{"id":3934,"date":"2026-02-24T20:34:16","date_gmt":"2026-02-24T11:34:16","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3934"},"modified":"2026-03-02T23:58:06","modified_gmt":"2026-03-02T14:58:06","slug":"myagvros1","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3934","title":{"rendered":"myAGV(ROS1)"},"content":{"rendered":"<p>\u307e\u305a\u306f\uff0c\u8cb7\u3063\u3066\u304d\u305fmyAGV\u306e\u6bb5\u968e\u3067\u4f55\u304c\u3067\u304d\u308b\u304b\u3092\u8a66\u3057\u3066\u307f\u307e\u3059\uff0e<br \/>\nLiDAR\u3078\u306e\u96fb\u6e90\u4f9b\u7d66<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# GPIO 20 \u3092\u6709\u52b9\u306b\u3059\u308b\r\necho 20 | sudo tee \/sys\/class\/gpio\/export\r\n\r\n# \u51fa\u529b\u30e2\u30fc\u30c9\u306b\u8a2d\u5b9a\u3059\u308b\r\necho out | sudo tee \/sys\/class\/gpio\/gpio20\/direction\r\n\r\n# \u96fb\u6e90\u3092ON\u306b\u3059\u308b\uff081\u3092\u66f8\u304f\uff09\r\necho 1 | sudo tee \/sys\/class\/gpio\/gpio20\/value\r\n<\/pre>\n<p>ROS\u3067\u52d5\u304b\u3059<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nroslaunch myagv_odometry myagv_active.launch\r\n<\/pre>\n<p>\u3053\u308c\u3067\/scan\u304c\u4f7f\u3048\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ner@er:~$ rostopic echo \/scan -n1|head -n13\r\nheader: \r\n  seq: 376\r\n  stamp: \r\n    secs: 1771932835\r\n    nsecs: 904580000\r\n  frame_id: &quot;laser_frame&quot;\r\nangle_min: -3.1415927410125732\r\nangle_max: 3.1415927410125732\r\nangle_increment: 0.012344175018370152\r\ntime_increment: 0.0002506898599676788\r\nscan_time: 0.12609699368476868\r\nrange_min: 0.10000000149011612\r\nrange_max: 12.0\r\n<\/pre>\n<p>\u3067\uff0cSLAM\u306e\u958b\u59cb\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nroslaunch myagv_navigation myagv_slam_laser.launch\r\n<\/pre>\n<p>rviz\u3067\u78ba\u8a8d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nrviz rviz\r\n<\/pre>\n<p>\u3067\uff0cteleop\u3067\u64cd\u4f5c\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nrosrun myagv_teleop myagv_teleop.py\r\n<\/pre>\n<p>\u5730\u56f3\u306e\u4fdd\u5b58<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nrosrun map_server map_saver -f ~\/my_map\r\n<\/pre>\n<p>\u5730\u56f3\u306e\u8aad\u307f\u8fbc\u307f<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nrosrun map_server map_server ~\/my_map.yaml\r\n<\/pre>\n<p>\u4f5c\u6210\u3057\u305f\u5730\u56f3\u3092\u4f7f\u3063\u305fNavigation<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# roslaunch myagv_odometry myagv_active.launch\r\nroslaunch myagv_navigation navigation_active.launch map:=my_map.yaml\r\n<\/pre>\n<p>\u57fa\u672c\u7684\u306aROS1\u306e\u52d5\u4f5c\u78ba\u8a8d\u306f\uff0c\u3053\u3093\u306a\u611f\u3058\u3067\u3057\u3087\u3046\u304b\uff0e<br \/>\n&#8212;-<br \/>\n\u3064\u3044\u3067\u306b\u81ea\u5206\u7528\u30e1\u30e2<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n\/opt\/ros\/noetic\/lib\/rviz\/rviz -d \/home\/er\/myagv_ros\/src\/myagv_navigation\/rviz\/teb.rviz __name:=rviz __log:=\/home\/er\/.ros\/log\/8d444f00-1199-11f1-89a4-cd7fe1b21022\/rviz-6.log\r\ner@er:~\/myagv_ros\/src\/myagv_navigation\/launch$ roslaunch myagv_navigation teb_navigation_slam.launch \r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u307e\u305a\u306f\uff0c\u8cb7\u3063\u3066\u304d\u305fmyAGV\u306e\u6bb5\u968e\u3067\u4f55\u304c\u3067\u304d\u308b\u304b\u3092\u8a66\u3057\u3066\u307f\u307e\u3059\uff0e LiDAR\u3078\u306e &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3934\"> <span class=\"screen-reader-text\">myAGV(ROS1)<\/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":[3,42,2,27,6],"tags":[],"class_list":["post-3934","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-myagv","category-robocup","category-ros","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3934","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=3934"}],"version-history":[{"count":10,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3934\/revisions"}],"predecessor-version":[{"id":3946,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3934\/revisions\/3946"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3934"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3934"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3934"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}