\u304d\u307e\u3057\u3087\u3046\uff0e<\/p>\n
Makefile<\/h6>\n
\u307e\u305a\uff0cMakefile\u3067\u3059\uff0e<\/p>\n
\r\nLIBS_lrf_logger_plugin = m fawkescore fawkesutils fawkesaspects fawkesbaseapp \\\r\n                         fawkesblackboard fawkesinterface MotorInterface\r\n<\/pre>\n
\u30e9\u30a4\u30d6\u30e9\u30ea\u3068\u3057\u3066\u8aad\u307f\u8fbc\u3080\u5fc5\u8981\u304c\u3042\u308b\u306e\u3067\uff0cLIBS_<\u30d7\u30e9\u30b0\u30a4\u30f3\u540d> \u306b\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u3092\u8ffd\u52a0\u3057\u307e\u3059\uff0e<\/p>\n
<\u30d7\u30e9\u30b0\u30a4\u30f3\u540d>_plugin.cpp<\/h6>\n
<\u30d7\u30e9\u30b0\u30a4\u30f3\u540d>_plugin.cpp \u306f\uff0c\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u8aad\u307f\u8fbc\u3080\u4ed5\u7d44\u307f\u306e\u90e8\u5206\u3067\u3059\u306e\u3067\uff0cBlackBoard\u306b\u95a2\u4fc2\u3059\u308b\u90e8\u5206\u306f\u3042\u308a\u307e\u305b\u3093\uff0e<\/p>\n
<\u30d7\u30e9\u30b0\u30a4\u30f3\u540d>_thread.h<\/h6>\n
<\u30d7\u30e9\u30b0\u30a4\u30f3\u540d>_thread.h \u3067\u306f\uff0cMotorInterface\u3092\u624b\u8efd\u306b\u6271\u3046\u305f\u3081\u306bnamespace\u306b\u5165\u308c\u3066\u3044\u307e\u3059\uff08\u3053\u308c\u3092\u5165\u308c\u306a\u3044\u3068\uff0c\u3044\u3061\u3044\u3061fawkes::MotoerInterface \u3092\u66f8\u304b\u306a\u3044\u3068\u3044\u3051\u306a\u304f\u306a\u308b\uff09\uff0e<\/p>\n
\r\nnamespace fawkes {\r\n  class MotorInterface;\r\n}\r\n<\/pre>\n
\u3042\u3068\uff0c\u5185\u90e8\u7684\u306b\u5909\u6570\u3082\u5fc5\u8981\u306b\u306a\u308b\u306e\u3067\uff0cprivate\u3068\u3057\u3066\u5909\u6570\u3092\u5ba3\u8a00\uff08\u30dd\u30a4\u30f3\u30bf\u3067\u6271\u3063\u3066\u3044\u307e\u3059\uff09\uff0e<\/p>\n
\r\n private:\r\n  fawkes::MotorInterface     *motor_if_;\r\n<\/pre>\n
<\u30d7\u30e9\u30b0\u30a4\u30f3\u540d>_thread.cpp<\/h6>\n
\u3055\u3066\uff0c\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u4e3b\u305f\u308b\u90e8\u5206\u3067\u3042\u308b<\u30d7\u30e9\u30b0\u30a4\u30f3\u540d>_thread.cpp\u3067\u3059\uff0e
\n\u307e\u305a\u306f\uff0cMotorInterface\u3092\u4f7f\u3046\u305f\u3081\u306b\uff0c\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067\u3044\u307e\u3059\uff0e<\/p>\n
\r\n#include <interfaces\/MotorInterface.h>\r\n<\/pre>\n
\u521d\u671f\u5316\u306einit\u95a2\u6570\u306b\u3066\uff0c\u8aad\u307f\u8fbc\u307f\u7528\u3067\u30aa\u30fc\u30d7\u30f3\u3057\uff0c\u5185\u90e8\u5909\u6570\u306b\u4ee3\u5165\u3057\u307e\u3059\uff08\u30dd\u30a4\u30f3\u30bf\u3067\u3059\uff09\uff0e
\n\u3053\u3053\u306eBlackBoard\u540d\uff08Robotino\uff09\u306f\uff0c\u8aad\u307f\u8fbc\u307f\u3092\u3057\u3066\u3044\u308b\u30d7\u30e9\u30b0\u30a4\u30f3\uff08MotorInterface\u306e\u65b9\uff09\u3092\u53c2\u7167\u3057\u3066\u8abf\u3079\u307e\u3057\u3087\u3046\uff0e
