{"id":4023,"date":"2026-06-15T01:32:38","date_gmt":"2026-06-14T16:32:38","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=4023"},"modified":"2026-06-15T01:32:38","modified_gmt":"2026-06-14T16:32:38","slug":"docker%e4%b8%8a%e3%81%aeros2galactic%e3%81%a7teleop_twist_joy","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=4023","title":{"rendered":"Docker\u4e0a\u306eROS2(galactic)\u3067teleop_twist_joy"},"content":{"rendered":"<p>docker-compose.yaml\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u8a2d\u5b9a\u3092\u66f8\u304d\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nservices:\r\n  ros2_galactic:\r\n    build: .\r\n    container_name: ros2_galactic\r\n\r\n    network_mode: host   # --net=host\r\n\r\n    # \u91cd\u8981\uff1a\u30c7\u30d0\u30a4\u30b9\u30a2\u30af\u30bb\u30b9\u8a31\u53ef\r\n    privileged: true\r\n\r\n    volumes:\r\n      # \u5165\u529b\u30c7\u30d0\u30a4\u30b9\u5168\u4f53\u3092\u30de\u30a6\u30f3\u30c8\r\n      - \/dev\/input:\/dev\/input\r\n\r\n    # \u500b\u5225\u306b\u30c7\u30d0\u30a4\u30b9\u3092\u6307\u5b9a\u3059\u308b\u5834\u5408\uff08\u3088\u308a\u5b89\u5168\uff09\r\n    devices:\r\n      - \/dev\/input\/js0:\/dev\/input\/js0\r\n<\/pre>\n<p>\u3067\uff0c\u4ee5\u4e0b\uff0c\u305d\u308c\u305e\u308c\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u7528\u610f\u3057\u3066\u5b9f\u884c\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">ros2 run joy joy_node<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">ros2 topic list; ros2 topic echo \/joy<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">ros2 run teleop_twist_joy teleop_node<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">ros2 topic echo \/cmd_vel<\/pre>\n<p>Logitech Gamepad F310\u3092\u4f7f\u3063\u3066\u3044\u308b\u306e\u3067\u3059\u304c\uff0c\u6a19\u6e96\u3060\u3068\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nbutton 5 = RB\r\nLinear axis x on 5 = RT\r\nAngular axis yaw on 2 = LT\r\n<\/pre>\n<p>\u3068\u3044\u3046\u5272\u308a\u5f53\u3066\u306b\u306a\u3063\u3066\u3044\u308b\u307f\u305f\u3044\u3067\u3059\uff0e<br \/>\n\u5927\u5909\u62bc\u3057\u306b\u304f\u3044\u3067\u3059\uff0e<br \/>\n\u305d\u3053\u3067\uff0cteleop\u3092\u4ee5\u4e0b\u306b\u5909\u66f4<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">ros2 run teleop_twist_joy teleop_node \\\r\n  --ros-args \\\r\n  -p require_enable_button:=true \\\r\n  -p axis_linear.x:=1 \\\r\n  -p axis_angular.yaw:=3<\/pre>\n<p>\u3053\u308c\u3067\uff0c<br \/>\n\u3000\u524d\u5f8c\u304c\u5de6\u306e\u30a2\u30ca\u30ed\u30b0\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u524d\u5f8c\u306e\u8ef8\uff0c<br \/>\n\u3000\u56de\u8ee2\u304c\u53f3\u306e\u30a2\u30ca\u30ed\u30b0\u30b9\u30c6\u30a3\u30c3\u30af\u306e\u5de6\u53f3\u306e\u8ef8<br \/>\n\u306b\u5bfe\u5fdc\u3057\u307e\u3059\uff0e<br \/>\n\u306a\u304a\uff0cF310\u3067\u306f\u306a\u304fX-Box 360\u3068\u3057\u3066\u8a8d\u8b58\u3055\u308c\u308b\u3068\u52d5\u304d\u307e\u305b\u3093\uff0e<br \/>\n\u305d\u306e\u5834\u5408\uff0c\/dev\/input\/event??\u3092\u78ba\u8a8d\u3057\u3066\uff0c\u3069\u306e\u756a\u53f7\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u306e\u304b\u3092\u898b\u3064\u3051\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u4e0a\u3067\uff0cros2 run joy joy_node\u306e\u90e8\u5206\u306b\u5bfe\u3057\u3066\uff0c\u74b0\u5883\u5909\u6570\u3092\u8a2d\u5b9a\u3057\u307e\u3059\uff0e<br \/>\n\u4ee5\u4e0b\u306e\u4f8b\u306f\uff0c\/dev\/input\/event7\u306b\u5272\u308a\u5f53\u3066\u304c\u3042\u3063\u305f\u3068\u304d\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nexport SDL_GAMECONTROLLERCONFIG=&quot;&quot;\r\nexport SDL_JOYSTICK_DEVICE=\/dev\/input\/event7\r\nros2 run joy joy_node\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>docker-compose.yaml\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u8a2d\u5b9a\u3092\u66f8\u304d\u307e\u3059\uff0e servi &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=4023\"> <span class=\"screen-reader-text\">Docker\u4e0a\u306eROS2(galactic)\u3067teleop_twist_joy<\/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-4023","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\/4023","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=4023"}],"version-history":[{"count":1,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/4023\/revisions"}],"predecessor-version":[{"id":4024,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/4023\/revisions\/4024"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=4023"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=4023"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=4023"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}