{"id":1684,"date":"2011-08-17T00:00:00","date_gmt":"2011-08-16T15:00:00","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/archives\/1684"},"modified":"2011-08-17T00:00:00","modified_gmt":"2011-08-16T15:00:00","slug":"ros%e8%a6%9a%e3%81%88%e6%9b%b8%e3%81%8d%e3%80%8c%e3%83%88%e3%83%94%e3%83%83%e3%82%af%e3%81%ae%e7%90%86%e8%a7%a3%e3%80%8d-2","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/1684","title":{"rendered":"ROS\u899a\u3048\u66f8\u304d\u300c\u30c8\u30d4\u30c3\u30af\u306e\u7406\u89e3\u300d"},"content":{"rendered":"<div class=\"section\">\n<p><a href=\"http:\/\/www.ros.org\/wiki\/ROS\/Tutorials\/UnderstandingTopics\" target=\"_blank\" rel=\"noopener\">http:\/\/www.ros.org\/wiki\/ROS\/Tutorials\/UnderstandingTopics<\/a> \u3088\u308a<\/p>\n<p>\u30ce\u30fc\u30c9\u306f\u4e92\u3044\u306b\u901a\u4fe1\u3059\u308b\u969b\u3001\u30c8\u30d4\u30c3\u30af(Topic)\u3092\u901a\u3058\u3066\u884c\u3046\u3002\u4f8b\u3048\u3070turtle_teleop_key\u30ce\u30fc\u30c9\u306f\u3001\u30ad\u30fc\u5165\u529b\u3092\u30c8\u30d4\u30c3\u30af\u4e0a\u306b\u914d\u4fe1\u3059\u308b\u3002\u4ed6\u65b9\u3067\u3001turtlesim\u30ce\u30fc\u30c9\u306f\u305d\u306e\u30c8\u30d4\u30c3\u30af\u3092\u8cfc\u8aad\u3059\u308b\u3053\u3068\u3067\u30ad\u30fc\u5165\u529b\u3092\u53d7\u4fe1\u3059\u308b\u3002<\/p>\n<p>rxgraph\u306f\u3001\u5b9f\u884c\u4e2d\u306e\u30ce\u30fc\u30c9\u3068\u30c8\u30d4\u30c3\u30af\u304b\u3089\u306a\u308b\u6709\u5411\u30b0\u30e9\u30d5\u3092\u8868\u793a\u3059\u308b\u30c4\u30fc\u30eb\u3067\u3042\u308b\u3002\u3053\u306e\u30c4\u30fc\u30eb\u3092\u4f7f\u3048\u3070\u3001ROS\u3067\u4f55\u304c\u884c\u308f\u308c\u3066\u3044\u308b\u304b\u8996\u899a\u7684\u306b\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3002<\/p>\n<pre>\nrxgraph\n<\/pre>\n<p>turtle_teleop_key\u30ce\u30fc\u30c9\u306f\u3001\/turtle1\/command_velocity\u30c8\u30d4\u30c3\u30af\u3092\u901a\u3058\u3066\u3001turtlesim\u30ce\u30fc\u30c9\u3068\u901a\u4fe1\u3059\u308b\u3002\u307e\u305f\u3001turtlesim\u30ce\u30fc\u30c9\u306f\u3001\/rosout\u30c8\u30d4\u30c3\u30af\u3092\u901a\u3058\u3066rosout\u30ce\u30fc\u30c9\u3068\u901a\u4fe1\u3059\u308b\u3002<\/p>\n<p>rostopic\u306f\u3001\u30c8\u30d4\u30c3\u30af\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u5f97\u308b\u305f\u3081\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3042\u308b\u3002rostopic -h\u3092\u5b9f\u884c\u3059\u308b\u3068\u5229\u7528\u53ef\u80fd\u306a\u30b5\u30d6\u30b3\u30de\u30f3\u30c9\u304c\u8868\u793a\u3055\u308c\u308b\u3002<\/p>\n<p>rostopic bw\uff1a\u30c8\u30d4\u30c3\u30af\u306b\u3088\u3063\u3066\u4f7f\u308f\u308c\u308b\u30d0\u30f3\u30c9\u5e45\uff08bandwidth\uff09\u3092\u8868\u793a\u3059\u308b\u3002<\/p>\n<p>rostopic