{"id":3947,"date":"2026-03-02T23:57:38","date_gmt":"2026-03-02T14:57:38","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3947"},"modified":"2026-03-10T01:02:39","modified_gmt":"2026-03-09T16:02:39","slug":"myagvros2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3947","title":{"rendered":"myAGV(ROS2)"},"content":{"rendered":"

myAGV(ROS1)<\/a><\/mark>\u304c\u3067\u304d\u305f\u306e\u3067\uff0c\u6b21\u306fROS2\uff0e
\n\u3068\u601d\u3063\u3066myagv ros2<\/a><\/mark>\u306b\u30a2\u30af\u30bb\u30b9\u3057\u3066\u307f\u308b\u3068\uff0c
\ndefault\u306ebranch\u304cgalactic-JN\u306b\u306a\u3063\u3066\u3044\u307e\u3057\u305f\uff0e
\nRaspberry pi\u7248\u306f\uff0cjazzy-Pi5\u3068\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
\n\u3093\uff1fPi5\uff1f
\n\u3063\u3066\u3053\u3068\u306f\uff0c\u4eca\u306e\u624b\u5143\u306eRaspbarry pi\u3060\u3068\u30c0\u30e1\u3063\u3066\u3053\u3068\u3067\u3059\u306d\uff0e
\n\u3057\u304b\u3082\uff0cjazzy\u3068\u3044\u3046\u3053\u3068\u306fUbuntu 24.04\u306b\u306a\u308b\u306f\u305a\uff0e
\n\u305d\u3057\u3066\uff0c\u73fe\u6bb5\u968e\uff082026\/03\/02\uff09\u3067\u306f\uff0c\u4e2d\u8eab\u306f\u7a7a\u3063\u307d\u2026\uff0e<\/p>\n

\u3068\u308a\u3042\u3048\u305a\uff0cJetsonNano\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u9811\u5f35\u3063\u3066\u307f\u307e\u3059\u304b\u2026\uff0e
\nros2shell\u3092\u5b9f\u884c\u3057\u3066\uff0cpython\u3092ros2\u306e\u74b0\u5883\u306b\u5207\u308a\u66ff\u3048\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n

\r\ner@er:~$ ros2shell\r\nROS_DISTRO was set to 'noetic' before. Please make sure that the environment does not mix paths from different distributions.\r\nROS_DISTRO was set to 'galactic' before. Please make sure that the environment does not mix paths from different distributions.\r\n(ros2 galactic py3)er@er:~$ \r\n<\/pre>\n
\u3061\u306a\u307f\u306b\uff0c\u3053\u308c\u306f\u74b0\u5883\u5909\u6570\u3092\u66f8\u304d\u63db\u3048\u3066\uff0cbash\u3092\u8aad\u307f\u8fbc\u307f\u76f4\u3059\u3060\u3051\u3067\u3059\uff0e<\/p>\n
\r\n(ros2 galactic py3)er@er:~$ cat .local\/bin\/ros2shell \r\n#!\/bin\/bash\r\nexport MYCOBOT_ROS_2_INIT=1\r\nexport MYCOBOT_ROS_2_COMMANDS="$*"\r\nbash\r\n<\/pre>\n
\u3067\uff0c\u306a\u305c\u3053\u308c\u3067ROS2\u306e\u4e16\u754c\u306b\u306a\u308b\u304b\u3068\u8a00\u3046\u3068\uff0c.bashrc\u306b\u3066\uff0c\u3053\u306e\u74b0\u5883\u5909\u6570\u3092\u898b\u3066\uff0csetup.bash\u3092\u8aad\u307f\u8fbc\u3080\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u304b\u3089\u3067\u3059\uff0e<\/p>\n
\r\n(ros2 galactic py3)er@er:~$ cat .bashrc|head -n82|tail -n20\r\nros2-init()\r\n{\r\n\tsource \/opt\/ros\/galactic\/setup.bash\r\n\tif [ -f ~\/colcon_ws\/install\/setup.bash ]; then\r\n\t\tsource ~\/colcon_ws\/install\/setup.bash\r\n\t\tif [ "$MYCOBOT_ROS_2_COMMANDS" != "" ]; then\r\n\t\t\techo "$MYCOBOT_ROS_2_COMMANDS"\r\n\t\t\teval "$MYCOBOT_ROS_2_COMMANDS"\r\n\t\t\texit\r\n\t\tfi\r\n\tfi\r\n}\r\n\r\nif [ "$MYCOBOT_ROS_1_INIT" == "1" ]; then\r\n\tros-init\r\nfi\r\n\r\nif [ "$MYCOBOT_ROS_2_INIT" == "1" ]; then\r\n\tros2-init\r\nfi\r\n<\/pre>\n
\u7d20\u6674\u3089\u3057\u3044\u3067\u3059\u306d\uff0e
\n\u3067\uff0c\u95a2\u4fc2\u3057\u305d\u3046\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n
