{"id":3783,"date":"2025-03-09T20:25:05","date_gmt":"2025-03-09T11:25:05","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3783"},"modified":"2025-03-10T00:21:24","modified_gmt":"2025-03-09T15:21:24","slug":"ros2-rcll_refbox_peer-%e3%82%92%e4%bd%9c%e3%81%a3%e3%81%a6%e3%81%bf%e3%82%8b%ef%bc%88%e3%81%9d%e3%81%ae2%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3783","title":{"rendered":"ros2-rcll_refbox_peer \u3092\u4f5c\u3063\u3066\u307f\u308b\uff08\u305d\u306e2\uff09"},"content":{"rendered":"

ros2-rcll_refbox_peer \u3092\u4f5c\u3063\u3066\u307f\u308b\uff0e<\/a><\/mark>\u3067\u3088\u3046\u3084\u304f\u6e96\u5099\u304c\u3067\u304d\u3057\u305f\u306e\u3067\uff0c
\nros2-rcll_refbox_peer.cpp \u3092\u89e6\u3063\u3066\u3044\u304d\u307e\u3059\uff0e<\/p>\n

\u307e\u305a\uff0cros::Publisher \u3092\u5358\u7d14\u306brclcpp::Publisher\u306b\u7f6e\u63db\u3057\u305f\u3051\u3069\uff0c<\/p>\n

\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:98:19: error: class template argument deduction failed:\r\n   98 | rclcpp::Publisher pub_beacon_;\r\n      |                   ^~~~~~~~~~~\r\n<\/pre>\n
\u3068\u30a8\u30e9\u30fc\u304c\u51fa\u305f\uff0e
\n\u3069\u3046\u3084\u3089\uff0crclcpp::Publisher::SharedPtr \u3068\u3044\u3063\u305f\u611f\u3058\u3067\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u5f62\u3092\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u307f\u305f\u3044\uff0e<\/p>\n
\r\nrclcpp::Publisher<refbox_msgs::msg::BeaconSignal>::SharedPtr pub_beacon_;\r\nrclcpp::Publisher<refbox_msgs::msg::GameState>::SharedPtr pub_game_state_;\r\nrclcpp::Publisher<refbox_msgs::msg::MachineInfo>::SharedPtr pub_machine_info_;\r\nrclcpp::Publisher<refbox_msgs::msg::ExplorationInfo>::SharedPtr pub_exploration_info_;\r\nrclcpp::Publisher<refbox_msgs::msg::MachineReportInfo>::SharedPtr pub_machine_report_info_;\r\nrclcpp::Publisher<refbox_msgs::msg::OrderInfo>::SharedPtr pub_order_info_;\r\nrclcpp::Publisher<refbox_msgs::msg::RingInfo>::SharedPtr pub_ring_info_;\r\nrclcpp::Publisher<refbox_msgs::msg::NavigationRoutes>::SharedPtr pub_navigation_routes_info_;\r\nrclcpp::Publisher<refbox_msgs::msg::AgentTask>::SharedPtr pub_agent_task_;\r\n\r\nrclcpp::Service<refbox_msgs::srv::SendBeaconSignal>::SharedPtr srv_send_beacon_;\r\nrclcpp::Service<refbox_msgs::srv::SendMachineReportBTR>::SharedPtr srv_send_machine_report_;\r\nrclcpp::Service<refbox_msgs::srv::SendPrepareMachine>::SharedPtr srv_send_prepare_machine_;\r\nrclcpp::Service<refbox_msgs::srv::SendAgentTask>::SharedPtr srv_send_agent_task_;\r\n<\/pre>\n
\u6b21\u306f\uff0c\u30e1\u30c3\u30bb\u30fc\u30b8\u51fa\u529b\u306e\u30de\u30af\u30ed\uff08ROS_INFO\u3068\u304bROS_WARN\u3068\u304b\uff09\u306e\u5f15\u6570\u304c\u5909\u308f\u3063\u305f\u307f\u305f\u3044\uff0e<\/p>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp: In function \u2018void handle_recv_error(boost::asio::ip::udp::endpoint&, std::string)\u2019:\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:126:3: error: static assertion failed: First argument to logging macros must be an rclcpp::Logger\r\n  126 |   RCLCPP_WARN("Receive error from %s:%u: %s",\r\n<\/pre>\n
\u7b2c\u4e00\u5f15\u6570\u306f\uff0crclcpp::Logger \u306b\u306a\u3063\u3066\u3044\u308b\u307f\u305f\u3044\u306a\u306e\u3067\uff0crclcpp::get_logger(“rclcpp”) \u3063\u3066\u66f8\u304d\u65b9\u306b\u306a\u308b\u307f\u305f\u3044\uff0e<\/p>\n
\r\nRCLCPP_WARN(rclcpp::get_logger("rclcpp"), <\u5143\u3005\u306e\u5f15\u6570...>)\r\n<\/pre>\n
