{"id":85367,"date":"2026-08-20T11:58:06","date_gmt":"2026-08-20T02:58:06","guid":{"rendered":"https:\/\/www.creationline.com\/tech-blog\/?p=85367"},"modified":"2026-08-26T14:44:04","modified_gmt":"2026-08-26T05:44:04","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%9crai%e3%82%92%e5%8f%82%e8%80%83%e3%81%ab%e3%83%9e","status":"publish","type":"post","link":"https:\/\/www.creationline.com\/tech-blog\/chatgpt-ai\/ai-driven-dev\/85367","title":{"rendered":"AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301cRAI\u3092\u53c2\u8003\u306b\u30de\u30eb\u30c1AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3059 \u301c"},"content":{"rendered":"\n\n<p class=\"wp-block-paragraph\">\u3053\u3093\u306b\u3061\u306f\u3001\u7af9\u5185 \u3067\u3059\u3002<\/p>\n\n\n\n<p 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aria-label=\"\u30ed\u30dc\u30c3\u30c8\u306eAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u8a2d\u8a08\u306e\u9078\u629e\u80a2\u3092\u793a\u3057\u305f\u56f3\u3002\u4e0a\u6bb5\u306fLLM\u306b\u898b\u305b\u308b\u3082\u306e\u3068\u3057\u3066\u30bb\u30f3\u30b5\u306e\u751f\u306e\u6570\u5024\u30fb\u30ab\u30e1\u30e9\u753b\u50cf\u305d\u306e\u307e\u307e\u30fb\u753b\u50cf\u3092VLM\u3067\u6587\u7ae0\u5316\u30fb\u5730\u56f3\u3092\u7d75\u306b\u3057\u3066\u306e4\u3064\u3001\u4e0b\u6bb5\u306fLLM\u306b\u6c7a\u3081\u3055\u305b\u308b\u3053\u3068\u3068\u3057\u3066\u901f\u5ea6\u3092\u76f4\u63a5\u30fb\u884c\u304d\u5148\u306e\u5ea7\u6a19\u30fb\u8ab0\u306b\u4efb\u305b\u308b\u304b\u306e3\u3064\u304c\u4e26\u3073\u3001\u305d\u306e\u7d44\u307f\u5408\u308f\u305b\u3060\u3051\u8a2d\u8a08\u304c\u3042\u308b\u3053\u3068\u3092\u793a\u3057\u3066\u3044\u308b\" style=\"display:block;width:100%;min-width:660px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans 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\u601d\u8003\u306e\u30eb\u30fc\u30d7\u305d\u306e\u3082\u306e<\/text>\n<rect x=\"24\" y=\"160\" width=\"600\" height=\"56\" rx=\"9\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.8\"\/>\n<text x=\"44\" y=\"184\" fill=\"#C05621\" font-size=\"13\" font-weight=\"700\">\u2461 \u77e5\u899a\u5c64<\/text>\n<text x=\"44\" y=\"204\" fill=\"#A8632F\" font-size=\"11\">Aggregator \u2500\u2500 \u30bb\u30f3\u30b5\u3092\u300cLLM \u304c\u8aad\u3081\u308b1\u30e1\u30c3\u30bb\u30fc\u30b8\u300d\u306b\u7573\u3080<\/text>\n<rect x=\"24\" y=\"228\" width=\"600\" height=\"56\" rx=\"9\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"44\" y=\"252\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">\u2460 \u901a\u4fe1\u5c64<\/text>\n<text x=\"44\" y=\"272\" fill=\"#5B7099\" font-size=\"11\">ROS2Connector\uff0fHRIConnector \u2500\u2500 topic\u30fbservice\u30fbaction\u30fbTF \u3092\u5747\u3059<\/text>\n<rect x=\"24\" y=\"296\" width=\"600\" height=\"56\" rx=\"9\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"44\" y=\"320\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">\u24ea \u624b\u8db3<\/text>\n<text x=\"44\" y=\"340\" fill=\"#5B7099\" font-size=\"11\">Tools\uff0fToolkits \u2500\u2500 LLM \u304b\u3089\u547c\u3079\u308b\u9053\u5177\uff08Nav2\u30fb\u30c8\u30d4\u30c3\u30af\u8aad\u307f\u66f8\u304d\uff09<\/text>\n<rect x=\"24\" y=\"376\" width=\"600\" height=\"46\" rx=\"9\" fill=\"#12408F\"\/>\n<text x=\"324\" y=\"404\" text-anchor=\"middle\" fill=\"#FFFFFF\" font-size=\"13\" font-weight=\"700\">ROS 2 \u306e\u30b0\u30e9\u30d5<\/text>\n<line x1=\"324\" y1=\"354\" x2=\"324\" y2=\"374\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<rect x=\"648\" y=\"92\" width=\"228\" height=\"56\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#0E7C6B\" stroke-width=\"1.6\" stroke-dasharray=\"6 4\"\/>\n<text x=\"762\" y=\"116\" text-anchor=\"middle\" fill=\"#0E7C6B\" font-size=\"11.5\" font-weight=\"700\">\u601d\u8003\u30eb\u30fc\u30d7\u306f\u305d\u306e\u307e\u307e<\/text>\n<text x=\"762\" y=\"136\" text-anchor=\"middle\" fill=\"#0E7C6B\" font-size=\"11.5\" font-weight=\"700\">\u501f\u308a\u3066\u3001\u81ea\u4f5c\u306e\u4e0a\u306b\u8f09\u305b\u305f<\/text>\n<rect x=\"648\" y=\"160\" width=\"228\" height=\"56\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#C05621\" stroke-width=\"1.6\" stroke-dasharray=\"6 4\"\/>\n<text x=\"762\" y=\"184\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11.5\" font-weight=\"700\">RAI \u72ec\u81ea\u306e\u5c64\uff08ROSA \u306b\u7121\u3044\uff09\u3002<\/text>\n<text x=\"762\" y=\"204\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11.5\" font-weight=\"700\">\u4eca\u56de\u3044\u3061\u3070\u3093\u52b9\u3044\u305f\u306e\u304c\u3053\u3053<\/text>\n<text x=\"648\" y=\"252\" fill=\"#7A869A\" font-size=\"11\">4\u5c64\u306f\u4e92\u3044\u3092\u76f4\u63a5\u547c\u3070\u306a\u3044\u3002<\/text>\n<text x=\"648\" y=\"272\" fill=\"#7A869A\" font-size=\"11\">\u3060\u304b\u30891\u5c64\u3060\u3051\u6301\u3061\u51fa\u305b\u308b\u3002<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f32\uff1aRAI \u306e\u69cb\u6210\u3002\u901a\u4fe1\u30fb\u77e5\u899a\u30fb\u601d\u8003\u30fb\u624b\u8db3\u304c\u5225\u306e\u5c64\u306b\u306a\u3063\u3066\u3044\u308b<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u6bd4\u3079\u308b\u305f\u3081\u306b\u3001NASA JPL \u306e <strong>ROSA<\/strong> \u3082\u8aad\u307f\u307e\u3057\u305f\u3002\u3042\u3061\u3089\u306f\u300cLangChain \u306e\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\uff0bROS \u306e\u30b3\u30de\u30f3\u30c9\u3092\u53e9\u304f\u30c4\u30fc\u30eb\u300d\u3067\u3001\u5b9f\u8cea<strong>1\u5c64<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3069\u3061\u3089\u304c\u826f\u3044\u60aa\u3044\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u305f\u3060\u3001\u4e26\u3079\u308b\u3068 RAI \u306e\u6027\u683c\u304c\u306f\u3063\u304d\u308a\u3057\u307e\u3059\u3002<strong>\u77e5\u899a\u3092\u5c64\u3068\u3057\u3066\u6301\u3063\u3066\u3044\u308b\u304b\u3069\u3046\u304b<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u6838\u5fc3\u306f\u300cLLM \u306b\u4f55\u3092\u898b\u305b\u308b\u304b\u300d\u3060\u3063\u305f<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">4\u5c64\u306e\u3046\u3061\u3001\u4eca\u56de\u3044\u3061\u3070\u3093\u53c2\u8003\u306b\u306a\u3063\u305f\u306e\u304c\u2461\u306e<strong>\u77e5\u899a\u5c64<\/strong>\u3067\u3059\u3002RAI \u3067\u306f\u3053\u3053\u3092 <code>Aggregator<\/code> \u3068\u547c\u3073\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30b3\u30fc\u30c9\u306f\u5c0f\u3055\u304f\u3001\u5b9f\u8cea2\u3064\u306e\u30e1\u30bd\u30c3\u30c9\u3057\u304b\u3042\u308a\u307e\u305b\u3093\u3002<strong>\u6e9c\u3081\u308b <code>__call__<\/code> \u3068\u3001\u7573\u3080 <code>get()<\/code><\/strong> \u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>class BaseAggregator(ABC, Generic[T]):\n    def __call__(self, msg: T) -&gt; None:\n        \"\"\"Connector \u304b\u3089\u547c\u3070\u308c\u308b\u3002\u305f\u3060\u30d0\u30c3\u30d5\u30a1\u306b\u6e9c\u3081\u308b\u3060\u3051\"\"\"\n\n    @abstractmethod\n    def get(self) -&gt; BaseMessage | None:\n        \"\"\"LLM \u304c\u8aad\u3081\u308b1\u30e1\u30c3\u30bb\u30fc\u30b8\u306b\u7573\u3093\u3067\u8fd4\u3059\"\"\"<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u30c8\u30d4\u30c3\u30af\u304c\u5c4a\u304f\u305f\u3073\u306b <code>__call__<\/code> \u304c\u547c\u3070\u308c\u3066\u3001<strong>\u30d0\u30c3\u30d5\u30a1\u306b\u7a4d\u3080\u3060\u3051<\/strong>\u3002\u6e9c\u307e\u3063\u305f\u3076\u3093\u306f <code>get()<\/code> \u3067<strong>1\u30e1\u30c3\u30bb\u30fc\u30b8\u306b\u7573\u307e\u308c\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3092 <code>ReActAgent<\/code> \u304b\u3089 <code>StateBasedAgent<\/code> \u306b\u66ff\u3048\u308b\u3068\u3001\u3053\u306e <code>get()<\/code> \u304c<strong>\u4e00\u5b9a\u9593\u9694\uff08\u79c1\u306f15\u79d2\uff09\u3067\u547c\u3070\u308c<\/strong>\u3001\u8fd4\u3063\u3066\u304d\u305f\u6587\u7ae0\u304c\u305d\u306e\u307e\u307e\u4f1a\u8a71\u5c65\u6b74\u306b\u7a4d\u307e\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5165\u308b\u5f62\u306f <code>\/rosout: ...