\n\u203bread\/write\u306e\u5b9a\u7fa9\u304c\u4eca\u3072\u3068\u3064\u7406\u89e3\u3067\u304d\u3066\u3044\u307e\u305b\u3093\u304c\uff0c\u305d\u306e\u5909\u6570\u306e\u6240\u6709\u8005\uff08\u30d7\u30e9\u30b0\u30a4\u30f3\uff09\u304cwrite\u3067\uff0c\u305d\u308c\u4ee5\u5916\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306fread\u3067\u30aa\u30fc\u30d7\u30f3\u3057\u3066\u3044\u308b\u611f\u3058\u304c\u3057\u307e\u3059\uff0e<\/p>\n
\r\nvoid LRFLoggerPluginThread::init() {\r\n        motor_if_ = blackboard->open_for_reading<MotorInterface>("Robotino");\r\n}\r\n<\/pre>\n
\u7d42\u4e86\u6642\u306e\u51e6\u7406\u306f\u3053\u308c\u3068\u5bfe\u306b\u306a\u3063\u3066\u3044\u3066\uff0c\u30aa\u30fc\u30d7\u30f3\u3057\u305f\u304b\u3089\u9589\u3058\u308b\u3063\u3066\u611f\u3058\u3067\u3059\uff0e<\/p>\n
\r\nvoid LRFLoggerPluginThread::finalize() {\r\n        blackboard->close(motor_if_);\r\n}\r\n<\/pre>\n
\u3067\uff0c\u5b9f\u969b\u306b\u4f7f\u3046\uff08\u66f8\u304d\u8fbc\u307f\u3092\u3059\u308b\uff09\u306e\u306f\uff0cmsgs_enqueue(msg)\u306e\u547c\u3073\u51fa\u3057\u3067\u3059\uff0e<\/p>\n
\r\nvoid LRFLoggerPluginThread::send_transrot(float vx, float vy, float omega) {\r\n        MotorInterface::TransRotMessage *msg = new MotorInterface::TransRotMessage(\r\n                        vx, vy, omega);\r\n        motor_if_->msgq_enqueue(msg);\r\n}\r\n<\/pre>\n
\u66f8\u304d\u8fbc\u307f\u5f62\u5f0f\u306emsg\u306f\uff0cMotorInterface::TransRotMessage \u578b\u3067\u7528\u610f\u3057\u3066\u3044\u307e\u3059\u304c\uff0c\u3053\u308c\u306b\u95a2\u3057\u3066\u3082MotorInterface\u5074\u3092\u53c2\u7167\u3057\u3066\u8abf\u3079\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e
\n\u5229\u7528\u3057\u3066\u3044\u308b\u30d7\u30e9\u30b0\u30a4\u30f3\u5074\u306f\u3053\u3093\u306a\u7a0b\u5ea6\u3067\u3059\u306d\uff0e<\/p>\n
\n
\u3067\u306f\uff0c\u5927\u5143\u306eMotorInterface \u3063\u3066\u4f55\u3058\u3083\u30e9\u30db\u30a4\u3063\u3066\u3053\u3068\u3067\uff0c\u3053\u3061\u3089\u3092\u8abf\u3079\u3066\u307f\u307e\u3057\u3087\u3046\uff0e
\n\u307e\u305a\uff0c\u3053\u308c\u3092\u5b9a\u7fa9\u3057\u3066\u3044\u308b\u306e\u306f\uff0cfawkes\/src\/libs\/interfaces\/MotorInterface.xml \u3067\u3059\uff0e
\n\u3061\u306a\u307f\u306b\uff0cmake\u306b\u3088\u3063\u3066\uff0c\u3053\u3053\u304b\u3089tolua\u3068h\u3068cpp\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u81ea\u52d5\u751f\u6210\u3057\u307e\u3059\uff0e
\n\u203b\u3042\u3068\uff0cfawkes\/src\/libs\/\u306e\u4e0b\u306b\u306finterface\u3068interfaces\u306e2\u3064\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u304c\u3042\u308b\u305f\u3081\uff0c<\u30bf\u30d6>\u30ad\u30fc\u3067\u306e\u88dc\u9593\u304c\u3046\u307e\u304f\u52b9\u304d\u307e\u305b\u3093\uff0e\u6c17\u3092\u3064\u3051\u307e\u3057\u3087\u3046\uff0e<\/p>\n
MotorInterface.xml<\/h6>\n
XML\u5f62\u5f0f\u3067\u66f8\u304b\u308c\u305f\u5909\u6570\u306e\u5b9a\u7fa9\u30d5\u30a1\u30a4\u30eb\u3067\u3059\uff08\u69cb\u9020\u4f53\u7684\u306a\u30e2\u30ce\uff09\uff0e<\/p>\n