\u3063\u3066\u611f\u3058\uff0e<\/p>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:141:42: error: \u2018refbox_msgs::Team\u2019 has not been declared\r\n  141 |                 return (int)refbox_msgs::Team::CYAN;\r\n<\/pre>\n
\u6b21\u306f\uff0c\u306a\u3093\u3060\u2026\uff0erefbox_msgs::msg::Team::CYAN \u3067\u3059\u306d\uff0e
\nROS2\u306b\u306a\u3063\u3066\uff0cmsg\u304c\u52a0\u308f\u3063\u305f\u306e\u3092\u5fd8\u308c\u3066\u3044\u307e\u3057\u305f\uff0e
\n\u4ed6\u3082\u540c\u69d8\u2026\uff0e<\/p>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:214:41: error: \u2018using SharedPtr = class std::shared_ptr<rclcpp::Publisher<refbox_msgs::msg::AgentTask_<std::allocator<void> > > >\u2019 {aka \u2018class std::shared_ptr<rclcpp::Publisher<refbox_msgs::msg::AgentTask_<std::allocator<void> > > >\u2019} has no member named \u2018publish\u2019\r\n  214 |                         pub_agent_task_.publish(rat);\r\n      |   \r\n<\/pre>\n
\u3042\u30fc\uff0epub_agent_task_\u304cshared_ptr\u306b\u3057\u3061\u3083\u3063\u305f\u304b\u3089\uff0c\u30dd\u30a4\u30f3\u30bf\uff08->\uff09\u3067\u66f8\u304b\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\u306d\uff0e
\n\u4ed6\u3082\u540c\u69d8\u306a\u308a\uff0e<\/p>\n
\r\npub_agent_task_->publish(rat);\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:224:35: error: \u2018using _header_type = struct std_msgs::msg::Header_<std::allocator<void> >\u2019 {aka \u2018struct std_msgs::msg::Header_<std::allocator<void> >\u2019} has no member named \u2018seq\u2019\r\n  224 |                         rb.header.seq = b->seq();\r\n<\/pre>\n
\u3048\u3068\u30fc\uff0eHeader<\/a><\/mark>\u3092\u898b\u3066\u307f\u308b\u3068\uff0cseq\u304c\u306a\u304f\u306a\u3063\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\u306d\uff0e
\n\u3068\u308a\u3042\u3048\u305a\uff0c\u3053\u3053\u306b\u95a2\u3057\u3066\u306f\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3067\u69d8\u5b50\u898b\uff0e<\/p>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp: In function \u2018void handle_message(boost::asio::ip::udp::endpoint&, uint16_t, uint16_t, std::shared_ptr<google::protobuf::Message>)\u2019:\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:400:49: warning: unused variable \u2018rz\u2019 [-Wunused-variable]\r\n  400 |                                 llsf_msgs::Zone rz;\r\n      |    \r\n<\/pre>\n
\u77e5\u3063\u305f\u3053\u3063\u3061\u3083\u306d\u30fc\u3000\u3063\u3066\u8a00\u3044\u305f\u3044\u3068\u3053\u308d\uff0e
\nwarning \u3060\u304b\u3089\uff0c\u3068\u308a\u3042\u3048\u305a\u7121\u8996\u3057\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:549:53: error: \u2018using _stamp_type = struct builtin_interfaces::msg::Time_<std::allocator<void> >\u2019 {aka \u2018struct builtin_interfaces::msg::Time_<std::allocator<void> >\u2019} has no member named \u2018nsec\u2019; did you mean \u2018sec\u2019?\r\n  549 |         b.mutable_time()->set_nsec(req.header.stamp.nsec);\r\n      |                                                     ^~~~\r\n      |                                                     sec\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:550:30: error: \u2018using _header_type = struct std_msgs::msg::Header_<std::allocator<void> >\u2019 {aka \u2018struct std_msgs::msg::Header_<std::allocator<void> >\u2019} has no member named \u2018seq\u2019\r\n  550 |         b.set_seq(req.header.seq);\r\n      |                              ^~~\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:566:95: error: \u2018using _stamp_type = struct builtin_interfaces::msg::Time_<std::allocator<void> >\u2019 {aka \u2018struct builtin_interfaces::msg::Time_<std::allocator<void> >\u2019} has no member named \u2018nsec\u2019; did you mean \u2018sec\u2019?