{"id":85147,"date":"2026-08-17T10:24:28","date_gmt":"2026-08-17T01:24:28","guid":{"rendered":"https:\/\/www.creationline.com\/tech-blog\/?p=85147"},"modified":"2026-08-17T11:10:40","modified_gmt":"2026-08-17T02:10:40","slug":"ai%e3%82%a8%e3%83%bc%e3%82%b8%e3%82%a7%e3%83%b3%e3%83%88%e3%81%a7ros2%e3%82%92%e5%8b%95%e4%bd%9c%e3%81%95%e3%81%9b%e3%81%a6%e3%81%bf%e3%81%9f%e3%80%9c%ef%bc%91-ros2%e3%81%a8%e3%81%af%e3%80%9c","status":"publish","type":"post","link":"https:\/\/www.creationline.com\/tech-blog\/chatgpt-ai\/ai-driven-dev\/85147","title":{"rendered":"AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301c\uff11.ROS2\u3068\u306f\u301c"},"content":{"rendered":"\n\n

\u3053\u3093\u306b\u3061\u306f\u3001\u7af9\u5185 \u3067\u3059\u3002<\/p>\n\n\n\n

\u30ed\u30dc\u30c3\u30c8AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3092\u4f5c\u308b\u305f\u3081\u306b\u3001\u307e\u305a\u306f\u57fa\u672c\u306b\u306a\u308b ROS 2<\/strong> \u3092\u52c9\u5f37\u3057\u3066\u307f\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

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\u3053\u306e\u624b\u306e\u8a71\u306f\u300c\u3069\u306e LLM \u3092\u4f7f\u3046\u304b\u300d\u300c\u30d7\u30ed\u30f3\u30d7\u30c8\u3092\u3069\u3046\u66f8\u304f\u304b\u300d\u306b\u76ee\u304c\u884c\u304d\u304c\u3061\u306a\u3093\u3067\u3059\u304c\u3001\u5b9f\u969b\u306b\u624b\u3092\u52d5\u304b\u3057\u3066\u307f\u3066\u5206\u304b\u3063\u305f\u306e\u306f\u3001\u30cf\u30de\u308b\u3068\u3053\u308d\u306f\u307b\u3068\u3093\u3069 LLM \u306e\u5916\u5074\u306b\u3042\u308b<\/mark><\/strong>\u3068\u3044\u3046\u3053\u3068\u3067\u3057\u305f\u3002<\/p>\n\n\n\n

LLM \u304c\u51fa\u3057\u305f\u300c\u524d\u9032\u305b\u3088\u300d\u3068\u3044\u3046\u5224\u65ad\u3092\u3001\u3069\u3046\u3084\u3063\u3066\u30e2\u30fc\u30bf\u3092\u56de\u3059\u4fe1\u53f7\u307e\u3067\u5c4a\u3051\u308b\u306e\u304b\u3002\u305d\u306e\u914d\u7ba1\u3092\u62c5\u3063\u3066\u3044\u308b\u306e\u304c ROS 2 \u3067\u3059\u3002<\/p>\n\n\n\n

\u4eca\u56de\u306f\u305d\u306e\u7b2c1\u56de\u3068\u3057\u3066\u3001AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3092\u8f09\u305b\u308b\u571f\u53f0\u3068\u3057\u3066 ROS 2 \u306e\u4f55\u3092\u5206\u304b\u3063\u3066\u3044\u308c\u3070\u3044\u3044\u306e\u304b<\/strong>\u3092\u6574\u7406\u3057\u3066\u307f\u307e\u3059\u3002\u307e\u305a\u306f\u3001\u3084\u308a\u305f\u3044\u3053\u3068\u306e\u5168\u4f53\u50cf\u304b\u3089\u3002<\/p>\n\n\n\n

\n\n<\/marker><\/defs>\n\n\u300c2\u30e1\u30fc\u30c8\u30eb\u524d\u9032\u3057\u3066\u300d<\/text>\n\n\n\u3042\u306a\u305f<\/text>\n\n\nAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8<\/text>\nLLM \u304c\u547d\u4ee4\u3092\u89e3\u91c8\u3057<\/text>\n\u901f\u5ea6\u306e\u6307\u4ee4\u306b\u5909\u63db\u3059\u308b<\/text>\n\u3053\u3053\u3092\u81ea\u5206\u3067\u4f5c\u308b<\/text>\n\n\n\/cmd_vel<\/text>\nROS 2 \u306e\u30c8\u30d4\u30c3\u30af<\/text>\n\n\n\n\n\n\n\n\u30ed\u30dc\u30c3\u30c8\u304c\u52d5\u304f<\/text>\n<\/g>\n<\/svg>\n
\u56f31\uff1a\u81ea\u7136\u8a00\u8a9e\u306e\u6307\u793a\u304c\u3001ROS 2 \u306e\u30c8\u30d4\u30c3\u30af\u3092\u901a\u3063\u3066\u30ed\u30dc\u30c3\u30c8\u306e\u8eca\u8f2a\u307e\u3067\u5c4a\u304f\u3002\u3053\u306e\u914d\u7ba1\u5168\u90e8\u304c ROS 2 \u306e\u4ed5\u4e8b<\/figcaption>\n<\/figure>\n\n\n\n

ROS 2 \u306f\u300c\u30ed\u30dc\u30c3\u30c8\u306e OS\u300d\u3067\u306f\u306a\u3044<\/h2>\n\n\n\n

