{"id":2770,"date":"2015-07-23T14:59:19","date_gmt":"2015-07-23T05:59:19","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=2770"},"modified":"2015-07-23T14:59:19","modified_gmt":"2015-07-23T05:59:19","slug":"ros-indigo%e3%81%a7irobot-create%e3%82%92%e5%8b%95%e3%81%8b%e3%81%99%e3%81%be%e3%81%a7","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/2770","title":{"rendered":"ROS indigo\u3067iRobot Create\u3092\u52d5\u304b\u3059\u307e\u3067"},"content":{"rendered":"<p>\u4ee5\u524d\u306b\u3082TurtleBot\u306e\u95a2\u4fc2\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308b<a href=\"http:\/\/oohito.com\/nqthm\/archives\/1797\">iRobot Create\u3092\u52d5\u304b\u3059\u624b\u9806\u3092\u307e\u3068\u3081\u305f<\/a>\u304c\u3001\u4eca\u56de\u306f\u5225\u306e\u65b9\u5411\u306b\u9032\u3080\u6e96\u5099\u6bb5\u968e\u3068\u3057\u3066\u3067\u304d\u308b\u3060\u3051\u5c11\u306a\u3044\u624b\u9593\u3067Create\u3092\u52d5\u304b\u3059\u624b\u9806\u3092\u307e\u3068\u3081\u305f\u3044\u3002<\/p>\n<h2>OS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h2>\n<p>OS\u3068\u3057\u3066ubuntu\u306e\u8efd\u91cf\u30c7\u30a3\u30b9\u30c8\u30ea\u30d3\u30e5\u30fc\u30b7\u30e7\u30f3\u3067\u3042\u308blinuxBean\u3092\u7528\u3044\u305f\u3002<a href=\"http:\/\/osdn.jp\/projects\/linuxbean\/\">linuxBean\u306e\u516c\u5f0f\u30b5\u30a4\u30c8<\/a>\u304b\u3089\u3001linuxBean 14.04 (Trifolium) 14.04.2\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\u3002ROS\/indigo\u3092\u7528\u3044\u308b\u305f\u3081\u306b14.04\u3092\u9078\u3093\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u3002<br \/>\n\u5fc5\u8981\u306a\u8a2d\u5b9a\u306a\u3069\u306f<a href=\"http:\/\/oohito.com\/nqthm\/archives\/2365\">\u904e\u53bb\u306e\u8a18\u4e8b<\/a>\u3092\u53c2\u8003\u306b\u3057\u306a\u304c\u3089\u9032\u3081\u305f\u3002<\/p>\n<h2>ROS\/indigo\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h2>\n<p>ROS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u624b\u9806\u306b\u5f93\u3063\u3066\u9032\u3081\u3066\u884c\u304f\u3002<br \/>\n\u307e\u305a\u3001\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u8a2d\u5b9a\u3092\u884c\u3046\u3002<\/p>\n<pre>sudo sh -c 'echo \"deb http:\/\/packages.ros.org\/ros\/ubuntu $(lsb_release -sc) main\" > \/etc\/apt\/sources.list.d\/ros-latest.list'<\/pre>\n<p>\u6b21\u306b\u30ad\u30fc\u306e\u8a2d\u5b9a\u3092\u884c\u3046\u3002<\/p>\n<pre>sudo apt-key adv --keyserver hkp:\/\/pool.sks-keyservers.net --recv-key 0xB01FA116<\/pre>\n<p>\u30d1\u30c3\u30b1\u30fc\u30b8\u30a4\u30f3\u30c7\u30c3\u30af\u30b9\u306e\u66f4\u65b0\u3092\u884c\u3046\u3002<\/p>\n<pre>sudo apt-get update<\/pre>\n<p>GUI\u30c4\u30fc\u30eb\u306a\u3057\u3067indigo\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002<\/p>\n<pre>sudo apt-get install ros-indigo-ros-base<\/pre>\n<p>rosdep\u306e\u521d\u671f\u5316\u3092\u884c\u3046\u3002<\/p>\n<pre>sudo rosdep init\nrosdep update<\/pre>\n<p>\u74b0\u5883\u5909\u6570\u306a\u3069\u306e\u8a2d\u5b9a\u3092\u884c\u3046\u3002<\/p>\n<pre>echo \"source \/opt\/ros\/indigo\/setup.bash\" >> ~\/.bashrc\nsource ~\/.bashrc<\/pre>\n<p>rosinstall\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002<\/p>\n<pre>sudo apt-get install python-rosinstall<\/pre>\n<h2>catkin\u7528\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u4f5c\u6210\u3059\u308b<\/h2>\n<pre>mkdir -p ~\/catkin_ws\/src\ncd ~\/catkin_ws\/src\ncatkin_init_workspace\ncd ..