{"id":3660,"date":"2025-01-28T10:49:48","date_gmt":"2025-01-28T01:49:48","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3660"},"modified":"2025-01-30T12:34:00","modified_gmt":"2025-01-30T03:34:00","slug":"ubuntu-22-04%e3%81%abros2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3660","title":{"rendered":"Ubuntu 22.04\u306bROS2"},"content":{"rendered":"

Robotino\u3092ROS2\u3078\u5bfe\u5fdc<\/a><\/mark>\u3067\u8272\u3005\u3068\u52d8\u9055\u3044\u3057\u3066\u3044\u305f\u306e\u3067\uff0c
\n\u307e\u305a\u306f\u624b\u5143\u306e\u30de\u30b7\u30f3\u306bUbuntu 22.04\u3092\u5165\u308c\u3066\uff0c\u305d\u3053\u306bROS\u3092\u5165\u308c\u3066\u307f\u307e\u3059\uff0e
\n\u3068\u308a\u3042\u3048\u305a\u9060\u9694\u3067\u89e6\u308c\u308b\u3088\u3046\u306b\u3057\u307e\u3059\uff0e
\nUbuntu 24.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/mark>\u3042\u305f\u308a\u3092\u53c2\u8003\u306b\u4f5c\u696d\uff0e<\/p>\n

\r\nsudo apt-get install net-tools openssh-server\r\nsudo apt-get update\r\nsudo apt-get upgrade\r\n<\/pre>\n
settings \u304b\u3089
\n\u30fb\u300cSystem\u300d\u2192\u300cusers\u300d\u2192\u300cAutomatic Login\u300d\u3092\u6709\u52b9\u306b\uff0e
\n\u30fb\u300cPower\u300d\u2192\u300cPower Mode\u300d\u3092\u300cBalanced\u300d\u306b\u5909\u66f4\uff08Performance\u306f\u306a\u304b\u3063\u305f\u2026 \u2190 \u30de\u30b7\u30f3\u306b\u3088\u308b\u3063\u307d\u3044\uff0e\u5225\u306e\u30de\u30b7\u30f3\u3060\u3068\u51fa\u3066\u304d\u305f\uff09\uff0e
\n\u30fb\u300cPower\u300d\u2192\u300cPower Saving Options\u300d\u2192\u300cScreen Blank\u300d\u3092\u300cNever\u300d\u306b\u5909\u66f4\uff0e
\n\u30fb\u300cSharing\u300d\u2192\u300cRemote Desktop\u300d\u306e\u300cRemote Desktop\u300d\u3068\u300cRemote Control\u300d\u3092\u6709\u52b9\u306b\uff0e
\n\u30fb\u300cSystem\u300d\u2192\u300cRemote Login\u300d\u3092\u6709\u52b9\u306b\uff0e
\n\u3057\u307e\u3057\u305f\uff0e
\n\u4e00\u822c\u7684\u306a\u8a2d\u5b9a\u306f\uff0c\u3044\u3064\u3082\u901a\u308a\u3067\u3059\uff0e<\/p>\n
\r\nsudo apt-get install -y subversion git gcc build-essential vim screen ccache\r\nsudo update-locale LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8\r\n### \u6a19\u6e96\u306e\u30a8\u30c7\u30a3\u30bf\u3092vim \u306b\u5909\u66f4\r\n# vim\u3092\u9078\u3093\u3067\u306d\uff0e\r\nsudo update-alternatives --config editor\r\n### sudo \u3092NOPASSWD \u3067\u4f7f\u3044\u305f\u3044\u306a\u3089\u3070sudo visudo \u3067%sudo \u306e\u9805\u76ee\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u5909\u66f4\r\nsudo visudo\r\n### \u3053\u3053\u304b\u3089\uff08\u982d\u306e#\u306f\u5916\u3057\u3066\u4e0b\u3055\u3044\uff0e\uff09\r\n# #%sudo  ALL=(ALL:ALL) ALL\r\n# %sudo ALL=(ALL) NOPASSWD:ALL\r\n### \u3053\u3053\u307e\u3067\uff0e\r\n<\/pre>\n
ROS2\u306e\u8a2d\u5b9a\uff0e<\/p>\n
\r\nsudo apt-get install -y curl\r\nsudo curl -sSL https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.key -o \/usr\/share\/keyrings\/ros-archive-keyring.gpg\r\necho "deb [arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/ros-archive-keyring.gpg] http:\/\/packages.ros.org\/ros2\/ubuntu $(source \/etc\/os-release && echo $UBUNTU_CODENAME) main" | sudo tee \/etc\/apt\/sources.list.d\/ros2.list > \/dev\/null\r\nsudo apt update\r\nsudo apt install -y ros-humble-desktop ros-dev-tools gazebo ros-humble-gazebo-* ros-humble-joint-state-publisher ros-humble-rqt-*\r\ncd\r\nmkdir -p ros2_ws\/src\r\ncd ros2_ws\r\nsudo rosdep init\r\nrosdep update\r\nsource \/opt\/ros\/humble\/setup.bash\r\ncolcon build\r\nsource \/opt\/ros\/humble\/setup.bash\r\nsource ~\/ros2_ws\/install\/local_setup.bash\r\n<\/pre>\n
