{"id":2816,"date":"2021-06-24T11:15:20","date_gmt":"2021-06-24T02:15:20","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2816"},"modified":"2021-06-24T17:09:56","modified_gmt":"2021-06-24T08:09:56","slug":"rosrobview-%e3%81%ae%e3%83%97%e3%83%ad%e3%82%b0%e3%83%a9%e3%83%a0%e3%81%ae%e8%bf%bd%e5%8a%a0%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2816","title":{"rendered":"ROS<=>RobView \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8ffd\u52a0\u65b9\u6cd5"},"content":{"rendered":"<p>RobView \u306e\u30b5\u30d6\u30d7\u30ed\u30b0\u30e9\u30e0\u8ffd\u52a0\u65b9\u6cd5\uff08\u3088\u3046\u3084\u304f\u3053\u3053\u307e\u3067\u6765\u307e\u3057\u305f\uff09<br \/>\n\u307e<br \/>\n\u305a\uff0crobViewMode \u306e\u756a\u53f7\u3092\u6c7a\u3081\u307e\u3059\uff0e\u4f55\u304b\u7cfb\u7d71\u7acb\u3066\u3066\u756a\u53f7\u4ed8\u3051\u3057\u305f\u3044\u3067\u3059\u306d\uff0e<br \/>\n\u4eca\u306e\u3068\u3053\u308d\uff0c1\u304comniDrive\u3067\u306e\u79fb\u52d5\uff0c2\u304cpositionDriver\u3067\u306e\u79fb\u52d5\uff0c3\u304cOdometry\u306e\u5024\u306e\u8a2d\u5b9a\u3000\u3068\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u3053\u3053\u3067\u306f\uff0c\u7df4\u7fd2\u306710\u756a\u3092\u8ffd\u52a0\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n<p>\u25a0\u30b5\u30fc\u30d3\u30b9\u306e\u8ffd\u52a0<br \/>\n~\/catkin_ws\/src\/ros-rcll_btr_msgs\/scripts\/robotino.py \u3092\u7de8\u96c6\u3057\u307e\u3059\uff0e<br \/>\nmain \u306e rospy.init_node()\u306e\u6b21\u306e\u5f53\u305f\u308a\u306b\uff0csrv** = rospy.Service(&#8230;) \u3068\u8a00\u3046\u9805\u76ee\u304c\u3042\u308b\u306e\u3067\uff0c\u30b5\u30fc\u30d3\u30b9\u756a\u53f7\u3092\u8ffd\u52a0\u3057\u3066\uff0c\u30b5\u30fc\u30d3\u30b9\u540d\u3068\uff0c\u53d7\u3051\u53d6\u308b\u578b\uff0c\u305d\u3057\u3066\uff0c\u547c\u3073\u51fa\u3059\u95a2\u6570\u3092\u66f8\u304d\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">srv04 = rospy.Service('rvw2\/goToMPSCenter', Empty, goToMPSCenter)<\/pre>\n<p>\u5f15\u6570\u7121\u3057\u306e\u6642\u306f\uff0cEmpty \u3092\u6307\u5b9a\u3057\u307e\u3059\uff0e\u81ea\u5206\u3067\u578b\u3092\u4f5c\u308b\uff08C\u69cb\u9020\u4f53\u7684\u306a\u611f\u3058\uff09\u5834\u5408\u306f\uff0cros-rcll_btr_msgs\/srv \u306e\u4e0b\u306b\u5ba3\u8a00\u30d5\u30a1\u30a4\u30eb\u3092\u66f8\u3044\u3066catkin_make \u3057\u307e\u3059\uff0e<br \/>\n\u306a\u304a\uff0cEmpty\u3092\u4f7f\u3046\u306b\u306f\uff0c\u30d5\u30a1\u30a4\u30eb\u306e\u6700\u521d\u306e\u65b9\u3067import\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e\u4ed6\u306e\u578b\u3082\u521d\u3081\u3066\u306e\u4f7f\u7528\u3067\u3042\u308c\u3070import\u3092\u8ffd\u52a0\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">from std_srvs.srv import Empty, EmptyResponse<\/pre>\n<p>\u6b21\u306b\uff0c\u547c\u3073\u51fa\u3055\u308c\u308b\u95a2\u6570\u3092\u66f8\u304d\u307e\u3059\uff0emain\u3088\u308a\u524d\u306b\u66f8\u304d\u307e\u3057\u3087\u3046\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ndef goToMPSCenter(data):\r\n    global robViewMode\r\n    robViewMode = 10\r\n    udp.view3Send&#x5B;1] = robViewMode # mode number\r\n    print(&quot;goToMPSCenter&quot;)\r\n    sendRobView()\r\n    return EmptyReponse()\r\n<\/pre>\n<p>\u4e00\u756a\u30b7\u30f3\u30d7\u30eb\u306a\u306e\u306f\uff0c\u4e0a\u8a18\u3067\u3059\uff0e\u30e2\u30fc\u30c9\u756a\u53f7\u3092\u8a2d\u5b9a\u3057\u3066sendRobView()\u3092\u547c\u3073\u51fa\u3059\u3060\u3051\u3067\u3059\uff0e<br \/>\n\u5f15\u6570\u3092\u6271\u3044\u305f\u3044\u3068\u304d\u306f\uff0cdata \u306e\u5024\u3092\u53d7\u3051\u53d6\u3063\u3066\uff0cudp.view3Send \u306e5-7\u3067\u6e21\u3057\u3066\u4e0b\u3055\u3044\uff0e<br \/>\nrobotino.py \u306e\u4fee\u6b63\u306f\u4ee5\u4e0a\u3067\u3059\uff0e<\/p>\n<p>\u3053\u308c\u3092\u30e1\u30a4\u30f3\u30d7\u30ed\u30b0\u30e9\u30e0\u304b\u3089\u547c\u3073\u51fa\u3057\u307e\u3059\uff0e\u4eca\u56de\u306f\uff0cbtr2021\/rcll2021\/python\/refbox.py \u3067\u3059\uff0e<br \/>\n\u3053\u3061\u3089\u3067\u3082\u53d7\u3051\u6e21\u3057\u306e\u578b\u3092\u4f7f\u3044\u307e\u3059\u306e\u3067\uff0cimport \u3057\u3066\u3044\u306a\u3044\u5834\u5408\u306f\u8ffd\u52a0\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">from std_srvs.srv import Empty, EmptyResponse<\/pre>\n<p>\u547c\u3073\u51fa\u3057\u90e8\u5206\u3092\u95a2\u6570\u3068\u3057\u3066\u7528\u610f\u3057\u307e\u3059\uff08\u4e00\u56de\u3057\u304b\u547c\u3073\u51fa\u3055\u306a\u3044\u306e\u3067\u3042\u308c\u3070\uff0c\u76f4\u63a5\u66f8\u3044\u3066\u3082\u826f\u3044\u3051\u3069\uff09<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ndef goToMPSCenter():\r\n    rospy.wait_for_service('\/rvw2\/goToMPSCenter')\r\n    goToMPSCenter = rospy.ServiceProxy('\/rvw2\/goToMPSCenter', Empty)\r\n    print(&quot;goToMPSCenter&quot;)\r\n    resp = goToMPSCenter()\r\n    print(&quot;reached&quot;)\r\n<\/pre>\n<p>\u5148\u307b\u3069\u306epub**\u3067\u7528\u610f\u3057\u305f\u30b5\u30fc\u30d3\u30b9\u3092wait\u3057\u3066\uff0cProxy \u3067\u547c\u3073\u51fa\u3057\u307e\u3059\uff0e<br \/>\n\u5f15\u6570\u304c\u5fc5\u8981\u306a\u5834\u5408\u306f\uff0c\u3053\u3053\u3067\u4e0e\u3048\u307e\u3059\uff08\u4eca\u56de\u306fEmpty\uff09<br \/>\n\u3042\u3068\u306f\uff0cmain \u306b\u3066\uff0c\u3053\u306e\u95a2\u6570\u3092\u547c\u3073\u51fa\u305b\u3070\uff0crobView \u306f\u30e2\u30fc\u30c910\u3092\u52d5\u304b\u3057\u307e\u3059\uff0e<br \/>\n\u3068\u3044\u3046\u308f\u3051\u3067\uff0cview3\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u66f8\u3051\u3070\u3067\u304d\u3042\u304c\u308a\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>RobView \u306e\u30b5\u30d6\u30d7\u30ed\u30b0\u30e9\u30e0\u8ffd\u52a0\u65b9\u6cd5\uff08\u3088\u3046\u3084\u304f\u3053\u3053\u307e\u3067\u6765\u307e\u3057\u305f\uff09 \u307e \u305a\uff0cr &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2816\"> <span class=\"screen-reader-text\">ROS<=>RobView \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8ffd\u52a0\u65b9\u6cd5<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/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":[3,2,9,24,17,6,16,14],"tags":[],"class_list":["post-2816","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-3","category-robotino-4","category-robview3","category-setting","category-16","category-14"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2816","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=2816"}],"version-history":[{"count":2,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2816\/revisions"}],"predecessor-version":[{"id":2818,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2816\/revisions\/2818"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2816"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2816"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2816"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}