\u540d\u524d\u304c Robot Operating System \u306a\u306e\u3067\u3001\u79c1\u3082\u6700\u521d\u306f OS \u306e\u4e00\u7a2e\u304b\u3068\u601d\u3063\u3066\u3044\u307e\u3057\u305f\u3002\u3067\u3082\u9055\u3046\u3093\u3067\u3059\u3002Linux \u3084 macOS \u306e\u4e0a\u3067\u52d5\u304f<\/strong>\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u7fa4\u3067\u3001\u4e00\u8a00\u3067\u3044\u3048\u3070\u300c\u5206\u6563\u30d7\u30ed\u30bb\u30b9\u9593\u901a\u4fe1\u306e\u30df\u30c9\u30eb\u30a6\u30a7\u30a2\uff0b\u5171\u901a\u898f\u7d04\uff0b\u30c4\u30fc\u30eb\u7fa4<\/mark><\/strong>\u300d\u3067\u3059\u3002<\/p>\n\n\n\n

ROS 2 \u304c\u7528\u610f\u3057\u3066\u304f\u308c\u308b\u306e\u306f\u3001\u5927\u304d\u304f\u6b21\u306e3\u3064\u3002<\/p>\n\n\n\n

    \n
  • \u901a\u4fe1\u6a5f\u69cb<\/strong>\uff1a\u30d7\u30ed\u30bb\u30b9\u9593\u30fb\u30de\u30b7\u30f3\u9593\u3067\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u3084\u308a\u53d6\u308a\u3059\u308b\u4ed5\u7d44\u307f<\/li>\n\n
  • \u5171\u901a\u306e\u578b\u3068\u540d\u524d<\/strong>\uff1ageometry_msgs\/msg\/Twist<\/code> \u306e\u3088\u3046\u306a\u6a19\u6e96\u30e1\u30c3\u30bb\u30fc\u30b8\u578b\u3068\u3001\/cmd_vel<\/code> \u306e\u3088\u3046\u306a\u6163\u7fd2\u7684\u306a\u30c8\u30d4\u30c3\u30af\u540d<\/li>\n\n
  • \u30c4\u30fc\u30eb\u7fa4<\/strong>\uff1aros2<\/code> CLI\u3001RViz\uff08\u53ef\u8996\u5316\uff09\u3001rosbag\uff08\u8a18\u9332\u30fb\u518d\u751f\uff09\u3002\u901a\u4fe1\u3092\u8997\u304f\u53e3\u304c\u6700\u521d\u304b\u3089\u5171\u901a<\/li>\n<\/ul>\n\n\n\n
    \n

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    ROS 2 \u306e\u6700\u5c0f\u5358\u4f4d\u306f \u30ce\u30fc\u30c9\uff08node\uff09<\/strong> \u3067\u3001\u305d\u306e\u5b9f\u4f53\u306f\u3072\u3068\u3064\u306e OS \u30d7\u30ed\u30bb\u30b9<\/mark><\/strong>\u3067\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u80fd\u3054\u3068\u306b\u30ce\u30fc\u30c9\u3092\u7acb\u3066\u3066\u3001\u305d\u308c\u3092\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u7e4b\u3044\u30671\u53f0\u306e\u30ed\u30dc\u30c3\u30c8\u306b\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

    \n\n<\/marker><\/defs>\n\n\n\n\n\n<\/g>\n\n\n\n\n<\/g>\n\n\u30ab\u30e1\u30e9\u30ce\u30fc\u30c9<\/text>\n\u8a8d\u8b58\u30ce\u30fc\u30c9<\/text>\n\u5236\u5fa1\u30ce\u30fc\u30c9<\/text>\n\u30c9\u30e9\u30a4\u30d0\u30ce\u30fc\u30c9<\/text>\n<\/g>\n\n\u5225\u30d7\u30ed\u30bb\u30b9<\/text>\n\u5225\u30d7\u30ed\u30bb\u30b9<\/text>\n\u5225\u30d7\u30ed\u30bb\u30b9<\/text>\n\u5225\u30d7\u30ed\u30bb\u30b9<\/text>\n<\/g>\n\n\n\n\n<\/g>\n\n\/image<\/text>\n\/detections<\/text>\n\/cmd_vel<\/text>\n<\/g>\n<\/svg>\n
    \u56f32\uff1a\u30ce\u30fc\u30c9\u306f\u5225\u30d7\u30ed\u30bb\u30b9\u3002\u540d\u524d\u4ed8\u304d\u306e\u30c8\u30d4\u30c3\u30af\u3060\u3051\u3067\u7e4b\u304c\u308b<\/figcaption>\n<\/figure>\n\n\n\n

