Upgrade to Pro — share decks privately, control downloads, hide ads and more …

ROSCon JP 2019講習会 ROS2の移動ロボットへの応用

Cc568a0b1284645f9fb927b2343eb87e?s=47 Yutaka Kondo
November 26, 2020

ROSCon JP 2019講習会 ROS2の移動ロボットへの応用

ROSCon JP 2019 https://roscon.jp/2019/ の前日に開催されました有料講習会の後半資料を公開します。

Cc568a0b1284645f9fb927b2343eb87e?s=128

Yutaka Kondo

November 26, 2020
Tweet

Transcript

  1. 526&RQ-3ㅮ⩦఍ 526䛾 ⛣ື䝻䝪䝑䝖䜈䛾ᛂ⏝ ㏆⸨㇏#\RXWDON KWWSVZZZ\RXWDONMS

  2. ⮬ᕫ⤂௓ \XWDNDNRQGR#\RXWDONMS  ᮏྡ ᅜ⡠ 䝩䞊䝮䝨䞊䝆 Ɣ aዉⰋඛ➃኱Ꮫ㝔኱Ꮫ༤ኈ䠄ᕤᏛ䠅 Ɣ a䜹䝽䝎䝻䝪䝔䜱䜽䝇㛤Ⓨ㒊୺௵

    Ɣ a526-DSDQ8*୺ᐓ Ɣ a3UHIHUUHG1HWZRUNV䜶䞁䝆䝙䜰 Ɣ 526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾ฟ∧
  3. 5DVSEHUU\3L0RXVH526&RQ-3ㅮ⩦఍䜻䝑䝖 ௒ᅇ䛾⛣ື䝻䝪䝑䝖䛾ㅮ⩦఍䜻䝑䝖䜢䛤㉎ධ䛔 䛯䛰䛡䜎䛩䚹 Ɣ ⌧ᆅㄳồ᭩ᡶ䛔䠄ྎᩘ㝈ᐃ䠅 ż ⛯㎸෇ Ɣ 䜰䞊䝹䝔䜱䝻䝪䝑䝖䝅䝵䝑䝥 ż

    KWWSVZZZUWVKRSMSLQGH[SKS"P DLQBSDJH SURGXFWBLQIR F3DWK  B SURGXFWVBLG  ż ⛯㎸෇ 
  4. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  5. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  6. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ 6/$0 ³6/$0䛸䛿䚸⮬ᕫ఩⨨᥎ᐃ䛸⎔ቃᆅᅗసᡂ䜢ྠ᫬䛻⾜䛖䛣䛸䜢ゝ 䛖䚹ṇᘧྡ⛠䛿䚸6LPXOWDQHRXV/RFDOL]DWLRQDQG0DSSLQJ䚹఩⨨ 䛾᥎ᐃ䜔䝬䝑䝥సᡂ䛻䛿䝺䞊䝄䞊䝺䞁䝆䝇䜻䝱䝘䞊  ᇦ䝉䞁䝃䚸 /,'$5 䚸䜹䝯䝷䚸䜶䞁䝁䞊䝎䚸䝬䜲䜽䝻䝣䜷䞁䜰䝺䜲䛺䛹䛜฼⏝䛥䜜 䜛䛣䛸䛜ከ䛔䚹´ KWWSVMDZLNLSHGLDRUJZLNL6/$0

    
  7. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ *RRJOH&DUWRJUDSKHU Ɣ 䜾䝸䝑䝗䝧䞊䝇䛾䝇䜻䝱䞁䝬䝑䝏䞁 䜾䛻䜘䜛㏲ḟฎ⌮6/$0䛸䜾䝷䝣 䝧䞊䝇䛾䝞䝑䝏ฎ⌮6/$0䛾⤌䜏 ྜ䜟䛫 Ɣ /RRS&ORVXUH䛒䜚 Ɣ

