{"id":1797,"date":"2013-03-06T19:32:50","date_gmt":"2013-03-06T10:32:50","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=1797"},"modified":"2013-03-06T19:32:50","modified_gmt":"2013-03-06T10:32:50","slug":"turtlebot%e3%82%92%e5%8b%95%e3%81%8b%e3%81%99","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/1797","title":{"rendered":"TurtleBot\u3092\u52d5\u304b\u3059"},"content":{"rendered":"

\u524d\u56de\u306e\u8a18\u4e8b\u3067\u306fTurtleBot\u306e\u72b6\u614b\u3092\u8abf\u3079\u3066\u901a\u4fe1\u304c\u3046\u307e\u304f\u3044\u3063\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3059\u308b\u3060\u3051\u3060\u3063\u305f\u304c\u3001\u3044\u3088\u3044\u3088TurtleBot\u3092\u52d5\u304b\u3057\u3066\u307f\u308b\u3002
\nTurtleBot\u3092\u52d5\u304b\u3059\u306e\u306b\u4e00\u756a\u7c21\u5358\u306a\u306e\u306f\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089\u64cd\u7e26\u3059\u308b\u3053\u3068\u3067\u3042\u308a\u3001\u305d\u306e\u305f\u3081\u306eturtlebot_teleop\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u308b\u3002turtlebot_teleop\u306b\u306f\u3001\u30ad\u30fc\u30dc\u30fc\u30c9\u64cd\u4f5c\u7528\u306e\u30ed\u30fc\u30f3\u30c1\u30d5\u30a1\u30a4\u30eb\u306e\u4ed6\u3001\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3084PS3\u3001XBOX360\u306e\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u7528\u306e\u30ed\u30fc\u30f3\u30c1\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u3002
\nturtlebot_teleop\u3092\u52d5\u4f5c\u3055\u305b\u308b\u306b\u306f\u3001minimal.launch\u304c\u8d77\u52d5\u3057\u3066\u3044\u308b\u72b6\u614b\u3067\u3001\u5225\u306eshell\u3084PC\u304b\u3089\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3059\u308b\u3002
\nroslaunch turtlebot_teleop keyboard_teleop.launch<\/code>
\n\u8d77\u52d5\u3057\u3066\u3057\u3070\u3089\u304f\u3059\u308b\u3068\u30ad\u30fc\u30dc\u30fc\u30c9\u30ec\u30a4\u30a2\u30a6\u30c8\u304c\u8868\u793a\u3055\u308c\u3001\u8868\u793a\u3055\u308c\u305f\u30ad\u30fc\u3092\u62bc\u3059\u3053\u3068\u3067TurtleBot\u304c\u52d5\u304d\u51fa\u3059\u3002
\n\u30ad\u30fc\u30dc\u30fc\u30c9\u3067\u306f\u306a\u304f\u30b3\u30de\u30f3\u30c9\u3067TurtleBot\u3092\u52d5\u304b\u3057\u305f\u3044\u5834\u5408\u306b\u306f\u3001rostopic\u3092\u4f7f\u3046\u65b9\u6cd5\u304c\u3042\u308b\u3002TurtleBot\u306f \/cmd_vel_mux\/input\/teleop \u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3092Subscribe\u3057\u3066\u304a\u308a\u3001\u305d\u306e\u30c7\u30fc\u30bf\u306b\u5f93\u3063\u3066\u52d5\u304f\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u3002\u305d\u3053\u3067\u3001rostopic\u3067\/cmd_vel_mux\/input\/teleop\u306b\u30c7\u30fc\u30bf\u3092Publish\u3057\u3066\u3084\u308c\u3070\u3001TurtleBot\u3092\u52d5\u304b\u3059\u3053\u3068\u304c\u3067\u304d\u308b\u3002
\n\u307e\u305a\u3001\/cmd_vel_mux\/input\/teleop\u304c\u3069\u3093\u306a\u30c8\u30d4\u30c3\u30af\u306a\u306e\u304b\u3092\u8abf\u3079\u308b\u3002
\nrostopic type \/cmd_vel_mux\/input\/teleop<\/code>
\n\u3059\u308b\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u7d50\u679c\u304c\u8fd4\u3055\u308c\u308b\u3002
\ngeometry_msgs\/Twist<\/code>
\n\u3053\u308c\u306f\u3001\/cmd_vel_mux\/input\/teleop\u304cgeometry_msgs\/Twist\u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u3084\u308a\u53d6\u308a\u3059\u308b\u3053\u3068\u3092\u8868\u3057\u3066\u3044\u308b\u3002\u3067\u306f\u3001geometry_msgs\/Twist\u304c\u5177\u4f53\u7684\u306b\u3069\u3093\u306a\u30e1\u30c3\u30bb\u30fc\u30b8\u304b\u3092\u8abf\u3079\u308b\u306b\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3059\u308b\u3002