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      \n
    1. 1\u3064\u843d\u3061\u3066\u3082\u4ed6\u306f\u751f\u304d\u7d9a\u3051\u308b\u3002<\/strong> \u8a8d\u8b58\u30ce\u30fc\u30c9\u304c\u30af\u30e9\u30c3\u30b7\u30e5\u3057\u3066\u3082\u3001\u5236\u5fa1\u30ce\u30fc\u30c9\u306f\u52d5\u304d\u7d9a\u3051\u307e\u3059\u3002<\/li>\n\n
    2. \u8d77\u52d5\u9806\u3092\u6c17\u306b\u3057\u306a\u304f\u3066\u3044\u3044\u3002<\/strong> \u9001\u308b\u5074\u3068\u53d7\u3051\u53d6\u308b\u5074\u3001\u3069\u3061\u3089\u304c\u5148\u306b\u7acb\u3061\u4e0a\u304c\u3063\u3066\u3082\u5927\u4e08\u592b\u3002\u76f8\u624b\u304c\u307e\u3060\u5c45\u306a\u3051\u308c\u3070\u3001\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u3069\u3053\u306b\u3082\u5c4a\u304b\u306a\u3044\u3060\u3051\u3067\u30a8\u30e9\u30fc\u306b\u306f\u306a\u308a\u307e\u305b\u3093\u3002<\/li>\n\n
    3. \u5225\u30de\u30b7\u30f3\u3067\u3082\u3001\u5225\u8a00\u8a9e\u3067\u3082\u3044\u3044\u3002<\/strong> \u540c\u3058 LAN\u30fb\u540c\u3058 ROS_DOMAIN_ID<\/code> \u306a\u3089\u3001\u30b3\u30fc\u30c9\u30921\u884c\u3082\u5909\u3048\u305a\u306b\u30ce\u30fc\u30c9\u3092\u5225 PC \u3078\u79fb\u305b\u307e\u3059\u3002Python\uff08rclpy<\/code>\uff09\u306e\u30ce\u30fc\u30c9\u3068 C++\uff08rclcpp<\/code>\uff09\u306e\u30ce\u30fc\u30c9\u304c\u3001\u540c\u3058\u30c8\u30d4\u30c3\u30af\u3067\u666e\u901a\u306b\u4f1a\u8a71\u3057\u307e\u3059\u3002<\/li>\n<\/ol>\n\n\n\n
      \n

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      \n\n<\/marker><\/defs>\n\u30c8\u30d4\u30c3\u30af\uff08\u540d\u524d\u4ed8\u304d\u306e\u901a\u308a\u9053\uff09<\/text>\n\nLiDAR\u30ce\u30fc\u30c9<\/text>\n\u767a\u884c\uff08Publish\uff09<\/text>\n\n\/scan<\/text>\n\n\n\n<\/g>\n\n\u969c\u5bb3\u7269\u691c\u77e5\u30ce\u30fc\u30c9<\/text>\n\u8a18\u9332\u30ce\u30fc\u30c9<\/text>\n<\/g>\n\n\u8cfc\u8aad\uff08Subscribe\uff09<\/text>\n\u8cfc\u8aad\uff08Subscribe\uff09<\/text>\n<\/g>\n\n\n\n\n<\/g>\n\u767a\u884c\u5074\u306f\u3001\u8ab0\u304c\u53d7\u3051\u53d6\u3063\u3066\u3044\u308b\u304b\u3092\u77e5\u3089\u306a\u3044\u3002\u8fd4\u4e8b\u3082\u6765\u306a\u3044<\/text>\n<\/svg>\n
      \u56f33\uff1a\u30c8\u30d4\u30c3\u30af \u2014 \u591a\u5bfe\u591a\u3002\u540d\u524d\u3068\u578b\u3055\u3048\u5408\u3048\u3070\u52dd\u624b\u306b\u7e4b\u304c\u308b<\/figcaption>\n<\/figure>\n\n\n\n

      \u3044\u3061\u3070\u3093\u4f7f\u3046\u306e\u304c\u3053\u308c\u3067\u3059\u3002\u30bb\u30f3\u30b5\u306e\u5024\u3084\u30ed\u30dc\u30c3\u30c8\u3078\u306e\u901f\u5ea6\u6307\u4ee4\u306e\u3088\u3046\u306b\u3001\u305a\u3063\u3068\u6d41\u308c\u7d9a\u3051\u308b\u3082\u306e<\/mark><\/strong>\u306f\u3060\u3044\u305f\u3044\u30c8\u30d4\u30c3\u30af\u306b\u306a\u308a\u307e\u3059\u3002\u5c4a\u3044\u305f\u304b\u3069\u3046\u304b\u306f\u5206\u304b\u308a\u307e\u305b\u3093\u304c\u3001\u305d\u306e\u4ee3\u308f\u308a\u901f\u304f\u3066\u8efd\u3044\u3002<\/p>\n\n\n\n

      \u2461 \u30b5\u30fc\u30d3\u30b9 \u2014 \u4e00\u554f\u4e00\u7b54<\/h3>\n\n\n\n
      \n\n\n<\/marker>\n<\/marker>\n<\/defs>\n\n\n\n<\/g>\n\n\u547c\u3076\u5074<\/text>\n\u5fdc\u3048\u308b\u5074<\/text>\n<\/g>\n\n\n\u2460 \u8981\u6c42\u300c\u3053\u306e\u8a2d\u5b9a\u306b\u5909\u3048\u3066\u300d<\/text>\n\u2461 \u5fdc\u7b54\u300c\u5909\u3048\u307e\u3057\u305f\u300d<\/text>\n\u5fdc\u7b54\u304c\u8fd4\u308b\u307e\u3067\u5f85\u3064\u3002\u9014\u4e2d\u3067\u3084\u3081\u308b\u3053\u3068\u306f\u3067\u304d\u306a\u3044<\/text>\n<\/svg>\n
      \u56f34\uff1a\u30b5\u30fc\u30d3\u30b9 \u2014 \u3059\u3050\u7d42\u308f\u308b\u4e00\u5f80\u5fa9\u306e\u3084\u308a\u53d6\u308a\u5411\u3051<\/figcaption>\n<\/figure>\n\n\n\n