    ḟඖ䛰䛡䛷䛺䛟ḟඖ6/$0䛻䜒 ᑐᛂ Ɣ 526䛷䛾䝕䝣䜯䜽䝖䝇䝍䞁䝎䞊䝗 䠄526䛷䛿&DUWRJUDSKHU䛾䜏ᑐ ᛂ䠅 
  8. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ 䝘䝡䝀䞊䝅䝵䞁 ³䝘䝡䝀䞊䝅䝵䞁䝇䝍䝑䜽䛿䚸䜸䝗䝯䝖䝸䜔䝉䞁䝃䞊䝕䞊䝍䜢ධຊ䛧䚸 䝻䝪䝑䝖䜈㏿ᗘᣦ௧䜢ฟຊ䛧䜎䛩䚹䝘䝡䝀䞊䝅䝵䞁䝇䝍䝑䜽䜢౑䛖䛻 䛿䚸䝻䝪䝑䝖䛜7)䛾ᗙᶆ⣔䝒䝸䞊䜢ᣢ䛳䛶䛚䜚䚸ṇ䛧䛔䝯䝑䝉䞊䝆 䛾䝍䜲䝥䛾䝉䞁䝃䞊䝕䞊䝍䜢㏦ಙ䛧䛶䛔䜛䛣䛸䛜ồ䜑䜙䜜䛶䛔䜎 䛩䚹´ KWWSZLNLURVRUJQDYLJDWLRQ2YHUYLHZ 

  9. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ 1DYLJDWLRQ䝟䝑䜿䞊䝆  ኱ᇦⓗ ⤒㊰ィ⏬ ᒁᡤⓗ ⤒㊰ィ⏬ ᚟ᖐ⾜ື ኱ᇦⓗ 䝁䝇䝖ᆅᅗ

    ᒁᡤⓗ 䝁䝇䝖ᆅᅗ
  10. 6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ 1DYLJDWLRQ䛾᚟ᖐ⾜ື  526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾 䜘䜚㌿㍕ 526䛷䛿⾜䛝ワ䜎䜚ゎᾘ䛜䚸䜋䜌ᅛᐃ䛾᚟ᖐ⾜ື䛾䜏

  11. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  12. 1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ 1DYLJDWLRQ ⛣ື䝻䝪䝑䝖䛾⤒㊰ィ⏬䝟䝑䜿䞊䝆 Ɣ 526&U\VWDO䛷䜰䝹䝣䜯䝸䝸䞊䝇 Ɣ 䝷䜲䝣䝃䜲䜽䝹ᑐᛂ Ɣ PRYHBEDVH䛜QDYBEHKDYLRUBWUHH䛻⨨䛝᥮䛘 ż

    䝡䝦䜲䝡䜰䝒䝸䞊䛻ᑐᛂ䛧䛯䝘䝡䝀䞊䝅䝵䞁䝍䝇䜽䛾ᐇ⿦ Ɣ 7XUWOH%RW䛜526'DVKLQJ䛾1DYLJDWLRQ䛻ᑐᛂ  5DVSEHUU\3L0RXVH䛿1DYLJDWLRQᑐᛂ䛧䛯 ୡ⏺␒┠䛾⛣ື䝻䝪䝑䝖
  13. 1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ 1DYLJDWLRQ䛾䝡䝦䜲䝡䜰䝒䝸䞊౛  KWWSVJLWKXEFRPURVSODQQLQJQDYLJDWLRQEOREPDVW HUQDYBEWBQDYLJDWRU5($'0(PG 1DYLJDWLRQ䝕䝣䜷䝹䝖䛾 䝡䝦䜲䝡䜰䝒䝸䞊 Ɣ ⤒㊰ィ⏬䛾ᅇᩘไ㝈 ௜䛝෌ィ⏬