echo\uff1a\u753b\u9762\u306b\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u8868\u793a\u3059\u308b\u3002<\/p>\n<p>rostopic hz\uff1a\u30c8\u30d4\u30c3\u30af\u306e\u914d\u4fe1\u30ec\u30fc\u30c8\uff08publishing rate\uff09\u3092\u8868\u793a\u3059\u308b\u3002<\/p>\n<p>rostopic list\uff1a\u6709\u52b9\u306a\u30c8\u30d4\u30c3\u30af\u306b\u95a2\u3059\u308b\u60c5\u5831\u3092\u8868\u793a\u3059\u308b\u3002<\/p>\n<p>rostopic pub\uff1a\u30c8\u30d4\u30c3\u30af\u306b\u30c7\u30fc\u30bf\u3092\u914d\u4fe1\u3059\u308b\u3002<\/p>\n<p>rostopic type\uff1a\u30c8\u30d4\u30c3\u30af\u306e\u578b\u3092\u8868\u793a\u3059\u308b\u3002<\/p>\n<p>rostopic echo\u306f\u30c8\u30d4\u30c3\u30af\u4e0a\u306b\u914d\u4fe1\u3055\u308c\u305f\u30c7\u30fc\u30bf\u3092\u8868\u793a\u3059\u308b\u3002\u4f7f\u3044\u65b9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n<pre>\nrostopic echo [\u30c8\u30d4\u30c3\u30af]\n<\/pre>\n<p>turtle_teleop_key\u30ce\u30fc\u30c9\u306b\u3088\u3063\u3066\/turtle1\/command_velocity\u30c8\u30d4\u30c3\u30af\u4e0a\u306b\u914d\u4fe1\u3055\u308c\u305f\u30c7\u30fc\u30bf\u3092\u898b\u308b\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3059\u308b\u3002<\/p>\n<pre>\nrostopic echo \/turtle1\/command_velocity\n<\/pre>\n<p>rostopic list\u306f\u3001\u73fe\u5728\u914d\u4fe1\u30fb\u8cfc\u8aad\u3055\u308c\u3066\u3044\u308b\u5168\u3066\u306e\u30c8\u30d4\u30c3\u30af\u306e\u4e00\u89a7\u3092\u8868\u793a\u3059\u308b\u3002rostopic list -h\u3067\u3001\u5fc5\u8981\u3068\u3055\u308c\u308b\u5f15\u6570\u306b\u3064\u3044\u3066\u306e\u8aac\u660e\u304c\u8868\u793a\u3055\u308c\u308b\u3002rostopic list -v\u3067\u3001\u914d\u4fe1\u30fb\u8cfc\u8aad\u3055\u308c\u308b\u30c8\u30d4\u30c3\u30af\u306e\u30ea\u30b9\u30c8\u304c\u8868\u793a\u3055\u308c\u308b\u3002<\/p>\n<p>\u30ce\u30fc\u30c9\u9593\u3067\u30e1\u30c3\u30bb\u30fc\u30b8\uff08Message\uff09\u3092\u9001\u308b\u3053\u3068\u306b\u3088\u308a\u3001\u30c8\u30d4\u30c3\u30af\u4e0a\u3067\u901a\u4fe1\u304c\u884c\u308f\u308c\u308b\u3002\u914d\u4fe1\u8005\uff08turtle_teleop_key\uff09\u3068\u8cfc\u8aad\u8005\uff08turtlesim_node\uff09\u304c\u901a\u4fe1\u3059\u308b\u3068\u304d\u3001\u914d\u4fe1\u8005\u3068\u8cfc\u8aad\u8005\u306f\u540c\u3058\u578b\uff08type\uff09\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u9001\u53d7\u4fe1\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u3002\u30c8\u30d4\u30c3\u30af\u4e0a\u3067\u914d\u4fe1\u3055\u308c\u308b\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u578b\u306b\u3088\u3063\u3066\u30c8\u30d4\u30c3\u30af\u306e\u578b\u304c\u6c7a\u307e\u308b\u3002\u30c8\u30d4\u30c3\u30af\u4e0a\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u578b\u306f\u3001rostopic type\u3092\u4f7f\u3063\u3066\u77e5\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3002rostopic