      \u8a2d\u5b9a\u306e\u5909\u66f4\u3084\u72b6\u614b\u306e\u554f\u3044\u5408\u308f\u305b\u306a\u3069\u3001\u3059\u3050\u8fd4\u4e8b\u304c\u6765\u308b\u3082\u306e<\/mark><\/strong>\u5411\u3051\u3067\u3059\u3002\u9006\u306b\u3044\u3046\u3068\u3001\u6570\u5341\u79d2\u304b\u304b\u308b\u51e6\u7406\u3092\u30b5\u30fc\u30d3\u30b9\u3067\u3084\u308b\u3068\u5f85\u305f\u3055\u308c\u3063\u3071\u306a\u3057\u3067\u8a70\u307f\u307e\u3059\u3002<\/p>\n\n\n\n

      \u2462 \u30a2\u30af\u30b7\u30e7\u30f3 \u2014 \u6642\u9593\u304c\u304b\u304b\u3063\u3066\u3001\u9014\u4e2d\u3067\u3084\u3081\u305f\u3044\u3082\u306e<\/h3>\n\n\n\n
      \n\n\n<\/marker>\n<\/marker>\n<\/marker>\n<\/defs>\n\n\n\n<\/g>\n\n\u983c\u3080\u5074<\/text>\n\u3084\u308b\u5074<\/text>\n<\/g>\n\n\n\n<\/g>\n\n\n\n\n\n\u2460 \u76ee\u6a19\u3092\u9001\u308b<\/text>\n\u2461 \u9014\u4e2d\u7d4c\u904e\u304c\u5c4a\u304f<\/text>\n\u2462 \u7d50\u679c\u304c\u5c4a\u304f<\/text>\n\u2463 \u4e2d\u65ad\u3067\u304d\u308b<\/text>\n<\/g>\n\n\u300c(x=5, y=3) \u307e\u3067\u884c\u3063\u3066\u300d<\/text>\n\u300c\u6b8b\u308a 3.2m\u300d\u300c\u6b8b\u308a 1.8m\u300d\u2026\u3068\u7e70\u308a\u8fd4\u3057<\/text>\n\u300c\u5230\u9054\u300d\u307e\u305f\u306f\u300c\u5931\u6557\uff08\u7d4c\u8def\u306a\u3057\uff09\u300d<\/text>\n\u3044\u3064\u3067\u3082\u9001\u308c\u308b<\/text>\n<\/g>\n<\/svg>\n
      \u56f35\uff1a\u30a2\u30af\u30b7\u30e7\u30f3 \u2014 \u300c\u9014\u4e2d\u7d4c\u904e\u300d\u3068\u300c\u30ad\u30e3\u30f3\u30bb\u30eb\u300d\u304c\u6700\u521d\u304b\u3089\u4ed8\u3044\u3066\u304f\u308b<\/figcaption>\n<\/figure>\n\n\n\n

      \u30b5\u30fc\u30d3\u30b9\u3068\u306e\u6c7a\u5b9a\u7684\u306a\u9055\u3044\u304c \u2461\u9014\u4e2d\u7d4c\u904e<\/mark><\/strong>\u3068\u2463\u4e2d\u65ad<\/mark><\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n

      \u4ee3\u8868\u4f8b\u304c Nav2 \u306e NavigateToPose<\/code>\u3002\u300c\u3042\u306e\u5ea7\u6a19\u307e\u3067\u884c\u3063\u3066\u300d\u306f\u6570\u5341\u79d2\u304b\u304b\u308b\u3057\u3001\u6b8b\u308a\u8ddd\u96e2\u306f\u77e5\u308a\u305f\u3044\u3057\u3001\u969c\u5bb3\u7269\u3067\u8a70\u307e\u3063\u305f\u3089\u3084\u3081\u305f\u3044\u3002\u307e\u3055\u306b\u30a2\u30af\u30b7\u30e7\u30f3\u306e\u51fa\u756a\u3067\u3059\u3002<\/p>\n\n\n\n

      \u2463 \u30d1\u30e9\u30e1\u30fc\u30bf \u2014 \u30ce\u30fc\u30c9\u304c\u6301\u3064\u8a2d\u5b9a\u5024<\/h3>\n\n\n\n
      \n\n<\/marker><\/defs>\n\n\u5236\u5fa1\u30ce\u30fc\u30c9<\/text>\n\n\nmax_speed<\/text>\nuse_sim_time<\/text>\n<\/g>\n\n0.5<\/text>\ntrue<\/text>\n<\/g>\nros2 param set \/ get<\/text>\n\n\u5916\u304b\u3089\u8aad\u307f\u66f8\u304d<\/text>\n\u518d\u8d77\u52d5\u305b\u305a\u306b<\/text>\n\u5024\u3092\u5909\u3048\u3089\u308c\u308b<\/text>\n<\/svg>\n
      \u56f36\uff1a\u30d1\u30e9\u30e1\u30fc\u30bf \u2014 \u30ce\u30fc\u30c9\u3054\u3068\u306e\u8a2d\u5b9a\u5024\u3002\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u901a\u308a\u9053\u3067\u306f\u306a\u3044<\/figcaption>\n<\/figure>\n\n\n\n

      \u901f\u5ea6\u306e\u4e0a\u9650\u3084 use_sim_time<\/code> \u306e\u3088\u3046\u306a\u8a2d\u5b9a\u5024\u3067\u3059\u3002\u30c7\u30fc\u30bf\u3092\u6d41\u3059\u901a\u308a\u9053\u3067\u306f\u306a\u3044\u306e\u3067\u3001\u3053\u3053\u306b\u30bb\u30f3\u30b5\u5024\u3092\u5165\u308c\u305f\u308a\u3057\u306a\u3044\u3088\u3046\u6ce8\u610f\u3067\u3059\u3002<\/p>\n\n\n\n

