LEGO Mindstorms EV3/NXTのROS indigo対応

by Yutaka Kondo

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-&(0.JOETUPSNT&7/95 304JOEJHPରԠ ۙ౻๛ IUUQZPVUBMLKQSPT !ZPVUBML ୈճ304ษڧձ

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ۙ౻๛ത࢜ʢ޻ֶʣ •  ಸྑઌ୺େখּݪݚڀࣨͰ ΞϯυϩΠυͷਓؒΒ͍͠ɹ ৼΔ෣͍Λݚڀ •  ݱࡏ͸ΧϫμϩϘςΟΫεͰ ڠಇϩϘοτͷ։ൃʹैࣄ •  304ྺͪΐ͏Ͳ೥ •  HJUIVC UXJUUFS!ZPVUBML

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͜Ε·Ͱͷൃදࢿྉ ZPVUBMLKQSPTKQSE ZPVUBMLKQSPTKQOE ZPVUBMLKQSPTKQUI

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/&95"(&01&/΋͍͍͚Ͳɺ ࢓ࣄ΋झຯ΋/&95"(&͸ ຯؾͳ͍ͳ͊ صͷ্Ͱ༡΂Δ ࣗ෼ઐ༻ϩϘοτཉ͍͠ͳ͊ Ͱ΋ϋʔυ΢ΣΞͷ ஌ࣝͳ͍ͳ͊ ͦ͏͍͑͹ੲ-&(0 ޷͖ͩͬͨͳ͊ ͓ͬɺϚΠϯυετʔϜ ͷ304υϥΠόͳ͍ͧʂ Զ͕΍Δ͔͠ ͳ͍ʂ γϛϡϨʔγϣϯͩͱ ͭ·ΒΜʂ 304΋ͬͱਂ͘ ஌Γ͍ͨͳ͊

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-&(0.JOETUPSNT&7 •  εϖοΫڧԽ͞Εͨڭҭ൛͕͓͢͢Ί •  "3. .#ϝϞϦ 64#ϗετ NJDSP4%εϩοτ •  -BC7*&8ͱ͍͏ϏδϡΞϧϓϩάϥϛϯάιϑτɹɹɹɹ ΋͋Δ͚Ͳɺ׽͸໧ͬͯ304ϓϩάϥϛϯά

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OYU@SPT •  &7ͷલੈ୅/95༻ͷ304ύοέʔδ –  ͨͩ͠FMFDUSJD·ͰͰϝϯςऴྃ –  ͜ΕΛJOEJHPରԠͤͯ͞ɺ͞Βʹ&7֦ுͤ͞Ε͹ IUUQTZPVUVCF8F@2FBQCD

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304ରԠखॱ •  &7   FWEFW04ηοτΞοϓ   QZUIPOFW SQZDΠϯετʔϧ   &EVDBUPS7FIJDMF૊Έཱͯ •  1$   304؀ڥηοτΞοϓ   NJOETUPSNT@SPTΠϯετʔϧ &7 1$ Ϟʔλ ηϯα QZUIPO FW NJOETUPSNT @SPT SQZD 304 ϊʔυ 304 ϊʔυ 304 ϊʔυ

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FWEFW04 •  ΧελϜ%FCJBO-JOVYͷFWEFWΛΠϯετʔϧ –  4%Χʔυʹম͍ͯૠ͚ͩ͢Ͱىಈ –  ࠷৽-JOVYΧʔωϧ –  ແઢ-"/ #MVFUPPUIΞμϓλରԠ –  Ϟʔλɺηϯαʹ͸ϑΝΠϧγεςϜͰΞΫηε •  ৄ͘͠͸IUUQXXXFWEFWPSHEPDTHFUUJOHTUBSUFE

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ɺQZUIPOFW SQZD •  QZUIPOFW –  FWEFWͷϞʔλɺηϯαΛૢ࡞͢Δ –  IUUQTHJUIVCDPNUPQJLBDIVQZUIPOFW –  $ easy_install python-ev3 •  SQZD –  1ZUIPOίʔϧΛԕִ͔Βಁաతʹߦ͑Δ –  IUUQSQZDSFBEUIFEPDTPSH –  $ easy_install rpyc

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&EVDBUPS7FIJDMF •  ϞʔλʢΦυϝτϦ͋Γʣɿ –  ࠨӈλΠϠ –  ΞʔϜ •  ηϯαɿ –  Ϥʔ࣠δϟΠϩηϯα –  ௒Ի೾ηϯα –  Χϥʔηϯα IUUQSPCPUTRVBSFDPNFEVDBUJPOFWJOTUSVDUJPO খͯ͘͞΋ ͍ͬͺ͠ͷҠಈϩϘοτ

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NJOETUPSNT@SPT •  ੿࡞&7 /95༻304ύοέʔδ –  IUUQTHJUIVCDPNZPVUBMLNJOETUPSNT@SPT –  OYU@SPTͷDBULJOରԠ ʢ/95͍࣋ͬͯͳ͍ͷͰະݕূʣ –  OYU@SPTΛ࠶ར༻ͯ͠FW@SPTΛ࣮૷ –  ·ͩ·ͩЋͱ΋͍͑ͳ͍ஈ֊ –  Ͱ΋UFMFPQ͸0,

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NJOETUPSNT@SPT •  &7 –  $ rpyc_classic.py •  1$ –  $ roslaunch ev3_robot_gyro_car robot.launch host:=YOUR_EV3_HOSTNAME

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NJOETUPSNT@SPT –  $ rosrun rviz rviz -d `rospack find ev3_robot_gyro_car`/robot.rviz

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NJOETUPSNT@SPT –  $ roslaunch nxt_teleop teleop_keyboard.launch IUUQZPVUVCFI18%OQO'H

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50%0 •  ࢒Γͷηϯαͷ304ରԠ •  ௨৴଎౓ͷվળ –  SQZD͸ָ͚ͩͲɺ͘͢͝஗ͯ͘ॏ͍ •  OYU@SWJ[@QMVHJOͷJOEJHPରԠ •  -&(0%JHJUBM%FTJHOFSͷ%Ϟσϧͷ63%'ࣗಈม׵ •  CMPPNʹΑΔύοέʔδϦϦʔε •  /95Ͱͷಈ࡞֬ೝ •  #SJDUSPOJDTΛ࢖ͬͯ"SVEVJOPʹ΋௅ઓ IUUQTXXXTBGBSJCPPLTPOMJOFDPNMJCSBSZWJFX NBLFMFHPBOEDIIUNM

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#PPUZPVSlNJOEz ۙ౻๛ IUUQZPVUBMLKQSPT !ZPVUBML ୈճ304ษڧձ