\r\n<interface name="MotorInterface" author="Martin Liebenberg, Tim Niemueller" year="2007">\r\n  <constants>\r\n    <constant type="uint32" name="MOTOR_ENABLED" value="0">\r\n      Motor is enabled and sending drive commands will make the robot move.\r\n    <\/constant>\r\n...\r\n  <\/constants>\r\n  <data>\r\n    <comment>This interface is currently prepared best for a holonomic robot.\r\n      It will need modifications or a split to support differential drives.\r\n    <\/comment>\r\n    <field type="uint32" name="motor_state">\r\n      The current state of the motor.\r\n    <\/field>\r\n...\r\n  <\/data>\r\n  <message name="SetMotorState">\r\n    <comment>Sets the current motor state.<\/comment>\r\n    <field type="uint32" name="motor_state">\r\n      The new motor state to set. Use the MOTOR_* constants.\r\n    <\/field>\r\n  <\/message>\r\n...\r\n<\/interface>\r\n<\/pre>\n
\u3068\u306a\u3063\u3066\u304a\u308a\uff0c\u5b9a\u6570\u90e8\u306e\u8a18\u8ff0\uff0c\u30c7\u30fc\u30bf\u90e8\u306e\u8a18\u8ff0\uff0c\u30e1\u30c3\u30bb\u30fc\u30b8\u90e8\u306e\u8a18\u8ff0\u306b\u308f\u304b\u308c\u3066\u3044\u307e\u3059\uff0e
\n\u5b9a\u6570\u90e8\u306f\uff0c\u3053\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3067\u4f7f\u3046\u5b9a\u6570\u3092\u5b9a\u7fa9\u3057\u3066\u304a\u308a\uff0c\u4ee5\u5f8c\uff0c\u540d\u524d\uff08name\uff09\u3092\u4f7f\u3063\u3066\u3053\u308c\u3089\u306e\u5b9a\u6570\u3092\u8868\u73fe\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff08\u305f\u3076\u3093\uff09\uff0e
\n\u30c7\u30fc\u30bf\u90e8\u3068\u30e1\u30c3\u30bb\u30fc\u30b8\u90e8\u306f\uff0c\u5909\u6570\u306e\u540d\u524d\u3068\u305d\u306e\u578b\u3092\u5b9a\u7fa9\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u30c7\u30fc\u30bf\u90e8\u306f\uff0c\u5358\u767a\u306e\u5909\u6570\u306e\u60c5\u5831\u304c\u4e26\u3093\u3067\u3044\u307e\u3059\u304c\uff0c\u30e1\u30c3\u30bb\u30fc\u30b8\u306f\u305d\u308c\u3089\u306e\u96c6\u5408\uff08\u69cb\u9020\u4f53\uff09\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
\n\u307e\u305f\uff0c\u30e1\u30c3\u30bb\u30fc\u30b8\u90e8\u306f\uff0c\u76f8\u624b\u306b\u30c7\u30fc\u30bf\u3092\u9001\u4fe1\u3059\u308b\u3068\u304d\u306b\u3064\u304b\u3046\u90e8\u5206\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
\n\u8981\u306f\uff0c\u66f8\u304d\u8fbc\u3093\u3060\u30c7\u30fc\u30bf\u3092\u300c\u6642\u7cfb\u5217\u9806\u306b\u3061\u3083\u3093\u3068\u76f8\u624b\u306b\u5c4a\u3051\u308b\u300d\u5fc5\u8981\u304c\u3042\u308b\u5834\u5408\u304c\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\uff0c\u300c\u65b0\u3057\u3044\u30c7\u30fc\u30bf\u3067\u4e0a\u66f8\u304d\u3057\u3066\u6700\u65b0\u60c5\u5831\u304c\u308f\u304b\u308c\u3070\u3088\u3044\u300d\u306e\u304c\u30c7\u30fc\u30bf\u90e8\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u304b\u306a\u3068\u52dd\u624b\u306b\u89e3\u91c8\u3057\u3066\u304a\u308a\u307e\u3059\uff08\u9593\u9055\u3063\u3066\u3044\u308b\u53ef\u80fd\u6027\u3082\u3042\u308b\u306e\u3067\uff0c\u8981\u6ce8\u610f\uff09\uff0e<\/p>\n
\n