<\/code> \u306e1\u884c\u3067\u3001<strong>\u4eba\u304c\u6253\u3061\u8fbc\u3093\u3060\u6587\u3068\u540c\u3058\u7a2e\u985e<\/strong>\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3068\u3057\u3066\u4e26\u3073\u307e\u3059\u3002\u3057\u304b\u3082\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u5074\u306e\u30b3\u30fc\u30c9\u306b\u306f\u3001\u3053\u306e\u53d7\u3051\u6e21\u3057\u304c<strong><mark style=\"background-color:#fff3b0;color:inherit\" class=\"has-inline-color\">\u4e00\u884c\u3082\u51fa\u3066\u304d\u307e\u305b\u3093<\/mark><\/strong>\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 300\" role=\"img\" aria-label=\"\u77e5\u899a\u5c64\u304c\u4f1a\u8a71\u5c65\u6b74\u306b\u5dee\u3057\u8fbc\u307e\u308c\u308b\u6d41\u308c\u306e\u56f3\u3002\u4e0a\u6bb5\u306f\u9053\u5177\u306e\u6d41\u308c\u3067\u3001LLM \u304c\u547c\u3093\u3067\u521d\u3081\u3066\u30c8\u30d4\u30c3\u30af\u3092\u8aad\u3080\u3002\u4e0b\u6bb5\u306f\u77e5\u899a\u5c64\u306e\u6d41\u308c\u3067\u3001\u30c8\u30d4\u30c3\u30af\u304c\u5c4a\u304f\u305f\u3073\u306b\u30d0\u30c3\u30d5\u30a1\u3078\u6e9c\u307e\u308a\u300115\u79d2\u3054\u3068\u306b1\u30e1\u30c3\u30bb\u30fc\u30b8\u3078\u7573\u307e\u308c\u3001LLM \u3092\u547c\u3076\u76f4\u524d\u306b\u4eba\u306e\u767a\u8a00\u306e\u5f62\u3067\u4f1a\u8a71\u5c65\u6b74\u3078\u5dee\u3057\u8fbc\u307e\u308c\u308b\" style=\"display:block;width:100%;min-width:700px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g3in\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#12408F\"\/><\/marker>\n<marker id=\"g3iw\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#C05621\"\/><\/marker>\n<\/defs>\n<text x=\"24\" y=\"30\" fill=\"#7A869A\" font-size=\"12\" font-weight=\"700\">\u9053\u5177\uff08Tool\uff09\u2500\u2500 LLM \u304c\u547c\u3093\u3067\u3001\u306f\u3058\u3081\u3066\u52d5\u304f<\/text>\n<rect x=\"24\" y=\"44\" width=\"170\" height=\"48\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.4\"\/>\n<text x=\"109\" y=\"73\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"12\">LLM \u304c\u300c\u898b\u305f\u3044\u300d<\/text>\n<line x1=\"200\" y1=\"68\" x2=\"252\" y2=\"68\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3in)\"\/>\n<rect x=\"258\" y=\"44\" width=\"170\" height=\"48\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.4\"\/>\n<text x=\"343\" y=\"73\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"12\">\u30c8\u30d4\u30c3\u30af\u3092\u8aad\u3080<\/text>\n<line x1=\"434\" y1=\"68\" x2=\"486\" y2=\"68\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3in)\"\/>\n<rect x=\"492\" y=\"44\" width=\"170\" height=\"48\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.4\"\/>\n<text x=\"577\" y=\"73\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"12\">\u7d50\u679c\u3092\u8fd4\u3059<\/text>\n<text x=\"684\" y=\"73\" fill=\"#9AA5B1\" font-size=\"11.5\">\u547c\u3070\u308c\u306a\u3051\u308c\u3070\u4f55\u3082\u8d77\u304d\u306a\u3044<\/text>\n<line x1=\"24\" y1=\"116\" x2=\"876\" y2=\"116\" stroke=\"#B9C6DC\" stroke-width=\"1\" stroke-dasharray=\"5 4\"\/>\n<text x=\"24\" y=\"150\" fill=\"#C05621\" font-size=\"12\" font-weight=\"700\">\u77e5\u899a\u5c64\uff08Aggregator\uff09\u2500\u2500 \u805e\u304b\u308c\u308b\u524d\u306b\u3001\u52dd\u624b\u306b\u7a4d\u307e\u308c\u308b<\/text>\n<rect x=\"24\" y=\"164\" width=\"150\" height=\"96\" rx=\"9\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.6\"\/>\n<text x=\"99\" y=\"196\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"12\" font-weight=\"700\">\u30c8\u30d4\u30c3\u30af\u304c\u5c4a\u304f<\/text>\n<text x=\"99\" y=\"220\" text-anchor=\"middle\" fill=\"#A8632F\" font-size=\"11\">\u30ed\u30b0\u30fb\u30ab\u30e1\u30e9<\/text>\n<text x=\"99\" y=\"242\" text-anchor=\"middle\" fill=\"#A8632F\" font-size=\"11\">30Hz \u3067\u3082\u6e9c\u3081\u308b\u3060\u3051<\/text>\n<line x1=\"180\" y1=\"212\" x2=\"230\" y2=\"212\" stroke=\"#C05621\" stroke-width=\"1.6\" marker-end=\"url(#g3iw)\"\/>\n<rect x=\"236\" y=\"164\" width=\"176\" height=\"96\" rx=\"9\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.6\"\/>\n<text x=\"324\" y=\"196\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"12\" font-weight=\"700\">15\u79d2\u3054\u3068\u306b\u7573\u3080<\/text>\n<text x=\"324\" y=\"220\" text-anchor=\"middle\" fill=\"#A8632F\" font-size=\"11\">get() \u304c1\u30e1\u30c3\u30bb\u30fc\u30b8\u306b<\/text>\n<text x=\"324\" y=\"242\" text-anchor=\"middle\" fill=\"#A8632F\" font-size=\"11\">\u7573\u3093\u3060\u3089\u30d0\u30c3\u30d5\u30a1\u306f\u7a7a<\/text>\n<line x1=\"418\" y1=\"212\" x2=\"468\" y2=\"212\" stroke=\"#C05621\" stroke-width=\"1.6\" marker-end=\"url(#g3iw)\"\/>\n<rect x=\"474\" y=\"152\" width=\"402\" height=\"120\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"675\" y=\"178\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u4f1a\u8a71\u5c65\u6b74\uff08LLM \u3092\u547c\u3076\u76f4\u524d\uff09<\/text>\n<rect x=\"492\" y=\"192\" width=\"366\" height=\"30\" rx=\"6\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.2\"\/>\n<text x=\"504\" y=\"212\" fill=\"#333333\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">human: \u68da\u306e\u524d\u307e\u3067\u884c\u3063\u3066<\/text>\n<rect x=\"492\" y=\"228\" width=\"366\" height=\"30\" rx=\"6\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.4\"\/>\n<text x=\"504\" y=\"248\" fill=\"#C05621\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">human: \/rosout: goal rejected \u2026<\/text>\n<text x=\"450\" y=\"292\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"11.5\">\u4e0b\u306e1\u884c\u304c\u77e5\u899a\u5c64\u306e\u5dee\u3057\u8fbc\u307f\u3002\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u30b3\u30fc\u30c9\u306b\u306f\u51fa\u3066\u3053\u306a\u3044<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f33\uff1a\u77e5\u899a\u5c64\u306e\u5dee\u3057\u8fbc\u307f\u3002\u9053\u5177\u306f\u547c\u3070\u308c\u3066\u52d5\u304f\u304c\u3001\u3053\u3061\u3089\u306f\u547c\u3070\u308c\u308b\u524d\u306b\u4f1a\u8a71\u3078\u5165\u3063\u3066\u3044\u308b<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3053\u306b\u4f55\u3092\u7a4d\u3080\u304b\u304c\u3001\u305d\u306e\u307e\u307e\u300c<strong>LLM \u306b\u4f55\u3092\u898b\u305b\u308b\u304b<\/strong>\u300d\u3067\u3059\u3002\u7d20\u6750\u306f\u6a19\u6e96\u30674\u7a2e\u985e\u3064\u3044\u3066\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 252\" role=\"img\" aria-label=\"RAI \u306b\u540c\u68b1\u3055\u308c\u305f4\u7a2e\u985e\u306e Aggregator \u306e\u6bd4\u8f03\u56f3\u3002\u30ed\u30b0\u8981\u7d04\u3001\u6700\u65b01\u679a\u306e\u753b\u50cf\u3001\u753b\u50cf\u3092VLM\u3067\u8aac\u660e\u3001\u6700\u521d\u3068\u4e2d\u9593\u3068\u6700\u5f8c\u306e3\u679a\u3092VLM\u3067\u6bd4\u8f03\u306e4\u3064\u304c\u4e26\u3073\u3001\u305d\u308c\u305e\u308c\u4f55\u3092\u5165\u529b\u306b\u3057\u3066\u4f55\u3092\u8fd4\u3059\u304b\u3001VLM \u3092\u547c\u3076\u304b\u3069\u3046\u304b\u304c\u793a\u3055\u308c\u3066\u3044\u308b\" style=\"display:block;width:100%;min-width:680px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<rect x=\"24\" y=\"14\" width=\"200\" height=\"220\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.4\"\/>\n<rect x=\"24\" y=\"14\" width=\"200\" height=\"46\" rx=\"9\" fill=\"#F2F4F7\"\/>\n<text x=\"124\" y=\"34\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">ROS2Logs<\/text>\n<text x=\"124\" y=\"51\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">Aggregator<\/text>\n<text x=\"40\" y=\"84\" fill=\"#9AA5B1\" font-size=\"10\">\u5165\u529b<\/text>\n<text x=\"40\" y=\"102\" fill=\"#333333\" font-size=\"11.5\">ROS \u306e\u30ed\u30b0<\/text>\n<text x=\"40\" y=\"132\" fill=\"#9AA5B1\" font-size=\"10\">\u8fd4\u3059\u3082\u306e<\/text>\n<text x=\"40\" y=\"150\" fill=\"#333333\" font-size=\"11.5\">\u91cd\u8907\u3092\u7573\u3093\u3060<\/text>\n<text x=\"40\" y=\"168\" fill=\"#333333\" font-size=\"11.5\">\u8981\u7d04\u30c6\u30ad\u30b9\u30c8<\/text>\n<text x=\"40\" y=\"212\" fill=\"#7A869A\" font-size=\"11.5\" font-weight=\"700\">VLM \u306f\u547c\u3070\u306a\u3044<\/text>\n<rect x=\"240\" y=\"14\" width=\"200\" height=\"220\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.4\"\/>\n<rect x=\"240\" y=\"14\" width=\"200\" height=\"46\" rx=\"9\" fill=\"#F2F4F7\"\/>\n<text x=\"340\" y=\"34\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">ROS2GetLastImage<\/text>\n<text x=\"340\" y=\"51\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">Aggregator<\/text>\n<text x=\"256\" y=\"84\" fill=\"#9AA5B1\" font-size=\"10\">\u5165\u529b<\/text>\n<text x=\"256\" y=\"102\" fill=\"#333333\" font-size=\"11.5\">\u30ab\u30e1\u30e9\u753b\u50cf<\/text>\n<text x=\"256\" y=\"132\" fill=\"#9AA5B1\" font-size=\"10\">\u8fd4\u3059\u3082\u306e<\/text>\n<text x=\"256\" y=\"150\" fill=\"#333333\" font-size=\"11.5\">\u6700\u65b01\u679a\u3092<\/text>\n<text x=\"256\" y=\"168\" fill=\"#333333\" font-size=\"11.5\">\u753b\u50cf\u306e\u307e\u307e\u6dfb\u4ed8<\/text>\n<text x=\"256\" y=\"212\" fill=\"#7A869A\" font-size=\"11.5\" font-weight=\"700\">VLM \u306f\u547c\u3070\u306a\u3044<\/text>\n<rect x=\"456\" y=\"14\" width=\"200\" height=\"220\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#C05621\" stroke-width=\"1.4\"\/>\n<rect x=\"456\" y=\"14\" width=\"200\" height=\"46\" rx=\"9\" fill=\"#FFF4E5\"\/>\n<text x=\"556\" y=\"34\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">ROS2ImgVLM<\/text>\n<text x=\"556\" y=\"51\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">DescriptionAggregator<\/text>\n<text x=\"472\" y=\"84\" fill=\"#9AA5B1\" font-size=\"10\">\u5165\u529b<\/text>\n<text x=\"472\" y=\"102\" fill=\"#333333\" font-size=\"11.5\">\u30ab\u30e1\u30e9\u753b\u50cf<\/text>\n<text