\nrosmsg show geometry_msgs\/Twist<\/code>
\n\u4eca\u5ea6\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u7d50\u679c\u304c\u8868\u793a\u3055\u308c\u308b\u3002
\ngeometry_msgs\/Vector3 linear
\n float64 x
\n float64 y
\n float64 z
\ngeometry_msgs\/Vector3 angular
\n float64 x
\n float64 y
\n float64 z<\/code>
\n\u3053\u308c\u306f\u3001geometry_msgs\/Twist\u304clinear\u3068angular\u3068\u3044\u3046\uff12\u7a2e\u985e\u306e\u30c7\u30fc\u30bf\u3092\u6301\u3061\u3001\u3068\u3082\u306bgeometry_msgs\/Vector3\u578b\u3067\u3042\u308a\u3001\u305d\u308c\u305e\u308cx, y, z\u306e\uff13\u3064\u306efloat64\u578b\u306e\u6570\u5024\u304b\u3089\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u793a\u3057\u3066\u3044\u308b\u3002
\n\u305d\u3053\u3067\u3001\u3053\u306e\u30c7\u30fc\u30bf\u3092\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u304b\u3089\u76f4\u63a5Publish\u3059\u308b\u3002
\nrostopic pub -1 \/cmd_vel_mux\/input\/teleop geometry_msgs\/Twist -- '[1, 0, 0]' '[0, 0, 0]'<\/code>
\n\u30b3\u30de\u30f3\u30c9\u306e\u3046\u3061\u300c–\u300d\u4ee5\u964d\u304c\u5b9f\u969b\u306bPublish\u3059\u308b\u30c7\u30fc\u30bf\u3092\u8868\u3059\u3002\u30b7\u30f3\u30b0\u30eb\u30af\u30aa\u30fc\u30c8\u3067\u56f2\u307e\u308c\u305f\u6700\u521d\u306e\u30c7\u30fc\u30bf\u304clinear\u3092\u3001\u5f8c\u306e\u30c7\u30fc\u30bf\u304cangular\u3092\u8868\u3059\u3002linear\u306ex\u306b\u76f4\u9032\u3059\u308b\u91cf\u3092\u6307\u5b9a\u3057\u3001angular\u306ez\u306b\u56de\u8ee2\u3059\u308b\u91cf\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067TurtleBot\u304c\u52d5\u304f\u3002\u4e0a\u306e\u4f8b\u3067\u3042\u308c\u3070\u4e00\u5b9a\u91cfTurtleBot\u304c\u524d\u9032\u3059\u308b\u3002\u56de\u8ee2\u3055\u305b\u305f\u3051\u308c\u3070\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3059\u308b\u3002
\nrostopic pub -1 \/cmd_vel_mux\/input\/teleop geometry_msgs\/Twist -- '[0, 0, 0]' '[0, 0, 1]'<\/code>
\n\u306a\u304a\u3001\u6b63\u306e\u5024\u306a\u3089\u5de6\u56de\u8ee2\u3001\u8ca0\u306e\u5024\u306a\u3089\u53f3\u56de\u8ee2\u3059\u308b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u524d\u56de\u306e\u8a18\u4e8b\u3067\u306fTurtleBot\u306e\u72b6\u614b\u3092\u8abf\u3079\u3066\u901a\u4fe1\u304c\u3046\u307e\u304f\u3044\u3063\u3066\u3044\u308b\u304b\u78ba\u8a8d\u3059\u308b\u3060\u3051\u3060\u3063\u305f\u304c\u3001\u3044\u3088\u3044\u3088TurtleBot\u3092\u52d5\u304b\u3057\u3066\u307f\u308b\u3002 TurtleBot\u3092\u52d5\u304b\u3059\u306e\u306b\u4e00\u756a\u7c21\u5358\u306a\u306e\u306f\u30ad\u30fc\u30dc\u30fc\u30c9\u304b\u3089\u64cd\u7e26\u3059\u308b\u3053\u3068\u3067\u3042\u308a\u3001\u305d\u306e\u305f…<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11,16],"tags":[],"class_list":["post-1797","post","type-post","status-publish","format-standard","hentry","category-ros","category-turtlebot"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1797","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=1797"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1797\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=1797"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=1797"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=1797"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}