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Go言語によるROSプログラミング
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akio
September 14, 2018
Technology
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Go言語によるROSプログラミング
Slides used in my talk about ROS client library implementation for ROS.
akio
September 14, 2018
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Transcript
GoݴޠʹΑΔROSϓϩάϥϛϯά https://github.com/akio/rosgo.git
ࣗݾհ
ࣗݾհ • Akiyoshi(Akio) Ochiai • Sr Engineer @ Toyota Research
Institute • ϞόΠϧϚχϐϡϨʔγϣϯϩϘοτͷݚڀ։ൃʹैࣄ • GitHub: http://github.com/akio • ࠓݸਓతͳOSS׆ಈͷΛ͠·͢
ROSؔͰ࡞ͬͨͷ • rosrb • ROSͷRubyΫϥΠΞϯτϥΠϒϥϦ • ࣌ಉ͡ձࣾʹ͍ͨ@OTLࢯͱ͔Ϳ্ͬͨʹग़ΕͯϘπ • vim-ctrlp-ros •
Vim Ctrl-P ROS ϓϥάΠϯ • msg/srv/actionͳͲΛVim͔ΒΠϯΫϦϝϯλϧαʔν • RosCraft • MinecraftΛROS͔Β੍ޚͰ͖Δͧ • Կ͕͔ͨͬͨ͠ͷ͔Α͘Θ͔Βͳ͍ • fluent_logger_ros • ROSͷϩάΛfluentdʹྲྀ͠ࠐΉখ • mask_rcnn_ros • Advent CalendarͷωλͷͨΊʹ։ൃ • menoh_ros • ONNXΛROSͷը૾ॲཧύΠϓϥΠϯʹυϩοϓΠϯ • rosgo • ࠓճൃද͢Δ༰ • ͦͷଞ׆ಈ • MoveIt! ͷPRɺϝϯςφʔձٞࢀՃͳͲ • ROSίΞύοέʔδͷPRͳͲ
ެ։ROS͓ࣄ • ։ൃνʔϜͷڠྗͷͱɺτϤλHSRͷϩϘοτϞσϧϑΝΠϧΛΦʔϓϯιʔεԽ͠·ͨ͠ • hsr_description • https://github.com/ToyotaResearchInstitute/hsr_description • hsr_meshes •
https://github.com/ToyotaResearchInstitute/hsr_meshes https://github.com/OTL/gear ROSҎ֎Ͱͷ׆༻ྫ
Why Go?
ಈػ • 2013࣌ɺROS։ൃਓࡐͷҭʹΜͰ͍ͨ • C++ • ෳࡶͳݴޠ༷ • Python/MatlabͳͲ͔Βདྷͨਓͷϋʔυϧ͕ߴ͍ •