      \n

      \u8ff7\u3063\u305f\u3068\u304d\u306e\u76ee\u5b89\u3002<\/mark><\/strong>\u6d41\u308c\u7d9a\u3051\u308b\u306a\u3089\u30c8\u30d4\u30c3\u30af\u3001\u4e00\u554f\u4e00\u7b54\u306a\u3089\u30b5\u30fc\u30d3\u30b9\u3001\u6642\u9593\u304c\u304b\u304b\u3063\u3066\u4e2d\u65ad\u3057\u305f\u3044\u306a\u3089\u30a2\u30af\u30b7\u30e7\u30f3\u3001\u5916\u304b\u3089\u5024\u3092\u5909\u3048\u305f\u3044\u3060\u3051\u306a\u3089\u30d1\u30e9\u30e1\u30fc\u30bf\u3002<\/p>\n<\/div><\/div>\n\n\n\n

      \u901a\u4fe1\u306e\u4e2d\u8eab\u306f DDS\u3002\u305d\u3057\u3066 QoS \u3067\u30cf\u30de\u308b<\/h2>\n\n\n\n

      ROS 2 \u306e\u901a\u4fe1\u306f\u81ea\u524d\u5b9f\u88c5\u3067\u306f\u306a\u304f\u3001DDS\uff08Data Distribution Service\uff09<\/strong> \u3068\u3044\u3046\u7523\u696d\u6a19\u6e96\u306e Pub\/Sub \u30df\u30c9\u30eb\u30a6\u30a7\u30a2\u306e\u4e0a\u306b\u4e57\u3063\u3066\u3044\u307e\u3059\u3002ROS 2 \u306f\u305d\u306e\u4e0a\u306b\u8584\u3044\u62bd\u8c61\u5c64\u3092\u304b\u3076\u305b\u3066\u3001DDS \u5b9f\u88c5\u3092\u5dee\u3057\u66ff\u3048\u3089\u308c\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u308b\u3093\u3067\u3059\u306d\u3002<\/p>\n\n\n\n

      \n\n\n\n\n\n\n<\/g>\n\n\n\n\u30a2\u30d7\u30ea\uff08\u81ea\u4f5c\u30ce\u30fc\u30c9\uff09<\/text>\nrclpy \/ rclcpp<\/text>\nrcl<\/text>\nrmw<\/text>\nDDS \u5b9f\u88c5<\/text>\nUDP \u30de\u30eb\u30c1\u30ad\u30e3\u30b9\u30c8<\/text>\n<\/g>\n\nAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3082\u3053\u3053\u306b\u7f6e\u304f<\/text>\n\u8a00\u8a9e\u3054\u3068\u306e\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u30e9\u30a4\u30d6\u30e9\u30ea<\/text>\n\u5171\u901a\u306e C \u5b9f\u88c5<\/text>\n\u5dee\u3057\u66ff\u3048\u53ef\u80fd\u306a\u62bd\u8c61\u5c64<\/text>\nCycloneDDS \/ FastDDS \/ \u2026<\/text>\n\u540c\u4e00 LAN \u4e0a\u3067\u81ea\u52d5\u767a\u898b<\/text>\n<\/g>\n\n\nROS 2 \u672c\u4f53<\/text>\nDDS\uff08\u7523\u696d\u6a19\u6e96\uff09<\/text>\n<\/svg>\n
      \u56f37\uff1a\u81ea\u5206\u304c\u66f8\u304f\u306e\u306f\u6700\u4e0a\u5c64\u3060\u3051\u3002\u4e0b\u306f\u65e2\u88fd\u54c1\u304c\u9762\u5012\u3092\u898b\u3066\u304f\u308c\u308b<\/figcaption>\n<\/figure>\n\n\n\n

      \u5404\u30ce\u30fc\u30c9\u306f\u8d77\u52d5\u6642\u306b\u300c\u81ea\u5206\u306f\u3053\u306e\u30c8\u30d4\u30c3\u30af\u3092\u3053\u306e\u578b\u3067\u767a\u884c\uff0f\u8cfc\u8aad\u3057\u307e\u3059\u300d\u3068\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u5e83\u544a\u3057\u3066\u3001\u6761\u4ef6\u304c\u5408\u3046\u76f8\u624b\u3068\u52dd\u624b\u306b\u7e4b\u304c\u308a\u307e\u3059\u3002\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306b\u76f8\u624b\u306e IP \u3092\u66f8\u304f\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u3053\u3053\u306f\u672c\u5f53\u306b\u697d\u3067\u3059\u3002<\/p>\n\n\n\n

      \u305f\u3060\u3057 ROS_DOMAIN_ID<\/code>\uff080\u301c101\u3001\u65e2\u5b9a 0\uff09\u3060\u3051\u306f\u8981\u6ce8\u610f\u3002\u540c\u3058 LAN \u3067\u8907\u6570\u4eba\u304c ROS 2 \u3092\u52d5\u304b\u3059\u3068\u304d\u3001\u3053\u308c\u3092\u5206\u3051\u3066\u304a\u304b\u306a\u3044\u3068\u4ed6\u4eba\u306e\u30ce\u30fc\u30c9\u3068\u52dd\u624b\u306b\u7e4b\u304c\u308a\u307e\u3059<\/mark><\/strong>\u3002<\/p>\n\n\n\n