    Ɣ ⾜䛝ワ䜎䜚᫬䛾ᅇᩘ ไ㝈௜䛝᚟ᖐ⾜ື
  14. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  15. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  Ɣ 53/L'$5$0 ż ୓෇๓ᚋ䛷㈙䛘䜛'/L'$5 Ɣ 53/L'$5䝬䜴䞁䝖 ż '䝥䝸䞁䝍䛷〇స

    ż 67/䝣䜯䜲䝹 Ɣ 5DVSEHUU\3L0RXVH9 ż 䜰䞊䝹䝔䜱〇⛣ື䝻䝪䝑䝖䝥 䝷䝑䝖䝣䜷䞊䝮 ż 5DVSEHUU\3L%
  16. ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH 䝅䝇䝔䝮ᵓᡂ  5DVSEHUU\3L% 3& GHVFULSWLRQ URERWBVWDWHB SXEOLVKHU 5DV3L0RXVH 䝗䝷䜲䝞

    53/L'$5 䝗䝷䜲䝞 VWDWLFBWUDQVIRUP BSXEOLVKHU EULQJXS 1DYLJDWLRQ *RRJOH &DUWJUDSKHU UYL] URVEDJ WHOHRSBWZLVWB MR\NH\ERDUG 䝉䞁䝅䞁䜾䛸 䜰䜽䝏䝳䜶䞊䝅䝵䞁䛾䜏 䛭䜜௨እ
  17. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  18. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 8EXQWX䛸526'DVKLQJ䛾䜲䞁䝇䝖䞊䝹 ᮏㅮ⩦఍䛷䛿8EXQWX䛾䜲䞁䝇䝖䞊䝹䚸䛚䜘䜃526'DVKLQJ䛾䝉䝑䝖䜰䝑䝥䛿᏶ ஢䛧䛶䛔䜛䜒䛾䛸䛧䛶㐍䜏䜎䛩䚹 90:DUH䛺䛹䛾௬᝿໬䝋䝣䝖䜴䜵䜰䜢౑䛳䛶䜲䞁䝇䝖䞊䝹䛧䛶䛔䜛ሙྜ䚸䝛䝑䝖䝽䞊䜽タᐃ 䜢䝤䝸䝑䝆䛻ኚ᭦䛧䛶䛟䛰䛥䛔䚹 Ɣ 8EXQWX䛾䜲䞁䝇䝖䞊䝹 ż KWWSVJELJJVJLWKXELRURVBPRYHLWBUVMBWXWRULDOOLQX[BDQGBURVBLQVWDOOKWPO

    ż KWWSVOLQX[IDQLQIRXEXQWXLQVWDOOJXLGH Ɣ 526'DVKLQJ'LDGHPDWD䛾䝉䝑䝖䜰䝑䝥 ż KWWSVURVFRQMSZRUNVKRSFRPSXWHUBSUHSBOLQX[KWPO ż KWWSVLQGH[URVRUJGRFURV,QVWDOODWLRQ'DVKLQJ/LQX[,QVWDOO'HELDQV 
  19. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 5DVSEHUU\3L0RXVH䝟䝑䜿䞊䝆䛾䝡䝹䝗  ࣮࣡ࢡࢫ࣮࣌ࢫࡢసᡂ  PNGLUSaURVGDVKLQJVUF  FGaURVGDVKLQJVUF UDVSLPRXVHBURVࣃࢵࢣ࣮ࢪࡢྲྀᚓ 

    JLWFORQHKWWSVJLWKXEFRP\RXWDONUDVSLPRXVHBURVJLW  FGUDVSLPRXVHBURV  JLWVXEPRGXOHXSGDWHLQLW  FG 
  20. ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 5DVSEHUU\3L0RXVH䝟䝑䜿䞊䝆䛾䝡䝹䝗  ౫Ꮡࢯࣇࢺ࢙࢘࢔ࣃࢵࢣ࣮ࢪࡢ࢖ࣥࢫࢺ࣮ࣝ  VXGRURVGHSLQLW  URVGHSXSGDWH  URVGHSLQVWDOOIURPSDWKVVUFLJQRUHVUFU\

