{"id":1969,"date":"2013-03-21T10:48:50","date_gmt":"2013-03-21T01:48:50","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=1969"},"modified":"2013-03-21T10:48:50","modified_gmt":"2013-03-21T01:48:50","slug":"rosbridge%e7%b5%8c%e7%94%b1%e3%81%a7pharo-2-0%e3%81%8b%e3%82%89ros%e3%81%ab%e6%8e%a5%e7%b6%9a%e3%81%99%e3%82%8b","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/1969","title":{"rendered":"rosbridge\u7d4c\u7531\u3067Pharo 2.0\u304b\u3089ROS\u306b\u63a5\u7d9a\u3059\u308b"},"content":{"rendered":"<p>Pharo\u304b\u3089ROS\u306b\u63a5\u7d9a\u3059\u308b\u306e\u306b\u3001\u4ee5\u524d\u306frospharo\u3068\u3044\u3046\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u3063\u3066\u3044\u305f\u304c\u3001\u53e4\u3044\u30d0\u30fc\u30b8\u30e7\u30f3\u7528(diamondback)\u3067\u3042\u308a\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3082\u9762\u5012\u81ed\u3044\u306e\u3067\u3001\u4eca\u56de\u306frosbridge\u3092\u7528\u3044\u3066\u63a5\u7d9a\u3059\u308b\u3053\u3068\u306b\u3057\u305f\u3002rosbridge V2.0\u3067\u306fWebSocket\u3092\u7528\u3044\u3066\u63a5\u7d9a\u3059\u308b\u306e\u3067\u3001Pharo 2.0\u304b\u3089\u63a5\u7d9a\u3059\u308b\u306b\u306f\u4e21\u8005\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u5fc5\u8981\u3068\u306a\u308b\u3002<br \/>\nrosbridge\u3068WebSocket\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306f\u4ee5\u4e0b\u306b\u3042\u308b\u3002<\/p>\n<ul>\n<li><a href=\"http:\/\/oohito.com\/nqthm\/archives\/1964\" title=\"rosbridge V2.0\u306e\u5c0e\u5165\">rosbridge V2.0\u306e\u5c0e\u5165<\/a><\/li>\n<li><a href=\"http:\/\/oohito.com\/nqthm\/archives\/1966\" title=\"Pharo 2.0\u306bWebSocket\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\">Pharo 2.0\u306bWebSocket\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<\/a><\/li>\n<\/ul>\n<p>rosbridge\u306e\u30b5\u30a4\u30c8\u3067\u306fChromium\u30d6\u30e9\u30a6\u30b6\u306eWebSocket\u63a5\u7d9a\u6a5f\u80fd\u3092\u4f7f\u3063\u3066\u52d5\u4f5c\u78ba\u8a8d\u3092\u884c\u3063\u3066\u3044\u308b\u304c\u3001\u3084\u306f\u308aPharoer\u3068\u3057\u3066\u306fPharo\u304b\u3089\u52d5\u4f5c\u78ba\u8a8d\u3057\u305f\u3044\u3002\u305d\u3053\u3067\u3001\u307e\u305aROS\u5074\u3067\u9069\u5f53\u306aTopic\u3092Publish\u3057\u3066\u304a\u3044\u3066\u3001\u305d\u308c\u3092Pharo\u5074\u3067Subscribe\u3057\u3066\u52d5\u4f5c\u78ba\u8a8d\u3059\u308b\u3053\u3068\u306b\u3057\u305f\u3002\u4ee5\u4e0b\u3001ROS\u5074\u3068Pharo\u5074\u3067\u5206\u3051\u3066\u8aac\u660e\u3059\u308b\u3002<\/p>\n<h2>ROS\u5074\u306e\u4f5c\u696d<\/h2>\n<p>\u524d\u8ff0\u306erosbridge\u306e\u5c0e\u5165\u306e\u901a\u308a\u3001roscore\u304a\u3088\u3073rosbridge\u3092\u8d77\u52d5\u3057\u3066\u304a\u304f\u3002<br \/>\nturtle_teleop_key\u306f\u3001\u30bf\u30fc\u30c8\u30eb\u30b0\u30e9\u30d5\u30a3\u30c3\u30af\u30b9\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u30bf\u30fc\u30c8\u30eb\u3092\u30ab\u30fc\u30bd\u30eb\u30ad\u30fc\u3067\u64cd\u4f5c\u3059\u308b\u305f\u3081\u306eNode\u3067\u3042\u308b\u3002\u624b\u8fd1\u306a\u3068\u3053\u308d\u3067Publish\u3067\u304d\u308b\u30ce\u30fc\u30c9\u3092\u601d\u3044\u3064\u304b\u306a\u304b\u3063\u305f\u306e\u3067\u3001\u3053\u308c\u3092\u4f7f\u3046\u3053\u3068\u306b\u3057\u305f\u3002<br \/>\n\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u306a\u3069\u3092\u7528\u3044\u3066turtle_teleop_key\u3092\u8d77\u52d5\u3059\u308b\u3002<br \/>\n<code>rosrun turtlesim turle_teleop_key<\/code><br \/>\n\u66f4\u306b\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u306a\u3069\u3067\u4ee5\u4e0b\u3092\u5165\u529b\u3059\u308b\u3002<br \/>\n<code>$ rostopic list<br \/>\n\/rosout<br \/>\n\/rosout_agg<br \/>\n\/turtle1\/command_velocity<\/code><br \/>\n\/turtle1\/command_velocity\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u304c\u73fe\u308c\u3066\u3044\u308b\u306e\u304c\u308f\u304b\u308b\u3002\u4ee5\u4e0b\u3092\u5165\u529b\u3057\u3066\u3069\u3093\u306a\u30e1\u30c3\u30bb\u30fc\u30b8\u304b\u3092\u8abf\u3079\u308b\u3002<br \/>\n<code>$ rostopic type \/turtle1\/command_velocity<br \/>\nturtlesim\/Velocity<br \/>\n<\/code><br \/>\n\/turtle1\/command_velocity\u30c8\u30d4\u30c3\u30af\u3067\u306fturtlesim\/Velocity\u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u4f7f\u308f\u308c\u3066\u3044\u308b\u3002\u3088\u308a\u8a73\u7d30\u306b\u8abf\u3079\u308b\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3059\u308b\u3002<br \/>\n<code>$ rosmsg show turtlesim\/Velocity<br \/>\nfloat32 linear<br \/>\nfloat32 angular<\/code><br \/>\nturtlesim\/Velocity\u30e1\u30c3\u30bb\u30fc\u30b8\u306f\u30012\u500b\u306efloat32\u578b\u5909\u6570linear, angular\u3067\u69cb\u6210\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308b\u3002<br \/>\n\u3061\u3083\u3093\u3068turtlesim\/Velocity\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u6765\u308b\u304b\u3069\u3046\u304b\u30c1\u30a7\u30c3\u30af\u3059\u308b\u3002<br \/>\n<code>$ rostopic echo \/turtle1\/command_velocity<\/code><br \/>\n\u3053\u3053\u3067\u3001turle_teleop_key\u3092\u8d77\u52d5\u3057\u305f\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u30ab\u30fc\u30bd\u30eb\u30ad\u30fc\u3092\u5165\u529b\u3059\u308b\u3002\u4e0a\u4e0b\u5de6\u53f3\u306e\u30ab\u30fc\u30bd\u30eb\u30ad\u30fc\u3092\u9806\u306b\u5165\u529b\u3059\u308b\u3068\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u8868\u793a\u3055\u308c\u308b\u3002<br \/>\n<code>$ rostopic echo \/turtle1\/command_velocity<br \/>\nlinear: 2.0<br \/>\nangular: 0.0<br \/>\n---<br \/>\nlinear: -2.0<br \/>\nangular: 0.0<br \/>\n---<br \/>\nlinear: 0.0<br \/>\nangular: 2.0<br \/>\n---<br \/>\nlinear: 0.0<br \/>\nangular: -2.0<br \/>\n---<\/code><\/p>\n<h2>Pharo\u5074\u306e\u4f5c\u696d<\/h2>\n<p>WebSocket\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305fPharo\u3092\u8d77\u52d5\u3057\u3001\u9069\u5f53\u306a\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u958b\u304d\u3001\u4ee5\u4e0b\u3092\u5165\u529b\u3059\u308b\u3002\u306a\u304a\u3001\u4ee5\u4e0b\u306e\u8aac\u660e\u3067\u306frosbridge\u306e\u52d5\u3044\u3066\u3044\u308bPC\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092192.168.254.68\u3068\u3057\u3066\u3044\u308b\u3002<br \/>\n<code>rs := ZnWebSocket to: 'ws:\/\/192.168.254.68:9090'.<br \/>\nrs sendMessage: '{\"op\": \"subscribe\", \"topic\": \"\\\/turtle1\\\/command_velocity\", \"type\": \"turtlesim\\\/Velocity\"}'.