\r\nsudo apt install ros-galactic-bondcpp \\\r\n    ros-galactic-test-msgs* \\\r\n    ros-galactic-behaviortree-cpp-v3* \\\r\n    ros-galactic-ompl \\\r\n    ros-galactic-joint-state-publisher \\\r\n    ros-galactic-rqt-tf-tree \\\r\n    ros-galactic-diagnostic-updater \\\r\n    ros-galactic-camera-info-manager -y\r\nsudo apt install ros-galactic-geographic-msgs -y\r\n<\/pre>\n
ROS2\u306e\u74b0\u5883\u69cb\u7bc9<\/p>\n
\r\nmkdir -p ~\/myagv_ros2\/src\r\ncd ~\/myagv_ros2\/src\r\ngit clone https:\/\/github.com\/elephantrobotics\/myagv_ros2.git\r\n<\/pre>\n
ROS2-myAGV\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30d3\u30eb\u30c9<\/p>\n
\r\ncd ~\/myagv_ros2\r\nsudo rosdep init\r\nrosdep update\r\nrosdep install --from-paths src --ignore-src -r -y\r\ncolcon build --symlink-install\r\n<\/pre>\n
\u3044\u304f\u3064\u304b\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u91cd\u8907\u3057\u3066\u3044\u308b\u6a21\u69d8\uff0e<\/p>\n
\r\n(ros2 galactic py3)er@er:~\/myagv_ros2$ colcon build --symlink-install\r\n\r\n[2.780s] colcon.colcon_core.package_selection WARNING Some selected packages are already built in one or more underlay workspaces:\r\n\t'cv_bridge' is in: \/opt\/ros\/galactic\r\n\t'image_geometry' is in: \/opt\/ros\/galactic\r\n\t'teleop_twist_keyboard' is in: \/opt\/ros\/galactic\r\nIf a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.\r\nIf the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.\r\n\r\nIf you understand the risks and want to override a package anyways, add the following to the command line:\r\n\t--allow-overriding cv_bridge image_geometry teleop_twist_keyboard\r\n\r\nThis may be promoted to an error in a future release of colcon-override-check.\r\n<\/pre>\n
\u6c17\u306b\u306a\u308b\u306e\u3067\u3042\u308c\u3070\uff0c\u7121\u8996\u306e\u30d5\u30e9\u30b0\u3092\u7acb\u3066\u3066\u304a\u304f\uff0e<\/p>\n
\r\ncd ~\/myagv_ros2\/src\r\n# \u30b7\u30b9\u30c6\u30e0\u3068\u91cd\u8907\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306b\u7121\u8996\u30d5\u30a1\u30a4\u30eb\u3092\u7f6e\u304f\r\ntouch vision_opencv\/cv_bridge\/COLCON_IGNORE\r\ntouch vision_opencv\/image_geometry\/COLCON_IGNORE\r\ntouch teleop_twist_keyboard\/COLCON_IGNORE\r\n<\/pre>\n
\u30d3\u30eb\u30c9\u3067\u304d\u305f\u3089\uff0c\u74b0\u5883\u306e\u66f4\u65b0\u3063\u3066\uff0c\u30d3\u30eb\u30c9\u306b\u304b\u306a\u308a\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059\u2026\uff0e
\n\u3061\u306a\u307f\u306b\uff0cscreen\u3092\u4f7f\u3044\u305f\u304b\u3063\u305f\u3089\uff0c<\/p>\n
\r\nexport MYCOBOT_ROS_2_INIT=1\r\nscreen\r\n<\/pre>\n
\u3063\u3066\u3084\u3089\u306a\u3044\u3068\uff0c\u30d5\u30e9\u30b0\u304c\u306a\u3044\u72b6\u614b\u3067bash\u3092\u547c\u3073\u51fa\u3059\u3053\u3068\u306b\u306a\u308b\u306e\u3067ros1\u306e\u30b7\u30a7\u30eb\u304c\u7acb\u3061\u4e0a\u304c\u3063\u3066\u3057\u307e\u3046\u3053\u3068\u306b\u6c17\u3092\u3064\u3051\u3066\u4e0b\u3055\u3044\uff0e
\n\u307e\u305f\uff0c\u3069\u3053\u304b\u3067myagv_ros\u306b\u3088\u308b\u8a2d\u5b9a\u4e0a\u66f8\u304d\u304c\u5165\u3063\u3066\u3057\u307e\u3063\u305f\u5834\u5408\u3082ros2shell\u304c\u7121\u8996\u3055\u308c\u308b\u306e\u3067\u6c17\u3092\u3064\u3051\u3066\u4e0b\u3055\u3044\uff0e
\n\u8a73\u3057\u304f\u306f\uff0c\u300ca href=”https:\/\/www.kdel.org\/wp\/?p=3960″>ros2shell\u3092\u5b9f\u884c\u3057\u3066\u3082\uff0c(ros1 noetic py3) \u306b\u306a\u308b