x=\"472\" y=\"132\" fill=\"#9AA5B1\" font-size=\"10\">\u8fd4\u3059\u3082\u306e<\/text>\n<text x=\"472\" y=\"150\" fill=\"#333333\" font-size=\"11.5\">\u6700\u65b01\u679a\u3092 VLM \u306b<\/text>\n<text x=\"472\" y=\"168\" fill=\"#333333\" font-size=\"11.5\">\u8aac\u660e\u3055\u305b\u305f\u30c6\u30ad\u30b9\u30c8<\/text>\n<text x=\"472\" y=\"212\" fill=\"#C05621\" font-size=\"11.5\" font-weight=\"700\">VLM \u3092\u547c\u3076<\/text>\n<rect x=\"672\" y=\"14\" width=\"204\" height=\"220\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#C05621\" stroke-width=\"2.2\"\/>\n<rect x=\"672\" y=\"14\" width=\"204\" height=\"46\" rx=\"9\" fill=\"#FFF4E5\"\/>\n<text x=\"774\" y=\"34\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">ROS2ImgVLMDiff<\/text>\n<text x=\"774\" y=\"51\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">Aggregator<\/text>\n<text x=\"688\" y=\"84\" fill=\"#9AA5B1\" font-size=\"10\">\u5165\u529b<\/text>\n<text x=\"688\" y=\"102\" fill=\"#333333\" font-size=\"11.5\">\u30ab\u30e1\u30e9\u753b\u50cf<\/text>\n<text x=\"688\" y=\"132\" fill=\"#9AA5B1\" font-size=\"10\">\u8fd4\u3059\u3082\u306e<\/text>\n<text x=\"688\" y=\"150\" fill=\"#333333\" font-size=\"11.5\">\u6700\u521d\u30fb\u4e2d\u9593\u30fb\u6700\u5f8c\u306e<\/text>\n<text x=\"688\" y=\"168\" fill=\"#333333\" font-size=\"11.5\">3\u679a\u3092\u6bd4\u3079\u305f\u5dee\u5206<\/text>\n<text x=\"688\" y=\"192\" fill=\"#C05621\" font-size=\"11\" font-weight=\"700\">\uff1d \u30b9\u30bf\u30c3\u30af\u691c\u77e5<\/text>\n<text x=\"688\" y=\"212\" fill=\"#C05621\" font-size=\"11.5\" font-weight=\"700\">VLM \u3092\u547c\u3076<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f34\uff1a\u540c\u68b1\u306e4\u7a2e\u985e\u3002\u53f3\u306e2\u3064\u306f\u3001\u8981\u7d04\u3092\u4f5c\u308b\u6bb5\u968e\u3067\u3082\u3046 LLM \u3092\u547c\u3093\u3067\u3044\u308b<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e4\u3064\u304b\u3089\u3001<strong>\u5f79\u3054\u3068\u306b\u8f09\u305b\u308b\u3082\u306e\u3092\u5909\u3048\u307e\u3057\u305f<\/strong>\u30023\u4f53\u3068\u3082 <code>StateBasedAgent<\/code> \u3067\u3059\u304c\u3001\u7a4d\u3080\u7d20\u6750\u306f\u5225\u3005\u3067\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\" style=\"margin-top:18px;margin-bottom:36px\">\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>\u79fb\u52d5\u62c5\u5f53<\/strong>\uff1a<code>\/rosout<\/code> \u3092\u6a5f\u68b0\u7684\u306b\u8981\u7d04\u3002Nav2 \u306e\u300cgoal rejected\u300d\u300crecovery \u767a\u52d5\u300d\u304c\u3001\u81ea\u52d5\u7684\u306b\u5c4a\u304d\u307e\u3059<\/li>\n\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>\u628a\u6301\u62c5\u5f53<\/strong>\uff08\u30a2\u30fc\u30e0\u3092\u52d5\u304b\u3059\u5f79\uff09\uff1a<strong>\u4f55\u3082\u8f09\u305b\u307e\u305b\u3093<\/strong>\u3002\u4f5c\u696d\u53f0\u306b\u4f55\u304c\u3042\u308b\u304b\u306f\u3001\u63b4\u3080\u76f4\u524d\u306b\u81ea\u5206\u306e\u30ab\u30e1\u30e9\u9053\u5177\u3067\u5f15\u304d\u307e\u3059<\/li>\n\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>\u7ba1\u7406\u8005<\/strong>\uff1a\u4f55\u3082\u8f09\u305b\u307e\u305b\u3093\u3002ROS \u3092\u76f4\u63a5\u89e6\u3089\u305b\u306a\u3044\u5f79\u306a\u306e\u3067\u3001<strong>\u77e5\u899a\u3082\u7a7a<\/strong>\u306b\u3057\u307e\u3057\u305f<\/li>\n<\/ul>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 336\" role=\"img\" aria-label=\"3\u4f53\u305d\u308c\u305e\u308c\u306e\u77e5\u899a\u5c64\u3092\u6bd4\u3079\u305f\u56f3\u3002\u7ba1\u7406\u8005\u306f\u9053\u5177\u304c\u90e8\u4e0b\u306e\u5831\u544a\u3092\u8fd4\u3059\u306e\u3067\u77e5\u899a\u5c64\u306f\u7a7a\u3001\u79fb\u52d5\u62c5\u5f53\u306f\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u306e\u9053\u5177\u304c\u6210\u5426\u3057\u304b\u8fd4\u3055\u306a\u3044\u306e\u3067 rosout \u306e\u8981\u7d04\u3092\u7a4d\u3080\u3001\u628a\u6301\u62c5\u5f53\u306f\u63b4\u3080\u9053\u5177\u304c\u5b9f\u6e2c\u7d50\u679c\u307e\u3067\u8fd4\u3059\u306e\u3067\u77e5\u899a\u5c64\u306f\u7a7a\u3002\u7a4d\u3080\u4fa1\u5024\u304c\u3042\u308b\u306e\u306f\u9053\u5177\u306e\u623b\u308a\u5024\u306b\u51fa\u306a\u3044\u60c5\u5831\u3060\u3051\u3001\u3068\u3044\u3046\u57fa\u6e96\u304c\u4e0b\u306b\u66f8\u304b\u308c\u3066\u3044\u308b\" style=\"display:block;width:100%;min-width:700px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans 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stroke-width=\"1.2\"\/>\n<text x=\"336\" y=\"170\" fill=\"#9AA5B1\" font-size=\"10\">\u77e5\u899a\u5c64<\/text>\n<text x=\"336\" y=\"194\" fill=\"#C05621\" font-size=\"13.5\" font-weight=\"700\">\/rosout \u306e\u8981\u7d04<\/text>\n<text x=\"336\" y=\"222\" fill=\"#A8632F\" font-size=\"11\">goal rejected\u30fbrecovery \u306f<\/text>\n<text x=\"336\" y=\"242\" fill=\"#A8632F\" font-size=\"11\">\u3053\u3053\u306b\u3057\u304b\u51fa\u3066\u3053\u306a\u3044<\/text>\n\n<rect x=\"608\" y=\"20\" width=\"268\" height=\"44\" rx=\"9\" fill=\"#12408F\"\/>\n<text x=\"742\" y=\"48\" text-anchor=\"middle\" fill=\"#FFFFFF\" font-size=\"13.5\" font-weight=\"700\">&#x1f9be; \u628a\u6301\u62c5\u5f53\uff08\u30a2\u30fc\u30e0\uff09<\/text>\n<rect x=\"608\" y=\"64\" width=\"268\" height=\"196\" rx=\"9\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.4\"\/>\n<text x=\"628\" y=\"92\" fill=\"#9AA5B1\" font-size=\"10\">\u9053\u5177\u304c\u8fd4\u3059\u3082\u306e<\/text>\n<text x=\"628\" y=\"114\" fill=\"#333333\" font-size=\"11.5\">\u5b9f\u6e2c\u3057\u306a\u304c\u3089\u523b\u3093\u3067\u52d5\u304d\u3001<\/text>\n<text x=\"628\" y=\"132\" fill=\"#333333\" font-size=\"11.5\">\u6301\u3061\u4e0a\u304c\u3063\u305f\u304b\u307e\u3067\u8fd4\u3059<\/text>\n<line x1=\"628\" y1=\"146\" x2=\"856\" y2=\"146\" stroke=\"#E2E8F0\" stroke-width=\"1.2\"\/>\n<text x=\"628\" y=\"170\" fill=\"#9AA5B1\" font-size=\"10\">\u77e5\u899a\u5c64<\/text>\n<text x=\"628\" y=\"194\" fill=\"#7A869A\" font-size=\"14\" font-weight=\"700\">\u306a\u3057<\/text>\n<text x=\"628\" y=\"222\" fill=\"#5B7099\" font-size=\"11\">15\u79d2\u3054\u3068\u306b\u7573\u3093\u3067\u3082\u3001<\/text>\n<text x=\"628\" y=\"242\" fill=\"#5B7099\" font-size=\"11\">\u623b\u308a\u5024\u3088\u308a\u53e4\u3044\u5024\u306b\u306a\u308b<\/text>\n\n<rect x=\"24\" y=\"278\" width=\"852\" height=\"44\" rx=\"8\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"450\" y=\"306\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">\u7a4d\u3080\u4fa1\u5024\u304c\u3042\u308b\u306e\u306f\u300c\u9053\u5177\u306e\u623b\u308a\u5024\u306b\u51fa\u306a\u3044\u60c5\u5831\u300d\u3060\u3051\u30022\u4f53\u306f\u7a7a\u3067\u3088\u304b\u3063\u305f<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f35\uff1a\u5f79\u3054\u3068\u306e\u77e5\u899a\u5c64\u3002\u7a4d\u3093\u3067\u3044\u308b\u306e\u306f3\u4f53\u306e\u3046\u30611\u4f53\u3060\u3051<\/figcaption>\n<\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">1\u4f53\u306b\u5168\u90e8\u3084\u3089\u305b\u305a\u3001\u5f79\u5272\u3067\u5206\u3051\u308b<\/h2>\n\n\n\n<div class=\"wp-block-group has-background\" style=\"border-left-color:#12408f;border-left-width:4px;border-radius:4px;background-color:#eaf0fa;margin-top:40px;margin-bottom:44px;padding-top:1.4em;padding-right:1.5em;padding-bottom:1.4em;padding-left:1.5em\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-container-core-group-is-layout-a4c51761 wp-block-group-is-layout-constrained\">\n<p class=\"wp-block-paragraph\">\u5148\u306b\u3001\u540d\u524d\u3060\u3051\u6574\u7406\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\" style=\"margin-top:18px;margin-bottom:36px\">\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8<\/strong>\uff1d<strong>\u5f79<\/strong>\u3002\u7ba1\u7406\u8005\u30fb\u79fb\u52d5\u62c5\u5f53\u30fb\u628a\u6301\u62c5\u5f53\u306e3\u4f53\u3067\u3059<\/li>\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>\u9053\u5177<\/strong>\uff1dLLM \u304c<strong>\u547c\u3093\u3060\u3068\u304d\u3060\u3051<\/strong>\u52d5\u304f\u95a2\u6570\u3067\u3059<\/li>\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>\u77e5\u899a\u5c64<\/strong>\uff1d\u30a8\u30fc\u30b8\u30a7\u30f3\u30c81\u4f53\u306b\u3064\u304d1\u3064\u306e\u5165\u53e3\u3002\u7a4d\u3093\u3067\u3042\u308c\u3070<strong>\u547c\u3070\u308c\u306a\u304f\u3066\u3082<\/strong>\u4f1a\u8a71\u3078\u5165\u308a\u307e\u3059<\/li>\n<\/ul>\n<\/div><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306f1\u4f53\u306b\u305b\u305a\u3001<strong>3\u4f53<\/strong>\u306b\u5206\u3051\u307e\u3057\u305f\u3002\u5206\u3051\u308b\u5358\u4f4d\u306f<strong>\u9053\u5177\u3068\u6a29\u9650<\/strong>\u3067\u3001\u5f79\u3054\u3068\u306b\u4f7f\u3048\u308b\u9053\u5177\u3068\u8aad\u307f\u66f8\u304d\u3067\u304d\u308b\u30c8\u30d4\u30c3\u30af\u3092\u5225\u3005\u306b\u6c7a\u3081\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\" style=\"margin-top:18px;margin-bottom:36px\">\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>RAI \u6a19\u6e96<\/strong>\uff1a\u5f79\u306e\u9854\u3076\u308c\u306f\u6c7a\u307e\u3063\u3066\u304a\u3089\u305a\u3001\u632f\u308a\u5206\u3051\u3082\u9053\u5177\u3067\u3059\uff08<code>create_handoff_tool<\/code>\uff09\u3002\u305f\u3060\u3057\u632f\u308a\u5148\u306f<strong>\u540c\u3058\u30d7\u30ed\u30bb\u30b9\u306e\u4e2d<\/strong>\u3067\u3001\u5916\u304b\u3089\u306f1\u500b\u306e\u30ce\u30fc\u30c9\u306b\u3057\u304b\u898b\u3048\u307e\u305b\u3093<\/li>\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\"><strong>\u79c1\u306e\u69cb\u6210<\/strong>\uff1a\u5f79\u3054\u3068\u306b1\u30d7\u30ed\u30bb\u30b9\u3002\u59d4\u8b72\u306f <code>\/motion\/from_human<\/code> \u2192 <code>\/motion\/to_human<\/code> \u306e\u30c8\u30d4\u30c3\u30af\u5f80\u5fa9\u306a\u306e\u3067\u3001<code>ros2 topic echo<\/code> \u3067\u4f1a\u8a71\u3092\u8997\u3051\u307e\u3059<\/li>\n<\/ul>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 520\" role=\"img\" aria-label=\"\u7ba1\u7406\u8005\u30fb\u79fb\u52d5\u62c5\u5f53\u30fb\u628a\u6301\u62c5\u5f53\u306e3\u4f53\u69cb\u6210\u56f3\u3002\u4eba\u306e\u547d\u4ee4\u304c\u7ba1\u7406\u8005\u306b\u5165\u308a\u3001\u7ba1\u7406\u8005\u304c ROS 2 \u306e\u30c8\u30d4\u30c3\u30af\u7d4c\u7531\u3067\u79fb\u52d5\u62c5\u5f53\u3068\u628a\u6301\u62c5\u5f53\u3078\u59d4\u8b72\u3059\u308b\u3002\u79fb\u52d5\u62c5\u5f53\u306f\u901f\u5ea6\u306b\u66f8\u304d\u8fbc\u3081\u308b\u304c\u3001\u628a\u6301\u62c5\u5f53\u306f\u66f8\u304d\u8fbc\u307f\u5148\u304c\u3072\u3068\u3064\u3082\u7121\u304f\u3001\u30a2\u30fc\u30e0\u306f\u9589\u30eb\u30fc\u30d7\u306e\u9053\u5177\u8d8a\u3057\u306b\u3057\u304b\u52d5\u304b\u305b\u306a\u3044\u3002\u305d\u308c\u305e\u308c\u77e5\u899a\u5c64\u306b\u4f55\u3092\u7a4d\u3093\u3067\u3044\u308b\u304b\u3082\u66f8\u304b\u308c\u3066\u3044\u308b\" style=\"display:block;width:100%;min-width:700px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g3rl\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#12408F\"\/><\/marker>\n<\/defs>\n<rect x=\"24\" y=\"42\" width=\"150\" height=\"56\" rx=\"9\" fill=\"#F2F4F7\" stroke=\"#9AA5B1\" stroke-width=\"1.4\"\/>\n<text x=\"99\" y=\"76\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"13\" font-weight=\"700\">\u4eba\u306e\u547d\u4ee4<\/text>\n<line x1=\"180\" y1=\"70\" x2=\"324\" y2=\"70\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-start=\"url(#g3rl)\" marker-end=\"url(#g3rl)\"\/>\n<text x=\"252\" y=\"56\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/from_human<\/text>\n<text x=\"252\" y=\"90\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/to_human<\/text>\n<rect x=\"330\" y=\"32\" width=\"240\" height=\"76\" rx=\"10\" fill=\"#12408F\"\/>\n<text x=\"450\" y=\"62\" text-anchor=\"middle\" fill=\"#FFFFFF\" font-size=\"15\" font-weight=\"700\">\u7ba1\u7406\u8005<\/text>\n<text x=\"450\" y=\"86\" text-anchor=\"middle\" fill=\"#C9D8F2\" font-size=\"11\">ROS \u306f\u76f4\u63a5\u89e6\u3089\u306a\u3044\u3002\u632f\u308a\u5206\u3051\u3060\u3051<\/text>\n<line x1=\"450\" y1=\"110\" x2=\"450\" y2=\"150\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<line x1=\"235\" y1=\"150\" x2=\"665\" y2=\"150\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<line x1=\"235\" y1=\"152\" x2=\"235\" y2=\"244\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3rl)\"\/>\n<line x1=\"665\" y1=\"152\" x2=\"665\" y2=\"244\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3rl)\"\/>\n<text x=\"235\" y=\"180\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/motion\/from_human<\/text>\n<text x=\"235\" y=\"200\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/motion\/to_human<\/text>\n<text x=\"665\" y=\"180\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/manipulation\/from_human<\/text>\n<text x=\"665\" y=\"200\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/manipulation\/to_human<\/text>\n<rect x=\"60\" y=\"246\" width=\"350\" height=\"220\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"235\" y=\"276\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"15\" font-weight=\"700\">\u79fb\u52d5\u62c5\u5f53<\/text>\n<text x=\"80\" y=\"304\" fill=\"#5B7099\" font-size=\"10\">\u9053\u5177<\/text>\n<text x=\"80\" y=\"324\" fill=\"#333333\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">drive_distance \/ turn_angle<\/text>\n<text x=\"80\" y=\"344\" fill=\"#C05621\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">navigate_to_pose\uff08Nav2 \u7a3c\u50cd\u6642\uff09<\/text>\n<text x=\"80\" y=\"364\" fill=\"#333333\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\u30ab\u30e1\u30e9 \/ check_progress<\/text>\n<text x=\"80\" y=\"392\" fill=\"#5B7099\" font-size=\"10\">\u6a29\u9650<\/text>\n<text x=\"80\" y=\"410\" fill=\"#333333\" font-size=\"11\">\u8aad \/odom \/scan \/tf \/camera \uff0f <tspan font-weight=\"700\">\u66f8 \/cmd_vel<\/tspan><\/text>\n<text x=\"80\" y=\"438\" fill=\"#5B7099\" font-size=\"10\">\u77e5\u899a\u5c64<\/text>\n<text x=\"80\" y=\"456\" fill=\"#333333\" font-size=\"11\">\/rosout \u3092\u8981\u7d04\uff08LLM \u4e0d\u4f7f\u7528\uff09<\/text>\n<rect x=\"490\" y=\"246\" width=\"350\" height=\"220\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"665\" y=\"276\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"15\" font-weight=\"700\">&#x1f9be; \u628a\u6301\u62c5\u5f53\uff08\u30a2\u30fc\u30e0\uff09<\/text>\n<text x=\"510\" y=\"304\" fill=\"#5B7099\" font-size=\"10\">\u9053\u5177<\/text>\n<text x=\"510\" y=\"324\" fill=\"#333333\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">pick_object \/ place_object_at<\/text>\n<text x=\"510\" y=\"344\" fill=\"#333333\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">inspect_workspace \/ home_arm<\/text>\n<text x=\"510\" y=\"364\" fill=\"#333333\" font-size=\"11\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\u30ab\u30e1\u30e9 \/ check_progress<\/text>\n<text x=\"510\" y=\"392\" fill=\"#5B7099\" font-size=\"10\">\u6a29\u9650<\/text>\n<text x=\"510\" y=\"410\" fill=\"#333333\" font-size=\"11\">\u8aad \/arm\/joint_states \/camera \uff0f <tspan font-weight=\"700\" fill=\"#C05621\">\u66f8 \u306a\u3057<\/tspan><\/text>\n<text x=\"510\" y=\"438\" fill=\"#5B7099\" font-size=\"10\">\u77e5\u899a\u5c64<\/text>\n<text x=\"510\" y=\"456\" fill=\"#7A869A\" font-size=\"11\">\u306a\u3057\uff08\u9053\u5177\u304c\u5b9f\u6e2c\u3057\u3066\u8fd4\u3059\uff09<\/text>\n<text x=\"450\" y=\"498\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"11\">\u4f1a\u8a71\u306f HRIMessage \u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3002\u30d7\u30ed\u30bb\u30b9\u5185\u306e\u95a2\u6570\u547c\u3073\u51fa\u3057\u3067\u306f\u306a\u304f\u3001DDS \u3092\u901a\u3063\u3066\u5c4a\u304f<\/text>\n<circle r=\"4.8\" fill=\"#12408F\"><animateMotion path=\"M450,112 V150 H235 V240\" dur=\"2.4s\" repeatCount=\"indefinite\"\/><\/circle>\n<circle r=\"4.8\" fill=\"#12408F\" opacity=\"0\"><animateMotion path=\"M450,112 V150 H665 V240\" dur=\"2.4s\" begin=\"1.2s\" repeatCount=\"indefinite\"\/><animate attributeName=\"opacity\" from=\"0\" to=\"1\" begin=\"1.2s\" dur=\"0.01s\" fill=\"freeze\"\/><\/circle>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f36\uff1a3\u4f53\u69cb\u6210\u3002\u59d4\u8b72\u306f ROS 2 \u306e\u30c8\u30d4\u30c3\u30af\u3092\u5f80\u5fa9\u3059\u308b<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u66f8\u304d\u65b9\u306f\u3053\u308c\u3060\u3051\u3067\u3059\u3002<strong>\u53d7\u3051\u53d6\u308b\u30c8\u30d4\u30c3\u30af\u30fb\u51fa\u3059\u30c8\u30d4\u30c3\u30af\u30fb\u4f7f\u3048\u308b\u9053\u5177\u30fb\u66f8\u304d\u8fbc\u307f\u3092\u8a31\u3059\u30c8\u30d4\u30c3\u30af<\/strong>\u3092\u4e26\u3079\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>MOTION = RoleSpec(\n    name='motion', label='\u79fb\u52d5\u62c5\u5f53',\n    source='\/motion\/from_human',   # \u6307\u793a\u3092\u53d7\u3051\u53d6\u308b\u30c8\u30d4\u30c3\u30af\n    target='\/motion\/to_human',     # \u5fdc\u7b54\u3092\u51fa\u3059\u30c8\u30d4\u30c3\u30af\n    readable=('\/odom', '\/scan', '\/tf', '\/robot_cam\/image'),\n    writable=('\/cmd_vel',),        # Nav2 \u7a3c\u50cd\u6642\u306f\u7a7a\u306b\u3059\u308b\n    drive_tools=True, nav_tools=True, map_tools=True,\n)\n\nMANIPULATION = RoleSpec(\n    name='manipulation', label='\u628a\u6301\u62c5\u5f53',\n    source='\/manipulation\/from_human',\n    target='\/manipulation\/to_human',\n    readable=('\/arm\/joint_states', '\/robot_cam\/image'),\n    writable=(),                   # \u95a2\u7bc0\u30c8\u30d4\u30c3\u30af\u306f1\u3064\u3082\u6e21\u3055\u306a\u3044\n    arm_tools=True, camera=True,\n)<\/code><\/pre>\n\n\n\n<ul class=\"wp-block-list\" style=\"margin-top:18px;margin-bottom:36px\">\n<li style=\"line-height:1.95;margin-bottom:14px\">\u52b9\u3044\u305f\u306e\u306f\u8ce2\u3055\u3067\u306f\u306a\u304f<strong>\u6a29\u9650<\/strong>\u3002\u79fb\u52d5\u62c5\u5f53\u306f <code>\/cmd_vel<\/code> \u306b\u66f8\u3051\u307e\u3059\u304c\u3001\u628a\u6301\u62c5\u5f53\u306f <code>writable<\/code> \u304c\u7a7a\u3067 publish \u304c<strong>\u5168\u90e8\u62d2\u5426<\/strong>\u3055\u308c\u307e\u3059<\/li>\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\">\u77e5\u899a\u5c64\u30821\u4f53\u305a\u3064\u3002\u79fb\u52d5\u62c5\u5f53\u306e\u5c65\u6b74\u306b\u306f<strong>\u7ba1\u7406\u8005\u306e\u6307\u793a<\/strong>\u3068<strong>\u81ea\u5206\u306e\u77e5\u899a\u5c64\u306e\u8981\u7d04<\/strong>\u304c\u4e26\u3073\u3001\u3069\u3061\u3089\u3082 <code>human:<\/code> \u3067\u3059<\/li>\n<\/ul>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 300\" role=\"img\" aria-label=\"\u79fb\u52d5\u62c5\u5f531\u4f53\u3092\u958b\u3044\u305f\u56f3\u3002\u4f1a\u8a71\u5c65\u6b74\u3078\u306e\u5165\u53e3\u304c2\u3064\u3042\u308a\u3001\u4e0a\u306f\u7ba1\u7406\u8005\u304b\u3089\u306e\u4f9d\u983c\u304c\u30c8\u30d4\u30c3\u30af\u7d4c\u7531\u3067\u5c4a\u304f\u3082\u306e\u3001\u4e0b\u306f\u81ea\u5206\u306e\u77e5\u899a\u5c64\u304cROS\u306e\u30ed\u30b0\u309215\u79d2\u3054\u3068\u306b\u7573\u3093\u3067\u5dee\u3057\u8fbc\u3080\u3082\u306e\u3002\u3069\u3061\u3089\u3082 human \u306e\u767a\u8a00\u3068\u3057\u3066\u540c\u30581\u672c\u306e\u5c65\u6b74\u306b\u4e26\u3073\u3001\u305d\u308c\u30921\u3064\u306eLLM\u304c\u8aad\u3080\u3002\u3053\u306e\u5c65\u6b74\u306f\u79fb\u52d5\u62c5\u5f53\u3060\u3051\u306e\u3082\u306e\u3067\u3001\u4ed6\u306e\u62c5\u5f53\u306b\u306f\u6d41\u308c\u306a\u3044\" style=\"display:block;width:100%;min-width:700px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g3hb\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#12408F\"\/><\/marker>\n<marker id=\"g3hw\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#C05621\"\/><\/marker>\n<\/defs>\n<rect x=\"14\" y=\"14\" width=\"872\" height=\"238\" rx=\"12\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.4\" stroke-dasharray=\"6 5\"\/>\n<text x=\"30\" y=\"36\" fill=\"#9AA5B1\" font-size=\"11.5\" font-weight=\"700\">\u79fb\u52d5\u62c5\u5f53\uff081\u30d7\u30ed\u30bb\u30b9\uff09\u306e\u4e2d<\/text>\n<text x=\"30\" y=\"66\" fill=\"#7A869A\" font-size=\"11.5\" font-weight=\"700\">\u5165\u53e3\u306f2\u3064<\/text>\n<rect x=\"30\" y=\"78\" width=\"196\" height=\"66\" rx=\"9\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"128\" y=\"103\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u7ba1\u7406\u8005\u304b\u3089\u306e\u4f9d\u983c<\/text>\n<text x=\"128\" y=\"123\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/motion\/from_human<\/text>\n<text x=\"128\" y=\"139\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"10.5\">\u5c4a\u3044\u305f\u3068\u304d\u3060\u3051<\/text>\n<rect x=\"30\" y=\"160\" width=\"196\" height=\"66\" rx=\"9\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.6\"\/>\n<text x=\"128\" y=\"185\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"12.5\" font-weight=\"700\">\u81ea\u5206\u306e\u77e5\u899a\u5c64<\/text>\n<text x=\"128\" y=\"205\" text-anchor=\"middle\" fill=\"#A8632F\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/rosout \u3092\u8981\u7d04<\/text>\n<text x=\"128\" y=\"221\" text-anchor=\"middle\" fill=\"#A8632F\" font-size=\"10.5\">15\u79d2\u3054\u3068\u306b\u3001\u81ea\u52d5\u3067<\/text>\n<line x1=\"232\" y1=\"111\" x2=\"286\" y2=\"111\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3hb)\"\/>\n<line x1=\"232\" y1=\"193\" x2=\"286\" y2=\"193\" stroke=\"#C05621\" stroke-width=\"1.6\" marker-end=\"url(#g3hw)\"\/>\n<text x=\"292\" y=\"66\" fill=\"#7A869A\" font-size=\"11.5\" font-weight=\"700\">\u4f1a\u8a71\u5c65\u6b74\u306f1\u672c<\/text>\n<rect x=\"292\" y=\"78\" width=\"330\" height=\"148\" rx=\"10\" fill=\"#F7F9FC\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<rect x=\"308\" y=\"94\" width=\"298\" height=\"34\" rx=\"6\" fill=\"#FFFFFF\" stroke=\"#12408F\" stroke-width=\"1.4\"\/>\n<text x=\"320\" y=\"115\" fill=\"#333333\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">human: \u68da\u306e\u524d\u307e\u3067\u884c\u3063\u3066<\/text>\n<text x=\"457\" y=\"150\" text-anchor=\"middle\" fill=\"#9AA5B1\" font-size=\"10.5\">\uff08\u3053\u306e\u9593\u306b\u3001\u8003\u3048\u305f\u7d50\u679c\u3084\u9053\u5177\u306e\u8fd4\u4e8b\uff09<\/text>\n<rect x=\"308\" y=\"176\" width=\"298\" height=\"34\" rx=\"6\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.4\"\/>\n<text x=\"320\" y=\"197\" fill=\"#C05621\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">human: \/rosout: goal rejected \u2026<\/text>\n<line x1=\"628\" y1=\"152\" x2=\"682\" y2=\"152\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3hb)\"\/>\n<text x=\"688\" y=\"66\" fill=\"#7A869A\" font-size=\"11.5\" font-weight=\"700\">\u8aad\u3080\u306e\u306f1\u3064\u306e LLM<\/text>\n<rect x=\"688\" y=\"78\" width=\"182\" height=\"60\" rx=\"9\" fill=\"#12408F\"\/>\n<text x=\"779\" y=\"104\" text-anchor=\"middle\" fill=\"#FFFFFF\" font-size=\"13\" font-weight=\"700\">LLM \u304c\u8aad\u3080<\/text>\n<text x=\"779\" y=\"124\" text-anchor=\"middle\" fill=\"#C9D8F2\" font-size=\"10.5\">2\u3064\u306e\u533a\u5225\u306f\u4ed8\u304b\u306a\u3044<\/text>\n<line x1=\"779\" y1=\"142\" x2=\"779\" y2=\"164\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3hb)\"\/>\n<rect x=\"688\" y=\"168\" width=\"182\" height=\"58\" rx=\"9\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"779\" y=\"192\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12\" font-weight=\"700\">\u9053\u5177\u3092\u547c\u3076\uff0f\u8fd4\u4e8b<\/text>\n<text x=\"779\" y=\"212\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"10.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/motion\/to_human<\/text>\n<text x=\"450\" y=\"280\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"11.5\">\u3053\u306e\u5c65\u6b74\u306f\u79fb\u52d5\u62c5\u5f53\u3060\u3051\u306e\u3082\u306e\u3002<tspan font-weight=\"700\">\u7ba1\u7406\u8005\u306b\u3082\u628a\u6301\u62c5\u5f53\u306b\u3082\u6d41\u308c\u306a\u3044<\/tspan><\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f37\uff1a\u5165\u53e3\u306f2\u3064\u3067\u3082\u3001\u5c65\u6b74\u306f1\u672c\u3002\u4f9d\u983c\u3082\u73fe\u5834\u306e\u72b6\u6cc1\u3082\u3001\u540c\u3058 human \u306e\u767a\u8a00\u3068\u3057\u3066\u4e26\u3076<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u5c65\u6b74\u306f\u3001<strong>\u4ed6\u306e\u62c5\u5f53\u306b\u306f\u898b\u3048\u307e\u305b\u3093<\/strong>\u3002\u79fb\u52d5\u62c5\u5f53\u304c\u53d7\u3051\u53d6\u3063\u305f <code>goal rejected<\/code> \u306f\u3001\u7ba1\u7406\u8005\u306b\u3082\u628a\u6301\u62c5\u5f53\u306b\u3082\u5c4a\u304d\u307e\u305b\u3093\u3002<strong>\u77e5\u899a\u5c64\u306f1\u4f53\u306e\u4e2d\u306e\u8a71\u3001\u59d4\u8b72\u306f1\u4f53\u30681\u4f53\u306e\u9593\u306e\u8a71<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u79fb\u52d5\u306f\u3001\u5168\u90e8 Nav2 \u306b\u5bc4\u305b\u305f<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">Nav2 \u304c\u5c45\u308b\u3068\u304d\u306e\u79fb\u52d5\u62c5\u5f53\u306b\u306f\u3001<strong>\u884c\u304d\u5148\u3092\u6e21\u3059\u9053\u5177\u3060\u3051<\/strong>\u3092\u6301\u305f\u305b\u307e\u3059\u3002\u901f\u5ea6\u3092\u51fa\u3059\u9053\u5177\u306f\u53d6\u308a\u4e0a\u3052\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e21\u65b9\u3042\u308b\u3068\u3001LLM \u306f\u3068\u304d\u3069\u304d\u901f\u5ea6\u306e\u307b\u3046\u3092\u9078\u3073\u307e\u3059\u3002<strong>Nav2 \u304c\u7d4c\u8def\u3092\u8ffd\u3063\u3066\u3044\u308b\u6700\u4e2d\u306b\u5272\u308a\u8fbc\u3080<\/strong>\u306e\u3067\u3001\u8d70\u308a\u3082\u81ea\u5df1\u4f4d\u7f6e\u3082\u304a\u304b\u3057\u304f\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u300cNav2 \u3092\u4f7f\u3063\u3066\u300d\u3068\u66f8\u3044\u3066\u3082\u3001\u305f\u307e\u306b\u76f4\u63a5\u52d5\u304b\u3057\u307e\u3059\u3002<strong><mark style=\"background-color:#fff3b0;color:inherit\" class=\"has-inline-color\">\u9078\u3070\u305b\u305f\u304f\u306a\u3044\u306a\u3089\u3001\u6301\u305f\u305b\u306a\u3044<\/mark><\/strong>\u3002\u3053\u308c\u304c\u78ba\u5b9f\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9053\u5177\u3092\u6d88\u3059\u3060\u3051\u3067\u306f\u8db3\u308a\u307e\u305b\u3093\u3002<code>\/cmd_vel<\/code> \u3078\u306e<strong>\u66f8\u304d\u8fbc\u307f\u8a31\u53ef\u3082\u4e00\u7dd2\u306b\u5916\u3057\u307e\u3059<\/strong>\u3002\u8a31\u53ef\u304c\u6b8b\u3063\u3066\u3044\u308b\u3068\u3001\u6c4e\u7528\u306e\u9053\u5177\u304c\u629c\u3051\u9053\u306b\u306a\u308b\u306e\u3067\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">RAI \u516c\u5f0f\u306e Nav2 \u30c7\u30e2\u3082\u540c\u3058\u3067\u3001\u30c4\u30fc\u30eb\u4e00\u89a7\u306b <code>\/cmd_vel<\/code> 