{"id":85416,"date":"2026-08-24T12:29:24","date_gmt":"2026-08-24T03:29:24","guid":{"rendered":"https:\/\/www.creationline.com\/tech-blog\/?p=85416"},"modified":"2026-08-24T17:32:49","modified_gmt":"2026-08-24T08:32:49","slug":"%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%94-px4%e3%81%a7%e3%83%89%e3%83%ad%e3%83%bc","status":"publish","type":"post","link":"https:\/\/www.creationline.com\/tech-blog\/chatgpt-ai\/ai-driven-dev\/85416","title":{"rendered":"\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301c\uff14.PX4\u3067\u30c9\u30ed\u30fc\u30f3\u3092\u98db\u3070\u3059\u301c"},"content":{"rendered":"\n<figure class=\"wp-block-video\"><video height=\"1100\" style=\"aspect-ratio: 1920 \/ 1100;\" width=\"1920\" controls 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44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 258\" role=\"img\" aria-label=\"\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u3068\u30c9\u30ed\u30fc\u30f3\u306e\u5236\u5fa1\u7d4c\u8def\u306e\u6bd4\u8f03\u56f3\u3002\u4e0a\u6bb5\u306e\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306fROS 2\u304b\u3089cmd_vel\u304cGazebo\u306eDiffDrive\u30d7\u30e9\u30b0\u30a4\u30f3\u3078\u76f4\u63a5\u5c4a\u304f\u3002\u4e0b\u6bb5\u306e\u30c9\u30ed\u30fc\u30f3\u306fROS 2\u3068Gazebo\u306e\u9593\u306bPX4\u30d5\u30e9\u30a4\u30c8\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u304c\u5165\u308a\u3001Gazebo\u306fPX4\u3068\u3060\u3051\u4f1a\u8a71\u3059\u308b\" style=\"display:block;width:100%;min-width:660px;max-width:900px;height:auto;font-family:-apple-system,BlinkMacSystemFont,'Hiragino Sans','Noto Sans JP',sans-serif;\">\n<defs>\n<marker id=\"g4ar\" 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\" 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font-weight=\"700\">\u6570\u767e Hz<\/text>\n\n<rect x=\"24\" y=\"178\" width=\"852\" height=\"66\" rx=\"10\" fill=\"#F2F4F7\" stroke=\"#9AA5B1\" stroke-width=\"1.6\"\/>\n<text x=\"44\" y=\"206\" fill=\"#333\" font-size=\"13.5\" font-weight=\"700\">Gazebo\uff08\u7269\u7406\uff09<\/text>\n<text x=\"44\" y=\"228\" fill=\"#7A869A\" font-size=\"11.5\">\u30ed\u30fc\u30bf\u30fc\u306e\u63a8\u529b\u304b\u3089\u6a5f\u4f53\u306e\u904b\u52d5\u3092\u89e3\u304f\u3002IMU\u30fb\u6c17\u5727\u30fb\u5730\u78c1\u6c17\u30fbGNSS \u3092\u4f5c\u308b<\/text>\n<text x=\"856\" y=\"217\" text-anchor=\"end\" fill=\"#7A869A\" font-size=\"12\" font-weight=\"700\">1000 Hz<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f32\uff1a\u62c5\u5f53\u3059\u308b\u6642\u9593\u306e\u523b\u307f\u304c3\u6841\u305a\u3064\u9055\u3046\u3002LLM \u304c\u5165\u308c\u308b\u306e\u306f\u4e00\u756a\u4e0a\u306e\u6bb5\u3060\u3051<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">LLM \u304c\u5165\u308c\u308b\u306e\u306f\u4e00\u756a\u4e0a\u306e\u6bb5\u3060\u3051\u3067\u3059\u3002<strong>\u300c\u3069\u3053\u3078\u884c\u304f\u304b\u300d\u306f\u79d2\u306e\u4e16\u754c\u3001\u300c\u3069\u3046\u98db\u3076\u304b\u300d\u306f\u30df\u30ea\u79d2\u306e\u4e16\u754c<\/strong>\u3067\u3001\u305d\u3053\u306b LLM \u3092\u7f6e\u304f\u4f59\u5730\u306f\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">\u306a\u305c PX4 \u304c\u8981\u308b\u306e\u304b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u98db\u3076\u6a5f\u4f53\u306f\u3001\u653e\u3063\u3066\u304a\u304f\u3068\u843d\u3061\u307e\u3059\u3002\u30af\u30a2\u30c3\u30c9\u30b3\u30d7\u30bf\u30fc\u306f4\u3064\u306e\u30ed\u30fc\u30bf\u30fc\u3057\u304b\u6301\u305f\u305a\u3001<strong>\u6a5f\u4f53\u3092\u50be\u3051\u308b\u3053\u3068\u3067\u3057\u304b\u6a2a\u306b\u52d5\u3051\u307e\u305b\u3093<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u50be\u3044\u305f\u307e\u307e\u653e\u7f6e\u3059\u308c\u3070\u3001\u305d\u306e\u307e\u307e\u52a0\u901f\u3057\u3066\u843d\u3061\u307e\u3059\u3002\u59ff\u52e2\u3092\u6e2c\u308a\u30014\u3064\u306e\u56de\u8ee2\u6570\u3092\u914d\u308a\u76f4\u3059\u3002\u3053\u308c\u3092<strong>\u6570\u30df\u30ea\u79d2\u3054\u3068\u306b\u3001\u6b62\u3081\u305a\u306b<\/strong>\u7d9a\u3051\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306f\u9055\u3044\u307e\u3059\u3002<code>\/cmd_vel<\/code> \u3092\u51fa\u3059\u306e\u3092\u3084\u3081\u308c\u3070\u3001\u305d\u3053\u3067\u6b62\u307e\u308b\u3060\u3051\u3067\u3059\u3002<strong>\u6307\u4ee4\u306e\u9593\u9694\u304c\u7a7a\u3044\u3066\u3082\u5012\u308c\u307e\u305b\u3093<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u5dee\u304c\u3001\u9593\u306b PX4 \u3092\u5165\u308c\u308b\u7406\u7531\u3067\u3059\u3002ROS 2 \u306e\u30ce\u30fc\u30c9\u3082 Python \u3082 LLM \u306e\u5fdc\u7b54\u3082\u3001<strong>\u30df\u30ea\u79d2\u306e\u5468\u671f\u3092\u5b88\u308b\u4fdd\u8a3c\u304c\u3042\u308a\u307e\u305b\u3093<\/strong>\u30021\u56de\u306e\u9045\u308c\u304c\u589c\u843d\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">PX4 \u304c\u6301\u3063\u3066\u3044\u308b\u306e\u306f\u59ff\u52e2\u5236\u5fa1\u3060\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002<strong>arm \u524d\u306e\u70b9\u691c\u30fb\u30bb\u30f3\u30b5\u7570\u5e38\u6642\u306e failsafe\u30fbEKF \u306b\u3088\u308b\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a<\/strong>\u3082\u3001\u540c\u3058\u5185\u5074\u306e\u30eb\u30fc\u30d7\u306b\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3060\u304b\u3089\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306f\u3001\u843d\u3068\u3055\u306a\u3044\u4ed5\u4e8b\u3092\u4e38\u3054\u3068 PX4 \u306b\u9810\u3051\u3066\u3001<strong>\u3069\u3053\u3078\u884c\u304f\u304b\u3060\u3051\u3092\u8003\u3048\u3089\u308c\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">SITL\uff1a\u5b9f\u6a5f\u3068\u540c\u3058\u30b3\u30fc\u30c9\u3092 PC \u3067\u52d5\u304b\u3059<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4eca\u56de\u4f7f\u3046\u306e\u306f <strong>SITL<\/strong>\uff08Software In The Loop\uff09\u3067\u3059\u3002\u5b9f\u6a5f\u306e\u30d5\u30a1\u30fc\u30e0\u30a6\u30a7\u30a2\u3092<strong>\u305d\u306e\u307e\u307e PC \u4e0a\u306e\u30d7\u30ed\u30bb\u30b9\u3068\u3057\u3066\u8d77\u52d5<\/strong>\u3057\u3066\u3001\u30bb\u30f3\u30b5\u306e\u5024\u3060\u3051\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u304b\u3089\u8cb0\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">PX4 \u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30d3\u30eb\u30c9\u3059\u308b\u3068\u3001<code>px4<\/code> \u3068\u3044\u3046\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304c\u3067\u304d\u307e\u3059\u3002\u8d77\u52d5\u3059\u308b\u3068\u3001\u5b9f\u6a5f\u3068\u540c\u3058\u8d77\u52d5\u30b9\u30af\u30ea\u30d7\u30c8\u304c\u8d70\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>INFO  [commander] LED: open \/dev\/led0 failed (22)\nINFO  [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888\nINFO  [mavlink] mode: Onboard, data rate: 4000000 B\/s on udp port 14580\nWARN  [health_and_arming_checks] Preflight Fail: no heading reference\nINFO  [logger] Opened full log file: .\/log\/2026-08-20\/18_10_19.ulg\nINFO  [commander] Ready for takeoff!<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><code>\/dev\/led0<\/code> 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font-size=\"13.5\" font-weight=\"700\">PX4<\/text>\n<text x=\"786\" y=\"76\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"11\">udp 14580<\/text>\n<text x=\"786\" y=\"98\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"11\">\u59ff\u52e2\u5236\u5fa1\u30fbEKF<\/text>\n\n<line x1=\"352\" y1=\"150\" x2=\"352\" y2=\"176\" stroke=\"#0E7C6B\" stroke-width=\"1.6\" marker-end=\"url(#g4bg)\"\/>\n<rect x=\"176\" y=\"176\" width=\"352\" height=\"52\" rx=\"9\" fill=\"#fff\" stroke=\"#0E7C6B\" stroke-width=\"1.6\"\/>\n<text x=\"352\" y=\"199\" text-anchor=\"middle\" fill=\"#0E7C6B\" font-size=\"12.5\" font-weight=\"700\">\/odom \uff0b TF\uff08odom \u2192 base_link\uff09<\/text>\n<text x=\"352\" y=\"219\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">\u6a5f\u4f53\u304c\u5909\u308f\u3063\u3066\u3082\u540c\u3058\u5f62\u3067\u51fa\u3059\u7d04\u675f<\/text>\n\n<text x=\"24\" y=\"262\" fill=\"#5B7099\" font-size=\"11.5\">\u30d6\u30ea\u30c3\u30b8\u304c\u5b88\u308b\u5951\u7d04\uff1a\u3069\u306e\u6a5f\u4f53\u3082 <tspan font-weight=\"700\">\/cmd_vel \u3092\u8cfc\u8aad\u3057 \/odom \u3092 publish \u3059\u308b<\/tspan>\u3002\u3060\u304b\u3089\u4e0a\u6d41\u306f\u6a5f\u4f53\u3092\u77e5\u3089\u305a\u306b\u6e08\u3080<\/text>\n<text x=\"24\" y=\"284\" fill=\"#5B7099\" font-size=\"11.5\">\u540c\u3058\u7d04\u675f\u3092\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\uff08DiffDrive\uff09\u306f Gazebo \u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u304c\u3001\u30c9\u30ed\u30fc\u30f3\u306f\u3053\u306e\u30d6\u30ea\u30c3\u30b8\u304c\u679c\u305f\u3057\u3066\u3044\u308b<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f33\uff1a\u30d6\u30ea\u30c3\u30b8\u304c MAVLink \u3092 ROS 2 \u306e\u5f62\u306b\u7ffb\u8a33\u3059\u308b\u3002\u4e0a\u6d41\u304b\u3089\u898b\u305f\u6a5f\u4f53\u306e\u9854\u3064\u304d\u306f\u5909\u308f\u3089\u306a\u3044<\/figcaption>\n<\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">PX4 \u306b\u76f4\u63a5\u3064\u306a\u3050\u9053\u3082\u3042\u308b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u3067\u306f\u3001\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3092 PX4 \u306b\u305d\u306e\u307e\u307e\u3064\u306a\u3052\u306a\u3044\u306e\u304b\u3002<strong>\u3064\u306a\u3050\u53e3\u306f\u3042\u308a\u307e\u3059<\/strong>\u3002\u3055\u304d\u307b\u3069\u306e\u8d77\u52d5\u30ed\u30b0\u306b\u51fa\u3066\u3044\u305f <code>uxrce_dds_client<\/code> \u304c\u305d\u308c\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">PX4 \u306e\u5185\u90e8\u5909\u6570\u3092 DDS \u306b\u6d41\u3059\u3057\u304f\u307f\u3067\u3001<code>px4_msgs<\/code> \u306e\u30c8\u30d4\u30c3\u30af\u3068\u3057\u3066 ROS 2 \u304b\u3089\u898b\u3048\u307e\u3059\u3002<strong>PX4 \u3068 ROS 2 \u306e\u7d44\u307f\u5408\u308f\u305b\u306f\u7279\u6b8a\u3067\u306f\u306a\u304f\u3001\u516c\u5f0f\u306b\u30b5\u30dd\u30fc\u30c8\u3055\u308c\u305f\u7d4c\u8def<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">MAVLink \u5074\u306b\u3082 <strong>MAVROS<\/strong> \u3068\u3044\u3046\u5b9a\u756a\u306e\u6a4b\u304c\u3042\u308a\u307e\u3059\u3002\u5b9f\u6a5f\u306e\u81ea\u5f8b\u98db\u884c\u3067\u3082\u3001\u3053\u306e\u3069\u3061\u3089\u304b\u3092\u4f7f\u3046\u69cb\u6210\u304c\u666e\u901a\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4eca\u56de\u3069\u3061\u3089\u3082\u9078\u3070\u306a\u304b\u3063\u305f\u306e\u306f\u3001macOS \u306e\u74b0\u5883\u3067\u91cd\u304b\u3063\u305f\u304b\u3089\u3067\u3059\u3002conda \u3067\u5165\u308b MAVROS \u306f Python 3.12 \u7248\u3057\u304b\u306a\u304f\u3001<strong>\u65e2\u5b9a\u74b0\u5883\u306e 3.11 \u3068\u4f9d\u5b58\u304c\u89e3\u3051\u307e\u305b\u3093<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">uXRCE-DDS \u306e\u65b9\u306f\u3001\u76f8\u65b9\u306e Agent \u304c conda \u306b\u7121\u304f\u30bd\u30fc\u30b9\u30d3\u30eb\u30c9\u304c\u8981\u308a\u3001<code>px4_msgs<\/code> \u306e colcon \u30d3\u30eb\u30c9\u3082\u5225\u306b\u5fc5\u8981\u3067\u3059\u3002pymavlink \u306a\u3089\u8ffd\u52a0\u306f1\u30d1\u30c3\u30b1\u30fc\u30b8\u3060\u3051\u3067\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u305f\u3060\u3057\u3001<strong>\u3069\u306e\u7d4c\u8def\u3092\u9078\u3093\u3067\u3082\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306b\u76f4\u7d50\u306f\u3057\u307e\u305b\u3093<\/strong>\u3002PX4 \u304c\u51fa\u3059\u306e\u306f NED \u306e\u751f\u306e\u72b6\u614b\u3068\u8a2d\u5b9a\u5024\u3067\u3001\u305d\u306e\u307e\u307e\u3067\u306f