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304 %PDLFSʹΑΔ
ϑΥʔϧττϨϥϯε࣮ફ
ۙ౻๛
IUUQSPTZPVUBMLKQ
!ZPVUBML
304+BQBO6(
-5େձ
ೖ
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"CPVU.F
304ઐ༻ϒϩά։ઃ͠·ͨ͠ʂ
IUUQSPTZPVUBMLKQ
ZVUBLBLPOEP!ZPVUBMLKQ
ຊ໊ ΞΧϯτ໊ ࠃ੶
ϗʔϜϖʔδΞυϨε
ϝʔϧΞυϨε
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ॕ304#FUBϦϦʔε
• IUUQTHJUIVCDPNSPTSPTXJLJ#FUB0WFSWJFX
• IUUQSPTZPVUBMLKQQPTUSPTCFUB
– 6CVOUV
8JOEPXT
NBD044JFSSBͷެࣜαϙʔτ
– %%44FDVSJUZͷαϙʔτʢTSPTʣ
– %FCJBOύοέʔδͷඋ
– ෳ3.8࣮ͷத͔Β࣮ߦ࣌ʹҙͷ3.8࣮ΛબՄೳ
– ίϚϯυϥΠϯΠϯλϑΣʔεSPTͷՃ
– ໊લۭؒͷαϙʔτ
– ϩΪϯάϚΫϩSDVUJMTͷ࣮
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304%PDLFSΠϝʔδ
• ίϯςφΠϝʔδͷμϯϩʔυ
– $ docker pull youtalk/ros2:beta2
– IUUQTIVCEPDLFSDPNSZPVUBMLSPT
• ίϯςφͷىಈ
– $ docker run -it youtalk/ros2:beta2
• ೦ͳ͕Βɺެࣜ304%PDLFSʢҰ࣌తʹʣɹɹɹ
ͳ͘ͳΓ·ͨ͠
– EPDLFSQVMMPTSGSPTMBUFTU
– IUUQTHJUIVCDPNPTSGEPDLFS@JNBHFTQVMM
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304ͷಛ
04ඇґଘ
࢈ۀքͰ͘ΘΕ͍ͯΔϛυϧΣΞ%%4Λ࠾༻
༻ɾඇ༻ͷ৴ϓϩτίϧΛબՄೳ
6%1ͱ2P4ͷΈ߹ΘͤʹΑΔϦΞϧλΠϜ௨৴࣮ݱ
ੑೳͳܭࢉػͰʢ෦తʹʣӡ༻Մೳ
ηΩϡϦςΟػೳͷαϙʔτ
୯Ұোʢ304.BTUFSʣ͕ͳ͍
– %PDLFSͱͷ૬ੑൈ܈ʂ
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304BTB.JDSPTFSWJDF
• 304ͷϊʔυҰͭҰͭΛ%PDLFSίϯςφͰӡ༻
– 1VCMJTIFS4VCTDSJCFSͯ͢ίϯςφ࣮ߦ
– ϊʔυ .JDSPTFSWJDF
• %PDLFSͷΤίγεςϜΛ࠶ར༻
– SPTMBVODIΘΓͷ%PDLFS$PNQPTF
– ϊʔυҟৗऴྃ࣌ʹࣗಈ࠶ىಈ
– %PDLFS4XBSNϞʔυͰࢄίϯϐϡʔςΟϯά
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ίϯςφͷࣗಈ࠶ىಈ
• ίϯςφҟৗऴྃ࣌ʹࣗಈతʹ࠶ىಈ
– IUUQTEPDTEPDLFSDPNEPDLFSDMPVEBQQTBVUPSFTUBSU
– SFTUBSUΦϓγϣϯ
• OP࠶ىಈ͠ͳ͍ʢσϑΥϧτʣ
• POGBJMVSFऴྃεςʔλε͕Ҏ֎ͷ߹ʹ࠶ىಈ
• POGBJMVSF9ऴྃεςʔλε͕Ҏ֎ͷ߹ʹ9ճ࠶ىಈ
• BMXBZTऴྃεςʔλε͕ԿͰ͋Ζ͏ͱ࠶ىಈ
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࣮ݧ
• 1VCMJTIFS
– $ docker run -it --rm --net ros2 ɹɹɹɹɹ
youtalk/ros2:beta2 /bin/bash -c ɹɹɹɹɹɹɹ
'ros2 run demo_nodes_cpp talker’
• 4VCTDSJCFS
– $ docker run --restart=on-failure --net ros2 ɹɹ
-v `pwd`/youtalk:/youtalk youtalk/ros2:beta2 ɹɹ
/bin/bash -c ‘cd /youtalk; ɹɹɹɹɹɹɹɹɹɹɹɹ
. install/local_setup.bash; ɹɹɹɹɹɹɹɹɹɹ
ros2 run demo_nodes_cpp listener_failable’
࣮ݧͷ४උͱ݁ՌˠIUUQSPTZPVUBMLKQQPTUGBVMUUPMFSBODF
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%PDLFS4XBSNϞʔυ
• %PDLFS&OHJOFͷΫϥελཧ
– IUUQTEPDTEPDLFSDPNFOHJOFTXBSN
– ෳཧίϯςφͱෳϫʔΧίϯςφͰߏ
ͪ͜Βͷ
·͍ͨͣ͜Ͱ
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304
5P#F$POUJOVFE
304+BQBO6(
-5େձ