\u3055\u3066\u3055\u3066\uff0cLRF\u306e\u30c7\u30fc\u30bf\u3092\u53d6\u3063\u3066\u304f\u308b\u306b\u306f\u3069\u3046\u3057\u305f\u3089\u3088\u3044\u3067\u3057\u3087\u3046\u304b\uff0e
\n\u307e\u305a\uff0cLRF\u306e\u30c7\u30fc\u30bf\u3092\u53d7\u3051\u53d6\u308b\u30d7\u30e9\u30b0\u30a4\u30f3\u306f\uff0cfawkes\/src\/plugins\/laser \u306b\u3042\u308a\u307e\u3059\uff0e
\nfawkes-robotino-2016\u30682019\u306f\uff0csick_tim55x\u3068urg\uff08HOKUYO\uff09\u304c\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\uff0e
\nBTR\u306e\u5834\u5408\uff0ca-step<\/a>\u306b\uff0crplidar\u3068sweep\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u7528\u610f\u3057\u3066\u3044\u307e\u3059\uff08\u305f\u3060\u3057\uff0c\u3042\u307e\u308a\u52d5\u4f5c\u78ba\u8a8d\u3057\u3066\u3044\u306a\u3044\u306e\u3067\u8981\u6ce8\u610f\uff09\uff0e
\n\u203b\u5b9f\u969b\u306e\u30b7\u30b9\u30c6\u30e0\u3078\u306e\u7d44\u307f\u8fbc\u307f\u306ftk-fawkes<\/a>\u3092\u53c2\u7167\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nLRF\u304b\u3089\u8aad\u307f\u53d6\u3063\u305f\u30c7\u30fc\u30bf\u306f\uff0c_distances[int_deg]\u306b\u683c\u7d0d\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u305d\u3057\u3066\uff0c\u89e3\u50cf\u5ea6\u306b\u5fdc\u3058\u3066Laser360\/720\/1080\u3068\u3057\u3066BlackBoard\u306b\u66f8\u304d\u8fbc\u3093\u3067\u3044\u307e\u3059\uff0e
\n\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u306f\uff0c\u305d\u308c\u305e\u308c\uff0cLaser360Interface\/Laser720Interface\/Laser1080Interface \u3067\u3059\uff0e
\n\u3061\u306a\u307f\u306b\uff0c\u5185\u90e8\u5909\u6570\u7684\u306b\u306f\uff0c\u4ee5\u4e0b\u306e\u69d8\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n
\r\nfawkes::Laser360Interface  *laser360_if;\r\nfawkes::Laser720Interface  *laser720_if;\r\nfawkes::Laser1080Interface *laser1080_if;\r\n<\/pre>\n
\u3053\u308c\u3092\u53d7\u3051\u53d6\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f8\u3051\u3070\u826f\u3044\u308f\u3051\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
BTR\u8ab2\u984c : fawkes \u306e plugin \u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff0e\u306b\u3066plug …<\/p>\n
  BTR\u8ab2\u984c : fawkes \u306e plugin \u3092\u4f5c\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff08Interfaces\u7de8\uff09<\/span> \u7d9a\u304d\u3092\u8aad\u3080 »<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[10,3,2],"tags":[],"class_list":["post-2555","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2555","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2555"}],"version-history":[{"count":5,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2555\/revisions"}],"predecessor-version":[{"id":2560,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2555\/revisions\/2560"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2555"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2555"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2555"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}