{"id":3676,"date":"2025-01-30T12:30:49","date_gmt":"2025-01-30T03:30:49","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3676"},"modified":"2025-01-30T13:34:10","modified_gmt":"2025-01-30T04:34:10","slug":"ros2%e3%81%a7kachaka","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3676","title":{"rendered":"ROS2\u3067kachaka"},"content":{"rendered":"<p><mark><a href=\"https:\/\/github.com\/pf-robotics\/kachaka-api\/blob\/main\/docs\/ROS2.md\">ROS 2\u3067\u30ab\u30c1\u30e3\u30abAPI\u3092\u5229\u7528\u3059\u308b<\/a><\/mark>\u3092\u53c2\u8003\u306b\u4f5c\u696d\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n<p>\u307e\u305a\u306fDocker \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff0e<br \/>\n<mark><a href=\"https:\/\/docs.docker.com\/engine\/install\/ubuntu\/\">Install Docker Engine on Ubuntu<\/a><\/mark>\u306b\u5f93\u3063\u3066\u4f5c\u696d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# Add Docker's official GPG key:\r\nsudo apt-get update\r\nsudo apt-get install ca-certificates curl\r\nsudo install -m 0755 -d \/etc\/apt\/keyrings\r\nsudo curl -fsSL https:\/\/download.docker.com\/linux\/ubuntu\/gpg -o \/etc\/apt\/keyrings\/docker.asc\r\nsudo chmod a+r \/etc\/apt\/keyrings\/docker.asc\r\n\r\n# Add the repository to Apt sources:\r\necho \\\r\n  &quot;deb &#x5B;arch=$(dpkg --print-architecture) signed-by=\/etc\/apt\/keyrings\/docker.asc] https:\/\/download.docker.com\/linux\/ubuntu \\\r\n  $(. \/etc\/os-release &amp;&amp; echo &quot;$VERSION_CODENAME&quot;) stable&quot; | \\\r\n  sudo tee \/etc\/apt\/sources.list.d\/docker.list &gt; \/dev\/null\r\nsudo apt-get update\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin\r\nsudo usermod -aG docker `whoami`\r\n<\/pre>\n<p>group \u3092\u53cd\u6620\u3055\u305b\u308b\u305f\u3081\u306b\uff0c\u4e00\u56de\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u76f4\u3057\u305f\u307b\u3046\u304c\u826f\u3055\u3052\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/pf-robotics\/kachaka-api\r\ncd kachaka-api\/tools\/ros2_bridge\r\n.\/start_bridgh.sh &lt;kachaka\u306eIP\u30a2\u30c9\u30ec\u30b9&gt;\r\n<\/pre>\n<p>\u3064\u306a\u304c\u3063\u305f\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nryukoku@ryukoku-NucBoxG5:~$ ros2 topic list\r\n\/kachaka\/back_camera\/camera_info\r\n\/kachaka\/back_camera\/image_raw\r\n\/kachaka\/back_camera\/image_raw\/camera_info\r\n\/kachaka\/back_camera\/image_raw\/compressed\r\n\/kachaka\/front_camera\/camera_info\r\n\/kachaka\/front_camera\/image_raw\r\n\/kachaka\/front_camera\/image_raw\/camera_info\r\n\/kachaka\/front_camera\/image_raw\/compressed\r\n\/kachaka\/imu\/imu\r\n\/kachaka\/layout\/locations\/list\r\n\/kachaka\/layout\/shelves\/list\r\n\/kachaka\/lidar\/scan\r\n\/kachaka\/mapping\/map\r\n\/kachaka\/object_detection\/result\r\n\/kachaka\/odometry\/odometry\r\n\/kachaka\/robot_info\/version\r\n\/kachaka\/tof_camera\/camera_info\r\n\/kachaka\/tof_camera\/image_raw\r\n\/kachaka\/tof_camera\/image_raw\/camera_info\r\n\/kachaka\/tof_camera\/image_raw\/compressedDepth\r\n\/kachaka_description\/joint_states\r\n\/kachaka_description\/robot_description\r\n\/parameter_events\r\n\/rosout\r\n\/tf\r\n\/tf_static\r\n<\/pre>\n<p>\u3042\uff0crviz \u304c\u5165\u3063\u3066\u3044\u306a\u304b\u3063\u305f\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install rviz\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>ROS 2\u3067\u30ab\u30c1\u30e3\u30abAPI\u3092\u5229\u7528\u3059\u308b\u3092\u53c2\u8003\u306b\u4f5c\u696d\u3057\u3066\u307f\u307e\u3059\uff0e \u307e\u305a\u306fDocker &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3676\"> <span class=\"screen-reader-text\">ROS2\u3067kachaka<\/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":[39,3,2],"tags":[],"class_list":["post-3676","post","type-post","status-publish","format-standard","hentry","category-kachaka","category-logistics-league","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3676","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=3676"}],"version-history":[{"count":5,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3676\/revisions"}],"predecessor-version":[{"id":3685,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3676\/revisions\/3685"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3676"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3676"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3676"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}