{"id":2997,"date":"2022-06-23T17:20:07","date_gmt":"2022-06-23T08:20:07","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2997"},"modified":"2022-06-24T17:06:54","modified_gmt":"2022-06-24T08:06:54","slug":"robotino-py%e3%81%a8robviewros-rvw2%e3%81%ae%e5%90%8c%e6%9c%9f%e6%96%b9%e6%b3%95%e3%81%ab%e3%81%a4%e3%81%84%e3%81%a6","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2997","title":{"rendered":"robotino.py\u3068robview(ros.rvw2)\u306e\u540c\u671f\u65b9\u6cd5\u306b\u3064\u3044\u3066"},"content":{"rendered":"<p>\u4f55\u304b\u52d5\u304d\u304c\u304a\u304b\u3057\u304f\u306a\u3063\u3066\u304d\u305f\u306e\u3067\uff0c\u3061\u3083\u3093\u3068\u4ed5\u69d8\u3092\u307e\u3068\u3081\uff0c\u305d\u308c\u306b\u5f93\u3063\u3066\u3044\u308b\u304b\u78ba\u8a8d\uff0e<\/p>\n<p>\u307e\u305a\uff0cros.rvw2\u306f\uff0c<br \/>\nwait:<br \/>\n\u3000INT_0 \u30ab\u30a6\u30f3\u30bf\u30fc\u5024\u3092\u305d\u306e\u307e\u307eINT_0\u3067\u9001\u4fe1\uff0e<br \/>\n\u3000INT_1 \u623b\u308a\u5024(return)\u306b1\u3092\u8db3\u3057\u305f\u5024\u3092INT_1\u3067\u9001\u4fe1\uff0e<br \/>\n\u3000INT_1\u306e\u5024\u3092mode\u306b\u4ee3\u5165\uff0e\u307e\u305f\uff0cINT_1\u304b\u3089INT_4\u307e\u3067\u306e\u3069\u308c\u304b\u306e\u5024\u304c0\u4ee5\u5916\u306b\u306a\u3063\u305f\u3089\u6b21\u306b\u9032\u3080\uff0e<br \/>\n\u30b5\u30d6\u30eb\u30fc\u30c1\u30f3:<br \/>\n\u3000INT_0 \u30ab\u30a6\u30f3\u30bf\u30fc\u5024\u3092\u305d\u306e\u307e\u307eINT_0\u3067\u9001\u4fe1\uff0e<br \/>\n\u3000INT_1 \u5024\u30920\u3057\u3066INT_1\u3067\u9001\u4fe1\uff0e<br \/>\n\u3000\u4f5c\u696d\u3092\u7d42\u3048\u305f\u3089\u6b21\u306b\u9032\u3080\uff0e<br \/>\nRESP:<br \/>\n\u3000INT_0 \u30ab\u30a6\u30f3\u30bf\u30fc\u5024\u3092\u305d\u306e\u307e\u307eINT_0\u3067\u9001\u4fe1\uff0e<br \/>\n\u3000INT_1 \u623b\u308a\u5024(return)\u306b1\u3092\u8db3\u3057\u305f\u5024\u3092INT_1\u3067\u9001\u4fe1\uff0e<br \/>\n\u3000INT_1\u306e\u5024\u3092mode\u306b\u4ee3\u5165\u3057\uff0c\u307e\u305f\uff0cINT_1\u304b\u3089INT_4\u307e\u3067\u306e\u3069\u308c\u304b\u306e\u5024\u304c0\u4ee5\u5916\u306b\u306a\u3063\u305f\u3089\u6b21\u306b\u9032\u3080\uff0e<\/p>\n<p>INT_0\u306f\uff0c+1\u306e\u65b9\u304c\u826f\u3044\u6c17\u304c\u3059\u308b\uff0e<br \/>\n&#8212;-<br \/>\n\u6b21\u306b\uff0crobotino.py \u3068\u3044\u3046\u304b\uff0cudpcomm.py\u306f\uff0c<br \/>\n\u3000# INT_1\u306b\u30e2\u30fc\u30c9\u306e\u5024\u3092\u5165\u308c\u308b\uff08\u5f15\u6570\u304c\u3042\u308b\u3068\u304d\u306f\uff0cINT_2\u304b\u3089INT_4\u3082\u5229\u7528\uff09\uff0e<br \/>\n\u3000INT_1\u306b0\u3092\u5165\u308c\u3066\u9001\u4fe1\uff0e<br \/>\n\u3000\u3000getResponse(0): INT_1\u304c0\u4ee5\u5916\u306b\u306a\u308b\u307e\u3067\u5f85\u3064\uff0e<br \/>\n\u3000INT_1\u306b\u30e2\u30fc\u30c9\u756a\u53f7\u306e\u5024\u3092\u5165\u308c\u3066\u9001\u4fe1\uff0e<br \/>\n\u3000\u3000getResponse(1): INT_1\u304c0\u306b\u306a\u308b\u307e\u3067\u5f85\u3064\uff0e<br \/>\n\u3000INT_1\u306b0\u3092\u5165\u308c\u3066\u9001\u4fe1\uff0e<br \/>\n\u3000\u3000getResponse(0): INT_1\u304c0\u4ee5\u5916\u306b\u306a\u308b\u307e\u3067\u5f85\u3064\uff0e<br \/>\n&#8212;-<br \/>\n\u3082\u3046\u4e00\u5ea6\u4ed5\u69d8\u3092\u898b\u76f4\u305d\u3046\u304b\u306a\u3041\u2026\uff0e<br \/>\nrobotino.py \u306e\u8a71\u304c\u30d9\u30fc\u30b9\u306b\u306a\u308b\u306e\u3067\uff0c<br \/>\n\u9001\u53d7\u4fe1\u3068\u3082\uff0cINT_1\u3092\u4f7f\u3063\u3066\u3084\u308a\u53d6\u308a\uff0e<br \/>\n\u3000\u2192\u3000\u305d\u306e\u524d\u306brobotino.py \u5074\u3068\u3057\u3066\u306f\uff0cINT_0\u306e\u5024\u304c\u540c\u3058\u306b\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u3079\u304d\u3067\u3059\u306d\uff0e\u3067\u306a\u3044\u3068\uff0c\u3053\u3061\u3089\u306e\u60c5\u5831\u3092\u9001\u308b\u524d\u306e\u72b6\u614b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\uff0e<br \/>\n&#8212;-<br \/>\n\u30d7\u30ed\u30c8\u30b3\u30eb\u306e\u8a71\uff0e<br \/>\n[start]<br \/>\nrobview\u306f\uff0cwait\uff0e<br \/>\n\u3000\u53d7\u4fe1INT_1\u304c\u30e2\u30fc\u30c9\u756a\u53f7\uff0e0\u3060\u3063\u305f\u3089\u5f85\u3064\uff0e<br \/>\n\u3000\u9001\u4fe1INT_0\u306f\uff0c\u53d7\u4fe1INT_0\u306b1\u52a0\u7b97\u3059\u308b\uff0e<br \/>\n\u3000\u9001\u4fe1INT_1\u306f\uff0c\u623b\u308a\u5024\u306b1\u8db3\u3057\u305f\u5024\u3092\u5165\u308c\u3066\u3044\u308b\uff0e\u4f55\u3082\u306a\u3051\u308c\u3070\u300c1\u300d\u306b\u306a\u3063\u3066\u3044\u308b\uff0e<br \/>\nrobotino.py\u3067\u4f55\u3089\u304b\u306e\u30e2\u30fc\u30c9\u306b\u5bfe\u5fdc\u3057\u305f\u4f5c\u696d\u3092\u3059\u308b\uff0e\u305d\u306e\u6642\uff0cgetResponse\u3092\u547c\u3073\u51fa\u3059\uff0e<br \/>\n\u3000INT_1\u306b0\u3092\u5165\u308c\u3066\u9001\u4fe1\uff0e<br \/>\n\u3000\u2192\u3000robview\u306fwait\u306b\u304a\u3044\u3066\uff0c\u30e2\u30fc\u30c9\u756a\u53f70\u304c\u6765\u308b\u306e\u3067\u7121\u8996\u3057\u3066\u5f85\u3064\uff0ewait\u306e\u307e\u307e\uff0e<br \/>\n\u3000\u3000\u3000\u9001\u4fe1INT_1\u306f\u300c1\u300d\u306b\u306a\u3063\u3066\u3044\u308b\uff0e<br \/>\n\u3000INT_1\u306b\u30e2\u30fc\u30c9\u756a\u53f7\u3092\u5165\u308c\u3066\u9001\u4fe1\uff0e<br \/>\n\u3000\u2192\u3000robview\u306f\u30e2\u30fc\u30c9\u756a\u53f7\u304c\u5165\u308b\u306e\u3067\uff0c\u756a\u53f7\u306b\u5bfe\u5fdc\u3057\u305f\u30b5\u30d6\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3059\u308b\uff0e<br \/>\n\u3000\u3000\u3000setOdometry\u306e\u5834\u5408\uff0c\u53d7\u4fe1INT_1\u304c0\u306b\u306a\u308b\u306e\u3092\u5f85\u3064\uff0e<br \/>\n\u3000\u3000\u3000\u9001\u4fe1INT_1\u306b\u306f\uff0c\u30aa\u30c9\u30e1\u30c8\u30ea\u30fc\u306e\u5024\u00d710\u304c\u8fd4\u308b \u2190 \u4ed5\u69d8\u306b\u53cd\u3057\u3066\u3044\u307e\u3059\u306d\u3047\uff0e\u3053\u3053\u3060\uff0e\u53e4\u3044\u307e\u307e\u306b\u306a\u3063\u3066\u3044\u305f\uff0e<br \/>\n\u3000\u3000\u3000\u9001\u4fe1INT_1\u306b0\u3092\u5165\u308c\u3066\uff0c\u9001\u4fe1INT_2\u304b\u30894\u306b\u30aa\u30c9\u30e1\u30c8\u30ea\u30fc\u306e\u5024\u00d710\u3092\u8fd4\u3059\uff0e<br \/>\n\u3046\u307e\u304f\u52d5\u3044\u305f\u3051\u3069\uff0c\u304b\u306a\u308a\u9045\u3044\u306a\u3041\u2026\uff0e<br \/>\n&#8212;-<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ndef packetProcess():\r\n    updateUDP()\r\n    udp.receiver()\r\n    udp.sender()\r\n    # rate.sleep()\r\n<\/pre>\n<p>sleep\u3092\u53d6\u3063\u305f\u3089\u901f\u304f\u306a\u308a\u307e\u3057\u305f\uff0e<br \/>\nrate\u304c1\/10\u79d2\u3060\u3063\u305f\u3081\uff0cUDP\u306e\u30d1\u30b1\u30c3\u30c8\u304c\u51e6\u7406\u3057\u304d\u308c\u305a\u306b\u30d0\u30c3\u30d5\u30a1\u30fc\u306b\u8caf\u307e\u3063\u3066\u3057\u307e\u3063\u3066\u3044\u308b\u72b6\u614b\u3060\u3063\u305f\u6a21\u69d8\uff0e<br \/>\nUDP \u306a\u3093\u3060\u304b\u3089\uff0c\u53d6\u308a\u3053\u307c\u3057\u3066\u304f\u308c\u308c\u3070\u826f\u3044\u306e\u306b\u2026\uff0e<br \/>\n\u9069\u5207\u306b\u30d0\u30c3\u30d5\u30a1\u306b\u5165\u308c\u3066\u304f\u308c\u3066\u3044\u305f\u3093\u3067\u3059\u306d\uff0eUDP\u306b\u9a19\u3055\u308c\u305f\u2026\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4f55\u304b\u52d5\u304d\u304c\u304a\u304b\u3057\u304f\u306a\u3063\u3066\u304d\u305f\u306e\u3067\uff0c\u3061\u3083\u3093\u3068\u4ed5\u69d8\u3092\u307e\u3068\u3081\uff0c\u305d\u308c\u306b\u5f93\u3063\u3066\u3044\u308b\u304b\u78ba\u8a8d\uff0e &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2997\"> <span class=\"screen-reader-text\">robotino.py\u3068robview(ros.rvw2)\u306e\u540c\u671f\u65b9\u6cd5\u306b\u3064\u3044\u3066<\/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":[3,2,26,9,24,17],"tags":[],"class_list":["post-2997","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-2","category-robotino-3","category-robotino-4","category-robview3"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2997","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=2997"}],"version-history":[{"count":7,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2997\/revisions"}],"predecessor-version":[{"id":3004,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2997\/revisions\/3004"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2997"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2997"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2997"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}