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\u306b\u898b\u305b\u308c\u3070\u3088\u3044\u3001\u3068\u8003\u3048\u3066\u3001\u307e\u305a\u6570\u5024\u306e\u307e\u307e\u6e21\u305d\u3046\u3068\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6570\u5024\u306e\u307e\u307e\u3067\u306f\u6e21\u305b\u307e\u305b\u3093\u3067\u3057\u305f\u3002\u524d\u56de\u51fa\u3066\u304d\u305f\u5360\u6709\u683c\u5b50\u306f\u3001\u79c1\u306e\u74b0\u5883\u3067 222\u00d7222\u3001<strong>\u7d045\u4e07\u30de\u30b9<\/strong>\u3042\u308a\u307e\u3059\u3002\u30d7\u30ed\u30f3\u30d7\u30c8\u306b\u5165\u308b\u91cf\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7d50\u5c40\u3001<strong>\u5730\u56f3\u306f\u753b\u50cf\u306b\u3057\u3066 VLM \u306b\u898b\u305b\u308b<\/strong>\u3053\u3068\u306b\u3057\u307e\u3057\u305f\u3002RAI \u7d14\u6b63\u306e\u9053\u5177\u3082\u540c\u3058\u8003\u3048\u65b9\u3067\u30012m 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opacity=\"0\"><animateMotion path=\"M494,92 L532,92\" dur=\"2.7s\" begin=\"0.9s\" repeatCount=\"indefinite\"\/><animate attributeName=\"opacity\" from=\"0\" to=\"1\" begin=\"0.9s\" dur=\"0.01s\" fill=\"freeze\"\/><\/circle>\n<circle r=\"4.6\" fill=\"#12408F\" opacity=\"0\"><animateMotion path=\"M702,92 L740,92\" dur=\"2.7s\" begin=\"1.8s\" repeatCount=\"indefinite\"\/><animate attributeName=\"opacity\" from=\"0\" to=\"1\" begin=\"1.8s\" dur=\"0.01s\" fill=\"freeze\"\/><\/circle>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f38\uff1a\u6570\u5024\u306e\u307e\u307e\u306f\u6e21\u305b\u306a\u3044\u3002\u7d75\u306b\u3057\u3066 VLM \u306b\u8aad\u307e\u305b\u3001\u5ea7\u6a19\u30921\u3064\u4f5c\u3089\u305b\u308b<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e<strong>\u5ea7\u6a19\u30e9\u30d9\u30eb\u304c\u8981\u308a\u307e\u3059<\/strong>\u3002\u76ee\u76db\u308a\u306e\u7121\u3044\u7d75\u3060\u3068\u3001VLM \u306f\u300c\u306a\u3093\u3068\u306a\u304f\u771f\u3093\u4e2d\u3042\u305f\u308a\u300d\u307e\u3067\u3057\u304b\u8aad\u3081\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8a00\u8449\u3060\u3068\u4f1d\u308f\u308a\u306b\u304f\u3044\u306e\u3067\u3001<strong>\u5b9f\u969b\u306b\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3078\u6e21\u3057\u3066\u3044\u308b\u7d75<\/strong>\u3092\u7f6e\u3044\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 406\" role=\"img\" aria-label=\"\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306b\u6e21\u3059\u5730\u56f3\u753b\u50cf\u306e\u5b9f\u7269\u30a4\u30e1\u30fc\u30b8\u3068\u3001\u305d\u308c\u306b\u6dfb\u3048\u308b\u6587\u7ae0\u3002\u5de6\u306f\u5360\u6709\u683c\u5b50\u3092\u63cf\u3044\u305f\u6697\u3044\u5730\u56f3\u753b\u50cf\u3067\u30012m\u9593\u9694\u306e\u30b0\u30ea\u30c3\u30c9\u7dda\u3068\u5ea7\u6a19\u30e9\u30d9\u30eb\u3001\u58c1\u3001\u67f1\u3001\u30ec\u30fc\u30b6\u70b9\u3001Nav2\u306e\u7d4c\u8def\u3001\u76ee\u6a19\u3001\u30ed\u30dc\u30c3\u30c8\u4f4d\u7f6e\u304c\u5199\u3063\u3066\u3044\u308b\u3002\u53f3\u306fVLM\u3078\u306e\u5165\u529b\u3068\u3057\u3066\u753b\u50cf\u3068\u73fe\u5728\u4f4d\u7f6e\u306e\u6570\u5024\u306e2\u3064\u3092\u6e21\u3059\u3053\u3068\u3092\u793a\u3057\u3066\u3044\u308b\" style=\"display:block;width:100%;min-width:700px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g3mi\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"7\" markerHeight=\"7\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#12408F\"\/><\/marker>\n<\/defs>\n<text x=\"24\" y=\"40\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">\u5730\u56f3\u306e\u753b\u50cf\uff08\u5b9f\u969b\u306b\u6e21\u3057\u3066\u3044\u308b1\u679a\uff09<\/text>\n<rect x=\"24\" y=\"54\" width=\"470\" height=\"352\" fill=\"#202830\" stroke=\"#3E5060\" stroke-width=\"1.4\"\/>\n<rect x=\"66\" y=\"124\" width=\"386\" height=\"248\" fill=\"#0F172A\"\/>\n<line x1=\"30\" y1=\"130\" x2=\"494\" y2=\"130\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<line x1=\"30\" y1=\"224\" x2=\"494\" y2=\"224\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<line x1=\"30\" y1=\"318\" x2=\"494\" y2=\"318\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<line x1=\"30\" y1=\"54\" x2=\"30\" y2=\"406\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<line x1=\"124\" y1=\"54\" x2=\"124\" y2=\"406\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<line x1=\"218\" y1=\"54\" x2=\"218\" y2=\"406\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<line x1=\"312\" y1=\"54\" x2=\"312\" y2=\"406\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<line x1=\"406\" y1=\"54\" x2=\"406\" y2=\"406\" stroke=\"#3E5060\" stroke-width=\"1\"\/>\n<text x=\"28\" y=\"126\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">2<\/text>\n<text x=\"28\" y=\"220\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">0<\/text>\n<text x=\"28\" y=\"314\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">-2<\/text>\n<text x=\"34\" y=\"400\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">-4<\/text>\n<text x=\"128\" y=\"400\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">-2<\/text>\n<text x=\"222\" y=\"400\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">0<\/text>\n<text x=\"316\" y=\"400\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">2<\/text>\n<text x=\"410\" y=\"400\" fill=\"#94A8B8\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">4<\/text>\n<rect x=\"66\" y=\"124\" width=\"386\" height=\"248\" fill=\"none\" stroke=\"#E2E8F0\" stroke-width=\"5\"\/>\n<rect x=\"248\" y=\"188\" width=\"42\" height=\"42\" fill=\"#E2E8F0\"\/>\n<circle cx=\"70\" cy=\"250\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"70\" cy=\"280\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"70\" cy=\"310\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"70\" cy=\"340\" r=\"1.9\" fill=\"#38BDF8\"\/>\n<circle cx=\"110\" cy=\"368\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"150\" cy=\"368\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"190\" cy=\"368\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"230\" cy=\"368\" r=\"1.9\" fill=\"#38BDF8\"\/>\n<circle cx=\"245\" cy=\"196\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"245\" cy=\"212\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"245\" cy=\"228\" r=\"1.9\" fill=\"#38BDF8\"\/>\n<circle cx=\"258\" cy=\"233\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"274\" cy=\"233\" r=\"1.9\" fill=\"#38BDF8\"\/><circle cx=\"288\" cy=\"233\" r=\"1.9\" fill=\"#38BDF8\"\/>\n<polyline points=\"170,300 206,272 228,232 236,178 300,150 395,160\" fill=\"none\" stroke=\"#A7F3D0\" stroke-width=\"2\"\/>\n<path d=\"M389,154 L401,166 M401,154 L389,166\" stroke=\"#FBBF24\" stroke-width=\"2\"\/>\n<circle cx=\"170\" cy=\"300\" r=\"6\" fill=\"#F93F71\"\/>\n<line x1=\"170\" y1=\"300\" x2=\"181\" y2=\"286\" stroke=\"#F93F71\" stroke-width=\"2\"\/>\n<text x=\"34\" y=\"74\" fill=\"#94A8B8\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">map 222x222 @ 0.05m\/px = 11.1 x 11.1 m<\/text>\n<text x=\"34\" y=\"92\" fill=\"#94A8B8\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">grid 2 m, map frame (+x right, +y up)<\/text>\n<text x=\"34\" y=\"110\" fill=\"#94A8B8\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">pose: x=-1.02 y=-1.62 yaw=52 deg<\/text>\n<line x1=\"500\" y1=\"230\" x2=\"548\" y2=\"230\" stroke=\"#12408F\" stroke-width=\"1.8\" marker-end=\"url(#g3mi)\"\/>\n<circle r=\"4.6\" fill=\"#12408F\"><animateMotion path=\"M504,230 L544,230\" dur=\"2.4s\" repeatCount=\"indefinite\"\/><\/circle>\n<text x=\"556\" y=\"40\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">VLM \u3078\u306e\u5165\u529b<\/text>\n<rect x=\"556\" y=\"54\" width=\"320\" height=\"352\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<rect x=\"574\" y=\"76\" width=\"284\" height=\"100\" rx=\"8\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.2\"\/>\n<circle cx=\"592\" cy=\"98\" r=\"3.4\" fill=\"#12408F\"\/>\n<text x=\"604\" y=\"102\" fill=\"#12408F\" font-size=\"12\" font-weight=\"700\">\u5730\u56f3\u306e\u753b\u50cf<\/text>\n<text x=\"590\" y=\"126\" fill=\"#5B7099\" font-size=\"11.5\">\u5de6\u306e1\u679a\u3092\u3001\u305d\u306e\u307e\u307e\u6dfb\u4ed8\u3059\u308b<\/text>\n<text x=\"590\" y=\"148\" fill=\"#5B7099\" font-size=\"11.5\">2m \u306e\u76ee\u76db\u308a\u3068\u5ea7\u6a19\u30e9\u30d9\u30eb\u5165\u308a<\/text>\n<text x=\"590\" y=\"168\" fill=\"#5B7099\" font-size=\"11.5\">\u58c1\u30fb\u67f1\u30fb\u7d4c\u8def\u30fb\u81ea\u6a5f\u3082\u540c\u3058\u7d75\u306b\u8f09\u308b<\/text>\n<rect x=\"574\" y=\"192\" width=\"284\" height=\"106\" rx=\"8\" fill=\"#FFFFFF\" stroke=\"#B9C6DC\" stroke-width=\"1.2\"\/>\n<circle cx=\"592\" cy=\"214\" r=\"3.4\" fill=\"#12408F\"\/>\n<text x=\"604\" y=\"218\" fill=\"#12408F\" font-size=\"12\" font-weight=\"700\">\u73fe\u5728\u4f4d\u7f6e\u306e\u6570\u5024\uff08\u6587\u7ae0\uff09<\/text>\n<text x=\"590\" y=\"242\" fill=\"#333333\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">The