LEGO Mindstorms EV3/NXTのROS indigo対応
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Yutaka Kondo
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-&(0.JOETUPSNT&7/95 304JOEJHPରԠ ۙ౻๛ IUUQZPVUBMLKQSPT !ZPVUBML ୈճ304ษڧձ
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ۙ౻๛ത࢜ʢֶʣ • ಸྑઌେখּݪݚڀࣨͰ ΞϯυϩΠυͷਓؒΒ͍͠ɹ ৼΔ͍Λݚڀ • ݱࡏΧϫμϩϘςΟΫεͰ ڠಇϩϘοτͷ։ൃʹैࣄ • 304ྺͪΐ͏Ͳ • HJUIVC UXJUUFS!ZPVUBML
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͜Ε·Ͱͷൃදࢿྉ ZPVUBMLKQSPTKQSE ZPVUBMLKQSPTKQOE ZPVUBMLKQSPTKQUI
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/&95"(&01&/͍͍͚Ͳɺ ࣄझຯ/&95"(& ຯؾͳ͍ͳ͊ صͷ্Ͱ༡Δ ࣗઐ༻ϩϘοτཉ͍͠ͳ͊ ͰϋʔυΣΞͷ ࣝͳ͍ͳ͊ ͦ͏͍͑ੲ-&(0 ͖ͩͬͨͳ͊ ͓ͬɺϚΠϯυετʔϜ ͷ304υϥΠόͳ͍ͧʂ Զ͕Δ͔͠ ͳ͍ʂ γϛϡϨʔγϣϯͩͱ ͭ·ΒΜʂ 304ͬͱਂ͘ Γ͍ͨͳ͊
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-&(0.JOETUPSNT&7 • εϖοΫڧԽ͞Εͨڭҭ൛͕͓͢͢Ί • "3. .#ϝϞϦ 64#ϗετ NJDSP4%εϩοτ • -BC7*&8ͱ͍͏ϏδϡΞϧϓϩάϥϛϯάιϑτɹɹɹɹ ͋Δ͚Ͳɺͬͯ304ϓϩάϥϛϯά
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OYU@SPT • &7ͷલੈ/95༻ͷ304ύοέʔδ – ͨͩ͠FMFDUSJD·ͰͰϝϯςऴྃ – ͜ΕΛJOEJHPରԠͤͯ͞ɺ͞Βʹ&7֦ுͤ͞Ε IUUQTZPVUVCF8F@2FBQCD
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304ରԠखॱ • &7 FWEFW04ηοτΞοϓ QZUIPOFW SQZDΠϯετʔϧ &EVDBUPS7FIJDMFΈཱͯ • 1$ 304ڥηοτΞοϓ 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 – ϞʔλɺηϯαʹϑΝΠϧγεςϜͰΞΫηε • ৄ͘͠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 – Իηϯα – Χϥʔηϯα IUUQSPCPUTRVBSFDPNFEVDBUJPOFWJOTUSVDUJPO খͯ͘͞ ͍ͬͺ͠ͷҠಈϩϘοτ
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NJOETUPSNT@SPT • ࡞&7 /95༻304ύοέʔδ – IUUQTHJUIVCDPNZPVUBMLNJOETUPSNT@SPT – OYU@SPTͷDBULJOରԠ ʢ/95͍࣋ͬͯͳ͍ͷͰະݕূʣ – OYU@SPTΛ࠶ར༻ͯ͠FW@SPTΛ࣮ – ·ͩ·ͩЋͱ͍͑ͳ͍ஈ֊ – ͰUFMFPQ0,
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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 • ௨৴ͷվળ – SQZDָ͚ͩͲɺͯ͘͘͢͝ॏ͍ • OYU@SWJ[@QMVHJOͷJOEJHPରԠ • -&(0%JHJUBM%FTJHOFSͷ%Ϟσϧͷ63%'ࣗಈม • CMPPNʹΑΔύοέʔδϦϦʔε • /95Ͱͷಈ࡞֬ೝ • #SJDUSPOJDTΛͬͯ"SVEVJOPʹઓ IUUQTXXXTBGBSJCPPLTPOMJOFDPNMJCSBSZWJFX NBLFMFHPBOEDIIUNM
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#PPUZPVSlNJOEz ۙ౻๛ IUUQZPVUBMLKQSPT !ZPVUBML ୈճ304ษڧձ