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ROSCon JP 2019講習会 ROS2の移動ロボットへの応用

Yutaka Kondo
November 26, 2020

ROSCon JP 2019講習会 ROS2の移動ロボットへの応用

ROSCon JP 2019 https://roscon.jp/2019/ の前日に開催されました有料講習会の後半資料を公開します。

Yutaka Kondo

November 26, 2020
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  1. ⮬ᕫ⤂௓ \XWDNDNRQGR#\RXWDONMS  ᮏྡ ᅜ⡠ 䝩䞊䝮䝨䞊䝆 Ɣ aዉⰋඛ➃኱Ꮫ㝔኱Ꮫ༤ኈ䠄ᕤᏛ䠅 Ɣ a䜹䝽䝎䝻䝪䝔䜱䜽䝇㛤Ⓨ㒊୺௵

    Ɣ a526-DSDQ8*୺ᐓ Ɣ a3UHIHUUHG1HWZRUNV䜶䞁䝆䝙䜰 Ɣ 526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾ฟ∧
  2. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  3. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  4. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  5. 1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ 1DYLJDWLRQ ⛣ື䝻䝪䝑䝖䛾⤒㊰ィ⏬䝟䝑䜿䞊䝆 Ɣ 526&U\VWDO䛷䜰䝹䝣䜯䝸䝸䞊䝇 Ɣ 䝷䜲䝣䝃䜲䜽䝹ᑐᛂ Ɣ PRYHBEDVH䛜QDYBEHKDYLRUBWUHH䛻⨨䛝᥮䛘 ż

    䝡䝦䜲䝡䜰䝒䝸䞊䛻ᑐᛂ䛧䛯䝘䝡䝀䞊䝅䝵䞁䝍䝇䜽䛾ᐇ⿦ Ɣ 7XUWOH%RW䛜526'DVKLQJ䛾1DYLJDWLRQ䛻ᑐᛂ  5DVSEHUU\3L0RXVH䛿1DYLJDWLRQᑐᛂ䛧䛯 ୡ⏺␒┠䛾⛣ື䝻䝪䝑䝖
  6. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  7. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  Ɣ 53/L'$5$0 ż ୓෇๓ᚋ䛷㈙䛘䜛'/L'$5 Ɣ 53/L'$5䝬䜴䞁䝖 ż '䝥䝸䞁䝍䛷〇స

    ż 67/䝣䜯䜲䝹 Ɣ 5DVSEHUU\3L0RXVH9 ż 䜰䞊䝹䝔䜱〇⛣ື䝻䝪䝑䝖䝥 䝷䝑䝖䝣䜷䞊䝮 ż 5DVSEHUU\3L%
  8. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH 䝅䝇䝔䝮ᵓᡂ  5DVSEHUU\3L% 3& GHVFULSWLRQ URERWBVWDWHB SXEOLVKHU 5DV3L0RXVH 䝗䝷䜲䝞

    53/L'$5 䝗䝷䜲䝞 VWDWLFBWUDQVIRUP BSXEOLVKHU EULQJXS 1DYLJDWLRQ *RRJOH &DUWJUDSKHU UYL] URVEDJ WHOHRSBWZLVWB MR\NH\ERDUG 䝉䞁䝅䞁䜾䛸 䜰䜽䝏䝳䜶䞊䝅䝵䞁䛾䜏 䛭䜜௨እ
  9. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  10. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  11. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  12. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స 5DVSEHUU\3Lഃ  䝟䝑䜿䞊䝆䝡䝹䝗 ࢻ࣓࢖ࣥ,'ࡢ☜ㄆ  VVKXEXQWX#;;;  HFKR526B'20$,1B,' <<<

    <<<䛜ྛᮘ䛻๭䜚ᙜ䛶䜙䜜䛯䝗䝯䜲䞁,'䛸ྠ䛨䛜䛤☜ㄆ䛟䛰䛥䛔䚹 UDVSLPRXVHBURVࣃࢵࢣ࣮ࢪࡢࣅࣝࢻ  FGaURVGDVKLQJ  FROFRQEXLOGV\POLQNLQVWDOO 
  13. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స 5DVSEHUU\3Lഃ  EULQJXS䝟䝑䜿䞊䝆䛾㉳ື ⎔ቃኚᩘ䛾タᐃ  VRXUFH aURVGDVKLQJLQVWDOOVHWXSEDVK EULQJXS䝟䝑䜿䞊䝆ࡢ㉳ື 

    URVODXQFKUDVSLPRXVHBEULQJXS URERWODXQFKS\  5DVSEHUU\3L% GHVFULSWLRQ URERWBVWDWHB SXEOLVKHU 5DV3L0RXVH 䝗䝷䜲䝞 53/L'$5 䝗䝷䜲䝞 VWDWLFBWUDQVIRUP BSXEOLVKHU EULQJXS
  14. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  15. ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  ඛ䜋䛹䛾㐲㝸᧯స䜢ᐇ⾜䛧䛴䛴䚸䛩䜉䛶䛾䝖䝢䝑䜽䝯䝑䝉䞊䝆䜢グ㘓䛧䜎䛩䚹 URVEDJ㛵㐃䝟䝑䜿䞊䝆䛾䜲䞁䝇䝖䞊䝹  VXGRDSWXSGDWH  VXGRDSWLQVWDOO URVGDVKLQJURVEDJ 

    URVGDVKLQJURVEDJ ඲䛶䛾䝖䝢䝑䜽䝯䝑䝉䞊䝆䛾グ㘓䠄⤊஢䛿&WUO&䠅  URVEDJUHFRUGDRaUDVSLPRXVHBVODPEDJ グ㘓ࡋࡓEDJࣇ࢓࢖ࣝࡢ෌⏕  URVEDJSOD\aUDVSLPRXVHBVODPEDJ
  16. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  17. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  18. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  19. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  20.  526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾 Ɣ ⥙⨶ⓗ䛻526䜢ᢅ䛳䛯ୡ⏺᭱ึ䛾᭩⡠ Ɣ 526'DVKLQJ'LDGHPDWD‽ᣐ Ɣ 526䜢᣺䜚㏉䜛❶䜒䛒䜚 Ɣ 5RRPED䛾526䝗䝷䜲䝞⛣⾜ᐇ㊶

    Ɣ ⦅㞟༠ຊ⪅䛾୍ே䛿*HRII䛥䜣 Ɣ 526&RQ-3ㅮ⩦఍๓༙䛾ෆᐜ䜢䜹䝞䞊 Ɣ ᢏ⾡ホㄽ♫䛾㟁Ꮚ᭩⡠䛜఍ᮇ୰䛾䜏༙㢠䜻䝱 䞁䝨䞊䞁 KWWSVJLK\RMSGSHERRN