\r\n  566 |                         b.mutable_pose()->mutable_timestamp()->set_nsec(req.pose.header.stamp.nsec);\r\n      |                                                                                               ^~~~\r\n      |  \r\n<\/pre>\n
timestamp\u306e\u3068\u3053\u308d\u3067\u3059\u306d\uff0e
\nbuiltin_interfaces\/Time<\/a><\/mark>\u3092\u898b\u3066\u307f\u308b\u3068\uff0c<\/p>\n
\r\nint32 sec\r\nuint32 nanosec\r\n<\/pre>\n
\u3068\u306e\u3053\u3068\u306a\u306e\u3067\uff0cnsec\u3092nanosec\u306b\u66f8\u304d\u63db\u3048\uff08\u95a2\u6570\u306e\u65b9\u306f\uff0cset_nsec\u306e\u307e\u307e\u2026\uff0e\u30ba\u30ec\u304c\u3042\u308a\u307e\u3059\u306d\u3047\u2026\uff09\uff0e
\nseq\u306f\uff0c\u5b58\u5728\u3057\u306a\u304b\u3063\u305f\u306e\u3067\uff0c0\u306b\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\u304b\uff08\u3053\u308c\u3082\u69d8\u5b50\u898b\uff09\uff0e<\/p>\n
\r\n        b.mutable_time()->set_nsec(req.header.stamp.nanosec);\r\n        \/\/ b.set_seq(req.header.seq);\r\n        b.set_seq(0);\r\n...\r\n                        b.mutable_pose()->mutable_timestamp()->set_nsec(req.pose.header.stamp.nsec);\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:813:34: error: invalid initialization of reference of type \u2018const rclcpp::InitOptions&\u2019 from expression of type \u2018const char [17]\u2019\r\n  813 |         rclcpp::init(argc, argv, "rcll_refbox_peer");\r\n      |                                  ^~~~~~~~~~~~~~~~~~\r\n<\/pre>\n
\u540d\u524d\u306fNode\u3092\u4f5c\u308b\u6642\u306b\u6307\u5b9a\u3059\u308b\u5f62\u306b\u306a\u3063\u305f\u3063\u307d\u3044\uff0e<\/p>\n
\r\nrclcpp::init(argc, argv);\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:815:17: error: \u2018NodeHandle\u2019 is not a member of \u2018rclcpp\u2019\r\n  815 |         rclcpp::NodeHandle n;\r\n      |     \r\n<\/pre>\n
\u3067\uff0c\u3053\u3061\u3089\u3067\u540d\u524d\u3092\u6307\u5b9a\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\uff0e<\/p>\n
\r\nrclcpp::Node::SharedPtr n = nullptr;\r\nn = rclcpp::Node::make_shared("rcll_refbox_perr");\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:819:77: error: \u2018rclcpp::this_node\u2019 has not been declared\r\n  819 |         RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "%s starting up", rclcpp::this_node::getName().c_str());\r\n      |  \r\n<\/pre>\n
\u3093\u3068\u30fc\uff0ethis_node\u306e\u4ee3\u308f\u308a\u306bNode\u306b\u306a\u3063\u3066\uff0cget_name()\u3063\u3066\u306e\u306b\u5909\u308f\u308a\u307e\u3059\uff0e<\/p>\n
\r\n        RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "%s starting up", n->get_name());\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:70:31: error: \u2018rclcpp::param\u2019 has not been declared\r\n   70 |                 if (! rclcpp::param::get("~" #P, cfg_ ## P ## _)) { \\\r\n      |    \r\n<\/pre>\n
\u3042\uff0c\u30de\u30af\u30ed\u306e\u90e8\u5206\u304b\uff0e\u623b\u308a\u5024\u306b\u3088\u3063\u3066\uff0c.as_string()\u3068\u304b\uff0c.as_int()\u3068\u304b\u5909\u3048\u308b\u5fc5\u8981\u304c\u3042\u308b\u3063\u307d\u3044\uff0e<\/p>\n