      \u305d\u3057\u3066\u3001\u7e4b\u304c\u308b\u6761\u4ef6\u306f\u540d\u524d\u3060\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u578b\u304c\u4e00\u81f4\u3057\u306a\u3044\u3068\u7e4b\u304c\u308a\u307e\u305b\u3093<\/mark><\/strong>\u3057\u3001QoS\uff08Quality of Service\uff09<\/strong> \u3068\u3044\u3046\u901a\u4fe1\u306e\u6027\u8cea\u8a2d\u5b9a\u3082\u63c3\u3063\u3066\u3044\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

      QoS \u3067\u306f\u300c\u518d\u9001\u3057\u3066\u3067\u3082\u78ba\u5b9f\u306b\u5c4a\u3051\u308b\u304b\uff08RELIABLE<\/code>\uff09\uff0f\u843d\u3061\u3066\u3082\u69cb\u308f\u306a\u3044\u304b\uff08BEST_EFFORT<\/code>\uff09\u300d\u306a\u3069\u3092\u30c8\u30d4\u30c3\u30af\u3054\u3068\u306b\u6307\u5b9a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

      \n

      ⚠️ \u6700\u5927\u306e\u7f60\uff1aQoS \u304c\u5408\u3063\u3066\u3044\u306a\u3044\u3068\u3001\u540d\u524d\u3082\u578b\u3082\u6b63\u3057\u3044\u306e\u306b\u7e4b\u304c\u308a\u307e\u305b\u3093\u3002<\/mark><\/strong><\/p>\n\n

      \u5178\u578b\u4f8b\u306f\u30bb\u30f3\u30b5\u7cfb\u3067\u3059\u3002\u30ab\u30e1\u30e9\u3084 LiDAR \u306f BEST_EFFORT<\/code>\uff08\u843d\u3061\u3066\u3082\u3044\u3044\u304b\u3089\u4f4e\u9045\u5ef6\uff09\u3067\u767a\u884c\u3055\u308c\u308b\u306e\u306b\u3001\u8cfc\u8aad\u5074\u3092\u65e2\u5b9a\u306e RELIABLE<\/code> \u306e\u307e\u307e\u306b\u3059\u308b\u3068\u4e00\u5207\u30c7\u30fc\u30bf\u304c\u6765\u307e\u305b\u3093<\/mark><\/strong>\u3002\u3057\u304b\u3082\u30a8\u30e9\u30fc\u306f\u51fa\u305a\u3001\u305f\u3060\u9ed9\u308b\u3093\u3067\u3059\u3002\u3053\u308c\u3001\u539f\u56e0\u306b\u8fbf\u308a\u7740\u304f\u307e\u3067\u3051\u3063\u3053\u3046\u6642\u9593\u3092\u6eb6\u304b\u3057\u307e\u3057\u305f\u2026\u2026\u3002<\/p>\n\n\n\n

      \u300c\u30c8\u30d4\u30c3\u30af\u540d\u306f\u5408\u3063\u3066\u3044\u308b\u306e\u306b\u30c7\u30fc\u30bf\u304c\u6765\u306a\u3044\u300d\u3068\u304d\u306f\u3001\u578b\u304b QoS \u3092\u7591\u3063\u3066 ros2 topic info <\u540d\u524d> -v<\/code> \u3067\u4e21\u5074\u3092\u7a81\u304d\u5408\u308f\u305b\u308b\u306e\u304c\u65e9\u3044\u3067\u3059\u3002<\/p>\n<\/div><\/div>\n\n\n\n

      \u3053\u306e\u4f5c\u308a\u3001\u4f55\u304c\u5b09\u3057\u3044\u306e\u304b<\/h2>\n\n\n\n

      \u300c\u95a2\u6570\u547c\u3073\u51fa\u3057\u3067\u306f\u306a\u304f\u3001\u540d\u524d\u4ed8\u304d\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u7e4b\u3050\u300d\u3053\u3068\u306e\u898b\u8fd4\u308a\u306f3\u3064\u3042\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n

        \n
      • \u5dee\u3057\u66ff\u3048\u304c\u52b9\u304f\u3002<\/strong> \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u5b9f\u6a5f\u30c9\u30e9\u30a4\u30d0\u306b\u4ea4\u63db\u3057\u3066\u3082\u3001\/cmd_vel<\/code> \u3092\u51fa\u3059\u5074\u306f\u7121\u6539\u9020\u3002\u79c1\u306e\u30b7\u30b9\u30c6\u30e0\u3067\u30ed\u30dc\u30c3\u30c84\u7a2e\uff08\u4e8c\u8f2a\u8eca\uff0f\u30c9\u30ed\u30fc\u30f3\uff0f\u30e1\u30ab\u30ca\u30e0\uff0f\u30af\u30ed\u30fc\u30e9\uff09\u3092\u4e0a\u6d41\u305d\u306e\u307e\u307e\u3067\u5207\u308a\u66ff\u3048\u3089\u308c\u308b\u306e\u3082\u540c\u3058\u7406\u5c48\u3067\u3059\u3002<\/li>\n\n
      • \u8997\u3051\u308b\u30fb\u8a18\u9332\u3067\u304d\u308b\u30fb\u518d\u751f\u3067\u304d\u308b\u3002<\/strong> \u901a\u4fe1\u306e\u53e3\u304c\u5171\u901a\u306a\u306e\u3067\u3001\u3069\u306e\u30c8\u30d4\u30c3\u30af\u3067\u3082\u540c\u3058\u30b3\u30de\u30f3\u30c9\u3067\u4e2d\u8eab\u3092\u898b\u3089\u308c\u307e\u3059\u3002\u81ea\u524d\u3067\u30d7\u30ed\u30bb\u30b9\u9593\u901a\u4fe1\u3092\u66f8\u3044\u3066\u3044\u305f\u3089\u3001\u3053\u306e\u9053\u5177\u306f\u5168\u90e8\u81ea\u4f5c\u3067\u3057\u305f\u3002<\/li>\n\n
      • \u5272\u308a\u8fbc\u3081\u308b\u3002<\/strong> \u624b\u3067\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u6d41\u305b\u3070\u3001\u4e0a\u6d41\u306e\u30ce\u30fc\u30c9\u3092\u6b62\u3081\u305a\u306b\u52d5\u4f5c\u78ba\u8a8d\u3067\u304d\u307e\u3059\u3002\u300cLLM \u304c\u60aa\u3044\u306e\u304b\u3001\u30ed\u30dc\u30c3\u30c8\u5074\u304c\u60aa\u3044\u306e\u304b\u300d\u3092\u5207\u308a\u5206\u3051\u308b\u3068\u304d\u3001\u3053\u308c\u304c\u3068\u306b\u304b\u304f\u52b9\u304d\u307e\u3057\u305f\u3002<\/li>\n<\/ul>\n\n\n\n

