{"id":3799,"date":"2025-05-21T11:36:40","date_gmt":"2025-05-21T02:36:40","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3799"},"modified":"2025-05-21T12:26:02","modified_gmt":"2025-05-21T03:26:02","slug":"ubuntu-24-04%e3%81%abros2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3799","title":{"rendered":"Ubuntu 24.04\u306bROS2"},"content":{"rendered":"<p><mark><a href=\"https:\/\/www.kdel.org\/wp\/?p=3660\">Ubuntu 22.04\u306bROS2<\/a><\/mark>\u306e\u5ef6\u9577\u3067\uff0cUbuntu 24.04\u306bROS2\u3092\u5165\u308c\u3066kachaka\u958b\u767a\u74b0\u5883\u3092\u6574\u3048\u3066\u307f\u307e\u3059\uff0e<br \/>\n\u307e\u305a\u306f\uff0c<mark><a href=\"https:\/\/www.kdel.org\/wp\/?p=3622\">Ubuntu 24.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/mark>\u306b\u5f93\u3063\u3066Ubuntu 24.04\u3092\u5165\u308c\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install net-tools openssh-server\r\nsudo apt-get update\r\nsudo apt-get upgrade\r\n<\/pre>\n<p>\u518d\u8d77\u52d5\u3057\u3066\uff0csettings \u304b\u3089<br \/>\n\u30fb\u300cSystem\u300d\u2192\u300cusers\u300d\u2192\u300cAutomatic Login\u300d\u3092\u6709\u52b9\u306b\uff0e<br \/>\n\u30fb\u300cPower\u300d\u2192\u300cPower Mode\u300d\u3092\u300cPerformance\u300d\u306b\u5909\u66f4\uff0e<br \/>\n\u30fb\u300cPower\u300d\u2192\u300cPower Saving\u300d\u2192\u300cScreen Blank\u300d\u3092\u300cNever\u300d\u306b\u5909\u66f4\uff0e<br \/>\n\u30fb\u300cSystem\u300d\u2192\u300cRemote Desktop\u300d\u304b\u3089\u300cDesktop Sharing\u300d\u3068\u300cRemote Control\u300d\u3092\u6709\u52b9\u306b\uff0e<br \/>\n\u30fb\u300cSystem\u300d\u2192\u300cRemote Desktop\u300d\u306e\u300cRemote Login\u300d\u306e\u300cRemote Control\u300d\u3092\u6709\u52b9\u306b\uff0e<br \/>\n\u3057\u307e\u3057\u305f\uff0e<br \/>\n\u30ea\u30e2\u30fc\u30c8\u30ed\u30b0\u30a4\u30f3\u306e\u30d1\u30b9\u30ef\u30fc\u30c9\u306f\uff0cUbuntu 22.04\u3067\u306eVNC\u3068\u540c\u69d8\u306b\uff0c<br \/>\n\u300c\u30d1\u30b9\u30ef\u30fc\u30c9\u3068\u9375(passwords and keys)\u300d\u3067\u4eca\u306e\u8a2d\u5b9a\u3092\u6d88\u3057\u3066\uff0c\u30c0\u30df\u30fc\u3092\u4f5c\u3063\u3066\u305d\u308c\u3092Default\u306b\u3057\u307e\u3057\u305f\uff0e<br \/>\n\u518d\u5ea6\uff0c\u4e0a\u8a18\u306eRemote Desktop \u306e\u30e6\u30fc\u30b6\u30d1\u30b9\u30ef\u30fc\u30c9\u306e\u8a2d\u5b9a\u3092\u5fd8\u308c\u306a\u3044\u3088\u3046\u306b\uff0e<br \/>\n\u3068\u308a\u3042\u3048\u305a\u3053\u308c\u3067ssh\u3067\u30ed\u30b0\u30a4\u30f3\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\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<p>\u3053\u3053\u304b\u3089ROS2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u4f5c\u696d\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\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 &quot;deb &#x5B;arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/ros-archive-keyring.gpg] http:\/\/packages.ros.org\/ros2\/ubuntu $(source \/etc\/os-release &amp;&amp; echo $UBUNTU_CODENAME) main&quot; | sudo tee \/etc\/apt\/sources.list.d\/ros2.list &gt; \/dev\/null\r\nsudo apt update\r\nsudo apt install -y ros-jazzy-desktop ros-dev-tools ros-jazzy-gazebo-* ros-jazzy-joint-state-publisher ros-jazzy-rqt-*\r\ncd\r\nmkdir -p ros2_ws\/src\r\ncd ros2_ws\r\nsudo rosdep init\r\nrosdep update\r\nsource \/opt\/ros\/jazzy\/setup.bash\r\ncolcon build\r\nsource \/opt\/ros\/jazzy\/setup.bash\r\nsource ~\/ros2_ws\/install\/local_setup.bash\r\n<\/pre>\n<p>\u3068\u308a\u3042\u3048\u305a\uff0c\u3053\u308c\u3067\u4e00\u822c\u7684\u306a\u72b6\u614b\u306b\u306a\u308b\u304b\u306a\u3041\uff0e<br \/>\n\u6b21\u306f\uff0ckachaka \u7528\u306e\u8a2d\u5b9a\uff0e<br \/>\n<mark><a href=\"https:\/\/www.kdel.org\/wp\/?p=3676\">ROS2\u3067kachaka<\/a><\/mark>\u3092\u53c2\u8003\u306b\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# Add Docker's official GPG key:\r\nsudo apt-get update\r\nsudo apt-get install ca-certificates curl\r\nsudo install -m 0755 -d \/etc\/apt\/keyrings\r\nsudo curl -fsSL https:\/\/download.docker.com\/linux\/ubuntu\/gpg -o \/etc\/apt\/keyrings\/docker.asc\r\nsudo chmod a+r \/etc\/apt\/keyrings\/docker.asc\r\n\r\n# Add the repository to Apt sources:\r\necho \\\r\n  &quot;deb &#x5B;arch=$(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\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>\u4e00\u5ea6\uff0c\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7acb\u3061\u4e0a\u3052\u76f4\u3057\u305f\u65b9\u304c\u7121\u96e3\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nmkdir ~\/git\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","protected":false},"excerpt":{"rendered":"<p>Ubuntu 22.04\u306bROS2\u306e\u5ef6\u9577\u3067\uff0cUbuntu 24.04\u306bROS2\u3092 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3799\"> <span class=\"screen-reader-text\">Ubuntu 24.04\u306bROS2<\/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":[39,3,2,26,9,24,27],"tags":[],"class_list":["post-3799","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"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3799","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=3799"}],"version-history":[{"count":9,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3799\/revisions"}],"predecessor-version":[{"id":3804,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3799\/revisions\/3804"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3799"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3799"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3799"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}