{"id":54,"date":"2015-07-22T18:29:01","date_gmt":"2015-07-22T09:29:01","guid":{"rendered":"http:\/\/masahiroshiomi.jp\/blog\/?p=54"},"modified":"2017-04-06T23:48:45","modified_gmt":"2017-04-06T14:48:45","slug":"%e8%a4%87%e6%95%b0%e3%81%aeurg%e3%82%92ros%e3%81%a7%e5%88%a9%e7%94%a8%e3%81%99%e3%82%8b","status":"publish","type":"post","link":"https:\/\/masahiroshiomi.jp\/blog\/ros\/54\/","title":{"rendered":"\u8907\u6570\u306eURG\u3092ROS\u3067\u5229\u7528\u3059\u308b"},"content":{"rendered":"<p>URG-04LX-UG01\u304c\u3044\u304f\u3064\u304b\u3042\u308b\u306e\u3067\u3001\u8907\u6570\u53f0\u306eURG\u3092ROS\u3067\u5229\u7528\u3059\u308b\u305f\u3081\u306e\u624b\u9806\u3092\u8abf\u3079\u305f\u306e\u3067\u30e1\u30e2\u3002\u5f8c\u8ff0\u306e\u3088\u3046\u306b\u3001\u5730\u56f3\u4f5c\u6210\u306b\u5229\u7528\u3059\u308b\u306b\u306f\u3072\u3068\u624b\u9593\u5fc5\u8981\u305d\u3046\u306a\u306e\u3067\u6b8b\u5ff5\u306a\u304c\u3089\u305d\u3053\u307e\u3067\u306f\u305f\u3069\u308a\u7740\u3051\u305a\u3001\u73fe\u6642\u70b9\u3067\u306f\u8868\u793a\u306e\u307f\u78ba\u8a8d\u3002<\/p>\n<p><!--more--><\/p>\n<div class=\"my-ad-space\">\n<div class=\"my-ad-label\">\u30b9\u30dd\u30f3\u30b5\u30fc\u30ea\u30f3\u30af<\/div>\n<div>\n\n<script async src=\"\/\/pagead2.googlesyndication.com\/pagead\/js\/adsbygoogle.js\"><\/script>\n<!-- \u30ec\u30b9\u30dd\u30f3\u30b7\u30d6 -->\n<ins class=\"adsbygoogle\"\n     style=\"display:block\"\n     data-ad-client=\"ca-pub-1956541408145992\"\n     data-ad-slot=\"6517671867\"\n     data-ad-format=\"auto\"><\/ins>\n<script>\n(adsbygoogle = window.adsbygoogle || []).push({});\n<\/script>\n\n<\/div>\n<\/div>\n<br>\n<p>\u30fb2\u53f0\u306eURG\u3092PC\u306b\u63a5\u7d9a\u3001chmod\u3067\u30a2\u30af\u30bb\u30b9\u6a29\u3092\u5909\u66f4\u3057\u3066\u304a\u304f\u3002<br \/>\n\u30fbroslaunch urg_node twoURG.launch<br \/>\n\u3000\u30fblaunch\u30d5\u30a1\u30a4\u30eb\u306f\/opt\/ros\/indigo\/share\/urg_node\u306b\u304a\u3044\u3066\u308b\u3002<br \/>\n\u30fbrviz\u3092\u8d77\u52d5\u3057\u3066\uff0c\u305d\u308c\u305e\u308c\u306e\u30c8\u30d4\u30c3\u30af\u3092Add\u3059\u308c\u3070\u30c7\u30fc\u30bf\u304c\u8868\u793a\u3055\u308c\u308b\u306f\u305a\u3002<\/p>\n<p>\u4ee5\u4e0b\u3001twoURG.launch\u306e\u4e2d\u8eab\u3002<\/p>\n<pre class=\"lang:xhtml decode:true \" >&lt;?xml version=\"1.0\"?