        \u5b9f\u969b\u306b\u3088\u304f\u4f7f\u3063\u3066\u3044\u308b\u306e\u306f\u3053\u306e\u3042\u305f\u308a\u3067\u3059\u3002<\/p>\n\n\n\n

        ros2 node list                 # \u52d5\u3044\u3066\u3044\u308b\u30ce\u30fc\u30c9\nros2 topic list -t             # \u30c8\u30d4\u30c3\u30af\u3068\u578b\nros2 topic info \/cmd_vel -v    # \u767a\u884c\u8005\/\u8cfc\u8aad\u8005\u3068 QoS\uff08\u8a70\u307e\u3063\u305f\u3089\u307e\u305a\u3053\u308c\uff09\nros2 topic echo \/odom          # \u4e2d\u8eab\u3092\u8997\u304f\n\n# \u4e0a\u6d41\u3092\u6b62\u3081\u305a\u306b\u3001\u624b\u3067\u64cd\u7e26\u3057\u3066\u307f\u308b\nros2 topic pub -r 10 \/cmd_vel geometry_msgs\/msg\/Twist '{linear: {x: 0.3}}'<\/code><\/pre>\n\n\n\n
        AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306f\u3001ROS 2 \u304b\u3089\u898b\u308c\u3070\u300c\u305f\u3060\u306e\u30ce\u30fc\u30c91\u500b\u300d<\/h2>\n\n\n\n
        \u3053\u3053\u307e\u3067\u5206\u304b\u308b\u3068\u3001\u5192\u982d\u306e\u554f\u3044\u2014\u2014LLM \u3092\u3069\u3046\u3084\u3063\u3066\u30ed\u30dc\u30c3\u30c8\u306b\u7e4b\u3050\u306e\u304b\u2014\u2014\u306e\u7b54\u3048\u304c\u51fa\u307e\u3059\u3002<\/p>\n\n\n\n
        \u79c1\u304c\u4f5c\u3063\u305fAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u30ce\u30fc\u30c9\u306f\u3001\/agent\/instruction<\/code>\uff08\u81ea\u7136\u8a00\u8a9e\u306e\u30c6\u30ad\u30b9\u30c8\uff09\u3092\u8cfc\u8aad\u3057\u3066 \/cmd_vel<\/code>\uff08\u901f\u5ea6\u6307\u4ee4\uff09\u3092\u51fa\u3059<\/mark><\/strong>\u3001\u305f\u3060\u305d\u308c\u3060\u3051\u306e\u30ce\u30fc\u30c9\u3067\u3059\u3002<\/p>\n\n\n\n
        \u4e2d\u3067 HTTPS \u3092\u53e9\u3044\u3066 LLM \u3068\u4f1a\u8a71\u3057\u3066\u3044\u308b\u3053\u3068\u306f\u3001\u4ed6\u306e\u30ce\u30fc\u30c9\u304b\u3089\u306f\u898b\u3048\u307e\u305b\u3093\u3057\u3001\u77e5\u308b\u5fc5\u8981\u3082\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
        \n
        AI \u3092\u30ce\u30fc\u30c9\u306e\u5185\u5074\u306b\u9589\u3058\u8fbc\u3081\u3066\u3001\u5916\u3068\u306e\u5883\u754c\u306f\u6a19\u6e96\u306e\u578b\u3067\u4fdd\u3064\u3002<\/mark><\/strong>\u3053\u308c\u304c\u8a2d\u8a08\u306e\u809d\u3067\u3057\u305f\u3002\u304a\u304b\u3052\u3067\u30ed\u30dc\u30c3\u30c8\u3082\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3082 LLM \u3082\u3001\u305d\u308c\u305e\u308c\u72ec\u7acb\u3057\u3066\u5dee\u3057\u66ff\u3048\u3089\u308c\u307e\u3059\u3002<\/p>\n\n\n\n
        \u5b9f\u969b\u3001LLM \u3092\u4f7f\u308f\u306a\u3044\u30eb\u30fc\u30eb\u30d9\u30fc\u30b9\u5b9f\u88c5\u306b\u5207\u308a\u66ff\u3048\u3066\u3082\u3001\u4e0b\u6d41\u306f\u4e00\u5207\u5909\u308f\u308a\u307e\u305b\u3093\u3067\u3057\u305f\u3002<\/p>\n<\/div><\/div>\n\n\n\n
        \u305d\u3057\u3066\u300cAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3078\u306e\u547d\u4ee4\u300d\u3082\u3001ROS 2 \u304b\u3089\u898b\u308c\u3070\u305f\u3060\u306e\u30e1\u30c3\u30bb\u30fc\u30b81\u672c\u3067\u3059\u3002UI \u3082 LLM \u3082\u7121\u3057\u3067\u3001\u3053\u306e\u4e00\u884c\u3060\u3051\u3067\u914d\u7dda\u3092\u8a66\u305b\u307e\u3059\u3002<\/p>\n\n\n\n
        ros2 topic pub --once \/agent\/instruction std_msgs\/String \\\n  \"{data: '\u5c11\u3057\u524d\u9032\u3057\u3066\u304b\u3089\u5de6\u306b90\u5ea6\u56de\u3063\u3066'}\"<\/code><\/pre>\n\n\n\n
