tfとカメラパッケージ + NEXTAGEの事例紹介

8/30に開催された「第3回ROS勉強会」の発表資料です。ROSのtfとカメラパッケージについてNEXTAGE OPENを例に取りながら紹介しています。

Transcript

1. UGͱΧϝϥύοέʔδ
   
   /&95"(&
   01&/ͷࣄྫ঺հ
   ۙ౻
   ๛
   
   IUUQZPVUBMLKQSPT
   !ZPVUBML
   ୈճ304ษڧձ
   
2. ۙ౻
   ๛
   ത࢜ʢ޻ֶʣ
   •  ಸྑઌ୺େখּݪݚڀࣨͰΞϯυϩΠυͷਓؒΒ͍͠
   
   ɹ ৼΔ෣͍Λݚڀ
   •  ݱࡏ͸ΧϫμϩϘςΟΫεͰڠಇϩϘοτͷ։ൃʹैࣄ
   
   ୈ̎ճͷൃදࢿྉɿIUUQZPVUBMLKQSPTKQOE
   
3. ໨࣍
   •  UG
   –  ެࣜνϡʔτϦΞϧͷֶश
   –  37J[Λ࢖ͬͨՄࢹԽ
   •  Χϝϥύοέʔδ
   –  HTDBNɿ67$ʢ8FCΧϝϥʣυϥΠό
   –  DBNFSB@DBMJCSBUJPOɿΧϝϥͷΩϟϦϒϨʔγϣϯ
   –  DW@CSJEHFɿ304
   
   0QFO$7ͷը૾ม׵
   –  BS@USBDL@BMWBSɿ"3ϚʔΧೝࣝ
   –  VFZF@DBNɿ/&95"(&ͷ಄෦ɾϋϯυΧϝϥυϥΠό
   
   
4. ࠲ඪม׵͸όάͷԹচ
   •  Ͱ΋ϩϘοτ։ൃͱ͸੾ͬͯ΋੾Εͳ͍ؔ܎
   
   ֶ෦೥ͷݚڀ
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   म࢜೥ͷݚڀ
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5. UGʢUSBOTGPSN
   GSBNFʣ
   •  ෮਺ͷҟͳΔ࠲ඪܥʢϑϨʔϜʣؒͷม׵Λ୲͏
   –  UGɿશϑϨʔϜͷ਌ࢠؔ܎͔ΒͳΔπϦʔ
   –  ֤ϩʔΧϧϑϨʔϜ͸UGʹରͯ͠1VC4VC
   
   
6. ϑϨʔϜͷՄࢹԽ
   $  SUNMBVODI
   OFYUBHF@SPT@CSJEHF
   OFYUBHF@SPT@CSJEHF@TJNVMBUJPOMBVODI
   
   
   
   
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   $  SPTSVO
   UG
   WJFX@GSBNFT
   $  FWJODF
   GSBNFTQEG
   
   /&95"(&
   01&/ͷπϦʔ
   
7. 37J[ʹΑΔϑϨʔϜͷՄࢹԽ
   $  SPTSVO
   UG
   TUBUJD@USBOTGPSN@QVCMJTIFS
   
   
   
   
   
   
   
   NBQ
   8"*45
   
   $  SPTSVO
   SWJ[
   SWJ[
   
   ը໘ࠨԼͷ"EEϘλϯΛԡͯ͠
   l5'z
   l3PCPU.PEFMzϏϡʔΛ௥Ճ
   
8. UG
   νϡʔτϦΞϧ
   •  IUUQXJLJSPTPSHUG5VUPSJBMT
   ͷ1ZUIPO൛Λগ͠վྑ
   $  DE
   QBUIUPDBULJO@XTTSD
   $  HJU
   DMPOF
   IUUQTHJUIVCDPNSPTKBQBOVTFSTSPTKQ@UVUPSJBMT
   $  DE
   
   $  DBULJO@NBLF
   QLH
   MFBSOJOH@UG
   
   
9. 
   1VCMJTIFSͷ࣮૷
   $  SPTMBVODI
   MFBSOJOH@UG
   TUBSU@EFNPMBVODI
   
   
10. 
    4VCTDSJCFSͷ࣮૷
    $  SPTMBVODI
    MFBSOJOH@UG
    TUBSU@EFNPMBVODI
    
    
11. 
    ݻఆϑϨʔϜͷ1VCMJTIFS
    $  SPTMBVODI
    MFBSOJOH@UG
    TUBSU@EFNPMBVODI
    
    
12. ՝୊̍
    •  TUBUJD@USBOTGPSN@QVCMJTIFSΛ࢖ͬͯɺͱಉ͜͡ͱΛɹɹɹ ࣮ݱ͍ͯͩ͘͠͞ɻ
    IUUQXJLJSPTPSHUGTUBUJD@USBOTGPSN@QVCMJTIFS
    
    
13. 
    UGͱ࣌ؒͷؔ܎ੑ
    $  SPTMBVODI
    MFBSOJOH@UG
    TUBSU@EFNPMBVODI
    
    
    աڈϑϨʔϜͷ໰͍߹Θͤ
    $  SPTMBVODI
    MFBSOJOH@UG
    TUBSU@EFNPMBVODI
    
14. ՝୊̎
    •  UVSUMFΛ௥Ճ͠ɺUVSUMF
    UVSUMF
    UVSUMFͰୂྻΛɹ ૊ΜͰ͍ͩ͘͞ɻ
    
    
15. Χϝϥͷ304
    "1*
    •  τϐοΫ
    –  DBNFSBJNBHF@SBX
    TFOTPS@NTHT*NBHF
    ը૾ͷετϦʔϛϯά
    –  DBNFSBDBNFSB@JOGP
    TFOTPS@NTHT$BNFSB*OGP
    Χϝϥͷ಺෦ύϥϝʔλग़ྗ
    •  αʔϏε
    –  DBNFSBTFU@DBNFSB@JOGP
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    Χϝϥͷ಺෦ύϥϝʔλઃఆ
    
