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

Transcript

1. 304304ͷ
   ಛ௕ͱ࠷৽ಈ޲
   ۙ౻๛
   
   IUUQSPTZPVUBMLKQ
   !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
    %άϥϑΟοΫε
    ηϯαͱ
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    ϩϘοτϞσϧ
    ରԠ
    ωοτϫʔΫ
    ௨৴ରԠ
    Ϋϥ΢υ
    ࣮ߦՄೳ
    ֦ுՄೳͳ
    $-*
    

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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
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    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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