        \u307e\u3068\u3081<\/h2>\n\n\n\n
          \n
        • ROS 2 \u306f OS \u3067\u306f\u306a\u304f\u3001\u5206\u6563\u30d7\u30ed\u30bb\u30b9\u9593\u901a\u4fe1\u306e\u30df\u30c9\u30eb\u30a6\u30a7\u30a2\uff0b\u5171\u901a\u898f\u7d04\uff0b\u30c4\u30fc\u30eb\u7fa4<\/strong>\u3002<\/li>\n\n
        • \u30ce\u30fc\u30c9\u306f\u4e92\u3044\u306b\u72ec\u7acb\u3057\u305f\u30d7\u30ed\u30bb\u30b9<\/strong>\u3067\u3001\u540d\u524d\u3068\u578b\u304c\u5408\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u3060\u3051\u3067\u7e4b\u304c\u308b\u3002\u3060\u304b\u3089\u5dee\u3057\u66ff\u3048\u304c\u52b9\u3044\u3066\u3001\u8997\u3051\u3066\u3001\u5272\u308a\u8fbc\u3081\u308b\u3002<\/li>\n\n
        • \u7e4b\u304e\u65b9\u306f4\u7a2e\u985e\u3002\u6d41\u308c\u7d9a\u3051\u308b\u306a\u3089\u30c8\u30d4\u30c3\u30af\uff0f\u4e00\u554f\u4e00\u7b54\u306a\u3089\u30b5\u30fc\u30d3\u30b9\uff0f\u6642\u9593\u304c\u304b\u304b\u3063\u3066\u4e2d\u65ad\u3057\u305f\u3044\u306a\u3089\u30a2\u30af\u30b7\u30e7\u30f3\uff0f\u5024\u3092\u5909\u3048\u305f\u3044\u3060\u3051\u306a\u3089\u30d1\u30e9\u30e1\u30fc\u30bf<\/strong>\u3002<\/li>\n\n
        • \u30cf\u30de\u308b\u306e\u306f\u3060\u3044\u305f\u3044\u578b\u306e\u4e0d\u4e00\u81f4\u30fbQoS \u306e\u975e\u4e92\u63db\u30fbROS_DOMAIN_ID<\/code> \u306e\u885d\u7a81<\/mark><\/strong>\u3002\u3069\u308c\u3082\u30a8\u30e9\u30fc\u3067\u306f\u306a\u304f\u300c\u6c88\u9ed9\u300d\u3067\u51fa\u3066\u304f\u308b\u306e\u304c\u5384\u4ecb\u3002<\/li>\n\n
        • AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306f ROS 2 \u304b\u3089\u898b\u308c\u3070\u305f\u3060\u306e\u30ce\u30fc\u30c91\u500b<\/mark><\/strong>\u3002\u77e5\u80fd\u306f\u30ce\u30fc\u30c9\u306e\u5185\u5074\u306b\u9589\u3058\u8fbc\u3081\u308b\u3002<\/li>\n<\/ul>\n\n\n\n
          \u6b21\u56de\u306f\u3001\u3053\u306e\u4e0a\u306b\u4e57\u305b\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\uff08Gazebo\uff09<\/strong>\u306e\u8a71\u3067\u3059\u3002\u4eca\u56de\u306e\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306f\u300c\u8a00\u308f\u308c\u305f\u79d2\u6570\u3060\u3051\u901f\u5ea6\u3092\u51fa\u3059\u300d\u3060\u3051\u306a\u306e\u3067\u3001\u76ee\u306e\u524d\u306b\u58c1\u304c\u3042\u3063\u3066\u3082\u5e73\u6c17\u3067\u7a81\u3063\u8fbc\u3093\u3067\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n
          \u305d\u3053\u304b\u3089\u300c\u5730\u56f3\u3092\u6301\u3063\u3066\u3001\u81ea\u5206\u306e\u4f4d\u7f6e\u3092\u77e5\u3063\u3066\u3001\u969c\u5bb3\u7269\u3092\u907f\u3051\u3066\u76ee\u7684\u5730\u3078\u884c\u304f\u300d\u6bb5\u968e\u3078\u3069\u3046\u9032\u3080\u306e\u304b\u2014\u2014\u3068\u3044\u3046\u3068\u3053\u308d\u306b\u5165\u3063\u3066\u3044\u304d\u307e\u3059\u3002\u304a\u697d\u3057\u307f\u306b\uff01<\/p>\n\n\n\n\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":215,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"content-type":"","footnotes":""},"categories":[985,1100],"tags":[],"class_list":["post-85147","post","type-post","status-publish","format-standard","hentry","category-ai-driven-dev","category-h-takeuchi"],"acf":[],"yoast_head":"\nAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301c\uff11.ROS2\u3068\u306f\u301c - 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