LLM \u306e\u9053\u5177\u306b\u306a\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u300c(-9, 9.5) \u3078 6m \u3067\u300d\u3092\u7def\u5ea6\u7d4c\u5ea6\u306e\u30df\u30c3\u30b7\u30e7\u30f3\u306b\u76f4\u3057\u3001\u8fd4\u3063\u3066\u304d\u305f\u4f4d\u7f6e\u3092 <code>\/odom<\/code> \u306e\u5f62\u306b\u623b\u3059\u5c64\u306f\u3001\u3069\u3053\u304b\u306b\u5fc5\u305a\u8981\u308a\u307e\u3059\u3002<strong>\u30d6\u30ea\u30c3\u30b8\u306f\u305d\u306e\u5c64<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">\u7ffb\u8a33\u3067\u9593\u9055\u3048\u308b\u306e\u306f\u5ea7\u6a19\u7cfb<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ffb\u8a33\u3067\u4e00\u756a\u9593\u9055\u3048\u3084\u3059\u3044\u306e\u304c\u5ea7\u6a19\u7cfb\u3067\u3059\u3002<strong>PX4 \u306f NED\uff08\u5317\u30fb\u6771\u30fb\u4e0b\uff09\u3001ROS \u306f ENU\uff08\u6771\u30fb\u5317\u30fb\u4e0a\uff09<\/strong>\u3002\u8ef8\u306e\u9806\u756a\u3082\u4e0a\u4e0b\u306e\u5411\u304d\u3082\u9055\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code># \u4f4d\u7f6e\u30fb\u901f\u5ea6\u306f\u5165\u308c\u66ff\u3048\u3066 z \u3092\u53cd\u8ee2\u3059\u308b\u3060\u3051\n(x, y, z)_ENU = (y, x, -z)_NED\n\n# \u59ff\u52e2\u306f\u524d\u5f8c\u3092\u631f\u3093\u3067\u56de\u3059\uff08px4_ros_com \u3068\u540c\u3058\u5f0f\uff09\nq_ENU_FLU = q_(NED\u2192ENU) * q_NED_FRD * q_(FLU\u2192FRD)<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3053\u3092\u9593\u9055\u3048\u308b\u3068\u3001\u6a5f\u4f53\u306f\u7d20\u76f4\u306b<strong>\u660e\u5f8c\u65e5\u306e\u65b9\u5411\u3078\u98db\u3073\u307e\u3059<\/strong>\u3002\u7b26\u53f71\u3064\u3067\u5357\u5317\u304c\u5165\u308c\u66ff\u308f\u308b\u306e\u3067\u3001\u6700\u521d\u306f\u5ea7\u6a19\u3092\u51fa\u3059\u3060\u3051\u306e\u30c6\u30b9\u30c8\u304b\u3089\u59cb\u3081\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">\u9ad8\u5ea6\u306f <code>\/cmd_vel<\/code> \u306b\u7121\u3044\u306e\u3067\u4f5c\u3063\u305f<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u7528\u306e <code>\/cmd_vel<\/code> \u306f\u3001\u524d\u5f8c\u306e\u901f\u5ea6\u3068\u65cb\u56de\u3060\u3051\u306e2\u6b21\u5143\u3067\u3059\u3002\u305d\u306e\u307e\u307e\u3067\u306f\u9ad8\u5ea6\u304c\u6c7a\u307e\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u305d\u3053\u3067 <code>linear.z<\/code> \u3092<strong>\u300c\u76ee\u6a19\u9ad8\u5ea6\u306e\u5909\u5316\u7387\u300d<\/strong>\u3068\u6c7a\u3081\u3066\u3001\u30d6\u30ea\u30c3\u30b8\u306e\u4e2d\u306b\u9ad8\u5ea6\u3092\u4fdd\u3064\u5236\u5fa1\u3092\u7f6e\u304d\u307e\u3057\u305f\u3002<strong>0 \u306a\u3089\u4eca\u306e\u9ad8\u5ea6\u3092\u7dad\u6301<\/strong>\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3067\u300c1m\u524d\u9032\u3057\u3066\u300d\u306e\u3088\u3046\u306a\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u7528\u306e\u6307\u793a\u304c\u3001\u305d\u306e\u307e\u307e\u98db\u884c\u306b\u5316\u3051\u307e\u3059\u3002\u7740\u9678\u4e2d\u306b <code>\/cmd_vel<\/code> \u304c\u6765\u305f\u3089\u81ea\u52d5\u3067\u96e2\u9678\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">\u884c\u304d\u5148\u3092\u6e21\u3059\u53e3\u306f\u3001Nav2 \u3068\u540c\u3058\u540d\u524d\u306b\u3057\u305f<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u524d\u56de\u3001\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306e\u79fb\u52d5\u306f Nav2 \u306e <code>navigate_to_pose<\/code> \u30a2\u30af\u30b7\u30e7\u30f3\u306b\u5bc4\u305b\u307e\u3057\u305f\u3002\u30c9\u30ed\u30fc\u30f3\u306b\u3082<strong>\u540c\u3058\u540d\u524d\u30fb\u540c\u3058\u578b<\/strong>\u306e\u30a2\u30af\u30b7\u30e7\u30f3\u3092\u7acb\u3066\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u4e2d\u8eab\u306f Nav2 \u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002PX4 \u306e <strong>AUTO.MISSION<\/strong>\uff08\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u98db\u884c\uff09\u3067\u3059\u3002\u30b4\u30fc\u30eb\u3092\u53d7\u3051\u308b\u3068 MAVLink \u306e\u30df\u30c3\u30b7\u30e7\u30f3\u9805\u76ee\u3092\u7d44\u307f\u7acb\u3066\u3066\u30a2\u30c3\u30d7\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30df\u30c3\u30b7\u30e7\u30f3\u9805\u76ee\u306f<strong>\u7def\u5ea6\u7d4c\u5ea6\u3067\u3057\u304b\u6e21\u305b\u307e\u305b\u3093<\/strong>\u3002ROS \u5074\u306e\u30b4\u30fc\u30eb\u306f\u30e1\u30fc\u30c8\u30eb\u306a\u306e\u3067\u3001EKF \u306e\u539f\u70b9\u3092\u57fa\u6e96\u306b\u5e73\u9762\u8fd1\u4f3c\u3067\u5909\u63db\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>[px4_bridge] EKF \u539f\u70b9\u3092\u53d6\u5f97: GlobalOrigin(lat=47.3979708, lon=8.5461639, alt=0.3)\n[px4_bridge] PX4 \u306e NAV_ACC_RAD \u3092 1.5 m \u306b\u8a2d\u5b9a\u3057\u307e\u3057\u305f\u3002\n[px4_bridge] \u30df\u30c3\u30b7\u30e7\u30f3 2 \u9805\u76ee\u3092\u53d7\u7406\uff08\u76ee\u6a19 seq=0\uff09\n[px4_bridge] PX4 \u304c\u76ee\u6a19\u30a6\u30a7\u30a4\u30dd\u30a4\u30f3\u30c8\u306e\u901a\u904e\u3092\u901a\u77e5\uff08\u6700\u7d42\u63a5\u8fd1\u306b\u5165\u308a\u307e\u3059\uff09\u3002\n[px4_bridge] \u5230\u9054\uff08\u6b8b 1.33 m \/ \u9ad8\u5ea6\u5dee 0.03 m \/ 8 \u79d2\uff09\u3002LOITER \u3067\u5f85\u6a5f\u3057\u307e\u3059\u3002<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">PX4 \u306e <code>NAV_ACC_RAD<\/code>\uff08\u5230\u9054\u3068\u307f\u306a\u3059\u534a\u5f84\uff09\u306f\u65e2\u5b9a 10m \u3067\u3059\u3002\u7a7a\u64ae\u306a\u3089\u59a5\u5f53\u3067\u3082\u3001<strong>10m \u96e2\u308c\u3066\u300c\u7740\u3044\u305f\u300d\u3068\u8a00\u308f\u308c\u308b\u3068\u691c\u8a3c\u306b\u306a\u3089\u306a\u3044<\/strong>\u306e\u3067 1.5m \u306b\u66f8\u304d\u63db\u3048\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u540d\u524d\u3092\u63c3\u3048\u305f\u52b9\u679c\u306f\u305d\u306e\u307e\u307e\u51fa\u307e\u3059\u3002\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306f<strong>\u300c<code>navigate_to_pose<\/code> \u304c\u5c45\u308b\u304b\u300d\u3060\u3051\u3092\u898b\u3066\u9053\u5177\u7acb\u3066\u3092\u6c7a\u3081\u308b<\/strong>\u306e\u3067\u3001\u4e2d\u8eab\u304c