robot is at x=-1.02, y=-1.62 m,<\/text>\n<text x=\"590\" y=\"258\" fill=\"#333333\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">heading 52 deg (0 deg = +x)<\/text>\n<text x=\"590\" y=\"284\" fill=\"#C05621\" font-size=\"11.5\" font-weight=\"700\">\u81ea\u5206\u306e\u5c45\u5834\u6240\u306f\u7d75\u304b\u3089\u8aad\u307e\u305b\u306a\u3044<\/text>\n<text x=\"716\" y=\"330\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"12\" font-weight=\"700\">\u3053\u306e2\u3064\u3092\u898b\u3066\u3001\u884c\u304d\u5148\u306e\u5ea7\u6a19\u30921\u3064\u8fd4\u3059<\/text>\n<text x=\"716\" y=\"356\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11.5\">navigate_to_pose \u306b\u3001\u305d\u306e\u307e\u307e\u6e21\u305b\u308b\u5f62<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f39\uff1a\u3053\u308c\u304c\u5b9f\u969b\u306b\u6e21\u3063\u3066\u3044\u308b1\u679a\u3002\u76ee\u76db\u308a\u3068\u5ea7\u6a19\u30e9\u30d9\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\u306e\u3067\u3001VLM \u304c\u8aad\u3093\u3060\u4f4d\u7f6e\u3092\u305d\u306e\u307e\u307e\u5ea7\u6a19\u306b\u3067\u304d\u308b<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u6e21\u3059\u306e\u306f\u753b\u50cf\u3060\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002<strong>\u73fe\u5728\u4f4d\u7f6e\u306f\u6587\u7ae0\u3067\u3082\u4e00\u7dd2\u306b\u8fd4\u3057\u3066\u3044\u307e\u3059<\/strong>\u3002\u3069\u3053\u306b\u5c45\u308b\u304b\u307e\u3067\u7d75\u304b\u3089\u8aad\u307e\u305b\u308b\u3068\u3001\u305d\u3053\u3092\u5916\u3059\u3068\u884c\u304d\u5148\u3082\u4e00\u7dd2\u306b\u305a\u308c\u308b\u305f\u3081\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6574\u7406\u3059\u308b\u3068\u3001\u3053\u3046\u306a\u308a\u307e\u3059\u3002<strong>\u5ea7\u6a19\u3057\u304b\u53d7\u3051\u53d6\u3089\u306a\u3044 Nav2<\/strong> \u3068\u3001<strong>\u7a7a\u9593\u306e\u8a00\u8449\u3067\u558b\u308b\u4eba\u9593<\/strong>\u3002\u305d\u306e\u3042\u3044\u3060\u3092\u3001\u5730\u56f3\u306e\u7d75\u3092\u8aad\u3080 VLM \u304c\u7e4b\u3044\u3067\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u306a\u304a\u3053\u306e\u7d75\u306f\u3001Web UI \u3067\u4eba\u304c\u898b\u3066\u3044\u308b\u56f3\u3068<strong>\u540c\u3058\u63cf\u753b\u30b3\u30fc\u30c9\u3067\u4f5c\u3063\u3066\u3044\u307e\u3059<\/strong>\u3002\u4eba\u3068\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067\u898b\u3048\u65b9\u304c\u305a\u308c\u306a\u3044\u306e\u3067\u3001\u52d5\u4f5c\u78ba\u8a8d\u3082\u3053\u306e1\u679a\u3067\u8db3\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u8aad\u3080\u3060\u3051\u3067\u306f\u51fa\u3066\u3053\u306a\u304b\u3063\u305f\u8a71<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u5f8c\u306b\u3001\u52d5\u304b\u3057\u3066\u5206\u304b\u3063\u305f\u8a71\u30921\u3064\u3002<strong>\u6c4e\u7528\u30c4\u30fc\u30eb\u3060\u3051\u3067\u300c0.5m \u524d\u9032\u300d\u3092\u3084\u308b\u3068\u3001\u884c\u304d\u904e\u304e\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6c4e\u7528\u306e\u9053\u5177\u7acb\u3066\u3060\u3068\u3001LLM \u306f3\u624b\u3092\u8e0f\u307f\u307e\u3059\u3002<code>\/cmd_vel<\/code> \u306b\u901f\u5ea6\u3092 publish \u3057\u3066\u3001\u5c11\u3057\u5f85\u3063\u3066\u30010 \u3092 publish\u3002\u624b\u9806\u3068\u3057\u3066\u306f\u4f55\u3082\u9593\u9055\u3063\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3068\u3053\u308d\u304c\u3001\u3053\u306e\u624b\u3068\u624b\u306e\u3042\u3044\u3060\u306b<strong>\u6bce\u56de LLM \u306e\u5f80\u5fa9\u304c\u5165\u308a\u307e\u3059<\/strong>\u3002\u5b9f\u6e2c\u30673\u301c6\u79d2\u3002\u305d\u306e\u9593\u3082\u30ed\u30dc\u30c3\u30c8\u306f\u3001\u524d\u306e\u6307\u4ee4\u306e\u307e\u307e\u8d70\u308a\u7d9a\u3051\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30ed\u30b0\u3092\u898b\u308b\u3068\u3001\u610f\u56f3\u3057\u305f\u8d70\u884c1\u79d2\u306b\u5bfe\u3057\u3066<strong>\u5b9f\u8d70\u884c11\u79d2<\/strong>\u30020.5m \u306e\u6307\u793a\u3067 <strong>1.54m<\/strong> \u9032\u3093\u3067\u3044\u307e\u3057\u305f\u30023\u500d\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u304c\u901f\u3059\u304e\u308b\u306e\u304b\u3068\u3082\u8003\u3048\u307e\u3057\u305f\u304c\u3001\u5b9f\u6642\u9593\u3068\u306e\u6bd4\u306f 0.984 \u3067\u307b\u307c\u7b49\u901f\u3067\u3057\u305f\u3002<strong>\u601d\u8003\u5f85\u3061\u304c\u305d\u306e\u307e\u307e\u8d70\u884c\u6642\u9593\u306b\u306a\u3063\u3066\u3044\u305f<\/strong>\u306e\u304c\u539f\u56e0\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u300c\u77ed\u304f\u523b\u3081\u300d\u3068\u66f8\u3044\u3066\u3082\u76f4\u308a\u307e\u305b\u3093\u3002\u523b\u3080\u305f\u3073\u306b\u540c\u3058\u8aa4\u5dee\u304c\u4e57\u308b\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u306a\u306e\u3067\u3001<strong>\u767a\u9032\u304b\u3089\u505c\u6b62\u307e\u3067\u30921\u56de\u306e\u30c4\u30fc\u30eb\u547c\u3073\u51fa\u3057\u306b\u9589\u3058\u8fbc\u3081\u307e\u3057\u305f<\/strong>\u3002<code>\/odom<\/code> \u3092\u898b\u306a\u304c\u3089\u3001\u76ee\u6a19\u306b\u9054\u3057\u305f\u3089\u81ea\u5206\u3067\u6b62\u307e\u308b\u9053\u5177\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">LLM \u304b\u3089\u898b\u308c\u3070 <code>drive_distance(distance=0.5)<\/code> \u306e1\u624b\u3067 <code>\"Moved forward 0.503 m\"<\/code> \u304c\u8fd4\u308b\u3060\u3051\u3002RAI \u672c\u4f53\u306b\u306f\u624b\u3092\u5165\u308c\u305a\u3001RAI \u306e\u9053\u5177\u3068\u4e26\u3079\u3066\u6301\u305f\u305b\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u306f<strong>\u300cLLM \u306b\u4efb\u305b\u306a\u3044\u7bc4\u56f2\u300d\u3092\u6c7a\u3081\u308b\u8a71<\/strong>\u3067\u3059\u3002\u5224\u65ad\u306f\u4efb\u305b\u3066\u3001\u6642\u9593\u306e\u5236\u7d04\u304c\u3042\u308b\u5236\u5fa1\u306f\u4efb\u305b\u306a\u3044\u3002\u305d\u3053\u304c\u7dda\u5f15\u304d\u3067\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u3053\u3053\u307e\u3067\u30921\u679a\u306b\u3059\u308b\u3068\u3001\u3053\u3046\u306a\u308b<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u90e8\u54c1\u304c\u5897\u3048\u3066\u304d\u305f\u306e\u3067\u3001\u6700\u5f8c\u306b\u5168\u90e8\u3064\u306a\u3044\u3060\u56f3\u3092\u7f6e\u3044\u3066\u304a\u304d\u307e\u3059\u3002\u524d\u56de\u306e <strong>Gazebo\u30fbSLAM\u30fbNav2\u30fbRViz<\/strong> \u3082\u3001\u4eca\u56de\u306e <strong>RAI<\/strong> \u3082\u3001\u540c\u30581\u679a\u306b\u53ce\u307e\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 706\" role=\"img\" aria-label=\"AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3068ROS 2\u306e\u5168\u4f53\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u56f3\u3002\u4e0a\u304b\u3089\u9806\u306b\u3001\u4eba\u306e\u30d6\u30e9\u30a6\u30b6\u5165\u529b\u3068LLM\u3001\u7ba1\u7406\u8005\u30fb\u79fb\u52d5\u62c5\u5f53\u30fb\u628a\u6301\u62c5\u5f53\u306e3\u30ce\u30fc\u30c9\u304b\u3089\u306a\u308bAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u5c64\u3001\u4e2d\u592e\u306eROS 2\u30b0\u30e9\u30d5\uff08DDS\uff09\u3001\u305d\u306e\u4e0b\u306eNav2\u30fbslam_toolbox\u30fbRViz\/Web UI\u3001\u3044\u3061\u3070\u3093\u4e0b\u306eGazebo Harmonic\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u304c\u3001\u30c8\u30d4\u30c3\u30af\u3068\u30a2\u30af\u30b7\u30e7\u30f3\u3067\u7e4b\u304c\u3063\u3066\u3044\u308b\" style=\"display:block;width:100%;min-width:760px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g3sa\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"6.5\" markerHeight=\"6.5\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#12408F\"\/><\/marker>\n<marker id=\"g3sd\" viewBox=\"0 0 10 10\" refX=\"9\" refY=\"5\" markerWidth=\"6.5\" markerHeight=\"6.5\" orient=\"auto-start-reverse\"><path d=\"M0,0 L10,5 L0,10 z\" fill=\"#C05621\"\/><\/marker>\n<\/defs>\n\n<rect x=\"24\" y=\"22\" width=\"250\" height=\"54\" rx=\"10\" fill=\"#F2F4F7\" stroke=\"#9AA5B1\" stroke-width=\"1.4\"\/>\n<text x=\"149\" y=\"45\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"13\" font-weight=\"700\">\u4eba<\/text>\n<text x=\"149\" y=\"65\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"11\">\u30d6\u30e9\u30a6\u30b6\u306e Web UI \u306b\u65e5\u672c\u8a9e\u3067\u5165\u529b<\/text>\n<line x1=\"149\" y1=\"78\" x2=\"149\" y2=\"94\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3sa)\"\/>\n\n<rect x=\"560\" y=\"22\" width=\"316\" height=\"54\" rx=\"10\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.6\"\/>\n<text x=\"718\" y=\"45\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"13\" font-weight=\"700\">LLM \/ VLM<\/text>\n<text x=\"718\" y=\"65\" text-anchor=\"middle\" fill=\"#A8632F\" font-size=\"11\">Anthropic\u30fbOpenAI\u30fbOllama \u3092\u8a2d\u5b9a\u3067\u9078\u3076<\/text>\n<line x1=\"718\" y1=\"78\" x2=\"718\" y2=\"94\" stroke=\"#C05621\" stroke-width=\"1.6\" stroke-dasharray=\"4 3\" marker-end=\"url(#g3sd)\"\/>\n<text