{"id":3748,"date":"2025-03-06T17:06:43","date_gmt":"2025-03-06T08:06:43","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3748"},"modified":"2025-03-07T17:27:55","modified_gmt":"2025-03-07T08:27:55","slug":"ros2%e3%81%a7kachaka-2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3748","title":{"rendered":"ros2\u3067kachaka"},"content":{"rendered":"<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nros2 pkg create --build-type ament_python --node-name btr_go btr_go_node\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nryukoku@faf0fd075776:~\/Documents\/git\/rcll\/kachaka\/python\/btr_go_node\/btr_go_node$ cat btr_go.py \r\nimport rclpy\r\nfrom rclpy.node import Node\r\nfrom geometry_msgs.msg import Twist, TwistStamped\r\nimport time\r\n\r\nclass btr_go(Node):\r\n    def __init__(self):\r\n        super().__init__('btr2025')\r\n        self.twist_pub = self.create_publisher(Twist, '\/kachaka\/manual_control\/cmd_vel', 10)\r\n        timer_period = 1\r\n        self.timer = self.create_timer(timer_period, self.timer_callback)\r\n\r\n    def timer_callback(self):\r\n        velocity = Twist()\r\n        # velocity.header.frame_id = 'btr2025'\r\n        # velocity.header.stamp = self.get_clock().now().to_msg()\r\n        velocity.linear.x = 0.2\r\n        velocity.linear.y = 0.0\r\n        velocity.linear.z = 0.0\r\n        velocity.angular.x = 0.0\r\n        velocity.angular.y = 0.0\r\n        velocity.angular.z = 0.0\r\n        self.twist_pub.publish(velocity)\r\n        print(&quot;publish:&quot;, velocity)\r\n\r\ndef main(args=None):\r\n    rclpy.init(args=args)\r\n    btr2025 = btr_go()\r\n    rclpy.spin(btr2025)\r\n    rclpy.shutdonw()\r\n\r\n\r\nif __name__ == '__main__':\r\n    main()\r\n<\/pre>\n<p>\u52d5\u304d\u307e\u3057\u305f\uff0e<br \/>\n\uff08\u52d5\u304b\u3059\u30b9\u30da\u30fc\u30b9\u306e\u95a2\u4fc2\u3067\uff0c\u56de\u8ee2\u306b\u306a\u3063\u3061\u3083\u3063\u3066\u3044\u305f\u306e\u3067\uff0c\u524d\u9032\u306b\u4fee\u6b63\uff09<\/p>\n","protected":false},"excerpt":{"rendered":"<p>ros2 pkg create &#8211;build-type ament_pytho &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3748\"> <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-3748","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\/3748","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=3748"}],"version-history":[{"count":2,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3748\/revisions"}],"predecessor-version":[{"id":3750,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3748\/revisions\/3750"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3748"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3748"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3748"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}