\n<\/a><\/makr>\u300d\u3092\uff0e<\/p>\n
ros2\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u305f\u3089\uff0c\u3055\u3089\u306bmyagv_ros2\u306e\u8a2d\u5b9a\u3092\u53cd\u6620\u3055\u305b\u307e\u3057\u3087\u3046\uff0e<\/p>\n
\r\nsource ~\/myagv_ros2\/install\/setup.bash\r\n<\/pre>\n
ros2shell \u306b\u8ffd\u52a0\u3057\u3066\u304a\u304d\u305f\u3044\u3067\u3059\u306d\uff0e<\/p>\n
\u3055\u3066\uff0c\u4f7f\u3063\u3066\u307f\u307e\u3059\u304b\uff0e<\/p>\n
\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
\u8d77\u52d5\u3057\u307e\u3059\uff0e<\/p>\n
\r\nros2 launch myagv_odometry myagv_active.launch.py\r\n<\/pre>\n
\u3053\u306e\u6bb5\u968e\u3067\uff0c\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u5c5e\u3057\u3066\u3044\u308b\u5225\u306e\u30de\u30b7\u30f3\u304b\u3089\u3082\u60c5\u5831\u304c\u898b\u3048\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~$ ros2 topic list\r\n\/imu\r\n\/joint_states\r\n\/odom\r\n\/parameter_events\r\n\/robot_description\r\n\/rosout\r\n\/tf\r\n\/tf_static\r\n\/voltage\r\n\/voltage_backup\r\n\/ydlidar_ros2_driver_node\/transition_event\r\n<\/pre>\n
\u305f\u3060\uff0c\/scan\u304c\u51fa\u3066\u3044\u307e\u305b\u3093\u306d\uff0e
\n\u3088\u304f\u3088\u304f\u898b\u3066\u307f\u308b\u3068\uff0c<\/p>\n
\r\n(ros2 galactic py3)er@er:~$ ros2 launch ydlidar_ros2_driver ydlidar_launch.py\r\n...\r\n[ydlidar_ros2_driver_node-1] [YDLIDAR] Error, cannot bind to the specified serial port[\/dev\/ttyTHS1] and baudrate[115200]\r\n[ydlidar_ros2_driver_node-1] [YDLIDAR] Error initializing YDLIDAR check Comms.\r\n[ydlidar_ros2_driver_node-1] [ERROR] [1773068637.915765561] [ydlidar_ros2_driver_node]: Unknown error\r\n<\/pre>\n
\u30a8\u30e9\u30fc\u304c\u51fa\u3066\u3044\u307e\u3059\uff0e
\n\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u540d\u304c\u9055\u3046\u307f\u305f\u3044\u3067\u3059\u306d\uff0e<\/p>\n
\r\n(ros2 galactic py3)er@er:~\/myagv_ros2\/src\/myagv_ros2\/ydlidar_ros2_driver\/params$ grep THS *\r\nX2.yaml:    port: \/dev\/ttyTHS1\r\n<\/pre>\n
\r\n(ros2 galactic py3)er@er:~\/myagv_ros2\/src\/myagv_ros2\/ydlidar_ros2_driver\/params$ ls \/dev\/ttyUSB*\r\nls: cannot access '\/dev\/ttyUSB*': No such file or directory\r\n(ros2 galactic py3)er@er:~\/myagv_ros2\/src\/myagv_ros2\/ydlidar_ros2_driver\/params$ ls \/dev\/ttyAMA*\r\n\/dev\/ttyAMA0  \/dev\/ttyAMA1  \/dev\/ttyAMA2  \/dev\/ttyAMA3  \/dev\/ttyAMA4\r\n<\/pre>\n
\/dev\/ttyAMA0 \u306b\u66f8\u304d\u63db\u3048\u3066\u307f\u307e\u3057\u3087\u3046\u304b\uff0e<\/p>\n
\u3055\u3066\uff0c\u96a3\u306e\u30d1\u30bd\u30b3\u30f3\u3067navigation \u3092\u52d5\u304b\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~\/colcon_ws\/src\/myagv_navigation2\/launch$ ls\r\nnavigation2_active.launch.py\r\n(myenv) wataru@NucBoxG5:~\/colcon_ws\/src\/myagv_navigation2\/launch$ ros2 launch myagv_navigation2 navigation2_active.launch.py \r\n[INFO] [launch]: All log files can be found below \/home\/wataru\/.ros\/log\/2026-03-10-00-16-42-298746-NucBoxG5-25499\r\n[INFO] [launch]: Default logging verbosity is set to INFO\r\n[ERROR] [launch]: Caught exception in launch (see debug for traceback): Caught multiple exceptions when trying to load file of format [py]:\r\n - PackageNotFoundError: "package 'nav2_bringup' not