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ROS / ROS 2の特徴と最新動向

Yutaka Kondo
September 28, 2017

ROS / ROS 2の特徴と最新動向

OSSユーザーのための勉強会 #20 ロボット開発 http://eventregist.com/e/ossx2017-09 の発表資料です。

目次
- ROSの特長
- Gazeboの特長
- ROS2の特長
- ROS-Industrialの活動
- 最新動向
- ROS Japan UGの活動報告
- 自身のOSS貢献歴

Yutaka Kondo

September 28, 2017
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  1. 304304ͷ
    ಛ௕ͱ࠷৽ಈ޲
    ۙ౻๛

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    !ZPVUBML
    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  2. ࣗݾ঺հ

    ZVUBLBLPOEP!ZPVUBMLKQ
    ຊ໊ ΞΧ΢ϯτ໊ ࠃ੶
    ϗʔϜϖʔδΞυϨε
    ϝʔϧΞυϨε

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  3. ۙ౻๛ത࢜ʢ޻ֶʣ
    •  ಸྑઌ୺େখּݪݚڀࣨͰ
    ΞϯυϩΠυͷਓؒΒ͍͠ɹ
    ৼΔ෣͍Λݚڀ
    •  ݱࡏ͸๭اۀͰڠಇϩϘοτ
    ͷ։ൃʹैࣄ
    •  304+BQBO6(ओ࠵
    •  304ྺ೥
    •  IUUQZPVUBMLKQBCPVU

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  4. ໨࣍
      304ͷಛ௕
      (B[FCPͷಛ௕
      304ͷಛ௕
      304*OEVTUSJBMͷ׆ಈ
      ࠷৽ಈ޲
      304+BQBO6(ͷ׆ಈใࠂ
      ࣗ਎ͷ044ߩݙྺ

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  5. 304ͷಛ௕

    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  6. 304
    •  304 3PCPU0QFSBUJOH4ZTUFN
    ͸ιϑτ΢ΣΞ։ൃ
    ऀͷϩϘοτɾΞϓϦέʔγϣϯ࡞੒Λࢧԉ͢ΔϥΠϒ
    ϥϦͱπʔϧΛఏڙ͍ͯ͠·͢
    •  ۩ମతʹ͸ ϋʔυ΢ΣΞந৅Խ σόΠευϥΠόɼϥ
    ΠϒϥϦɼࢹ֮Խπʔϧ ϝοηʔδ௨৴ɼύοέʔδ
    ؅ཧͳͲ͕ఏڙ͞Ε͍ͯ·͢304͸Φʔϓϯιʔεͷ
    Ұͭ #4%ϥΠηϯεʹΑΓ ϥΠηϯεԽ͞Ε͍ͯ·
    ͢

    IUUQXJLJSPTPSHKB

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  7. IUUQTSPTDPOSPTPSHQSFTFOUBUJPOT304$PO0QFOJOH3FNBSLTQEG

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  8. IUUQTWJNFPDPN

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  9. ϋʔυ΢ΣΞந৅Խ
    •  ֊૚ʹ෼͔Εͨஈ֊తͳந৅ԽϨϕϧ
      $"%ϞσϧΛ࢖ͬͨݱࡏঢ়ଶͷՄࢹԽ
      ඪ४ҠಈίϚϯυ΁ͷରԠ
      Ґஔɺ଎౓ɺτϧΫ੍ޚϥΠϒϥϦ΁ͷରԠ
      ϦΞϧλΠϜ੍ޚ΁ͷରԠ

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  10. σόΠευϥΠό
    •  ֤σόΠεͷͨΊͷ"1*Λنఆ
    –  ΧϥʔΧϝϥ
    –  ڑ཭Χϝϥ
    –  ϨʔβʔϨϯδϑΝΠϯμ
    –  αʔϘϞʔλ
    –  ΦυϝτϦ
    – 
    •  "1*ରԠ͍ͯ͠Ε͹σόΠεͷछྨʹ͸ґଘ͠ͳ͍
    –  ཧ૝తʹ͸

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  11. ϥΠϒϥϦ
    φϏήʔγϣϯ

    IUUQTZPVUVCFR[J6+D6%G#D

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  12. ϥΠϒϥϦ
    ಈ࡞ܭը

    IUUQTZPVUVCFPH4B;:U3D

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  13. ࢹ֮Խπʔϧ

    IUUQTZPVUVCFJ4EY);&

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  14. ϝοηʔδ௨৴
    •  τϐοΫ
    –  1VC4VCܕ௨৴
    –  جຊతʹτϐοΫ͕༻͍ΒΕΔ
    •  αʔϏε
    –  ͍ΘΏΔϦϞʔτϓϩγʔδϟίʔϧ
    •  ΞΫγϣϯ
    –  ඇಉظ௨৴ͷͨΊͷαʔϏε
    •  ύϥϝʔλ
    –  ߋ৽ස౓ͷ௿͍ίϯϑΟάଐੑ஋ͷೖग़ྗ