Nav2 \u3067\u3082 PX4 \u3067\u3082\u540c\u3058\u7d4c\u8def\u306b\u4e57\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">\u30c9\u30ed\u30fc\u30f3\u306b Nav2 \u76f8\u5f53\u306f\u3042\u308b\u306e\u304b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u3067\u306f\u3001\u30c9\u30ed\u30fc\u30f3\u3067 Nav2 \u306e\u4ee3\u308f\u308a\u306b\u7f6e\u3051\u308b\u3082\u306e\u306f\u4f55\u304b\u3002<strong>\u305d\u306e\u307e\u307e\u5dee\u3057\u66ff\u3048\u3089\u308c\u308b\u3082\u306e\u306f\u3001\u307e\u3060\u3042\u308a\u307e\u305b\u3093<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Nav2 \u306f\u5730\u9762\u3092\u8d70\u308b\u524d\u63d0\u3067\u3059\u3002\u969c\u5bb3\u7269\u3092\u5e73\u9762\u306e\u30de\u30b9\u306b\u843d\u3068\u3057\u305f costmap \u3067\u7d4c\u8def\u3092\u5f15\u304f\u306e\u3067\u3001<strong>\u300c\u4e0a\u3092\u8d8a\u3048\u308b\u300d\u3068\u3044\u3046\u9078\u629e\u80a2\u304c\u3042\u308a\u307e\u305b\u3093<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u9ad8\u5ea6\u3092\u56fa\u5b9a\u3057\u30662\u6b21\u5143\u3068\u3057\u3066\u4f7f\u3046\u4f8b\u306f\u3042\u308a\u307e\u3059\u304c\u3001\u305d\u308c\u306f Nav2 \u3092\u98db\u884c\u306b\u6d41\u7528\u3057\u3066\u3044\u308b\u3060\u3051\u3067\u3059\u3002\u4eca\u56de\u306e PX4 \u306e AUTO.MISSION \u3082\u3001<strong>Nav2 \u306e\u3046\u3061\u300c\u904b\u3076\u300d\u3060\u3051<\/strong>\u3092\u62c5\u5f53\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u98db\u884c\u3067\u969c\u5bb3\u7269\u3092\u907f\u3051\u305f\u3044\u5834\u5408\u3001\u9078\u629e\u80a2\u306f\u3053\u306e\u3042\u305f\u308a\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\" style=\"margin-top:18px;margin-bottom:36px\">\n\n<li style=\"line-height:1.95;margin-bottom:14px\">PX4 \u5185\u8535\u306e <strong>Collision Prevention<\/strong>\u3002\u8ddd\u96e2\u30bb\u30f3\u30b5\u306e\u5411\u304d\u3078\u9032\u3081\u306a\u304f\u3059\u308b\u6a5f\u80fd\u3067\u3001<strong>\u907f\u3051\u3066\u56de\u308a\u8fbc\u3080\u306e\u3067\u306f\u306a\u304f\u3001\u6b62\u307e\u308b\uff0f\u62bc\u3057\u623b\u3059<\/strong><\/li>\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\">3\u6b21\u5143\u306e\u5360\u6709\u5730\u56f3\uff08OctoMap \/ voxblox \/ nvblox\uff09\uff0b\u8ecc\u9053\u751f\u6210\uff08FAST-Planner\u30fbEGO-Planner \u306a\u3069\uff09\u3002\u7814\u7a76\u5ba4\u767a\u306e\u3082\u306e\u304c\u591a\u304f\u3001ROS 1 \u4e16\u4ee3\u306e\u307e\u307e\u306e\u5b9f\u88c5\u3082\u3042\u308b<\/li>\n\n\n<li style=\"line-height:1.95;margin-bottom:14px\">\u65e7 <code>PX4\/avoidance<\/code> \u306e local planner\uff083DVFH+\uff09\u3002ROS 1 \u524d\u63d0<\/li>\n\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u3064\u307e\u308a\u300cNav2 \u3092\u5165\u308c\u308c\u3070\u6e08\u3080\u300d\u5f62\u306b\u306f\u306a\u3063\u3066\u3044\u307e\u305b\u3093\u3002<strong>3\u6b21\u5143\u306e\u5730\u56f3\u3068\u8ecc\u9053\u751f\u6210\u3092\u81ea\u5206\u3067\u7d44\u3080\u9818\u57df<\/strong>\u3067\u3059\u3002\u4eca\u56de\u306f\u3069\u308c\u3082\u8a66\u3057\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u30ef\u30fc\u30eb\u30c9\u306e\u5074\u306b\u300c\u5730\u7403\u300d\u3092\u7528\u610f\u3059\u308b<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306e\u3068\u304d\u306f\u3001Gazebo \u306e\u30ef\u30fc\u30eb\u30c9\u306b\u7f6e\u304f\u3082\u306e\u306f\u5730\u9762\u3068\u969c\u5bb3\u7269\u3060\u3051\u3067\u3057\u305f\u3002\u30c9\u30ed\u30fc\u30f3\u3067\u306f\u8db3\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">PX4 \u306e EKF \u306f\u3001<strong>IMU\u30fb\u6c17\u5727\u30fb\u5730\u78c1\u6c17\u30fbGNSS \u3092\u7a81\u304d\u5408\u308f\u305b\u3066\u81ea\u5206\u306e\u4f4d\u7f6e\u3068\u59ff\u52e2\u3092\u63a8\u5b9a\u3057\u307e\u3059<\/strong>\u3002\u305d\u306e\u30bb\u30f3\u30b5\u304c\u751f\u3048\u308b\u3088\u3046\u306b\u3001\u30ef\u30fc\u30eb\u30c9\u306e\u5074\u3067\u74b0\u5883\u3092\u5ba3\u8a00\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 286\" role=\"img\" aria-label=\"\u30c9\u30ed\u30fc\u30f3\u306e\u305f\u3081\u306b\u30ef\u30fc\u30eb\u30c9\u304c\u5ba3\u8a00\u3059\u308b\u9805\u76ee\u306e\u56f3\u3002\u5de6\u5074\u306f\u74b0\u5883\u3068\u3057\u3066\u91cd\u529b\u30fb\u5730\u78c1\u6c17\u30d9\u30af\u30c8\u30eb\u30fb\u65ad\u71b1\u5927\u6c17\u30fbWGS84\u306e\u7def\u5ea6\u7d4c\u5ea6\u539f\u70b9\u3001\u53f3\u5074\u306f\u30bb\u30f3\u30b5\u3092\u4f5c\u308b\u30b7\u30b9\u30c6\u30e0\u3068\u3057\u3066IMU\u30fb\u6c17\u5727\u30fb\u5bfe\u6c17\u901f\u5ea6\u30fb\u5730\u78c1\u6c17\u30fbGNSS\u304c\u4e26\u3073\u3001\u305d\u308c\u3089\u304cPX4\u306eEKF\u306b\u5165\u308b\u3053\u3068\u3092\u793a\u3059\" 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<defs>\n<marker id=\"g4wr\" 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=\"#9AA5B1\"\/><\/marker>\n<\/defs>\n<text x=\"24\" y=\"20\" fill=\"#5B7099\" font-size=\"11.5\" font-weight=\"700\">\u30ef\u30fc\u30eb\u30c9\u304c\u5ba3\u8a00\u3059\u308b\u300c\u74b0\u5883\u300d<\/text>\n<rect x=\"24\" y=\"30\" width=\"250\" height=\"188\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"44\" y=\"58\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u91cd\u529b<\/text>\n<text x=\"44\" y=\"77\" fill=\"#5B7099\" font-size=\"11\">0 0 -9.8<\/text>\n<text x=\"44\" y=\"103\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u5730\u78c1\u6c17\u30d9\u30af\u30c8\u30eb<\/text>\n<text x=\"44\" y=\"122\" fill=\"#5B7099\" font-size=\"11\">6e-06 2.3e-05 -4.2e-05<\/text>\n<text x=\"44\" y=\"148\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u5927\u6c17<\/text>\n<text x=\"44\" y=\"167\" fill=\"#5B7099\" font-size=\"11\">\u65ad\u71b1\uff08\u9ad8\u5ea6\u3067\u6c17\u5727\u304c\u5909\u308f\u308b\uff09<\/text>\n<text