December 2017
Intermediate to advanced
480 pages
7h 13m
Japanese
book
プログラミングROS ―Pythonによるロボットアプリケーション開発
by Morgan Quigley, Brian Gerkey, William D. Smart, 河田 卓志, 松田 晃一, 福地 正樹, 由谷 哲夫
Content preview from プログラミングROS ―Pythonによるロボットアプリケーション開発
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17章移動ロボット：パート2
「16章 自作の移動ロボット」ではTortoiseBotを例にしてROSに新しい移動ロボットを追加する方法を学びました。トピックのAPIを決め、Gazeboのモデルを作り、低レベルの速度命令を使ってシミュレーション環境の中で動かしてみました。本章では次の大きなステップを踏み出すことにします。TortoiseBotを（シミュレーション環境の中で）自律的に動かします。それには次のようないくつかの小さなステップを刻む必要があります。
- 可視化して座標変換を確認する。
- レーザーセンサーを追加する。
- ナビゲーションスタックを設定して組み込む。
- ロボットの位置を
rvizで特定してナビゲーションのゴールを設定する。
17.1 座標変換を確認する
前の章の最後の状態を思い起こすとTortoiseBotのシミュレーションは次のようにして起動することができます。
user@hostname$ roslaunch tortoisebot tortoisebot.launch
このlaunchファイルを起動すると空っぽの環境の中にGazeboシミュレーション用のTortoiseBotが現れます。まず、rvizを使って（シミュレーションされた）ロボットの状態を可視化してみましょう。Gazeboを起動したままで、いつものようにrvizを開始してください。
user@hostname$ rviz
![[注記]](/api/v2/epubs/urn:orm:book:9784873118093/files/images/note.png) |
もしかしたら、皆さんはGazeboと |
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O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.Julian F.
I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.Amir M.
I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.