    ࣮࣡ࢡࢫ࣮࣌ࢫࡢࣅࣝࢻ  FROFRQEXLOGV\POLQNLQVWDOO ⎔ቃኚᩘࡢタᐃ  VRXUFHaURVGDVKLQJLQVWDOOVHWXSEDVK 
  21. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  22. 5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  5DVSEHUU\3L䛻66+᥋⥆䠄;;;䛿ྛᮘ䛻๭䜚ᙜ䛶䜙䜜䛯␒ྕ䠅  VVKXEXQWX#;;; ࣃࢫ࣮࣡ࢻࡣ ࢹࣂ࢖ࢫࣇ࢓࢖ࣝࡢᏑᅾࢆ☜ㄆ  OVGHYUW GHYUWEX]]HUGHYUWPRWRUBUDZBUGHYUWOHG

    
  23. 5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  䝋䝣䝖䜴䜵䜰䝇䜲䝑䝏䜢21  HFKR!GHYUWPRWRUHQ ྑ࣮ࣔࢱࢆ+]࡛ᅇ㌿  HFKR!GHYUWPRWRUBUDZBU ྑ࣮ࣔࢱࢆ೵Ṇ 

    HFKR!GHYUWPRWRUBUDZBU 
  24. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  25. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స 5DVSEHUU\3Lഃ  䝟䝑䜿䞊䝆䝡䝹䝗 ࢻ࣓࢖ࣥ,'ࡢ☜ㄆ  VVKXEXQWX#;;;  HFKR526B'20$,1B,' <<<

    <<<䛜ྛᮘ䛻๭䜚ᙜ䛶䜙䜜䛯䝗䝯䜲䞁,'䛸ྠ䛨䛜䛤☜ㄆ䛟䛰䛥䛔䚹 UDVSLPRXVHBURVࣃࢵࢣ࣮ࢪࡢࣅࣝࢻ  FGaURVGDVKLQJ  FROFRQEXLOGV\POLQNLQVWDOO 
  26. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స 5DVSEHUU\3Lഃ  EULQJXS䝟䝑䜿䞊䝆䛾㉳ື ⎔ቃኚᩘ䛾タᐃ  VRXUFH aURVGDVKLQJLQVWDOOVHWXSEDVK EULQJXS䝟䝑䜿䞊䝆ࡢ㉳ື 

    URVODXQFKUDVSLPRXVHBEULQJXS URERWODXQFKS\  5DVSEHUU\3L% GHVFULSWLRQ URERWBVWDWHB SXEOLVKHU 5DV3L0RXVH 䝗䝷䜲䝞 53/L'$5 䝗䝷䜲䝞 VWDWLFBWUDQVIRUP BSXEOLVKHU EULQJXS
  27. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స ᣢཧ3&ഃ  䝗䝯䜲䞁タᐃ ᣢཧ3&ࡢࢻ࣓࢖ࣥ,'タᐃ㸦5DVSEHUU\3L0RXVH࡜ྠࡌ್㸧  H[SRUW526B'20$,1B,' <<< 䝗䝯䜲䞁,'䛾タᐃ䜢ᛀ䜜䛯䜚ㄗ䛳䛯䜚䛩䜛䛸䚸௚ே䛾5DVSEHUU\3L0RXVH䛜ືస䛧䛶䛧 䜎䛖ᜍ䜜䛜䛒䜚䜎䛩䚹

    5DVSEHUU\3L0RXVH䛸䛾㏻ಙ☜ㄆ  URVQRGHOLVW  UDVSLPRXVHBGULYHU  
  28. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స ᣢཧ3&ഃ  䝷䜲䝣䝃䜲䜽䝹タᐃ 5DVSEHUU\3L0RXVH䛾䝷䜲䝣䝃䜲䜽䝹䜢ึᮇ໬䚸䝇䝢䞁㛤ጞ  URVOLIHF\FOHVHWUDVSLPRXVHBGULYHUFRQILJXUH  URVOLIHF\FOHVHWUDVSLPRXVHBGULYHUDFWLYDWH 䝰䞊䝍21