x=\"44\" y=\"193\" fill=\"#12408F\" font-size=\"12.5\" font-weight=\"700\">\u5730\u7403\u4e0a\u306e\u539f\u70b9<\/text>\n<text x=\"44\" y=\"211\" fill=\"#5B7099\" font-size=\"11\">WGS84 \/ \u7def\u5ea6\u7d4c\u5ea6\u30fbENU<\/text>\n\n<line x1=\"274\" y1=\"124\" x2=\"356\" y2=\"124\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g4wr)\"\/>\n\n<text x=\"356\" y=\"20\" fill=\"#5B7099\" font-size=\"11.5\" font-weight=\"700\">\u30ef\u30fc\u30eb\u30c9\u304c\u5ba3\u8a00\u3059\u308b\u300c\u30bb\u30f3\u30b5\u3092\u4f5c\u308b\u3057\u304f\u307f\u300d<\/text>\n<rect x=\"356\" y=\"30\" width=\"250\" height=\"188\" rx=\"10\" fill=\"#F2F4F7\" stroke=\"#9AA5B1\" stroke-width=\"1.6\"\/>\n<text x=\"376\" y=\"58\" fill=\"#333\" font-size=\"12\" font-weight=\"700\">Imu<\/text>\n<text x=\"376\" y=\"82\" fill=\"#333\" font-size=\"12\" font-weight=\"700\">AirPressure\uff08\u6c17\u5727\uff09<\/text>\n<text x=\"376\" y=\"106\" fill=\"#333\" font-size=\"12\" font-weight=\"700\">AirSpeed\uff08\u5bfe\u6c17\u901f\u5ea6\uff09<\/text>\n<text x=\"376\" y=\"130\" fill=\"#333\" font-size=\"12\" font-weight=\"700\">Magnetometer\uff08\u5730\u78c1\u6c17\uff09<\/text>\n<text x=\"376\" y=\"154\" fill=\"#333\" font-size=\"12\" font-weight=\"700\">NavSat\uff08GNSS\uff09<\/text>\n<text x=\"376\" y=\"178\" fill=\"#7A869A\" font-size=\"11\">Contact \/ ApplyLinkWrench<\/text>\n<text x=\"376\" y=\"201\" fill=\"#7A869A\" font-size=\"11\">\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u4e0d\u8981\u3060\u3063\u305f\u3082\u306e<\/text>\n\n<line x1=\"606\" y1=\"124\" x2=\"688\" y2=\"124\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g4wr)\"\/>\n\n<rect x=\"688\" y=\"66\" width=\"188\" height=\"116\" rx=\"10\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"2\"\/>\n<text x=\"782\" y=\"104\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"13.5\" font-weight=\"700\">PX4 \u306e EKF<\/text>\n<text x=\"782\" y=\"128\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\">4\u7a2e\u306e\u30bb\u30f3\u30b5\u3092\u7a81\u304d\u5408\u308f\u305b<\/text>\n<text x=\"782\" y=\"148\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\">\u4f4d\u7f6e\u3068\u59ff\u52e2\u3092\u63a8\u5b9a\u3059\u308b<\/text>\n<text x=\"782\" y=\"170\" text-anchor=\"middle\" fill=\"#C05621\" font-size=\"11\" font-weight=\"700\">\u53ce\u675f\u3057\u306a\u3044\u3068 arm \u3067\u304d\u306a\u3044<\/text>\n\n<rect x=\"24\" y=\"238\" width=\"852\" height=\"40\" rx=\"8\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.4\"\/>\n<text x=\"44\" y=\"263\" fill=\"#C05621\" font-size=\"11.5\" font-weight=\"700\">\u843d\u3068\u3057\u7a74\uff1a\u30ef\u30fc\u30eb\u30c9\u306b plugin \u30921\u3064\u3067\u3082\u66f8\u304f\u3068\u3001Gazebo \u306f PX4 \u304c\u7528\u610f\u3057\u305f\u65e2\u5b9a\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u4e00\u89a7\u3092\u7121\u8996\u3059\u308b<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f34\uff1a\u30c9\u30ed\u30fc\u30f3\u306e\u305f\u3081\u306b\u5897\u3048\u305f\u5ba3\u8a00\u3002\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u3067\u306f\u91cd\u529b\u3059\u3089\u6c17\u306b\u3057\u3066\u3044\u306a\u304b\u3063\u305f<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u306e\u6700\u5f8c\u306e1\u884c\u3067\u3001\u3051\u3063\u3053\u3046\u6642\u9593\u3092\u6eb6\u304b\u3057\u307e\u3057\u305f\u2026\u2026\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">PX4 \u306f\u81ea\u524d\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3067\u5fc5\u8981\u306a\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u4e26\u3079\u3066\u3044\u307e\u3059\u3002\u3068\u3053\u308d\u304c<strong>\u30ef\u30fc\u30eb\u30c9\u306e\u5074\u306b <code>&lt;plugin&gt;<\/code> \u30921\u3064\u3067\u3082\u66f8\u304f\u3068\u3001Gazebo \u306f\u305d\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u4e38\u3054\u3068\u7121\u8996\u3057\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u79c1\u306e\u30ef\u30fc\u30eb\u30c9\u306f LiDAR \u3084\u30ab\u30e1\u30e9\u306e\u305f\u3081\u306b\u65e2\u306b plugin \u3092\u66f8\u3044\u3066\u3044\u307e\u3057\u305f\u3002\u7d50\u679c\u3001\u6c17\u5727\u3082\u5730\u78c1\u6c17\u3082 GNSS \u3082\u751f\u3048\u305a\u3001EKF \u304c\u53ce\u675f\u305b\u305a\u3001PX4 \u306f <strong>arm \u3092\u62d2\u5426<\/strong>\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30a8\u30e9\u30fc\u306f\u300c\u30bb\u30f3\u30b5\u304c\u7121\u3044\u300d\u3068\u306f\u8a00\u3063\u3066\u304f\u308c\u307e\u305b\u3093\u3002<code>Preflight Fail: no heading reference<\/code> \u306e\u3088\u3046\u306b\u3001<strong>\u63a8\u5b9a\u3067\u304d\u306a\u3044\u3068\u3044\u3046\u7d50\u679c\u3060\u3051<\/strong>\u304c\u51fa\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f4\u3057\u65b9\u306f\u3001PX4 \u5074\u306e\u4e00\u89a7\u3092<strong>\u30ef\u30fc\u30eb\u30c9\u306b\u5168\u90e8\u66f8\u304d\u5199\u3059<\/strong>\u3053\u3068\u3067\u3059\u3002\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306b\u306f\u7121\u5bb3\u306a\u306e\u3067\u3001\u540c\u3058\u30ef\u30fc\u30eb\u30c9\u3092\u4e21\u65b9\u3067\u4f7f\u3044\u56de\u305b\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u98a8\u3082\u30ef\u30fc\u30eb\u30c9\u306b\u8a2d\u5b9a\u3067\u304d\u308b<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u30ef\u30fc\u30eb\u30c9\u306b\u66f8\u3051\u308b\u306e\u306f\u91cd\u529b\u3084\u30bb\u30f3\u30b5\u3060\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002<strong>\u98a8\u3082 <code>&lt;wind&gt;<\/code> \u3067\u8a2d\u5b9a\u3067\u304d\u307e\u3059<\/strong>\u3002\u5411\u304d\u3068\u5f37\u3055\u3092\u6301\u3063\u305f\u30d9\u30af\u30c8\u30eb\u30921\u3064\u7f6e\u304f\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u305f\u3060\u3057\u3001\u98a8\u3092\u53d7\u3051\u308b\u5074\u306b\u3082\u5ba3\u8a00\u304c\u8981\u308a\u307e\u3059\u3002\u30ea\u30f3\u30af\u3054\u3068\u306b <code>enable_wind<\/code> \u3092\u66f8\u3044\u305f\u7269\u4f53\u3060\u3051\u304c\u6d41\u3055\u308c\u307e\u3059\u3002<strong>\u66f8\u304b\u306a\u3044\u7269\u4f53\u306f\u3001\u98a8\u306e\u4e2d\u3067\u3082\u7121\u98a8<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">PX4 \u540c\u68b1\u306e <code>x500<\/code> \u306b\u306f\u3001\u305d\u306e <code>enable_wind<\/code> \u304c\u3042\u308a\u307e\u305b\u3093\u3002<strong>\u3044\u307e\u98a8\u3092\u5439\u304b\u305b\u3066\u3082\u3001\u6a5f\u4f53\u306f\u63fa\u308c\u307e\u305b\u3093<\/strong>\u3002\u79c1\u306e\u8fb2\u5730\u30ef\u30fc\u30eb\u30c9\u306b\u4e26\u3079\u305f\u9632\u98a8\u6797\u3082\u3001\u4eca\u306e\u3068\u3053\u308d\u898b\u305f\u76ee\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u69cb\u6210\u306f\u3001\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306e\u307e\u307e<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u3053\u307e\u3067\u3067\u6a5f\u4f53\u5074\u306e\u8a71\u306f\u7d42\u308f\u308a\u3067\u3059\u3002\u3067\u306f\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3092\u4f55\u672c\u66f8\u304d\u8db3\u3057\u305f\u304b\u3002<strong>0\u672c\u3067\u3059<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8d77\u52d5\u3057\u3066\u3044\u308b\u306e\u306f\u524d\u56de\u3068\u540c\u3058<strong>\u7ba1\u7406\u8005\u3068\u79fb\u52d5\u62c5\u5f53\u306e2\u30d7\u30ed\u30bb\u30b9<\/strong>\u3067\u3001\u305d\u308c\u305e\u308c\u304c ROS 2 \u306e\u30ce\u30fc\u30c9\u3067\u3059\u3002\u7ba1\u7406\u8005\u304c\u6307\u793a\u3092\u53d7\u3051\u3001\u79fb\u52d5\u62c5\u5f53\u306b\u4f9d\u983c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure style=\"margin:14px 0 44px;overflow-x:auto;\">\n<svg viewBox=\"0 0 900 372\" role=\"img\" aria-label=\"\u30c9\u30ed\u30fc\u30f3\u6642\u306e\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u69cb\u6210\u56f3\u3002\u7ba1\u7406\u8005\u306f\u59d4\u8b72\u3068\u5f85\u6a5f\u306e2\u3064\u306e\u9053\u5177\u3060\u3051\u3092\u6301\u3061\u3001\u79fb\u52d5\u62c5\u5f53\u306f\u884c\u304d\u5148\u6307\u5b9a\u306e3\u3064\u306e\u9053\u5177\u3068\u76ee\u306e2\u3064\u306e\u9053\u5177\u3001\u6c4e\u7528\u306eROS 2\u30c4\u30fc\u30eb\u3092\u6301\u3064\u3002Nav2\u30e2\u30fc\u30c9\u3067\u306f\u901f\u5ea6\u6307\u4ee4\u306e\u9053\u5177\u3068\u66f8\u304d\u8fbc\u307f\u6a29\u9650\u304c\u5916\u3055\u308c\u3001PX4\u56fa\u6709\u306e\u9053\u5177\u306f1\u3064\u3082\u7121\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=\"g4er\" 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=\"#9AA5B1\"\/><\/marker>\n<\/defs>\n<rect x=\"24\" y=\"26\" width=\"240\" height=\"96\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"144\" y=\"54\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"13.5\" font-weight=\"700\">\u7ba1\u7406\u8005<\/text>\n<text x=\"144\" y=\"78\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">delegate_to_motion<\/text>\n<text x=\"144\" y=\"98\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"11\">WaitForSeconds<\/text>\n<text x=\"144\" y=\"116\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"10.5\">ROS \u3092\u76f4\u63a5\u89e6\u3089\u306a\u3044<\/text>\n\n<line x1=\"264\" y1=\"74\" x2=\"356\" y2=\"74\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g4er)\"\/>\n<text x=\"310\" y=\"64\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"10.5\">\u4f9d\u983c<\/text>\n\n<rect x=\"356\" y=\"26\" width=\"520\" height=\"96\" rx=\"10\" fill=\"#EAF0FA\" stroke=\"#12408F\" stroke-width=\"1.6\"\/>\n<text x=\"616\" y=\"52\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"13.5\" font-weight=\"700\">\u79fb\u52d5\u62c5\u5f53\u304c\u6301\u3064\u9053\u5177\uff0820\u672c\uff09<\/text>\n<rect x=\"372\" y=\"62\" width=\"160\" height=\"46\" rx=\"7\" fill=\"#fff\" stroke=\"#12408F\" stroke-width=\"1.4\"\/>\n<text x=\"452\" y=\"80\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"11.5\" font-weight=\"700\">\u884c\u304d\u5148\u3092\u6e21\u3059 3\u672c<\/text>\n<text x=\"452\" y=\"98\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"10.5\">navigate_to_pose \u307b\u304b<\/text>\n<rect x=\"544\" y=\"62\" width=\"150\" height=\"46\" rx=\"7\" fill=\"#fff\" stroke=\"#12408F\" stroke-width=\"1.4\"\/>\n<text x=\"619\" y=\"80\" text-anchor=\"middle\" fill=\"#12408F\" font-size=\"11.5\" font-weight=\"700\">\u76ee 2\u672c<\/text>\n<text x=\"619\" y=\"98\" text-anchor=\"middle\" fill=\"#5B7099\" font-size=\"10.5\">1\u679a\u53d6\u5f97\u30fb\u52d5\u3044\u305f\u304b\u5224\u5b9a<\/text>\n<rect x=\"706\" y=\"62\" width=\"154\" height=\"46\" rx=\"7\" fill=\"#fff\" stroke=\"#9AA5B1\" stroke-width=\"1.4\"\/>\n<text x=\"783\" y=\"80\" text-anchor=\"middle\" fill=\"#333\" font-size=\"11.5\" font-weight=\"700\">\u6c4e\u7528 ROS 2 14\u672c\uff0b\u5f85\u6a5f1\u672c<\/text>\n<text x=\"783\" y=\"98\" text-anchor=\"middle\" fill=\"#7A869A\" font-size=\"10.5\">\u8aad\u307f\u53d6\u308a\u4e2d\u5fc3<\/text>\n\n<line x1=\"616\" y1=\"122\" x2=\"616\" y2=\"152\" stroke=\"#9AA5B1\" stroke-width=\"1.6\" marker-end=\"url(#g4er)\"\/>\n<rect x=\"356\" y=\"152\" width=\"520\" height=\"48\" rx=\"9\" fill=\"#F2F4F7\" stroke=\"#9AA5B1\" stroke-width=\"1.6\"\/>\n<text x=\"616\" y=\"181\" text-anchor=\"middle\" fill=\"#333\" font-size=\"12.5\" font-weight=\"700\">navigate_to_pose \u30a2\u30af\u30b7\u30e7\u30f3\uff08Nav2 \u3068\u540c\u3058\u540d\u524d\u30fb\u540c\u3058\u578b\uff09<\/text>\n\n<rect x=\"24\" y=\"230\" width=\"852\" height=\"56\" rx=\"9\" fill=\"#FFF4E5\" stroke=\"#C05621\" stroke-width=\"1.6\"\/>\n<text x=\"44\" y=\"254\" fill=\"#C05621\" font-size=\"12.5\" font-weight=\"700\">\u884c\u304d\u5148\u306e\u53e3\u304c\u5c45\u308b\u3068\u3001\u901f\u5ea6\u3067\u62bc\u3059\u9053\u5177\u306f\u53d6\u308a\u4e0a\u3052\u3089\u308c\u308b<\/text>\n<text