    
16. HTDBN
    •  67$ʢ8FCΧϝϥͳͲʣͷυϥΠό
    $  TVEP
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    JOTUBMM
    SPTIZESPHTDBN
    $  MT
    EFWWJEFP
    
    
    
    
    EFWWJEFP
    
    
    
    EFWWJEFP
    $  SPTMBVODI
    HTDBN
    WMMBVODI
    %&7*$&EFWWJEFP
    16#-*4)@'3".&USVF
    $  SPTSVO
    JNBHF@WJFX
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17. DW@CSJEHF
    •  304
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    DW.BUͷม׵
    $  TVEP
    BQUHFU
    JOTUBMM
    SPTIZESPDWCSJEHF
    $  DE
    QBUIUPDBULJO@XTTSD
    $  HJU
    DMPOF
    IUUQTHJUIVCDPNSPTKBQBOVTFSTSPTKQ@UVUPSJBMT
    $  DE
    
    $  DBULJO@NBLF
    QLH
    MFBSOJOH@DW@CSJEHF
    $  SPTMBVODI
    MFBSOJOH@DW@CSJEHF
    TUBSU@EFNPMBVODI
    
    
    
    
    
    JNBHFWMDBNFSBJNBHF@SBX
    
    
18. ՝୊̏
    •  OPEFTDW@CSJEHF@CSPBEDBTUFSQZʹԿ͔ը૾ॲཧΛɹ ࣮૷͍ͯͩ͘͠͞ɻ
    •  SPTDQQΛ࢖ͬͯɺ$ ΠϯλϑΣʔεͰ΋࣮૷ͯ͠ɹɹ Έ·͠ΐ͏ɻ
    
    
19. DBNFSB@DBMJCSBUJPO
    •  ୯؟ɾεςϨΦΧϝϥͷΩϟϦϒϨʔγϣϯ
    $  SPTSVO
    DBNFSB@DBMJCSBUJPO
    DBNFSBDBMJCSBUPSQZ
    TJ[F
    Y
    
    
    
    
    TRVBSF
    
    JNBHFWMDBNFSBJNBHF@SBX
    DBNFSBWM
    
    
20. BS@USBDL@BMWBS
    •  "3ϚʔΧೝࣝ
    –  "35PPM,JUΑΓੑೳ͕༏ΕɺϥΠηϯε΋҆৺
    –  ,JOFDUΛ࢖ͬͨߴਫ਼౓Խ΋Մೳ
    $  TVEP
    BQUHFU
    JOTUBMM
    SPTIZESPBSUSBDLBMWBS
    $  DE
    QBUIUPDBULJO@XTTSD
    $  HJU
    DMPOF
    IUUQTHJUIVCDPNSPTKBQBOVTFSTSPTKQ@UVUPSJBMT
    $  DE
    
    $  DBULJO@NBLF
    QLH
    MFBSOJOH@BS@USBDL@BMWBS
    
    
21. BS@USBDL@BMWBS
    $  SPTMBVODI
    MFBSOJOH@BS@USBDL@BMWBS
    WMMBVODI
    
    
22. ՝୊̐
    •  /&95"(&ͷ$".&3"@)&"%@-ʹWM@GSBNFΛ
    
    
    
    
    
    
    
    ࢠϑϨʔϜͱͯ͠औΓ෇͚͍ͯͩ͘͞ɻ
    •  ঺հͨ͠ύοέʔδͳͲΛ૊Έ߹ΘͤͯɺҰͭσϞΛ ࡞͍ͬͯͩ͘͞ɻ
    
    
23. VFZF@DBN
    •  /&95"(&͕಺ଂ͢Δ*%4
    V&ZFͷΧϝϥυϥΠό
    $  HJU
    DMPOF
    IUUQTHJUIVCDPNZPVUBMLVFZF@DBN
    $  HJU
    DIFDLPVU
    OFYUBHFDBNT
    $  DE
    
    $  DBULJO@NBLF
    QLH
    VFZF@DBN
    $  SPTMBVODI
    VFZF@DBN
    TUFSFPMBVODI
    $  SPTMBVODI
    VFZF@DBN
    IBOEMBVODI
    
    ˞ਖ਼ࣜ࠾༻Ͱ͸VFZFΛ࢖͏͔΋
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24. /&95"(&ͷ಄෦εςϨΦΩϟϦϒ
    $  SPTSVO
    DBNFSB@DBMJCSBUJPO
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    BQQSPYJNBUF
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    MFGUTUFSFPMFGUJNBHF@SBX
    
    
    
    
    
    
    SJHIU@DBNFSBTUFSFPSJHIU
    MFGU@DBNFSBTUFSFPMFGU
    
    
25. ୈ̐ճ304ษڧձ
    ݉
    ୈ̎ճ/&95"(&ϋοΧιϯ
    ޤ͏͝ظ଴