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  15. ύοέʔδ؅ཧ
    •  ಠࣗύοέʔδϦϦʔεπʔϧCMPPN
    –  IUUQTQZQJQZUIPOPSHQZQJCMPPN
    –  ιʔείʔυͷόʔδϣχϯά
    –  ύοέʔδϏϧυɺϦϦʔεͷࣗಈԽ
    •  6CVOUVͳΒηοτΞοϓ͸؆୯
      TVEPTIDFDIPEFCIUUQQBDLBHFTSPTPSHSPTVCVOUVUSVTUZNBJO
    FUDBQUTPVSDFTMJTUESPTMBUFTUMJTU`
      XHFUIUUQTSBXHJUIVCVTFSDPOUFOUDPNSPTSPTEJTUSPNBTUFSSPTLFZ0
    cTVEPBQULFZBEE–
      TVEPBQUVQEBUFTVEPBQUJOTUBMMSPTLJOFUJDEFTLUPQGVMM

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  16. (B[FCPͷಛ௕

    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  17. ϩϘοτγϛϡϨʔλ

    IUUQHB[FCPTJNPSH
    ಈྗֶ
    γϛϡϨʔγϣϯ
    ߴ඼࣭ͳ
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    ௨৴ରԠ
    Ϋϥ΢υ
    ࣮ߦՄೳ
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  18. IUUQTZPVUVCF3Y6,:D(@CD

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  19. %"31"7JSUVBM3PCPUJDT$IBMMFOHF

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  20. /"4"4QBDF3PCPUJDT$IBMMFOHF

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  21. 304ͷಛ௕

    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  22. 304ͷϢʔεέʔε
    •  ମͷϩϘοτ
    •  ५୔ͳܭࢉࢿݯ
    •  ϦΞϧλΠϜ੍ޚ͸ٻΊͳ͍
    –  ಛผͳ࢓૊ΈͰผ్ରԠ
    •  ߴ଎ɺ҆ఆͳωοτϫʔΫ؀ڥ
    •  ݚڀɺֶज़༻్
    •  ϓϩάϥϛϯάͷߴ͍ࣗ༝౓

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  23. 304ͷ࠷ऴ໨ඪ

    IUUQSPTDPOSPTPSHQSFTFOUBUJPOT
    304$PO3046QEBUFQEG
    ௨৴ϦιʔεͷݶΒΕͨ
    ؀ڥͰͷෳ਺ϩϘοταϙʔτ
    ϓϩτλΠϓͱ
    ੡඼Խͷཱ྆
    ϚΠίϯಈ࡞ ϦΞϧλΠϜ੍ޚରԠ
    ෳ਺04
    αϙʔτ

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  24. 304ͷಛ௃
    •  04ඇґଘ
    •  ࢈ۀքͰ޿͘࢖ΘΕ͍ͯΔϛυϧ΢ΣΞ%%4Λ࠾༻
    •  ঎༻ɾඇ঎༻ͷ഑৴ϓϩτίϧΛબ୒Մೳ
    •  6%1ͱ2P4ͷ૊Έ߹ΘͤʹΑΔϦΞϧλΠϜ௨৴࣮ݱ
    •  ௿ੑೳͳܭࢉػͰ΋ʢ෦෼తʹʣӡ༻Մೳ
    •  ηΩϡϦςΟػೳͷެࣜαϙʔτ
    •  ୯Ұো֐఺ʢ304.BTUFSʣ͕ͳ͍

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  25. %%4
    •  304ͷ1VC4VC௨৴ͱΑ͘ࣅͨσʔλ഑৴ͷࠃࡍن֨
    •  ͢ͰʹϛογϣϯΫϦςΟΧϧͳ৔໘Ͱ࠾༻ࡁΈ
    –  ઓ؋
    –  μϜͷΑ͏ͳେن໛ࢪઃ
    –  ۚ༥γεςϜ
    –  Ӊ஦ɺߤۭγεςϜ
    –  ిंͷઢ࿏੾Γସ͑ػ
    •  ଟ͘ͷاۀʹΑΔ঎ۀར༻Մɾ044ͷ࣮૷͋Γ
    –  35*
    –  1SJTN5FDI
    –  5XJO0BLT4PGUXBSF
    –  043'

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  26. 304ϩʔυϚοϓ
    •  ೥݄ɿЋϦϦʔε
    •  ೥݄ɿЌϦϦʔε
    •  ೥݄ɿЌϦϦʔε
    •  ೥݄ɿЌϦϦʔε
    •  ೥݄ɿਖ਼ࣜ൛ϦϦʔε༧ఆ