x=\"44\" y=\"275\" fill=\"#C05621\" font-size=\"11.5\">drive_distance \/ turn_angle \u3092\u6e21\u3055\u306a\u3044\u3002\u3055\u3089\u306b \/cmd_vel \u3078\u306e\u66f8\u304d\u8fbc\u307f\u6a29\u9650\u305d\u306e\u3082\u306e\u3092\u7a7a\u306b\u3059\u308b<\/text>\n\n<rect x=\"24\" y=\"300\" width=\"852\" height=\"56\" rx=\"9\" fill=\"#F2F4F7\" stroke=\"#9AA5B1\" stroke-width=\"1.6\"\/>\n<text x=\"44\" y=\"324\" fill=\"#333\" font-size=\"12.5\" font-weight=\"700\">PX4 \u7531\u6765\u306e\u9053\u5177\u306f1\u672c\u3082\u7121\u3044<\/text>\n<text x=\"44\" y=\"345\" fill=\"#7A869A\" font-size=\"11.5\">arm\u30fb\u96e2\u9678\u30fb\u7740\u9678\u30fb\u98db\u884c\u30e2\u30fc\u30c9\u306e\u5207\u308a\u66ff\u3048\u306f\u3001\u3069\u308c\u3082\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u624b\u306e\u5c4a\u304b\u306a\u3044\u5834\u6240\u306b\u3042\u308b<\/text>\n<\/svg>\n<figcaption style=\"font-size:0.85em;color:#7A869A;text-align:center;margin-top:14px;line-height:1.7;\">\u56f35\uff1a\u30c9\u30ed\u30fc\u30f3\u7528\u306b\u8db3\u3057\u305f\u9053\u5177\u306f0\u672c\u3002\u98db\u3076\u6a5f\u4f53\u3060\u304b\u3089\u3068\u5897\u3048\u305f\u306e\u306f\u3001\u884c\u304d\u5148\u306e\u5165\u529b\u306b\u9ad8\u5ea6\u304c1\u3064\u5897\u3048\u305f\u3060\u3051<\/figcaption>\n<\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u79fb\u52d5\u62c5\u5f53\u304c\u6301\u3064\u9053\u5177\u306b\u3001<strong>PX4 \u3084 MAVLink \u306e\u540d\u524d\u306f1\u3064\u3082\u51fa\u3066\u304d\u307e\u305b\u3093<\/strong>\u3002\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306f PX4 \u306e\u5b58\u5728\u3092\u77e5\u3089\u305a\u306b\u98db\u3070\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u98db\u3076\u6a5f\u4f53\u3060\u304b\u3089\u3068\u5909\u3048\u305f\u306e\u306f3\u70b9\u3060\u3051\u3067\u3059\u3002<strong>\u884c\u304d\u5148\u306b\u9ad8\u5ea6\u3092\u8db3\u3057\u305f<\/strong>\u30011\u56de\u3067\u72d9\u3048\u308b\u8ddd\u96e2\u3092 20m \u304b\u3089 60m \u306b\u5e83\u3052\u305f\u3001\u9053\u5177\u306e\u8aac\u660e\u6587\u3092\u66f8\u304d\u66ff\u3048\u305f\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code># \u30c9\u30ed\u30fc\u30f3\u306e\u9053\u5177\u306b\u66f8\u3044\u3066\u3042\u308b\u8aac\u660e\uff08\u629c\u7c8b\u30fb\u610f\u8a33\uff09\n\u7d4c\u8def\u306f\u76f4\u7dda\u3067\u3001\u969c\u5bb3\u7269\u3092\u907f\u3051\u308b\u3082\u306e\u306f\u4f55\u3082\u3042\u308a\u307e\u305b\u3093\u3002\n\u898b\u901a\u3057\u306e\u826f\u3044\u7a7a\u9593\u306b\u3060\u3051\u884c\u304d\u5148\u3092\u7f6e\u3044\u3066\u304f\u3060\u3055\u3044\u3002\n\u898b\u901a\u3057\u304c\u7121\u3044\u3068\u304d\u306f\u3001\u76f4\u7dda\u3067\u98db\u3079\u308b\u533a\u9593\u306b\u5206\u3051\u3066\u304f\u3060\u3055\u3044\u3002<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u96e2\u9678\u3092 LLM \u306b\u3084\u3089\u305b\u3066\u3044\u306a\u3044\u306e\u3082\u610f\u56f3\u7684\u3067\u3059\u3002<code>navigate_to_pose<\/code> \u306f\u3001\u7740\u9678\u4e2d\u306b\u547c\u3070\u308c\u305f\u3089<strong>\u30d6\u30ea\u30c3\u30b8\u306e\u5074\u3067\u96e2\u9678\u3057\u3066\u304b\u3089\u98db\u3073\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u96e2\u9678\u3068\u7740\u9678\u306f ROS \u306e\u30b5\u30fc\u30d3\u30b9\u3068\u3057\u3066\u3082\u7528\u610f\u3057\u3066\u3042\u308a\u307e\u3059\u304c\u3001\u79fb\u52d5\u62c5\u5f53\u306f<strong>\u30b5\u30fc\u30d3\u30b9\u3092\u547c\u3076\u6a29\u9650\u3092\u6301\u3063\u3066\u3044\u307e\u305b\u3093<\/strong>\u3002\u624b\u9806\u3092\u9593\u9055\u3048\u308b\u4f59\u5730\u3092\u6b8b\u3055\u306a\u3044\u305f\u3081\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" style=\"margin-top:56px;margin-bottom:20px\">\u30ef\u30fc\u30eb\u30c9\u306e\u5730\u56f3\u306f\u3001\u30d7\u30ed\u30f3\u30d7\u30c8\u3067\u6e21\u3057\u3066\u3044\u308b<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u7ba1\u7406\u8005\u304c\u300c\u897f\u306e\u6c34\u7530\u300d\u3092\u5ea7\u6a19\u3067\u77e5\u3063\u3066\u3044\u308b\u306e\u306f\u3001<strong>\u4eba\u683c\u30d5\u30a1\u30a4\u30eb\u306b\u305d\u3046\u66f8\u3044\u3066\u3042\u308b\u304b\u3089<\/strong>\u3067\u3059\u3002\u5f79\u3054\u3068\u306b JSON \u30921\u3064\u6301\u305f\u305b\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">RAI \u306e <code>EmbodimentInfo<\/code> \u3068\u540c\u3058\u5f62\u3067\u3001\u6a5f\u4f53\u306e\u8aac\u660e\u30fb\u7981\u6b62\u4e8b\u9805\u30fb\u3067\u304d\u308b\u3053\u3068\u30fb\u632f\u308b\u821e\u3044\u3092\u4e26\u3079\u305f\u3082\u306e\u304c\u3001\u305d\u306e\u307e\u307e system prompt \u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u305d\u3053\u306b\u30ef\u30fc\u30eb\u30c9\u306e\u5730\u7269\u3092<strong>\u624b\u3067\u66f8\u304d\u5199\u3057\u3066\u3044\u307e\u3059<\/strong>\u3002SDF \u304b\u3089\u306e\u81ea\u52d5\u751f\u6210\u306f\u3057\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code># \u7ba1\u7406\u8005\u306e\u4eba\u683c\u30d5\u30a1\u30a4\u30eb\uff08embodiments\/drone\/manager_nav2.json \u629c\u7c8b\uff09\n\"West paddy field, flooded and flat: centre (-9, 9.5).\"\n\"Power poles, 8 m tall and the tallest obstacles here: (-16, -1.8), (0, -1.8) and (16, -1.8).\"\n\"The autopilot flies a straight line and does not avoid obstacles: there is no map\n and no LiDAR on this airframe. So do think about height.