\r\n#define GET_PRIV_PARAM_STRING(P)         \\\r\n        { \\\r\n                cfg_ ## P ## _ = n->get_parameter("~" #P).as_string(); \\\r\n                if ( "" == cfg_ ## P ## _) { \\\r\n                        RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to retrieve parameter " #P ", aborting"); \\\r\n                        exit(-1); \\\r\n                } \\\r\n        }\r\n\r\n#define GET_PRIV_PARAM_INT(P)         \\\r\n        { \\\r\n                cfg_ ## P ## _ = n->get_parameter("~" #P).as_int(); \\\r\n                if ( 0 == cfg_ ## P ## _) { \\\r\n                        RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to retrieve parameter " #P ", aborting"); \\\r\n                        exit(-1); \\\r\n                } \\\r\n        }\r\n<\/pre>\n
\u3042\u3068\uff0cROS2\u3067\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u6271\u3046\u306b\u306f\uff0c\u5148\u306b\u5ba3\u8a00\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308b\u3063\u307d\u3044\uff0e<\/p>\n
\r\n       \/\/ declear_parameter\r\n        n->declare_parameter<std::string>("~team_name");\r\n        n->declare_parameter<std::string>("~robot_name");\r\n        n->declare_parameter<std::string>("~robot_number");\r\n        n->declare_parameter<std::string>("~peer_address");\r\n        n->declare_parameter<std::string>("~peer_public_recv_port");\r\n        n->declare_parameter<std::string>("~peer_public_send_port");\r\n        n->declare_parameter<std::string>("~peer_public_port");\r\n        n->declare_parameter<std::string>("~peer_cyan_recv_port");\r\n        n->declare_parameter<std::string>("~peer_cyan_send_port");\r\n        n->declare_parameter<std::string>("~peer_cyan_port");\r\n        n->declare_parameter<std::string>("~peer_magenta_recv_port");\r\n        n->declare_parameter<std::string>("~peer_magenta_send_port");\r\n        n->declare_parameter<std::string>("~peer_magenta_port");\r\n        n->declare_parameter<std::string>("~crypto_key");\r\n        n->declare_parameter<std::string>("~crypto_cipher");\r\n\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:878:29: error: \u2018using SharedPtr = class std::shared_ptr<rclcpp::Node>\u2019 {aka \u2018class std::shared_ptr<rclcpp::Node>\u2019} has no member named \u2018advertise\u2019\r\n  878 |         pub_agent_task_ = n.advertise<refbox_msgs::msg::AgentTask>("rcll\/agent_task", 100);\r\n      |  \r\n<\/pre>\n
\u3042\uff0cn\u304c\u30dd\u30a4\u30f3\u30bf\u306b\u306a\u3063\u3066\u3044\u308b\u304b\u3089\uff0c\u300c.\u300d\u3067\u306f\u306a\u304f\u300c->\u300d\u3067\u3059\u306d\uff0e
\n\u3042\u3068\uff0cadvertise\u304c\u7121\u304f\u306a\u3063\u3066\u3044\u3066\uff0ccreate_publisher\u306b\u5909\u308f\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:838:21: error: \u2018rclcpp::para\u2019 has not been declared\r\n  838 |         if (rclcpp::param::has("~peer_public_recv_port") && rclcpp::param::has("~peer_public_send_port")) {\r\n      |    \r\n<\/pre>\n
\u3042\u3041\uff0e\u3053\u3053\u3082\u30d1\u30e9\u30e1\u30fc\u30bf\u30fc\u95a2\u4fc2\u304b\u2026\uff0e
\n\u56f0\u3063\u305f\u306a\u3041\u2026\uff0e\u4ed5\u65b9\u304c\u306a\u3044\uff0e\u4e00\u56de\u5909\u6570\u306b\u4ee3\u5165\u3059\u308b\u304b\uff0e
\n\uff08\u672c\u5f53\u306f\uff0c\u5024\u304c\u306a\u3044\u6642\u306e\u51e6\u7406\u3092\u3061\u3083\u3093\u3068\u66f8\u304b\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u6c17\u304c\u3059\u308b\u3051\u3069\uff0c\u5f8c\u56de\u3057\uff09<\/p>\n