&gt;\r\n&lt;launch&gt;\r\n  &lt;node ns=\"lidar1\" name=\"lidar1\" pkg=\"urg_node\" type=\"urg_node\"&gt;\r\n    &lt;param name=\"serial_port\" value=\"\/dev\/ttyACM0\"\/&gt;\r\n    &lt;remap from=\"scan\" to=\"scan1\"\/&gt;\r\n  &lt;\/node&gt;\r\n  &lt;node ns=\"lidar2\" name=\"lidar2\" pkg=\"urg_node\" type=\"urg_node\"&gt;\r\n    &lt;param name=\"serial_port\" value=\"\/dev\/ttyACM1\"\/&gt;\r\n    &lt;remap from=\"scan\" to=\"scan2\"\/&gt;\r\n  &lt;\/node&gt;\r\n&lt;\/launch&gt;\r\n<\/pre>\n<p>\u3067\u3001\u3053\u306e\u60c5\u5831\u3092\u4f7f\u3063\u3066\u8907\u6570\u53f0\u306eURG\u3092\u4f7f\u3063\u305f\u5730\u56f3\u4f5c\u6210\u3092\u3084\u3063\u3066\u307f\u3088\u3046\u3068\u3044\u308d\u3044\u308d\u8abf\u3079\u305f\u3051\u3069\u3001\u3069\u3046\u3082gmapping\u306a\u3069\u306f\u8907\u6570URG\u306b\u305d\u306e\u307e\u307e\u5bfe\u5fdc\u3057\u3066\u3044\u306a\u3044\u3088\u3046\u3067\u65ad\u5ff5\u3002\u3082\u3061\u308d\u3093\u4e2d\u8eab\u3092\u3044\u3058\u3063\u3066\u30d0\u30fc\u30c1\u30e3\u30eb\u306a\u30bb\u30f3\u30b5\u3092\u4f5c\u3063\u305f\u308a\u3059\u308c\u3070\u3067\u304d\u308b\u3063\u307d\u3044\u3051\u3069\u3001\u304a\u624b\u8efd\u306b\u8a66\u3059\u306e\u306f\u96e3\u3057\u305d\u3046\u3002\u95a2\u9023\u3057\u3066\u3044\u308d\u3044\u308d\u8abf\u3079\u3066\u3044\u305f\u3089\u8907\u6570\u306e\u30ec\u30fc\u30b6\u30b9\u30ad\u30e3\u30f3\u3092\u7d71\u5408\u3059\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u3082\u3042\u3063\u305f\u3051\u3069\u3001\u307e\u3060\u30c8\u30e9\u30d6\u30eb\u3082\u591a\u3044\u3088\u3046\u3067\u3001\u8a66\u3057\u3066\u306f\u3044\u306a\u3044\u30022\u53f0\u3067\u5730\u56f3\u4f5c\u6210\uff0b\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u3092\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u304b\u3089\u6b21\u306e\u4f5c\u696d\u306b\u79fb\u308d\u3046\u304b\u3068\u601d\u3063\u3066\u3044\u305f\u3051\u3069\u3001\u3061\u3087\u3063\u3068\u5927\u5909\u305d\u3046\u306a\u306e\u3067\u307e\u305a\u306fURG1\u53f0\u3067\u30eb\u30f3\u30d0\u3092\u52d5\u304b\u3057\u56de\u305b\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u3088\u3046\u3001\u3068\u8a08\u753b\u5909\u66f4\u3057\u305f\u3002<\/p>\n<p>\u8907\u6570\u306e\u30ec\u30fc\u30b6\u30b9\u30ad\u30e3\u30f3\u3092\u7d71\u5408\u3059\u308bROS\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\uff1a<a href=\"https:\/\/github.com\/iralabdisco\/ira_laser_tools\">ira_laser_tools<\/a><br \/>\n\u305d\u308c\u306b\u95a2\u3059\u308b\u8cea\u554f\u3063\u307d\u3044\u3082\u306e\uff1a<a href=\"http:\/\/answers.ros.org\/question\/212054\/implementing-gmapping-with-two-lidars\/\">\u305d\u306e1\u3001\u3053\u308c\u3092\u66f8\u3044\u305f\u6642\u70b9\u3067\u8cea\u554f\u306e\u307f\u3002<\/a>\u3000<a href=\"http:\/\/answers.ros.org\/question\/196538\/node-crashes\/\">\u305d\u306e2\u3001\u3046\u307e\u304f\u52d5\u304b\u306a\u3044\u3088\u30fc\u3063\u3066\u3044\u3046\u5831\u544a<\/a><\/p>\n<p><div class=\"my-ad-space\">\n<div class=\"my-ad-label\">\u30b9\u30dd\u30f3\u30b5\u30fc\u30ea\u30f3\u30af<\/div>\n<div>\n\n<script async src=\"\/\/pagead2.googlesyndication.com\/pagead\/js\/adsbygoogle.js\"><\/script>\n<!