\"<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5730\u56f3\u3092\u6301\u305f\u306a\u3044\u6a5f\u4f53\u306a\u306e\u3067\u3001<strong>\u4f55\u304c\u9ad8\u3044\u304b\u3092\u8a00\u8449\u3067\u6e21\u3055\u306a\u3044\u3068\u30016m \u5de1\u822a\u306e\u307e\u307e\u96fb\u67f1\u306b\u5f53\u305f\u308a\u307e\u3059<\/strong>\u30028m \u306e\u96fb\u67f13\u672c\u3060\u3051\u304c\u8d8a\u3048\u3089\u308c\u306a\u3044\u3001\u3068\u66f8\u3044\u3066\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5f31\u70b9\u3082\u305d\u306e\u307e\u307e\u3067\u3059\u3002\u30ef\u30fc\u30eb\u30c9\u3092\u5909\u3048\u305f\u3089\u3001\u3053\u306e\u6587\u7ae0\u3082\u66f8\u304d\u63db\u3048\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002costmap \u306e\u3088\u3046\u306b\u52dd\u624b\u306b\u306f\u66f4\u65b0\u3055\u308c\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306e\u5074\u306b\u306f <code>get_map_image<\/code> \u3068\u3044\u3046\u9053\u5177\u304c\u3042\u3063\u3066\u3001Nav2 \u306e\u5730\u56f3\u3092\u753b\u50cf\u3067\u898b\u3089\u308c\u307e\u3059\u3002<strong>\u30c9\u30ed\u30fc\u30f3\u306b\u306f\u305d\u308c\u304c\u7121\u304f\u3001\u6587\u7ae0\u3060\u3051\u304c\u983c\u308a<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u98db\u3070\u3057\u3066\u307f\u308b<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u821e\u53f0\u306f\u8fb2\u5730\u306e\u30ef\u30fc\u30eb\u30c9\u3067\u3059\u3002\u5341\u5b57\u306e\u8fb2\u9053\u3092\u4e2d\u5fc3\u306b\u3001\u6c34\u7530\u30fb\u7551\u306e\u755d\u30fb\u7528\u6c34\u8def\u30fb\u30d3\u30cb\u30fc\u30eb\u30cf\u30a6\u30b9\u304c\u4e26\u3093\u3067\u3044\u307e\u3059\u3002\u771f\u4e0b\u5411\u304d\u306e\u30ab\u30e1\u30e9\u3067\u6c34\u7530\u3092\u8997\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6307\u793a\u306f\u65e5\u672c\u8a9e\u30671\u6587\u3060\u3051\u6295\u3052\u307e\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>ros2 topic pub -1 \/agent\/instruction std_msgs\/msg\/String \\\n  '{data: \"\u897f\u306e\u6c34\u7530\u306e\u4e2d\u592e\u3001\u5ea7\u6a19(-9, 9.5)\u306e\u4e0a\u7a7a \u9ad8\u5ea66m\u3078\u98db\u3093\u3067\u3001\u771f\u4e0b\u306b\u4f55\u304c\u898b\u3048\u308b\u304b\u6559\u3048\u3066\"}'<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3042\u3068\u306f\u52dd\u624b\u306b\u9032\u307f\u307e\u3059\u3002\u30ed\u30b0\u3092\u6642\u7cfb\u5217\u3067\u4e26\u3079\u308b\u3068\u3053\u3046\u306a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>03:14:59 [\u7ba1\u7406\u8005]   delegate_to_motion  \u2026 \u79fb\u52d5\u62c5\u5f53\u306b\u4f9d\u983c\n03:15:01 [\u79fb\u52d5\u62c5\u5f53] get_current_pose    \u2026 \u307e\u305a\u4eca\u3069\u3053\u304b\u8aad\u3080\n03:15:15 [\u79fb\u52d5\u62c5\u5f53] navigate_to_pose {'x': -9, 'y': 9.5, 'z': 6}\n03:15:15 [\u30d6\u30ea\u30c3\u30b8] \u30b4\u30fc\u30eb\u53d7\u7406: (-9.0, 9.5) \u9ad8\u5ea6 6.0m yaw 0\u00b0 [odom]\n03:15:23 [\u30d6\u30ea\u30c3\u30b8] \u5230\u9054\uff08\u6b8b 1.33 m \/ \u9ad8\u5ea6\u5dee 0.03 m \/ 8 \u79d2\uff09\u3002LOITER \u3067\u5f85\u6a5f\n03:15:30 [\u79fb\u52d5\u62c5\u5f53] get_ros2_camera_image \u2026 \u771f\u4e0b\u30921\u679a\u898b\u308b<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u96e2\u9678\u306e\u6307\u793a\u306f\u51fa\u3057\u3066\u3044\u307e\u305b\u3093\u3002\u5730\u4e0a\u3067\u5f85\u6a5f\u3057\u3066\u3044\u305f\u6a5f\u4f53\u304c\u3001<strong>\u30b4\u30fc\u30eb\u3092\u53d7\u3051\u305f\u5074\u306e\u5224\u65ad\u3067\u96e2\u9678\u3057\u3066 6m \u307e\u3067\u4e0a\u304c\u308a\u3001\u6c34\u7530\u306e\u4e0a\u307e\u3067\u98db\u3093\u3067\u6b62\u307e\u308a\u307e\u3057\u305f<\/strong>\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8fd4\u3063\u3066\u304d\u305f\u7b54\u3048\u304c\u3053\u308c\u3067\u3059\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\" style=\"margin-top:20px;margin-bottom:44px\"><code>\u73fe\u5728\u306e\u72b6\u6cc1\u3067\u3059\u3002\n\n- \u73fe\u5728\u5730\uff1a\u897f\u306e\u6c34\u7530\u4e2d\u592e\u3001\u5ea7\u6a19 (-9, 9.5) \u4ed8\u8fd1\u3001\u9ad8\u5ea66m\u3067\u30db\u30d0\u30ea\u30f3\u30b0\u4e2d\u3067\u3059\u3002\n- \u771f\u4e0b\u306e\u30ab\u30e1\u30e9\uff1a\u6c34\u3092\u5f35\u3063\u305f\u897f\u306e\u6c34\u7530\u304c\u898b\u3048\u307e\u3059\u3002\u7070\u7dd1\u8272\u306e\u6c34\u9762\u304c\u753b\u9762\u306e\n  \u5927\u90e8\u5206\u3092\u5360\u3081\u3001\u5468\u56f2\u3092\u8336\u8272\u306e\u7566\uff08\u3042\u305c\uff09\u304c\u56f2\u3093\u3067\u3044\u307e\u3059\u3002<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u5ea7\u6a19\u306f\u8a00\u3044\u5024\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u9053\u5177\u306e\u623b\u308a\u5024\u306b\u306f<strong>\u98db\u3073\u7d42\u308f\u3063\u3066\u304b\u3089\u6e2c\u308a\u76f4\u3057\u305f\u4f4d\u7f6e<\/strong>\u304c\u5165\u3063\u3066\u3044\u3066\u3001\u8981\u6c42\u3057\u305f\u5ea7\u6a19\u3068\u306e\u5dee\u3082\u4e00\u7dd2\u306b\u8fd4\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u300c\u7740\u3044\u305f\u3068\u8a00\u3063\u3066\u3044\u308b\u304c\u5b9f\u306f\u5c4a\u3044\u3066\u3044\u306a\u3044\u300d\u3092\u4eba\u304c\u691c\u8a3c\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u3067\u3059\u3002\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306e\u3068\u304d\u3068\u540c\u3058\u4f5c\u6cd5\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" style=\"margin-top:76px;margin-bottom:22px\">\u307e\u3068\u3081<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u5f8c\u306b\u5168\u4f53\u30921\u679a\u306b\u3057\u307e\u3059\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=\"\u5168\u4f53\u69cb\u6210\u56f3\u3002\u4e0a\u6bb5\u306bWeb UI\u3068\u7ba1\u7406\u8005\u3068\u79fb\u52d5\u62c5\u5f53\u306e\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3001\u4e2d\u6bb5\u306bnavigate_to_pose\u30a2\u30af\u30b7\u30e7\u30f3\u3092\u631f\u3093\u3067\u5730\u4e0a\u30ed\u30dc\u30c3\u30c8\u306fNav2\u3001\u30c9\u30ed\u30fc\u30f3\u306fPX4\u30d6\u30ea\u30c3\u30b8\u3001\u4e0b\u6bb5\u306bGazebo\u304c\u4e26\u3076\u3002\u5165\u308c\u66ff\u308f\u308b\u306e\u306f\u4e2d\u6bb5\u306e\u53f3\u534a\u5206\u3060\u3051\u3067\u3042\u308b\u3053\u3068\u3092\u793a\u3059\" 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=\"g4fr\" viewBox=\"0 0 10 10\" 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