type\u306e\u4f7f\u3044\u65b9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n<pre>\nrostopic type [\u30c8\u30d4\u30c3\u30af]\n<\/pre>\n<p>rostpic type \/turtle1\/command_velocity\u3092\u5b9f\u884c\u3059\u308b\u3068\u3001turtlesim\/Velocity\u3092\u5f97\u308b\u3002<\/p>\n<p>rosmsg\u3092\u4f7f\u3063\u3066\u3001\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u8a73\u7d30\u3092\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3002<\/p>\n<pre>\nrosmsg show turtlesim\/Velocity\n<\/pre>\n<p>rostopic pub\u306f\u3001\u30c8\u30d4\u30c3\u30af\u4e0a\u306b\u30c7\u30fc\u30bf\u3092\u914d\u4fe1\u3059\u308b\u3002\u4f7f\u3044\u65b9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002<\/p>\n<pre>\nrostopic pub [\u30c8\u30d4\u30c3\u30af] [\u30e1\u30c3\u30bb\u30fc\u30b8\u578b] [\u5f15\u6570]\n<\/pre>\n<p>\u4f7f\u7528\u4f8b<\/p>\n<pre>\nrostopic pub -1 \/turtle1\/command_velocity turtlesim\/Velocity  -- 2.0  1.8\n<\/pre>\n<p>\u3053\u308c\u306fturtlesim\u306b\u5bfe\u3057\u3066\u3001\u7dda\u901f\u5ea62.0\u3001\u89d2\u901f\u5ea61.8\u3067\u52d5\u4f5c\u3059\u308b\u3088\u3046\u306b\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u9001\u3063\u3066\u3044\u308b\u3002<\/p>\n<p>\u30d1\u30e9\u30e1\u30fc\u30bf\u306e-1\u306f\u3001\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\uff11\u3064\u3060\u3051\u9001\u3063\u3066\u7d42\u4e86\u3059\u308b\u3053\u3068\u3092\u793a\u3059\u3002<\/p>\n<p>\/turtle1\/command_velocity\u306f\u3001\u914d\u4fe1\u3059\u308b\u30c8\u30d4\u30c3\u30af\u306e\u540d\u524d\u3092\u8868\u3059\u3002<\/p>\n<p>turtlesim\/Velocity\u306f\u3001\u30c8\u30d4\u30c3\u30af\u3078\u914d\u4fe1\u3059\u308b\u3068\u304d\u306b\u4f7f\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u578b\u3092\u8868\u3059\u3002<\/p>\n<ul>\n<\/ul>\n<ul>\n<li>\u306f\u3001\u30b5\u30d6\u30b3\u30de\u30f3\u30c9\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u304c\u3053\u308c\u4ee5\u4e0a\u306a\u3044\u3053\u3068\u3092\u30d1\u30fc\u30b5\u306b\u4f1d\u3048\u308b\u3082\u306e\u3067\u3042\u308b\u3002\u30de\u30a4\u30ca\u30b9\u8a18\u53f7\u3067\u59cb\u307e\u308b\u5f15\u6570\u3092\u4f7f\u3046\u3088\u3046\u306a\u5834\u5408\uff08\u305f\u3068\u3048\u3070\u8ca0\u306e\u6570\u306a\u3069\uff09\u306b\u7528\u3044\u308b\u5fc5\u8981\u304c\u3042\u308b\u3002<\/li>\n<\/ul>\n<p>2.0 1.8\u306f\u3001turtlesim\/Velocity\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\uff12\u500b\u306e\u5c0f\u6570\u70b9\u6570linear, angular\u306b\u305d\u308c\u305e\u308c\u5bfe\u5fdc\u3059\u308b\u3002\u3053\u308c\u3089\u306e\u5f15\u6570\u306fYAML\u6587\u6cd5\u306b\u5f93\u3046\u3002YAML\u6587\u6cd5\u306b\u3064\u3044\u3066\u306f\u3053\u3061\u3089\uff1a <a