\ncatkin_make<\/pre>\n<h2>Create\u30ce\u30fc\u30c9\u306e\u6e96\u5099<\/h2>\n<p>Create\u7528\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5c0e\u5165\u3059\u308b<\/p>\n<pre>sudo apt-get install ros-indigo-create-node<\/pre>\n<p>Create\u3068USB\u30b7\u30ea\u30a2\u30eb\u30a2\u30c0\u30d7\u30bf\u3092\u7528\u3044\u3066\u63a5\u7d9a\u3059\u308b\u3002<br \/>\n\u4e0a\u8a18\u306e\u30ce\u30fc\u30c9\u3067\u4f7f\u3046 \/dev\/ttyUSB0 \u3092\u898b\u3066\u307f\u308b\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u3002<\/p>\n<pre>ls -l \/dev\/ttyUSB0\ncrw-rw---- 1 root dialout 188,0 7\u6708 23 14:58 \/dev\/ttyUSB0<\/pre>\n<p>\/dev\/ttyUSB0\u306b\u30a2\u30af\u30bb\u30b9\u3067\u304d\u308b\u3088\u3046\u306b\u3001\u81ea\u5206\u306e\u30e6\u30fc\u30b6\u30fc\u540d\uff08hoge\uff09\u3092dialout\u30b0\u30eb\u30fc\u30d7\u306b\u8ffd\u52a0\u3059\u308b\u3002<\/p>\n<pre>sudo vigr<\/pre>\n<p>\/etc\/group\u30d5\u30a1\u30a4\u30eb\u306e\u3046\u3061\u3001dialout\u3067\u59cb\u307e\u308b\u884c\u306e\u672b\u5c3e\u306b\u81ea\u5206\u306e\u30e6\u30fc\u30b6\u30fc\u540d\uff08hoge\uff09\u3092\u8ffd\u52a0\u3059\u308b\u3002<\/p>\n<pre>dialout:x:20:hoge<\/pre>\n<h2>Create\u3078\u306e\u63a5\u7d9a\u30c6\u30b9\u30c8<\/h2>\n<p>roscore\u3092\u8d77\u52d5\u3059\u308b\u3002<\/p>\n<pre>roscore<\/pre>\n<p>\uff08\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u3044\u3066\uff09create_node\u3092\u8d77\u52d5\u3059\u308b\u3002<\/p>\n<pre>rosrun create_node turtlebot_node.py<\/pre>\n<p>\u8d64\u5b57\u3067\u30a8\u30e9\u30fc\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u8868\u793a\u3055\u308c\u306a\u3051\u308c\u3070\uff08\u304a\u305d\u3089\u304f\uff09\u554f\u984c\u306a\u3044\u3002<br \/>\nCreate\u3092\u524d\u9032\u3055\u305b\u308b\u3002<\/p>\n<pre>rostopic pub -1 \/cmd_vel geometry_msgs\/Twist -- '[10,0,0]' '[0,0,0]'<\/pre>\n<p>Create\u304c\u6570\u30bb\u30f3\u30c1\u52d5\u3051\u3070OK\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4ee5\u524d\u306b\u3082TurtleBot\u306e\u95a2\u4fc2\u3067\u30d9\u30fc\u30b9\u3068\u306a\u308biRobot Create\u3092\u52d5\u304b\u3059\u624b\u9806\u3092\u307e\u3068\u3081\u305f\u304c\u3001\u4eca\u56de\u306f\u5225\u306e\u65b9\u5411\u306b\u9032\u3080\u6e96\u5099\u6bb5\u968e\u3068\u3057\u3066\u3067\u304d\u308b\u3060\u3051\u5c11\u306a\u3044\u624b\u9593\u3067Create\u3092\u52d5\u304b\u3059\u624b\u9806\u3092\u307e\u3068\u3081\u305f\u3044\u3002 OS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb OS\u3068&#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11,16,17],"tags":[],"class_list":["post-2770","post","type-post","status-publish","format-standard","hentry","category-ros","category-turtlebot","category-ubuntu"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2770","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=2770"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2770\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=2770"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=2770"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=2770"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}