{"id":3912,"date":"2025-12-10T01:46:49","date_gmt":"2025-12-09T16:46:49","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3912"},"modified":"2025-12-12T21:45:34","modified_gmt":"2025-12-12T12:45:34","slug":"ros2%e3%81%a7%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e3%82%a2%e3%83%bc%e3%83%a0%e3%81%ae%e3%83%a1%e3%83%a2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3912","title":{"rendered":"ROS2\u3067\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u30e1\u30e2"},"content":{"rendered":"<p>\u53c2\u8003\u6587\u732e\u306f\uff0c<mark><a href=\"https:\/\/qiita.com\/Yuya-Shimizu\/items\/d35b12e525bd8e373890\">ROS\u306e\u52c9\u5f37\u3000\u7b2c35\u5f3e\uff1a\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u4f5c\u6210\uff083\uff09<\/a><\/mark>\u3067\u3059\uff0e<br \/>\n\u305f\u3060\uff0c\u3053\u308c\u3060\u3068ROS1\u306b\u306a\u3063\u3066\u3057\u307e\u3046\u306e\u3067ROS2\u3078\u306e\u5bfe\u5fdc\u3068\u3057\u3066\uff0c<mark><a href=\"https:\/\/zenn.dev\/tasada038\/articles\/d092842f22f431\">ROS2: gazebo_ros2_control\u3067Gazebo\u3068Moveit\u3092\u9023\u643a\u3059\u308b<\/a><\/mark>\u3092\u53c2\u8003\u306b\u3057\u307e\u3057\u305f\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install ros-jazzy-gz-ros2-control ros-jazzy-gz-ros2-control-demos\r\n<\/pre>\n<p>libgz_ros2_control-system.so \u304c\u898b\u3064\u304b\u3089\u306a\u3044\u2026\uff0e<br \/>\n<mark><a href=\"https:\/\/control.ros.org\/jazzy\/doc\/gz_ros2_control\/doc\/index.html\">gz_ros2_control<\/a><\/mark>\u3092\u53c2\u7167\uff0e<br \/>\n~\/.bashrc \u306b\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u5834\u6240\u3092\u8ffd\u52a0\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nexport GAZEBO_PLUGIN_PATH=\/opt\/ros\/jazzy\/lib\/\r\nexport GZ_SIM_SYSTEM_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH\r\n<\/pre>\n<p>\u307e\u3060\u4f5c\u696d\u4e2d\u2026\uff0e<br \/>\n\u30a2\u30fc\u30e0\u306eURDF\u30d5\u30a1\u30a4\u30eb\u306e\u66f8\u304d\u65b9\u306f\uff0c<mark><a href=\"https:\/\/qiita.com\/Yuya-Shimizu\/items\/d35b12e525bd8e373890\">ROS\u306e\u52c9\u5f37\u3000\u7b2c35\u5f3e\uff1a\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u4f5c\u6210\uff083\uff09<\/a><\/mark>\u3092\u53c2\u8003\u306b\u3057\u307e\u3057\u305f\uff0e<br \/>\n\u305f\u3060\uff0c\u3053\u308c\u3060\u3068ROS1\u306e\u8aac\u660e\u306a\u306e\u3067\uff0c\u30d7\u30e9\u30b0\u30a4\u30f3\uff08\u30e9\u30a4\u30d6\u30e9\u30ea\uff09\u306e\u90e8\u5206\u304c\u9069\u5207\u3067\u306f\u3042\u308a\u307e\u305b\u3093\uff0e<br \/>\n\u305d\u306e\u90e8\u5206\u3092ROS2\u306b\u5bfe\u5fdc\u3059\u308b\u306b\u306f\uff0c<mark><a href=\"https:\/\/note.com\/hafnium\/n\/nec706c9a01da\">ROS 2\u521d\u5fc3\u8005\u5411\u3051\u30ec\u30d9\u30eb2 \u2013 TF | URDF | RViz | Gazebo\uff1a\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0 (\u30bb\u30af\u30b7\u30e7\u30f38-2\/10)<\/a><\/mark>\u3068<mark><a href=\"https:\/\/control.ros.org\/jazzy\/doc\/gz_ros2_control\/doc\/index.html\">gz_ros2_control<\/a><\/mark>\u3092\u53c2\u8003\u306b\u3057\u307e\u3057\u305f\uff0e<\/p>\n<p>\u3042\u308c\uff0c\u6628\u65e5\u307e\u3067\u306f\u3046\u307e\u304f\u52d5\u304b\u306a\u304b\u3063\u305f\u3051\u3069\uff0c\u4eca\u65e5\u306f\u52d5\u304d\u51fa\u3057\u305f\u2026\uff0e<br \/>\n\u4f55\u304c\u9055\u3046\u306e\u304b\uff0c\u4f55\u304c\u539f\u56e0\u304b\u3088\u304f\u308f\u304b\u3089\u306a\u3044\u2026\uff0e<\/p>\n<p>\u4e0a\u8a18\u4ee5\u5916\u306b\u53c2\u8003\u306b\u3057\u305f\u30b5\u30a4\u30c8\u306e\u30e1\u30e2\u3092\u8cbc\u3063\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n<ul>\n<li><mark><a href=\"https:\/\/gazebosim.org\/api\/sim\/9\/jointcontrollers.html\">Joint Controllers<\/a><\/mark><\/li>\n<li><mark><a href=\"https:\/\/qiita.com\/Yuya-Shimizu\/items\/fc1d622f81b105f68c88\">ROS\u306e\u52c9\u5f37\u3000\u7b2c34\u5f3e\uff1a\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u4f5c\u6210\uff082\uff09<\/a><\/mark><\/li>\n<\/ul>\n<p>\u6b21\u306b\u53c2\u8003\u3059\u308b\u3067\u3042\u308d\u3046\u30b5\u30a4\u30c8\uff0e<\/p>\n<ul>\n<li><mark><a href=\"https:\/\/note.com\/npaka\/n\/nfca08d73a15d\">ROS\u5165\u9580 (25) &#8211; URDF\u306b\u3088\u308b\u53ef\u52d5\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u4f5c\u6210<\/a><\/mark><\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u53c2\u8003\u6587\u732e\u306f\uff0cROS\u306e\u52c9\u5f37\u3000\u7b2c35\u5f3e\uff1a\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u4f5c\u6210\uff083\uff09\u3067\u3059\uff0e \u305f\u3060\uff0c\u3053\u308c &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3912\"> <span class=\"screen-reader-text\">ROS2\u3067\u30ed\u30dc\u30c3\u30c8\u30a2\u30fc\u30e0\u306e\u30e1\u30e2<\/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":[3,2,27,6],"tags":[],"class_list":["post-3912","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-ros","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3912","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=3912"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3912\/revisions"}],"predecessor-version":[{"id":3922,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3912\/revisions\/3922"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3912"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3912"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3912"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}