     URVVHUYLFHFDOOPRWRUBSRZHUVWGBVUYV6HW%RRO ^GDWDWUXH` URERWODXQFKS\䛿㉳ື䛩䜛䛤䛸䛻ୖ䛾䛴䛾䝁䝬䞁䝗䜢ᐇ⾜䛩䜛ᚲせ䛜䛒䜚䜎䛩䚹 
  29. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స ᣢཧ3&ഃ  㐲㝸᧯స 䜻䞊䝪䞊䝗䛻䜘䜛㐲㝸᧯స  URVUXQWHOHRSBWZLVWBNH\ERDUGWHOHRSBWZLVWBNH\ERDUG ㏿ᗘタᐃ䛾ึᮇタᐃ䛷䛿๓㐍ᚋ㐍䛜㏿䛩䛞䜛䛯䜑䚸[䜻䞊䜢ఱᅇ䛛ᢲ䛧䛶⛣ື㏿ᗘ䜢 >PV@䛟䜙䛔䛻䛧䜎䛧䜗䛖䚹 WHOHRSBWZLVWBMR\䝟䝑䜿䞊䝆䜢౑䛘䜀䚸䝆䝵䜲䝟䝑䝗䛻䜘䜛㐲㝸᧯స䜒䛷䛝䜎䛩䚹

    
  30. 526ඹ㏻䝁䝬䞁䝗䛻䜘䜛㐲㝸᧯స ᣢཧ3&ഃ  59L]䛻䜘䜛ྍど໬ 5DVSEHUU\3L0RXVHタᐃ䛾59L]㉳ື  URVODXQFKUDVSLPRXVHBEULQJXSUYL]ODXQFKS\ 

  31. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  32. ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  ඛ䜋䛹䛾㐲㝸᧯స䜢ᐇ⾜䛧䛴䛴䚸䛩䜉䛶䛾䝖䝢䝑䜽䝯䝑䝉䞊䝆䜢グ㘓䛧䜎䛩䚹 URVEDJ㛵㐃䝟䝑䜿䞊䝆䛾䜲䞁䝇䝖䞊䝹  VXGRDSWXSGDWH  VXGRDSWLQVWDOO URVGDVKLQJURVEDJ 

    URVGDVKLQJURVEDJ ඲䛶䛾䝖䝢䝑䜽䝯䝑䝉䞊䝆䛾グ㘓䠄⤊஢䛿&WUO&䠅  URVEDJUHFRUGDRaUDVSLPRXVHBVODPEDJ グ㘓ࡋࡓEDJࣇ࢓࢖ࣝࡢ෌⏕  URVEDJSOD\aUDVSLPRXVHBVODPEDJ
  33. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  34. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ EDJ䝣䜯䜲䝹䜢౑䛳䛯ሙྜ  ඛ䜋䛹ಖᏑ䛧䛯EDJ䝣䜯䜲䝹䜢෌⏕䛧䛺䛜䜙䚸*RRJOH&DUWRJUDSKHU䜢ᐇ⾜䛧䛶6/$0䛻 䜘䜛ḟඖᆅᅗ䜢సᡂ䛧䜎䛩䚹 5DVSEHUU\3L0RXVHタᐃ䛾&DUWRJUDSKHU䛾ᐇ⾜  URVODXQFKUDVSLPRXVHBFDUWRJUDSKHUFDUWRJUDSKHUODXQFKS\ グ㘓䛧䛯EDJ䝣䜯䜲䝹䛾෌⏕ 