Cݴޠܦݧऀ͕৽֓೦ΛֶͿͷ͍͠ʢOOPɺδΣωϦοΫϓϩάϥϛϯάʣ • Python • ֶशίετ͍ • ੑೳ͕ඞཁʹͳΔͱ݁ہC/C++/CythonͳͲΛॻ͔͟Δ͑ͳ͘ͳͬͨΓ͢Δ
͍֮͑͢ ͍ͦͦ͜͜ ͋ΔఔϦΞϧλΠϜੑͷ͋Δ ϓϩάϥϛϯάݴޠͳ͍͔ʁ
̎̌̍̏࣌ͷީิൺֱ • Java • rosjava͕͢Ͱʹଘࡏ • ωΠςΟϒίϯύΠϧͰ͖ͳ͍ • ύοέʔδ͕ͭΒ͍ •
Go • Better C తͳจ๏ • ػೳ͕ߜΒΕ֮͑Δ͜ͱ͕গͳ͍ • ωΠςΟϒίϯύΠϧͰ݁ߏ͍ • GC͕ϝϞϦͷੈΛͯ͘͠ΕΔ • Rust • ͍ɺ҆શɺؾ͍͍࣋ͪ • ͕ࣗٻΊ͍ͯͨͷ͕େମ͋Δ • ͋Γ͗ͯͬ͢ͺΓֶशίετ͕ߴ ͍ͷͰ‥.ʁ • Julia • ॻ͖ͯͯ͘͘͢࠷ڧʹݟ͑Δ • Ͱ࣌Ͱ͖͔ͨΓͰ৭ʑػೳ͕ Γͳ͔ͬͨ • ฒྻॲཧ͕ͭΒͦ͏
ͦͷଞͷڧΈ • ڧྗͳ։ൃମ੍ʢby Google) • ϨΠςϯγͳΨϕʔδίϨΫγϣϯʢޙड़) • ๛ͳ։ൃ࣮(DockerͳͲ) • σϑΥϧτͰ੩తϦϯΫ͞ΕͨγϯάϧόΠφϦΛੜ
• πʔϧ։ൃͳͲʹ͘ • σϓϩΠ͕؆୯
αϒϛϦඵGC ग़యɿhttps://twitter.com/brianhatfield/status/804355831080751104
ऑΈ • ϝϞϦΛେྔʹ֬อɾղ์͢ΔΑ͏ͳ͍ํΛ͢Δͱεϧʔϓοτ͕ѱԽ • Պֶٕज़ܭࢉ༻ͷϥΠϒϥϦ͕গͳ͍ʢগͣͭ͠૿͖͑ͯͨɺޙͰհʣ • ԋࢉࢠΦʔόʔϩʔυ͕ͳ͍ʢˢʹͪΐͬͱӨڹʣ • όΠφϦαΠζ͕େ͖͘ͳΓ͕ͪ
GoͰROSϓϩάϥϛϯάͰ͖ΔΑ͏ʹ͠Α͏
rosgo ॳظ։ൃ൛(2013) • ͕ΜΓϙΠϯτ • XMLRPCϥΠϒϥϦ͕ͳ͔ͬͨͷͰࣗͰ࣮ͨ͠ • CatkinπʔϧνΣʔϯʹ౷߹
࠷ۙͷΞοϓσʔτ(2018) • RemappingΛ࣮ • ΫϥΠΞϯτϥΠϒϥϦͷػೳ͕Ұ௨ΓͦΖͬͨ • v1.0.0ͷ४උ͕ͬͨʁ • ಠཱͨ͠msg/srvίʔυδΣωϨʔλΛ࣮ •
Good bye, Catkin and CMake! • GoͷίʔυδΣωϨʔλΛ࣮ͯ͠ Pure Go ύοέʔδԽ • Go generateͱvendoringΛར༻ʢޙड़ʣ
ϝοηʔδੜ • Goͷػೳ go generate (v1.4+)ɹͱ vendorng (v1.5+)Λ׆༻ • ιʔείʔυதʹҎԼͷΑ͏ʹॻ͍͓ͯ͘
• //go:generate gengo msg your_pkg/MsgType • $ go generate <GO_PKG_NAME> Λ࣮ߦ • ͢Δͱɺ$GOPATH/your_pkg/vendorҎԼʹGoίʔυ͕ੜ
rosgo ίʔυྫ
Πϯετʔϧ 1. GoͷΠϯετʔϧ 2. $ go get -u github.com/akio/rosgo/ros 3.