<\/code><br \/>\n\uff11\u884c\u76ee\u3067rosbridge\u3078WebSocket\u7d4c\u7531\u3067\u63a5\u7d9a\u3057\u3066\u3044\u308b\u3002\uff12\u884c\u76ee\u3067\u306f\/turtle1\/command_velocity\u30c8\u30d4\u30c3\u30af\u3092Subscribe\u3057\u3066\u3044\u308b\u3002\u3053\u306e\u3068\u304d\u30e1\u30c3\u30bb\u30fc\u30b8\u30bf\u30a4\u30d7\u3082\u6307\u5b9a\u3057\u3066\u3044\u308b\u3002\u306a\u304a\u3001rosbridge\u3068\u306e\u3084\u308a\u3068\u308a\u306b\u306fJSON\u5f62\u5f0f\u306e\u30c7\u30fc\u30bf\u3092\u9001\u308b\u3002<br \/>\n\u4e0a\u8a18\u3092Do it\u3059\u308b\u3068\u3001rosbridge\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30ed\u30b0\u304c\u51fa\u529b\u3055\u308c\u308b\u3002<br \/>\n<code>[INFO] [WallTime: 1363827799.919737] [Client 0] Subscribed to \/turtle1\/command_velocity<\/code><br \/>\n\u7d9a\u3044\u3066\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3067\u4ee5\u4e0b\u3092\u5165\u529b\u3057\u3066Print it\u3059\u308b\u3002<br \/>\n<code>rs readMessage.<\/code><br \/>\n\u30bf\u30a4\u30e0\u30a2\u30a6\u30c8\u306b\u306a\u308b\u524d\u306bturle_teleop_key\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u623b\u3063\u3066\u3001\u4e0a\u30ab\u30fc\u30bd\u30eb\u30ad\u30fc\u3092\u62bc\u3059\u3068Print it\u306e\u7d50\u679c\u304c\u8868\u793a\u3055\u308c\u308b\u3002<br \/>\n<code>'{\"topic\":\"\\\/turtle1\\\/command_velocity\",\"msg\":{\"linear\":2.0,\"angular\":0.0},\"op\":\"publish\"}'<\/code><br \/>\nop\u30b3\u30fc\u30c9\u306bpublish\u304c\u3001msg\u306blinear\u3068angular\u306e\u5024\u304c\u5165\u3063\u305fJSON\u5f62\u5f0f\u306e\u30c7\u30fc\u30bf\u304c\u8fd4\u3063\u3066\u304f\u308b\u3002<br \/>\n\u30c8\u30d4\u30c3\u30af\u306esubscribe\u3092\u3084\u3081\u3001rosbridge\u3068\u306e\u63a5\u7d9a\u3092\u89e3\u9664\u3059\u308b\u306b\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3059\u308b\u3002<br \/>\n<code>rs sendMessage: '{\"op\": \"unsubscribe\", \"topic\": \"\\\/turtle1\\\/command_velocity\"}'.<br \/>\nrs close.<\/code><br \/>\n\u3061\u3083\u3093\u3068rosbridge\u7d4c\u7531\u3067\u901a\u4fe1\u3067\u304d\u308b\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u305f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Pharo\u304b\u3089ROS\u306b\u63a5\u7d9a\u3059\u308b\u306e\u306b\u3001\u4ee5\u524d\u306frospharo\u3068\u3044\u3046\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u3063\u3066\u3044\u305f\u304c\u3001\u53e4\u3044\u30d0\u30fc\u30b8\u30e7\u30f3\u7528(diamondback)\u3067\u3042\u308a\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3082\u9762\u5012\u81ed\u3044\u306e\u3067\u3001\u4eca\u56de\u306frosbridge\u3092\u7528\u3044\u3066\u63a5\u7d9a\u3059\u308b\u3053\u3068\u306b\u3057\u305f\u3002r&#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[38,11],"tags":[],"class_list":["post-1969","post","type-post","status-publish","format-standard","hentry","category-pharo","category-ros"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1969","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=1969"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1969\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=1969"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=1969"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=1969"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}