    URVEDJSOD\aUDVSLPRXVHBVODPEDJ 59L]ୖ䛷ᆅᅗ䛜᏶ᡂ䛧䛯䝍䜲䝭䞁䜾䛷ḟඖᆅᅗ䝕䞊䝍䜢ಖᏑ  URVUXQQDYBPDSBVHUYHUPDSBVDYHUIaURVPDS
  35. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ EDJ䝣䜯䜲䝹䜢౑䜟䛺䛔ሙྜ  䛭䛾ሙ䛷㐲㝸᧯స䜢䛧䛺䛜䜙䚸*RRJOH&DUWRJUDSKHU䜢ᐇ⾜䛧䛶6/$0䛻䜘䜛ḟඖᆅ ᅗ䜢సᡂ䛧䜎䛩䚹 5DVSEHUU\3L0RXVHタᐃ䛾&DUWRJUDSKHU䛾ᐇ⾜  URVODXQFKUDVSLPRXVHBFDUWRJUDSKHUFDUWRJUDSKHUODXQFKS\ 䜻䞊䝪䞊䝗䛻䜘䜛㐲㝸᧯స 

    URVUXQWHOHRSBWZLVWBNH\ERDUGWHOHRSBWZLVWBNH\ERDUG 59L]ୖ䛷ᆅᅗ䛜᏶ᡂ䛧䛯䝍䜲䝭䞁䜾䛷ḟඖᆅᅗ䝕䞊䝍䜢ಖᏑ  URVUXQQDYBPDSBVHUYHUPDSBVDYHUIaURVPDS
  36.  KWWSV\RXWXEH28Q]U24

  37. 6/$0䛻䜘䜛䠎ḟඖᆅᅗసᡂ ḟඖᆅᅗ䛾ㄪᩚ  &DUWRJUDSKHU䛾タᐃ䝣䜯䜲䝹䜢ㄪᩚ䛩䜛䛣䛸䛻䜘䜚䚸ᆅᅗ䛾ゎീᗘ䜔᭦᪂㢖ᗘ䛺䛹䜢ኚ ᭦䛩䜛䛣䛸䛜䛷䛝䜎䛩䚹 Ɣ &DUWRJUDSKHUタᐃ䝣䜯䜲䝹 ż KWWSVJLWKXEFRP\RXWDONUDVSLPRXVHBURVEOREPDVWHUUDVSLPRXVHBFDUW RJUDSKHUFRQILJUDVSLPRXVHBUSOLGDUBDPOXD

    Ɣ タᐃ㡯┠䛾ෆᐜ ż KWWSVJRRJOHFDUWRJUDSKHUURVUHDGWKHGRFVLRHQODWHVWFRQILJXUDWLRQKW PO
  38. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  39. 59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 ⌧ᅾ఩⨨ጼໃ䛾ㄪᩚ  5DVSEHUU\3L0RXVHタᐃ䛾1DYLJDWLRQ䛾ᐇ⾜  URVODXQFKUDVSLPRXVHBQDYLJDWLRQQDYLJDWLRQODXQFKS\ PDS KRPH86(5URVPDS\DPO ඛ䜋䛹సᡂ䛧䛯ᆅᅗୖ䛻䝻䝪䝑䝖䛾⌧ᅾ఩⨨ጼໃ䛜⾲♧䛥䜜䜎䛩䚹㛫㐪䛳䛶䛔䜜䜀䚸 59L]䛾'3RVH(VWLPDWH䝪䝍䞁䜢ᢲ䛧䛶ṇ䛧䛔఩⨨ጼໃ䜢୚䛘䛶䛟䛰䛥䛔䚹ᕥ䜽䝸䝑䜽

    䛧䛯఩⨨䛜┠ᶆ఩⨨䚸䝗䝷䝑䜾䛧䛯᪉ྥ䛜┠ᶆጼໃ䛻䛺䜚䜎䛩䚹
  40. 59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 ┠ᶆ఩⨨ጼໃ䛾タᐃ  59L]䛾1DYLJDWLRQ*RDO䝪䝍䞁䜢ᢲ䛧䛶䚸┠ᶆ䛸䛺䜛ᆅⅬ䛾఩⨨ጼໃ䜢୚䛘䛶䛟䛰䛥 䛔䚹ᕥ䜽䝸䝑䜽䛧䛯఩⨨䛜┠ᶆ఩⨨䚸䝗䝷䝑䜾䛧䛯᪉ྥ䛜┠ᶆጼໃ䛻䛺䜚䜎䛩䚹