\r\n        int peer_public_recv_port_   = n->get_parameter("~peer_public_recv_port").as_int();\r\n        int peer_public_send_port_   = n->get_parameter("~peer_public_send_port").as_int();\r\n        if (peer_public_recv_port_ != 0 && peer_public_send_port_ != 0) {\r\n                cfg_peer_public_local_ = true;\r\n                GET_PRIV_PARAM_INT(peer_public_recv_port);\r\n                GET_PRIV_PARAM_INT(peer_public_send_port);\r\n        } else {\r\n                cfg_peer_public_local_ = false;\r\n                GET_PRIV_PARAM_INT(peer_public_port);\r\n        }\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:974:28: error: \u2018using SharedPtr = class std::shared_ptr<rclcpp::Node>\u2019 {aka \u2018class std::shared_ptr<rclcpp::Node>\u2019} has no member named \u2018advertiseService\u2019\r\n  974 |   srv_send_agent_task_ = n.advertiseService("\/rcll\/send_agent_task", srv_cb_send_agent_task);\r\n      |      \r\n<\/pre>\n
\u4eca\u5ea6\u306f\uff0cservice\u306e\u66f8\u304d\u65b9\u306e\u90e8\u5206\u304b\u2026\uff0e\u3055\u3063\u304d\u306ecreate_publisher\u3068\u4e00\u7dd2\u3067\u3059\u306d\uff0e<\/p>\n
\r\n  \/\/ provide services\r\n  srv_send_agent_task_ = n->create_service<refbox_msgs::srv::SendAgentTask>("\/rcll\/send_agent_task", &srv_cb_send_agent_task);\r\n  srv_send_beacon_ = n->create_service<refbox_msgs::srv::SendBeaconSignal>("rcll\/send_beacon", &srv_cb_send_beacon);\r\n  srv_send_machine_report_ = n->create_service<refbox_msgs::srv::SendMachineReportBTR>("rcll\/send_machine_report", &srv_cb_send_machine_report);\r\n  srv_send_prepare_machine_ = n->create_service<refbox_msgs::srv::SendPrepareMachine>("rcll\/send_prepare_machine", &srv_cb_send_prepare_machine);\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:979:15: error: no matching function for call to \u2018spin()\u2019\r\n  979 |   rclcpp::spin();\r\n<\/pre>\n
\u6700\u5f8c\u304b\u306a\u3041\uff0espin\u306e\u90e8\u5206\u306f\uff0cspin(n);\u306b\u3059\u308b\u3060\u3051\uff0e<\/p>\n
\r\nrclcpp::spin(n);\r\n<\/pre>\n
\r\n\/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:974:75:   required from here\r\n\/opt\/ros\/humble\/include\/rclcpp\/rclcpp\/any_service_callback.hpp:148:17: error: no match for \u2018operator=\u2019 (operand types are \u2018std::variant<std::monostate, std::function<void(std::shared_ptr<refbox_msgs::srv::SendBeaconSignal_Request_<std::allocator<void> > >, std::shared_ptr<refbox_msgs::srv::SendBeaconSignal_Response_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<rmw_request_id_s>, std::shared_ptr<refbox_msgs::srv::SendBeaconSignal_Request_<std::allocator<void> > >, std::shared_ptr<refbox_msgs::srv::SendBeaconSignal_Response_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<rmw_request_id_s>, std::shared_ptr<refbox_msgs::srv::SendBeaconSignal_Request_<std::allocator<void> > >)>, std::function<void(std::shared_ptr<rclcpp::Service<refbox_msgs::srv::SendBeaconSignal> >, std::shared_ptr<rmw_request_id_s>, std::shared_ptr<refbox_msgs::srv::SendBeaconSignal_Request_<std::allocator<void> > >)> >\u2019 and \u2018bool (*)(refbox_msgs::srv::SendBeaconSignal_Request_<std::allocator<void> >&, refbox_msgs::srv::SendBeaconSignal_Response_<std::allocator<void> >&)\u2019)\r\n  148 |       callback_ = std::forward<CallbackT>(callback);\r\n<\/pre>\n
\u307e\u3060\u30a8\u30e9\u30fc\u304c\u51fa\u3066\u304d\u305f\u2026\uff0e
