{"id":3745,"date":"2025-03-06T13:27:27","date_gmt":"2025-03-06T04:27:27","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3745"},"modified":"2025-03-06T14:29:31","modified_gmt":"2025-03-06T05:29:31","slug":"mac%e3%81%a7kachaka%e3%81%a7ros2%e3%81%a7docker","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3745","title":{"rendered":"mac\u3067kachaka\u3067ros2\u3067docker"},"content":{"rendered":"<p>Mac\u4e0a\u3067ROS2\u306e\u958b\u767a\u74b0\u5883\u3092\u69cb\u7bc9\u4e2d\uff0e<br \/>\nkachaka\u306eros2_bridge \u3092\u52d5\u304b\u3057\u3066\uff0cros2\u306edocker\uff08Tiryoh\uff09\u3092\u52d5\u304b\u3057\u305f\u306f\u3044\u3044\u3051\u308c\u3069\uff0c\u305d\u306e2\u3064\u306e\u9593\u304c\u3064\u306a\u304c\u3063\u3066\u3044\u306a\u3044\u306e\u3067\u901a\u4fe1\u304c\u3067\u304d\u306a\u3044\u2026\uff0e<br \/>\n<mark><a href=\"https:\/\/qiita.com\/fujita-goq\/items\/63fc1fb70056b8784dfd\">\u3010Docker\u3011networks\u3067\u8907\u6570\u306eDocker Compose\u74b0\u5883\u9593\u3092\u901a\u4fe1\u53ef\u80fd\u306b\u3059\u308b<\/a><\/mark>\u3063\u3066\u8a18\u4e8b\u3092\u53c2\u8003\u306b\u4f5c\u696d\u3092\u9032\u3081\u3066\u307f\u305f\u3082\u306e\u306e\uff0cros2_bridge\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u304c\u898b\u3048\u306a\u3044\u2026\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nwataru@Mac-mini-3 ros2_bridge % docker network ls\r\nNETWORK ID     NAME           DRIVER    SCOPE\r\n58e46623f322   bridge         bridge    local\r\n64f5ce0c2712   host           host      local\r\n4cbb4fba2ca2   none           null      local\r\n<\/pre>\n<p>kachaka\u306edocker-compoer\u3092\u898b\u308b\u3068\uff0cnetwork_mode: &#8220;host&#8221;\u306b\u306a\u3063\u3066\u3044\u308b\uff0e<br \/>\n\u3053\u308c\uff0cMac \u3060\u3068\u52d5\u304b\u306a\u3044\u306e\u3067\u306f\uff1f<br \/>\n\u4ed5\u65b9\u304c\u306a\u3044\u306e\u3067\uff0c\u767a\u60f3\u306e\u8ee2\u63db\uff0e<br \/>\n\u307e\u305a\u306f\uff0cros2\u306edocker\u3092\u52d5\u304b\u3057\uff0c\u305d\u3061\u3089\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u5bfe\u3057\u3066kachaka\u306e\u65b9\u304b\u3089\u63a5\u7d9a\u3057\u306b\u884c\u304d\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u3068\u3044\u3046\u308f\u3051\u3067\uff0ckachaka\u306e\u65b9\u306edocker-compose.yaml \u306e\u6700\u5f8c\u306b\u4ee5\u4e0b\u3092\u8ffd\u52a0\uff0e<br \/>\n\uff08\u4eca\u304b\u3089\u8003\u3048\u308b\u3068\uff0cname\u306e\u9805\u76ee\u3063\u3066\u30c6\u30ad\u30c8\u30fc\u304b\u3082\uff09<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nnetworks:\r\n  default:\r\n    name: rcll2025_default\r\n    external: true\r\n<\/pre>\n<p>ros2\u306edocker\u306e\u65b9\u3082docker-compose.yaml\u3092\u7528\u610f\u3057\u3066\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n    ports:\r\n      - &quot;6080:80&quot;\r\n      - &quot;10000:10000&quot;\r\n      - &quot;10022:22&quot;\r\n<\/pre>\n<p>\u3067\uff0clocalhost \u306e10022\u756a\u30dd\u30fc\u30c8\u306b\u63a5\u7d9a\u3059\u308b\u3053\u3068\u3067\uff0cssh\u3067\u3064\u306a\u304c\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nubuntu@b58884aa0df5:~$ 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\/diagnostics\/error_status\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\/goal_pose\r\n\/kachaka\/imu\/imu\r\n\/kachaka\/joint_states\r\n\/kachaka\/layout\/locations\/list\r\n\/kachaka\/layout\/shelves\/list\r\n\/kachaka\/lidar\/scan\r\n\/kachaka\/manual_control\/cmd_vel\r\n\/kachaka\/mapping\/map\r\n\/kachaka\/robot_description\r\n\/parameter_events\r\n\/rosout\r\n\/tf\r\n\/tf_static\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Mac\u4e0a\u3067ROS2\u306e\u958b\u767a\u74b0\u5883\u3092\u69cb\u7bc9\u4e2d\uff0e kachaka\u306eros2_bridge  &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3745\"> <span class=\"screen-reader-text\">mac\u3067kachaka\u3067ros2\u3067docker<\/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":[39,2,27,6],"tags":[],"class_list":["post-3745","post","type-post","status-publish","format-standard","hentry","category-kachaka","category-robocup","category-ros","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3745","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=3745"}],"version-history":[{"count":2,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3745\/revisions"}],"predecessor-version":[{"id":3747,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3745\/revisions\/3747"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3745"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3745"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3745"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}