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  27. 304*OEVTUSJBMͷ׆ಈ

    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  28. 304*OEVTUSJBM
    •  304ͷ࢈ۀքԠ༻Λݕ౼ɺίϯαϧςΟϯάɺड஫
    –  ଟ͘ͷاۀஂମ͕ίϯιʔγΞϜΛ݁੒
    –  ੈքதʹ֦େத
    •  ๺ΞϝϦΧ
    •  Ϥʔϩού
    •  ΞδΞଠฏ༸
    •  4*ɺΞϓϦέʔγϣϯ։ൃʹಛԽ
    •  503,ɿ೔ຊͰಉ༷ͷ׆ಈΛ͢Δஂମ
    –  IUUQPQFOTPVSDFSPCPUJDTUPLZPKQ

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  29. IUUQTZPVUVCF$7JMN:%

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  30. ࠷৽ಈ޲

    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  31. 304$PO4&06-

    IUUQTSPTDPOSPTPSH

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  32. 304$PO7"/$067&3

    IUUQTSPTDPOSPTPSH

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  33. ࠷৽ಈ޲ʢࢲݟʣ
    •  ϓϥοτϑΥʔϜͱͯ͠׬શσϑΝΫτελϯμʔυԽ
    •  اۀͷ304࠾༻ͷେ෯૿Ճ
    •  304ͷ࿐ग़૿Ճத
    •  ஍্ɺۭதɺਫ্ϩϘοτ͚ͩͰͳ͘ɹɹɹɹɹɹɹɹ
    ஍தɺӉ஦ɺਫதʹ΋ద༻ൣғΛ֦େ
    •  ΤίγεςϜ΋֦େ
    –  8FCΤϯδχΞͷྲྀೖ
    –  "OESPJEΤϯδχΞͷྲྀೖ

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  34. 304+BQBO6(ͷ׆ಈใࠂ

    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  35. 304+BQBO6TFST(SPVQ
    •  ໊ۙ͘ͷࢀՃऀ
    •  Πϕϯτ
    –  ʙ೥݄ɿ
    ճͷษڧձɺϋοΧιϯ
    –  ೥݄ʙɿ
    ճͷษڧձɺߨशձ༧ఆ
    •  ؔ౦ɺ౦ւɺؔ੢ɺ۝भͰ׆ಈ

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  36. 304+BQBO6TFST(SPVQͷ׆ಈʹࢀՃ͠·ͤΜ͔ʁ

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  37. 304+BQBO6TFST(SPVQ
    •  %JTDPVTF೔ຊΧςΰϦ
    IUUQTEJTDPVSTFSPTPSHDMPDBMKBQBO
    •  ΠϕϯτϖʔδIUUQTSPTKQDPOOQBTTDPN
    •  4MBDLIUUQTSPTKQTMBDLDPN
    –  ট଴ϑΥʔϜIUUQTHPPHMGPSNTC5"1P2PM[5M9
    •  ϝʔϦϯάϦετ
    SPTKBQBOVTFST!HPPHMFHSPVQTDPN
    •  (JU)VC!SPTKBQBOVTFST
    •  5XJUUFSSPTKQ

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  38. ࣗ਎ͷ044ߩݙྺ

    04496TFST.FFUJOH
    ϩϘοτ։ൃ

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  39. 043'ͷެࣜ%PDLFSΠϝʔδ
    •  304ͷ%PDLFSpMFͷ
    ϝϯςφϯε
    •  IUUQTHJUIVCDPNPTSG
    EPDLFS@JNBHFT
    –  ૯ίϯτϦϏϡʔγϣϯྔɿ
    ୈҐ
    –  IUUQTHJUIVCDPNPTSGEPDLFS@JNBHFTQVMM
    –  IUUQTHJUIVCDPNPTSGEPDLFS@JNBHFTQVMM
    –  IUUQTHJUIVCDPNPTSGEPDLFS@JNBHFTQVMM

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  40. -&(0.JOETUPSNT&7ͷ304ରԠ
    IUUQTHJUIVCDPNZPVUBMLNJOETUPSNT@SPT

    IUUQZPVUVCFI18%OQO'H

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  41. 304ؔ࿈ϨϙδτϦ΁ͷ૯ߩݙྔ

    IUUQTSPTDPOSPTPSHQSFTFOUBUJPOT
    304$PO0QFOJOH3FNBSLTQEG

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  42. ·ͱΊ
    •  304
    –  ݚڀ։ൃ༻ϩϘοτϓϥοτϑΥʔϜͷɹɹɹɹɹɹ
    σϑΝΫτελϯμʔυԽ
    •  304
    –  ঎ۀར༻΋ՄೳͳϓϥοτϑΥʔϜʹల։༧ఆ
    •  304+BQBO6(
    –  ͝ڵຯΛ࣋ͨΕͨํ͸ͥͻ͝ࢀՃΛ

    ൃදࢿྉIUUQZPVUBMLKQPTTYVTFST
    (JU)VC 5XJUUFS!ZPVUBML

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