href=\"http:\/\/www.ros.org\/wiki\/ROS\/YAMLCommandLine\" target=\"_blank\" rel=\"noopener\">http:\/\/www.ros.org\/wiki\/ROS\/YAMLCommandLine<\/a><\/p>\n<p>\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u9023\u7d9a\u3057\u3066\u914d\u4fe1\u3059\u308b\u305f\u3081\u306b\u306f\u3001pub -r \u30b3\u30de\u30f3\u30c9\u3092\u7528\u3044\u308b\u3002<\/p>\n<pre>\nrostopic pub \/turtle1\/command_velocity turtlesim\/Velocity -r 1 -- 2.0  -1.8\n<\/pre>\n<p>\u4e0a\u306e\u4f8b\u3067\u306f\u30011\u30d8\u30eb\u30c4\u306e\u9593\u9694\u3067\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u914d\u4fe1\u3057\u3066\u3044\u308b\u3002<\/p>\n<p>rostopic hz\u306f\u3001\u30c7\u30fc\u30bf\u304c\u914d\u4fe1\u3055\u308c\u308b\u901f\u5ea6\u3092\u8abf\u3079\u308b\u306e\u306b\u4f7f\u3046\u3002<\/p>\n<pre>\nrostopic hz [\u30c8\u30d4\u30c3\u30af]\n<\/pre>\n<p>turtlesim_node\u304c\/turtle1\/pose\u30c8\u30d4\u30c3\u30af\u3092\u914d\u4fe1\u3059\u308b\u901f\u5ea6\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3059\u308b\u3002<\/p>\n<pre>\nrostopic hz \/turtle1\/pose\n<\/pre>\n<p>rxplot\u306f\u3001\u30c8\u30d4\u30c3\u30af\u306b\u5bfe\u3057\u3066\u914d\u4fe1\u3055\u308c\u308b\u30c7\u30fc\u30bf\u3092\u6642\u7cfb\u5217\u7684\u306b\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u30b3\u30de\u30f3\u30c9\u3067\u3042\u308b\u3002\/turtle1\/pose\u30c8\u30d4\u30c3\u30af\u306b\u5bfe\u3057\u3066\u914d\u4fe1\u3055\u308c\u308b\u30c7\u30fc\u30bf\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u4f8b\u306f\u4ee5\u4e0b\u306e\u3068\u304a\u308a\u3002<\/p>\n<pre>\nrxplot \/turtle1\/pose\/x,\/turtle1\/pose\/y \/turtle1\/pose\/theta\n<\/pre>\n<p>\u3053\u306e\u4f8b\u3067\u306f\uff12\u3064\u306e\u30b0\u30e9\u30d5\u304c\u8868\u793a\u3055\u308c\u3001\u4e0a\u306e\u30b0\u30e9\u30d5\u306b\u306fx,y\u306e\u5024\u304c\u3001\u4e0b\u306e\u30b0\u30e9\u30d5\u306b\u306ftheta\u306e\u5024\u304c\u305d\u308c\u305e\u308c\u30d7\u30ed\u30c3\u30c8\u3055\u308c\u308b\u3002<\/p>\n<\/div>\n","protected":false},"excerpt":{"rendered":"<p>http:\/\/www.ros.org\/wiki\/ROS\/Tutorials\/UnderstandingTopics \u3088\u308a \u30ce\u30fc\u30c9\u306f\u4e92\u3044\u306b\u901a\u4fe1\u3059\u308b\u969b\u3001\u30c8\u30d4\u30c3\u30af(Topic)\u3092\u901a\u3058\u3066\u884c\u3046\u3002\u4f8b\u3048\u3070turtle_teleop_k&#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11],"tags":[],"class_list":["post-1684","post","type-post","status-publish","format-standard","hentry","category-ros"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1684","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/comments?post=1684"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1684\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=1684"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=1684"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=1684"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}