\nSend\u306e\u30b5\u30fc\u30d3\u30b9\u306ecallback\u304c\u304a\u304b\u3057\u3044\u3068\u306e\u3053\u3068\u3067\uff0cWriting a simple service and client (C++)<\/a><\/mark>\u3068\u898b\u6bd4\u3079\u306a\u304c\u3089\u4fee\u6b63\uff0e
\n\u3055\u3059\u304c\u306b\u3084\u3084\u3053\u3057\u3059\u304e\u305f\u306e\u3067\uff0cchatGPT\u3055\u3093\u306b\u52a9\u3051\u3066\u3082\u3089\u3044\u307e\u3057\u305f\uff0e<\/p>\n
\n\u30a8\u30e9\u30fc\u306e\u539f\u56e0\u306f\u3001ROS2\u306e\u30b5\u30fc\u30d3\u30b9\u306e\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\u306e\u30b7\u30b0\u30cd\u30c1\u30e3\u304c\u6b63\u3057\u304f\u306a\u3044\u305f\u3081\u3067\u3059\u3002
\n\u30a8\u30e9\u30fc\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u30dd\u30a4\u30f3\u30c8\u3092\u6574\u7406\u3059\u308b\u3068\uff1a<\/p>\n
callback_ \u306b\u306f std::variant \u578b\u306e\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u304c\u8a2d\u5b9a\u3055\u308c\u308b\u304c\u3001\u6e21\u3055\u308c\u305f\u95a2\u6570\u306e\u578b (void (*)(Request&, Response&)) \u304c std::variant \u306e\u3044\u305a\u308c\u306e\u578b\u3068\u3082\u4e00\u81f4\u3057\u306a\u3044\u3002
\nstd::variant \u306b\u542b\u307e\u308c\u308b\u578b\u3092\u898b\u308b\u3068\u3001\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\u306f\u901a\u5e38 std::shared_ptr \u3092\u5f15\u6570\u306b\u53d6\u308b\u3079\u304d\u3067\u3042\u308b\u3002\n<\/p><\/blockquote>\n
\u6d41\u77f3\u3067\u3059\u306d\uff0e
\n\u4fee\u6b63\u6848\u3082\u51fa\u3057\u3066\u304f\u308c\u307e\u3057\u305f\uff0e<\/p>\n
\r\nvoid service_callback(refbox_msgs::srv::SendAgentTask_Request& request,\r\n                      refbox_msgs::srv::SendAgentTask_Response& response) {\r\n    \/\/ \u51e6\u7406\u3092\u66f8\u304f\r\n}\r\n<\/pre>\n
\r\n    \/\/ \u30b5\u30fc\u30d3\u30b9\u306e\u767b\u9332\uff08\u30e9\u30e0\u30c0\u95a2\u6570\u3092\u4f7f\u7528\uff09\r\n    auto service = node->create_service<refbox_msgs::srv::SendAgentTask>(\r\n        "send_agent_task",\r\n        [](const std::shared_ptr<refbox_msgs::srv::SendAgentTask_Request> request,\r\n           std::shared_ptr<refbox_msgs::srv::SendAgentTask_Response> response) {\r\n            service_callback(request, response);\r\n        }\r\n    );\r\n<\/pre>\n
\u3053\u308c\u3067\uff0c\u51fa\u6765\u4e0a\u304c\u308a\u304b\u306a\u3041\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
ros2-rcll_refbox_peer \u3092\u4f5c\u3063\u3066\u307f\u308b\uff0e\u3067\u3088\u3046\u3084\u304f\u6e96\u5099\u304c\u3067\u304d\u3057 …<\/p>\n
  ros2-rcll_refbox_peer \u3092\u4f5c\u3063\u3066\u307f\u308b\uff08\u305d\u306e2\uff09<\/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":[39,3,2,26,9,24,27,6],"tags":[],"class_list":["post-3783","post","type-post","status-publish","format-standard","hentry","category-kachaka","category-logistics-league","category-robocup","category-robotino-2","category-robotino-3","category-robotino-4","category-ros","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3783","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=3783"}],"version-history":[{"count":15,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3783\/revisions"}],"predecessor-version":[{"id":3798,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3783\/revisions\/3798"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3783"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3783"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3783"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}