  41.  KWWSV\RXWXEHL'H\EK;)S$,

  42. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  43. ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 వຊ䛜䛒䜚䜎䛧䛯䜙䚸59L]䜢౑䜟䛪䛻UFOFSSUFOS\䜢౑䛳䛶┠ᶆ఩⨨ጼໃ䜢୚䛘䜛䝜䞊 䝗䜢ᐇ⿦䛧䛶䜏䜎䛧䜗䛖䚹 Ɣ 526䛾0RYH%DVH&OLHQW䛾䜘䛖䛺ᑓ⏝䜽䝷䜲䜰䞁䝖䛿䛺䛟䚸1DYLJDWH3DWK7R3RVH 䜰䜽䝅䝵䞁䛾䜽䝷䜲䜰䞁䝖䜢䛭䛾䜎䜎౑䛔䜎䛩䚹 Ɣ ༢⣧䛻3RVH6WDPSHG䝖䝢䝑䜽䛾㏦ಙ䛷䜒┠ᶆ఩⨨ጼໃ䜢୚䛘䜙䜜䜎䛩䚹 Ɣ 59L]䛾1DYLJDWLRQ*RDO䝪䝍䞁䛾ᐇ⿦䛜ཧ⪃䛻䛺䜚䜎䛩䚹

    ż KWWSVJLWKXEFRPURVUYL]EOREURVUYL]BGHIDXOWBSOXJLQVVUFUYL]BGHIDXOWBSOXJLQVWRROVJRDOB SRVHJRDOBWRROFSS 
  44. ┠ḟ  6/$0䛸䝘䝡䝀䞊䝅䝵䞁ᴫせ  1DYLJDWLRQ䛸1DYLJDWLRQ䛾ኚ᭦Ⅼ  ⛣ື䝻䝪䝑䝖5DVSEHUU\3L0RXVH  ᣢཧ3&䛾䝉䝑䝖䜰䝑䝥 

    5DVSEHUU\3L0RXVHᑓ⏝䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  526ඹ㏻䝁䝬䞁䝗䜢౑䛳䛯㐲㝸᧯స  ᕠᅇ䝕䞊䝍䛾URVEDJಖᏑ䞉෌⏕  6/$0䛻䜘䜛ḟඖᆅᅗసᡂ  59L]䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁  ⊂⮬䝇䜽䝸䝥䝖䜢౑䛳䛯䝘䝡䝀䞊䝅䝵䞁 
  45.  526䛷䛿䛨䜑䜘䛖ḟୡ௦䝻䝪䝑䝖䝥䝻䜾䝷䝭䞁䜾 Ɣ ⥙⨶ⓗ䛻526䜢ᢅ䛳䛯ୡ⏺᭱ึ䛾᭩⡠ Ɣ 526'DVKLQJ'LDGHPDWD‽ᣐ Ɣ 526䜢᣺䜚㏉䜛❶䜒䛒䜚 Ɣ 5RRPED䛾526䝗䝷䜲䝞⛣⾜ᐇ㊶

    Ɣ ⦅㞟༠ຊ⪅䛾୍ே䛿*HRII䛥䜣 Ɣ 526&RQ-3ㅮ⩦఍๓༙䛾ෆᐜ䜢䜹䝞䞊 Ɣ ᢏ⾡ホㄽ♫䛾㟁Ꮚ᭩⡠䛜఍ᮇ୰䛾䜏༙㢠䜻䝱 䞁䝨䞊䞁 KWWSVJLK\RMSGSHERRN