$ go install github.com/akio/rosgo/gengo 4. import “github.com/akio/rosgo/ros"
Publisher package main //go:generate gengo msg std_msgs/String import ( "fmt"
"github.com/akio/rosgo/ros" "os" "std_msgs" "time" ) func main() { node, _ := ros.NewNode("/talker", os.Args) defer node.Shutdown() pub, _ := node.NewPublisher("/chatter", std_msgs.MsgString) for node.OK() { node.SpinOnce() var msg std_msgs.String msg.Data = fmt.Sprintf("hello %s", time.Now().String()) pub.Publish(&msg) time.Sleep(time.Second) } }
Subscriber package main //go:generate gengo msg std_msgs/String import ( "fmt"
"github.com/akio/rosgo/ros" "os" "std_msgs" ) func callback(msg *std_msgs.String) { fmt.Printf("Received: %s\n", msg.Data) } func main() { node, _ := ros.NewNode("/listener", os.Args) defer node.Shutdown() node.NewSubscriber("/chatter", std_msgs.MsgString, callback) node.Spin() }
Example: Service Server package main //go:generate gengo srv rospy_tutorials/AddTwoInts import
( "fmt" "github.com/akio/rosgo/ros" "os" "rospy_tutorials" ) func callback(srv *rospy_tutorials.AddTwoInts) error { srv.Response.Sum = srv.Request.A + srv.Request.B fmt.Printf("%d + %d = %d\n", srv.Request.A, srv.Request.B, srv.Response.Sum) return nil } func main() { node, _ := ros.NewNode("server", os.Args) defer node.Shutdown() server, _ := node.NewServiceServer("/add_two_ints", rospy_tutorials.SrvAddTwoInts, callback) defer server.Shutdown() node.Spin() }
Service Client package main //go:generate gengo srv rospy_tutorials/AddTwoInts import (
"fmt" "github.com/akio/rosgo/ros" "os" "rospy_tutorials" ) func main() { node, _ := ros.NewNode("client", os.Args) defer node.Shutdown() cli, _ := node.NewServiceClient("/add_two_ints", rospy_tutorials.SrvAddTwoInts) defer cli.Shutdown() var srv rospy_tutorials.AddTwoInts srv.Request.A = 1 srv.Request.B = 2 _ = cli.Call(&srv) fmt.Printf("%d + %d = %d\n", srv.Request.A, srv.Request.B, srv.Response.Sum) }
Parameters package main import ( "fmt" "github.com/akio/rosgo/ros" "log" "os" )
func main() { node, _ := ros.NewNode("/test_param", os.Args) defer node.Shutdown() hasParam, _ := node.HasParam("/rosdistro") param, _ := node.GetParam("/rosdistro") err := node.SetParam("/test_param", 42) param, _ := node.GetParam("/test_param") err := node.DeleteParam("/test_param") foundKey, _ := node.SearchParam(“/rosdistro") }
͜Ε͔Β
ػೳՃ • Action Client/Server • TF • ଞʁ
ϩϘοτ։ൃʹ͑ΔGoϥΠϒϥϦͷհ • GoCV • OpenCVͷGoόΠϯσΟϯά • Tensorflow • ެࣜͷGoόΠϯσΟϯά͕ ͋Δ
• GoNum • NumpyతͳܭࢉϥΠϒϥ Ϧ • gobot • ओʹIoTͳ֎෦σόΠεͱͷI/Oॲཧϥ ΠϒϥϦ • g3n • ήʔϜΤϯδϯɺՄࢹԽͳͲʹ͑Δ • GoRO • ৭ʑΓͳ͍ͷͰࣗͰ࡞Γ࢝Ίͨ • https://github.com/akio/goro • ·ͩURDF parser ͘Β͍͔͠ͳ͍
Go 2 • GoݴޠͷΧϯϑΝϨϯε GopherCon2018ʹͯɺGo 2ͷυϥϑτ͕ൃද • Τϥʔॲཧจ๏ͷվྑ • δΣωϦΫεͷՃ
ROS2 • DDSΛ࣮͢Δͷେมͦ͏ • rclΛcgoͰϥοϓ͢Δʁ
·ͱΊ • GoݴޠͰ͑ΔROSΫϥΠΞϯτϥΠϒϥϦΛ։ൃͨ͠ • ฏ͕ऴΘΔલʹൃදͰ͖ͯྑ͔ͬͨ
Thank you! https://github.com/akio/rosgo.git