git \u306b\u3042\u304c\u3063\u3066\u3044\u308blibrealsense2\u3068robotino-daemons\u304c\u3061\u3087\u3063\u3068\u53e4\u3044\u3067\u3059\u306d\uff0e<\/p>\n
\r\ncd ~\/Downloads\r\nwget http:\/\/packages2.openrobotino.org\/pool\/focal\/main\/libr\/librealsense2\/librealsense2_2.44.0_amd64.deb\r\nwget http:\/\/packages2.openrobotino.org\/pool\/focal\/main\/r\/rec-rpc\/rec-rpc_1.6.1_amd64.deb\r\nwget http:\/\/packages2.openrobotino.org\/pool\/focal\/main\/r\/robotino-api2\/robotino-api2_1.1.14_amd64.deb\r\nwget http:\/\/packages2.openrobotino.org\/pool\/focal\/main\/r\/robotino-daemons\/robotino-daemons_2.1.4_amd64.deb\r\nwget http:\/\/packages2.openrobotino.org\/pool\/focal\/main\/r\/robotino-dev\/robotino-dev_1.0.3_amd64.deb\r\nwget http:\/\/archive.ubuntu.com\/ubuntu\/pool\/main\/b\/boost1.71\/libboost-program-options1.71.0_1.71.0-6ubuntu6_amd64.deb\r\nsudo apt-get install -y libqt5serialport5 at wput jq gawk libcpprest2.10 libjq1 libonig5  libgnutls-openssl27\r\nsudo adduser robotino\r\nsudo dpkg -i *.deb\r\nmkdir ~\/git\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/robocup-logistics\/ros2-robotino\r\ncd ~\/ros2_ws\/src\r\nln -s ~\/git\/ros2-robotino .\r\ncd ..\r\ncolcon build --symlink-install\r\n<\/pre>\n
README\u306b\u5f93\u3063\u3066\uff0c<\/p>\n
\r\ncd ~\/ros2_ws\r\nsource \/opt\/ros\/humble\/setup.bash\r\nsource install\/setup.bash\r\nros2 launch rto_node robotino_driverbringup.launch.py namespace:=robotinobase1 hostname:=192.168.11.54:12080\r\n<\/pre>\n
\u3088\u3057\uff0cRobotino \u306b\u3064\u306a\u304c\u3063\u305f\uff01<\/p>\n
\r\nryukoku@ryukoku-virtual-machine:~$ ros2 node list\r\n\/robotinobase1\/joy_node\r\n\/robotinobase1\/robot_state_publisher\r\n\/robotinobase1\/robotino_node\r\n\/robotinobase1\/robotino_odometry_node\r\n\/robotinobase1\/robotino_teleop\r\n\/static_transform_publisher_11F9ghIKUJCMucmw\r\n\/static_transform_publisher_V90xbQ9brfbR8Vuh\r\n\/static_transform_publisher_YU8CSvB3kb04HfA1\r\n<\/pre>\n
\r\nryukoku@ryukoku-virtual-machine:~$ ros2 topic list\r\n\/parameter_events\r\n\/robotinobase1\/analog_readings\r\n\/robotinobase1\/battery_status\r\n\/robotinobase1\/bumper\r\n\/robotinobase1\/cmd_vel\r\n\/robotinobase1\/digital_readings\r\n\/robotinobase1\/encoder_readings\r\n\/robotinobase1\/gripper_state\r\n\/robotinobase1\/imu\r\n\/robotinobase1\/irsensor_pcl\r\n\/robotinobase1\/irsensor_scan\r\n\/robotinobase1\/joint_states\r\n\/robotinobase1\/joy\r\n\/robotinobase1\/joy\/set_feedback\r\n\/robotinobase1\/motor_readings\r\n\/robotinobase1\/odom\r\n\/robotinobase1\/robot_description\r\n\/robotinobase1\/set_digital_values\r\n\/rosout\r\n\/tf\r\n\/tf_static\r\n<\/pre>\n
\u3075\u3080\u3075\u3080\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
Robotino\u3092ROS2\u3078\u5bfe\u5fdc\u3067\u8272\u3005\u3068\u52d8\u9055\u3044\u3057\u3066\u3044\u305f\u306e\u3067\uff0c \u307e\u305a\u306f\u624b\u5143\u306e\u30de\u30b7\u30f3 …<\/p>\n
  Ubuntu 22.04\u306bROS2<\/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":[3,2,26,9,24],"tags":[],"class_list":["post-3660","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-2","category-robotino-3","category-robotino-4"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3660","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=3660"}],"version-history":[{"count":15,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3660\/revisions"}],"predecessor-version":[{"id":3678,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3660\/revisions\/3678"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3660"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3660"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3660"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}