{"id":3858,"date":"2025-07-04T18:12:40","date_gmt":"2025-07-04T09:12:40","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3858"},"modified":"2026-02-13T19:31:22","modified_gmt":"2026-02-13T10:31:22","slug":"2025%e5%b9%b4%e3%81%ae%e3%83%81%e3%83%bc%e3%83%a0%e7%ad%89%e3%81%ae%e3%83%97%e3%83%ad%e3%82%b0%e3%83%a9%e3%83%a0%e3%81%ae%e8%b5%b7%e5%8b%95%e6%96%b9%e6%b3%95%ef%bc%88kachaka%ef%bc%8c%e4%b8%96%e7%95%8c","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3858","title":{"rendered":"2025\u5e74\u306e\u30c1\u30fc\u30e0\u7b49\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8d77\u52d5\u65b9\u6cd5\uff08kachaka\uff0c\u4e16\u754c\u5927\u4f1a\u7528\uff09"},"content":{"rendered":"<p>\u307e\u305a\uff0cRefBox \u3092\u8d77\u52d5\u3057\u3066\u304a\u304d\u307e\u3059\uff0e<br \/>\n\u672c\u756a\u3068\u540c\u3058\u611f\u3058\u3067\u52d5\u304b\u3059\u306a\u3089\u5225\u30de\u30b7\u30f3\u3067\u5b9f\u884c\u3057\u305f\u307b\u3046\u304c\u826f\u3044\u3067\u3059\u304c\uff0c\u305d\u3053\u307e\u3067\u3053\u3060\u308f\u3089\u306a\u3044\u306a\u3089\u540c\u4e00\u30de\u30b7\u30f3\u3067\u5b9f\u884c\u3057\u3066\u3082\u3088\u3044\u3067\u3059\uff0e<br \/>\n\u307e\u305f\uff0cRefBox\u3092\u7121\u8996\u3057\u3066\uff0c\u5f15\u6570\u3067\u52d5\u4f5c\u3092\u6c7a\u3081\u308b\u306e\u3067\u3042\u308c\u3070\uff0c\u4ee5\u4e0b\u306f\u4e0d\u8981\u3067\u3059\uff0e<br \/>\n\u25a0RefBox \u306e\u8d77\u52d5\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nrc_start\r\n<\/pre>\n<p>\u2191rcll-get-started\/setup.sh \u3092\u9069\u5207\u306b\u5b9f\u884c\u3057\u3066\u3044\u308b\u524d\u63d0\uff0e<br \/>\n\u2191\u3042\u3068\uff0clocal_setup.sh \u3082\u9069\u5207\u306b\u8a2d\u5b9a\u3057\u3066\u3044\u308b\u524d\u63d0\uff0e<br \/>\n\u25a0\u30c1\u30fc\u30e0\u306e\u8a2d\u5b9a<br \/>\nrefbox_peer \u306f\uff0c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3084\u5f15\u6570\u3092\u4f7f\u3063\u3066\u304a\u3089\u305a\uff0c\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u76f4\u66f8\u304d\u3067\u3059\u306e\u3067\uff0c<br \/>\n<del datetime=\"2026-02-13T09:12:43+00:00\">~\/ros2_ws\/src\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp<\/del><br \/>\n~\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp<br \/>\n\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u300cn-&gt;declare_parameter\u300d\u306e\u9805\u76ee\u3092\u5909\u66f4\u3057\u3066\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/ros2_ws\r\ncolcon build\r\n<\/pre>\n<p>\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u25a0\u30c1\u30fc\u30e0\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u81ea\u52d5\u5b9f\u884c<br \/>\n\u4ee5\u4e0b\u3092\u81ea\u52d5\u5b9f\u884c\u3059\u308b\u5f62\u306elaunch\u30d5\u30a1\u30a4\u30eb\u3092\u7528\u610f\u3057\u307e\u3057\u305f\uff0e<br \/>\n\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u5206\u5272\u3059\u308b\u306e\u3067\uff0ctmux \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u4e0a\uff0c\u5b9f\u884c\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\uff0e<br \/>\n\u305f\u3060\uff0c\u73fe\u6bb5\u968e\u3067\u306f\u4ee5\u4e0b\u306elaunch\u30d5\u30a1\u30a4\u30eb\u3067\u306f\u300c\u4f55\u3092\u5b9f\u884c\u3059\u308b\u306e\u304b\uff08challenge\u540d\uff0c\u3082\u3057\u304f\u306fmain_track\uff09\u300d\u3092\u6307\u5b9a\u3057\u3066\u3044\u307e\u305b\u3093\uff0e<br \/>\n\u3042\u3068\u3067\uff0c\u305d\u306e\u8fba\u308a\u3092\u4fee\u6b63\u3057\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nros2 launch btr2_game2025 game2025_launch.py \r\n<\/pre>\n<p>\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u30c7\u30d0\u30b0\u3092\u3059\u308b\u5834\u5408\uff08game2025.py \u3092\u5225\u9014\u8d77\u52d5\u3057\u305f\u3044\u5834\u5408\uff09\u306f\uff0c\u4ee5\u4e0b\u3067\u3059\uff0e<br \/>\n\u3053\u3061\u3089\u3067\u306f\uff0cpython3 game2025.py navigation \u3068\u3057\u3066\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u8d77\u52d5\u3059\u308b\u5f62\u306b\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nros2 launch btr2_game2025 game2025_debug_launch.py \r\n<\/pre>\n<p>\u25a0\u30c1\u30fc\u30e0\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u624b\u52d5\u5b9f\u884c<br \/>\n\u3053\u3061\u3089\u306f\uff0claunch\u30d5\u30a1\u30a4\u30eb\u3092\u4f7f\u308f\u306a\u3044\u5834\u5408\u3067\u3059\uff0e<br \/>\n\u5404\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u5bfe\u3057\u3066\uff0c\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\uff0e<br \/>\nsource ~\/git\/rcll\/kachaka\/scripts\/setup.sh<br \/>\n\uff08\u2191\u3053\u308c\u3082\uff0c~\/.bashrc.\u306b\u66f8\u3044\u3066\u304a\u3051\u3070\u826f\u3044\u304b\u3082\u306d\uff09<br \/>\n\u30fb~\/git\/rcll\/kachaka\/scripts\/startKachakaBridge.sh<br \/>\n\u30fbros2 run btr2_odom btr2_odom<br \/>\n\u30fbros2 run refbox_peer refbox_peer<br \/>\n\u3053\u308c\u3067\u6e96\u5099\u5b8c\u4e86\uff1f<br \/>\n\u305d\u3057\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3059\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5b9f\u884c\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\n<del datetime=\"2026-02-13T10:29:49+00:00\">\u30fbpython3 ~\/git\/rcll\/kachaka\/python\/game2025.py navigation<\/del><br \/>\n\u30fbpython3 ~\/git\/rcll\/kachaka\/ros2\/btr2_game2025\/btr2_game2025\/game2025.py navigation<br \/>\n\u3053\u3093\u306a\u611f\u3058\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u307e\u305a\uff0cRefBox \u3092\u8d77\u52d5\u3057\u3066\u304a\u304d\u307e\u3059\uff0e \u672c\u756a\u3068\u540c\u3058\u611f\u3058\u3067\u52d5\u304b\u3059\u306a\u3089\u5225\u30de\u30b7\u30f3\u3067\u5b9f &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3858\"> <span class=\"screen-reader-text\">2025\u5e74\u306e\u30c1\u30fc\u30e0\u7b49\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8d77\u52d5\u65b9\u6cd5\uff08kachaka\uff0c\u4e16\u754c\u5927\u4f1a\u7528\uff09<\/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":[39,3,40,2],"tags":[],"class_list":["post-3858","post","type-post","status-publish","format-standard","hentry","category-kachaka","category-logistics-league","category-refbox","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3858","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=3858"}],"version-history":[{"count":9,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3858\/revisions"}],"predecessor-version":[{"id":3930,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3858\/revisions\/3930"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3858"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3858"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3858"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}