-- \u30ec\u30b9\u30dd\u30f3\u30b7\u30d6 -->\n<ins class=\"adsbygoogle\"\n     style=\"display:block\"\n     data-ad-client=\"ca-pub-1956541408145992\"\n     data-ad-slot=\"6517671867\"\n     data-ad-format=\"auto\"><\/ins>\n<script>\n(adsbygoogle = window.adsbygoogle || []).push({});\n<\/script>\n\n<\/div>\n<\/div>\n<br><br \/>\n<div class=\"ad-space-bottom\">\n      <div class=\"ad-label\">\u30b9\u30dd\u30f3\u30b5\u30fc\u30ea\u30f3\u30af<\/div>\n\n<script async src=\"\/\/pagead2.googlesyndication.com\/pagead\/js\/adsbygoogle.js\"><\/script>\n<!-- \u30ec\u30b9\u30dd\u30f3\u30b7\u30d6 -->\n<ins class=\"adsbygoogle\"\n     style=\"display:block\"\n     data-ad-client=\"ca-pub-1956541408145992\"\n     data-ad-slot=\"6517671867\"\n     data-ad-format=\"auto\"><\/ins>\n<script>\n(adsbygoogle = window.adsbygoogle || []).push({});\n<\/script>\n\n<\/div><\/p>\n","protected":false},"excerpt":{"rendered":"<p>URG-04LX-UG01\u304c\u3044\u304f\u3064\u304b\u3042\u308b\u306e\u3067\u3001\u8907\u6570\u53f0\u306eURG\u3092ROS\u3067\u5229\u7528\u3059\u308b\u305f\u3081\u306e\u624b\u9806\u3092\u8abf\u3079\u305f\u306e\u3067\u30e1\u30e2\u3002\u5f8c\u8ff0\u306e\u3088\u3046\u306b\u3001\u5730\u56f3\u4f5c\u6210\u306b\u5229\u7528\u3059\u308b\u306b\u306f\u3072\u3068\u624b\u9593\u5fc5\u8981\u305d\u3046\u306a\u306e\u3067\u6b8b\u5ff5\u306a\u304c\u3089\u305d\u3053\u307e\u3067\u306f\u305f\u3069\u308a\u7740\u3051\u305a\u3001\u73fe\u6642\u70b9\u3067\u306f\u8868\u793a\u306e\u307f\u78ba\u8a8d&#8230;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2],"tags":[4,13],"class_list":["post-54","post","type-post","status-publish","format-standard","hentry","category-ros","tag-ros","tag-urg"],"_links":{"self":[{"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/posts\/54","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/comments?post=54"}],"version-history":[{"count":4,"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/posts\/54\/revisions"}],"predecessor-version":[{"id":408,"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/posts\/54\/revisions\/408"}],"wp:attachment":[{"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/media?parent=54"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/categories?post=54"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/masahiroshiomi.jp\/blog\/wp-json\/wp\/v2\/tags?post=54"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}