x=\"548\" y=\"92\" text-anchor=\"end\" fill=\"#A8632F\" font-size=\"10.5\">3\u4f53\u305d\u308c\u305e\u308c\u304c\u547c\u3076<\/text>\n\n<rect x=\"24\" y=\"96\" width=\"852\" height=\"182\" rx=\"12\" fill=\"#F8FAFD\" stroke=\"#B9C6DC\" stroke-width=\"1.4\" stroke-dasharray=\"5 4\"\/>\n<text x=\"40\" y=\"120\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u5c64 \u2500\u2500 RAI \u6e96\u62e0\u30021\u5f79 = 1\u30d7\u30ed\u30bb\u30b9\u306e ROS 2 \u30ce\u30fc\u30c9<\/text>\n\n<rect x=\"44\" y=\"132\" width=\"256\" height=\"130\" rx=\"10\" fill=\"#FFFFFF\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"172\" y=\"157\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">\u7ba1\u7406\u8005<\/text>\n<text x=\"60\" y=\"182\" fill=\"#333333\" font-size=\"10.5\">\u601d\u8003\u30eb\u30fc\u30d7\uff08LangGraph\uff09<\/text>\n<text x=\"60\" y=\"204\" fill=\"#5B7099\" font-size=\"10.5\">\u9053\u5177\uff1d \u8ab0\u306b\u632f\u308b\u304b\uff08handoff\uff09\u3060\u3051<\/text>\n<text x=\"60\" y=\"226\" fill=\"#5B7099\" font-size=\"10.5\">\u77e5\u899a\uff1d \u306a\u3057\uff08\u7a7a\u306e\u307e\u307e\uff09<\/text>\n<text x=\"60\" y=\"248\" fill=\"#7A869A\" font-size=\"10.5\">ROS \u306f\u76f4\u63a5\u89e6\u3089\u306a\u3044<\/text>\n\n<rect x=\"322\" y=\"132\" width=\"256\" height=\"130\" rx=\"10\" fill=\"#FFFFFF\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"450\" y=\"157\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">\u79fb\u52d5\u62c5\u5f53<\/text>\n<text x=\"338\" y=\"182\" fill=\"#333333\" font-size=\"10.5\">\u9053\u5177\uff1d navigate_to_pose<\/text>\n<text x=\"338\" y=\"204\" fill=\"#5B7099\" font-size=\"10.5\">\u5730\u56f3\u3092\u7d75\u3067\u898b\u308b get_map_image<\/text>\n<text x=\"338\" y=\"226\" fill=\"#5B7099\" font-size=\"10.5\">\u77e5\u899a\uff1d \/rosout \u306e\u8981\u7d04<\/text>\n<text x=\"338\" y=\"248\" fill=\"#C05621\" font-size=\"10.5\" font-weight=\"700\">\/cmd_vel \u306f\u6301\u305f\u306a\u3044<\/text>\n\n<rect x=\"600\" y=\"132\" width=\"256\" height=\"130\" rx=\"10\" fill=\"#FFFFFF\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"728\" y=\"157\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">\u628a\u6301\u62c5\u5f53\uff08\u30a2\u30fc\u30e0\uff09<\/text>\n<text x=\"616\" y=\"182\" fill=\"#333333\" font-size=\"10.5\">\u9053\u5177\uff1d pick_object \/ place_object_at<\/text>\n<text x=\"616\" y=\"204\" fill=\"#5B7099\" font-size=\"10.5\">\u77e5\u899a\uff1d \u306a\u3057\uff08\u9053\u5177\u304c\u5b9f\u6e2c\u3057\u3066\u8fd4\u3059\uff09<\/text>\n<text x=\"616\" y=\"226\" fill=\"#5B7099\" font-size=\"10.5\">\u30a2\u30fc\u30e0\u306e\u3042\u308b\u4e16\u754c\u3067\u3060\u3051\u7acb\u3064<\/text>\n<text x=\"616\" y=\"248\" fill=\"#0E7C6B\" font-size=\"10.5\" font-weight=\"700\">\u66f8\u304d\u8fbc\u307f\u6a29\u9650\u30bc\u30ed\uff08\u9053\u5177\u8d8a\u3057\u3060\u3051\uff09<\/text>\n\n<line x1=\"74\" y1=\"264\" x2=\"74\" y2=\"332\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-start=\"url(#g3sa)\" marker-end=\"url(#g3sa)\"\/>\n<text x=\"88\" y=\"286\" fill=\"#12408F\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/agent\/instruction<\/text>\n<text x=\"88\" y=\"304\" fill=\"#5B7099\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/motion\/from_human<\/text>\n<text x=\"88\" y=\"322\" fill=\"#5B7099\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/motion\/to_human<\/text>\n\n<line x1=\"352\" y1=\"264\" x2=\"352\" y2=\"332\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-start=\"url(#g3sa)\" marker-end=\"url(#g3sa)\"\/>\n<text x=\"366\" y=\"286\" fill=\"#12408F\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">navigate_to_pose (action)<\/text>\n<text x=\"366\" y=\"304\" fill=\"#5B7099\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/odom \/scan \/tf \/map<\/text>\n<text x=\"366\" y=\"322\" fill=\"#7A869A\" font-size=\"10.5\">\u901f\u5ea6\u6307\u4ee4\u306f\u51fa\u3055\u306a\u3044<\/text>\n\n<line x1=\"630\" y1=\"264\" x2=\"630\" y2=\"332\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-start=\"url(#g3sa)\" marker-end=\"url(#g3sa)\"\/>\n<text x=\"644\" y=\"286\" fill=\"#12408F\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/arm\/joint_states<\/text>\n<text x=\"644\" y=\"304\" fill=\"#5B7099\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/manipulation\/from_human<\/text>\n<text x=\"644\" y=\"322\" fill=\"#5B7099\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/manipulation\/to_human<\/text>\n\n<rect x=\"24\" y=\"336\" width=\"852\" height=\"52\" rx=\"8\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.8\"\/>\n<text x=\"450\" y=\"368\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"13\" font-weight=\"700\">ROS 2 \u306e\u30b0\u30e9\u30d5\uff08DDS\uff09\u2500\u2500 \u4f1a\u8a71\u3082\u3001\u30bb\u30f3\u30b5\u3082\u3001\u6307\u4ee4\u3082\u3001\u5168\u90e8\u3053\u3053\u306b\u4e57\u308b<\/text>\n\n<line x1=\"130\" y1=\"390\" x2=\"130\" y2=\"426\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-start=\"url(#g3sa)\" marker-end=\"url(#g3sa)\"\/>\n<text x=\"144\" y=\"412\" fill=\"#12408F\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">navigate_to_pose<\/text>\n<line x1=\"330\" y1=\"390\" x2=\"330\" y2=\"426\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-start=\"url(#g3sa)\" marker-end=\"url(#g3sa)\"\/>\n<text x=\"344\" y=\"412\" fill=\"#12408F\" font-size=\"10\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/map<\/text>\n<line x1=\"500\" y1=\"390\" x2=\"500\" y2=\"426\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-end=\"url(#g3sa)\"\/>\n<text x=\"514\" y=\"412\" fill=\"#5B7099\" font-size=\"10.5\">\u8cfc\u8aad\u3057\u3066\u63cf\u304f\u3060\u3051<\/text>\n<line x1=\"740\" y1=\"392\" x2=\"740\" y2=\"564\" stroke=\"#12408F\" stroke-width=\"1.6\" marker-start=\"url(#g3sa)\" marker-end=\"url(#g3sa)\"\/>\n<text x=\"754\" y=\"412\" fill=\"#12408F\" font-size=\"10.5\" font-weight=\"700\">\u30bb\u30f3\u30b5\u3068\u901f\u5ea6\u6307\u4ee4<\/text>\n<text x=\"754\" y=\"440\" fill=\"#5B7099\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/clock<\/text>\n<text x=\"754\" y=\"460\" fill=\"#5B7099\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/scan \/odom<\/text>\n<text x=\"754\" y=\"480\" fill=\"#5B7099\" font-size=\"9.5\" font-family=\"ui-monospace,SFMono-Regular,Menlo,monospace\">\/tf<\/text>\n<text x=\"754\" y=\"500\" fill=\"#5B7099\" font-size=\"9.5\" 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class=\"wp-block-paragraph\">\u6b21\u56de\u306f\u3001\u3053\u306e\u69cb\u6210\u3092<strong>\u5b9f\u969b\u306b\u52d5\u304b\u3057\u307e\u3059<\/strong>\u3002\u74b0\u5883\u69cb\u7bc9\u304b\u3089\u3001\u5730\u56f3\u3092\u4f5c\u3063\u3066\u3001\u81ea\u7136\u8a00\u8a9e\u306e\u6307\u793a\u3060\u3051\u3067\u81ea\u8d70\u3059\u308b\u3068\u3053\u308d\u307e\u3067\u3092\u624b\u9806\u3054\u3068\u3002<strong>\u304a\u697d\u3057\u307f\u306b\uff01<\/strong><\/p>\n\n\n\n\n\n<details class=\"wp-block-details is-layout-flow wp-block-details-is-layout-flow\"><summary><\/summary>\n<p class=\"wp-block-paragraph\"><\/p>\n<\/details>\n\n\n<div class=\"taxonomy-category wp-block-post-terms\"><a href=\"https:\/\/www.creationline.com\/tech-blog\/chatgpt-ai\/ai-driven-dev\" rel=\"tag\">AI\u99c6\u52d5\u958b\u767a(AIDD)<\/a><span class=\"wp-block-post-terms__separator\">, <\/span><a href=\"https:\/\/www.creationline.com\/tech-blog\/author\/h-takeuchi\" rel=\"tag\">h-takeuchi<\/a><span class=\"wp-block-post-terms__suffix\">AI\u99c6\u52d5\u958b\u767a<\/span><\/div>\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-85367","post","type-post","status-publish","format-standard","hentry","category-ai-driven-dev","category-h-takeuchi"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301cRAI\u3092\u53c2\u8003\u306b\u30de\u30eb\u30c1AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3059 \u301c - Tech 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content=\"AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301cRAI\u3092\u53c2\u8003\u306b\u30de\u30eb\u30c1AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3059 \u301c - Tech Blog\uff5c\u30af\u30ea\u30a8\u30fc\u30b7\u30e7\u30f3\u30e9\u30a4\u30f3\" \/>\n<meta property=\"og:description\" content=\"AI\u99c6\u52d5\u958b\u767a(AIDD), h-takeuchi |\u3053\u3093\u306b\u3061\u306f\u3001\u7af9\u5185 \u3067\u3059\u3002 \u524d\u56de\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u8d70\u3089\u305b\u308b\u305f\u3081\u306e\u571f\u53f0\u3068\u3057\u3066 Gazebo\u30fbSLAM\u30fbNav2\u30fbRViz\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.creationline.com\/tech-blog\/chatgpt-ai\/ai-driven-dev\/85367\" \/>\n<meta property=\"og:site_name\" content=\"Tech Blog\uff5c\u30af\u30ea\u30a8\u30fc\u30b7\u30e7\u30f3\u30e9\u30a4\u30f3\" \/>\n<meta property=\"article:publisher\" 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