found, searching: ['\/home\/wataru\/ros2_ws\/install\/vision_opencv', '\/home\/wataru\/ros2_ws\/install\/slam_gmapping', '\/home\/wataru\/ros2_ws\/install\/refbox_msgs', '\/home\/wataru\/ros2_ws\/install\/openslam_gmapping', '\/home\/wataru\/ros2_ws\/install\/opencv_tests', '\/home\/wataru\/ros2_ws\/install\/myagv_odometry', '\/home\/wataru\/ros2_ws\/install\/myagv_navigation2', '\/home\/wataru\/ros2_ws\/install\/myagv_description', '\/home\/wataru\/ros2_ws\/install\/kachaka_vision', '\/home\/wataru\/ros2_ws\/install\/kachaka_speak', '\/home\/wataru\/ros2_ws\/install\/kachaka_smart_speaker', '\/home\/wataru\/ros2_ws\/install\/kachaka_nav2_bringup', '\/home\/wataru\/ros2_ws\/install\/kachaka_follow', '\/home\/wataru\/ros2_ws\/install\/kachaka_interfaces', '\/home\/wataru\/ros2_ws\/install\/kachaka_description', '\/home\/wataru\/ros2_ws\/install\/gazebo_msgs', '\/home\/wataru\/ros2_ws\/install\/gazebo_dev', '\/home\/wataru\/ros2_ws\/install\/btr2_odom', '\/home\/wataru\/ros2_ws\/install\/btr2_msgs', '\/home\/wataru\/ros2_ws\/install\/btr2_lrf', '\/home\/wataru\/ros2_ws\/install\/btr2_game2025', '\/opt\/ros\/jazzy']"\r\n - InvalidFrontendLaunchFileError: The launch file may have a syntax error, or its format is unknown\r\n<\/pre>\n
\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u5165\u3063\u3066\u3044\u306a\u3044\u306e\u3067\uff0c\u8ffd\u52a0\uff0eslam-toolbox \u306f\u884c\u3063\u3066\u3044\u305f\u6a21\u69d8\uff0e<\/p>\n
\r\nsudo apt update\r\nsudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup -y\r\nsudo apt install ros-jazzy-slam-toolbox -y\r\n<\/pre>\n
ROS2\u7528\u306e\u4fee\u6b63\u304c\u5fc5\u8981\uff0e
\n\u540d\u524d\u3092\u53b3\u5bc6\u306b\u66f8\u304b\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u307f\u305f\u3044\uff0e<\/p>\n
\r\n# ~\/colcon_ws\/src\/myagv_navigation2\/param\/myagv.yaml \r\n    robot_model_type: "nav2_amcl::differential"\r\n...\r\nplanner_server:\r\n  ros__parameters:\r\n...\r\n    GridBased:\r\n      plugin: "nav2_navfn_planner::NavfnPlanner"\r\n<\/pre>\n
\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n
\r\nros2 lifecycle set \/map_server activate\r\n<\/pre>\n
\r\nros2 lifecycle set \/amcl configure\r\n<\/pre>\n
\u3055\u3066\u3055\u3066\uff0c\u3053\u306e\u8fba\u3067\u52d5\u304d\u304c\u602a\u3057\u304f\u306a\u3063\u3066\u6765\u305f\u306e\u3067\uff0c\u4eca\u65e5\u306f\u3053\u306e\u8fba\u3067\u7d42\u3048\u308b\u3053\u3068\u306b\u3057\u307e\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
myAGV(ROS1)\u304c\u3067\u304d\u305f\u306e\u3067\uff0c\u6b21\u306fROS2\uff0e \u3068\u601d\u3063\u3066myagv ros2 …<\/p>\n
  myAGV(ROS2)<\/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":[3,42,2,27,6],"tags":[],"class_list":["post-3947","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\/3947","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=3947"}],"version-history":[{"count":23,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3947\/revisions"}],"predecessor-version":[{"id":3976,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3947\/revisions\/3976"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3947"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3947"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3947"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}