{"id":88867,"date":"2022-12-06T14:04:16","date_gmt":"2022-12-06T06:04:16","guid":{"rendered":"https:\/\/www.tm-robot.com\/tm-ros%e3%83%89%e3%83%a9%e3%82%a4%e3%83%90%e3%83%bc\/"},"modified":"2023-11-12T17:31:57","modified_gmt":"2023-11-12T09:31:57","slug":"tm-ros-driver","status":"publish","type":"page","link":"https:\/\/www2.tm-robot.com\/ja\/tm-ros-driver\/","title":{"rendered":"TM ROS\u30c9\u30e9\u30a4\u30d0\u30fc"},"content":{"rendered":"\t\t
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TM ROS\u30c9\u30e9\u30a4\u30d0\u30fc<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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Robot Operating System(ROS)\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u30ed\u30dc\u30c3\u30c8\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u3088\u308a\u52b9\u7387\u7684\u306b\u69cb\u7bc9\u3059\u308b\u3053\u3068\u3092\u76ee\u7684\u3068\u3057\u305f\u3001\u8c4a\u5bcc\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3001\u30c9\u30e9\u30a4\u30d0\u3001\u30c4\u30fc\u30eb\u3092\u542b\u3080\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30ed\u30dc\u30c3\u30c8\u30df\u30c9\u30eb\u30a6\u30a7\u30a2\u30b9\u30a4\u30fc\u30c8\u3067\u3059\u3002<\/p>\r\n\r\n

ROS\u3092\u30b5\u30dd\u30fc\u30c8\u3059\u308b\u305f\u3081\u306b\u3001\u30c6\u30c3\u30af\u30de\u30f3\u30ed\u30dc\u30c3\u30c8\u3067\u306f\u3001\u958b\u767a\u8005\u304c\u30e2\u30fc\u30b7\u30e7\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3084\u30c7\u30fc\u30bf\u53d6\u5f97\uff08\u30b9\u30c6\u30fc\u30bf\u30b9\u3001EIH\u30ab\u30e1\u30e9\u304b\u3089\u306e\u753b\u50cf\u306a\u3069\uff09\u306b\u3088\u308aROS\u30d9\u30fc\u30b9\u306e\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u69cb\u7bc9\u3059\u308b\u305f\u3081\u306eTM ROS\u30c9\u30e9\u30a4\u30d0\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002TM ROS\u30c9\u30e9\u30a4\u30d0\u306b\u306f\u3001\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u542b\u3080\u30b9\u30bf\u30c3\u30af\u3001\u30c7\u30d0\u30c3\u30b0\u7528\u306eGUI\u30c4\u30fc\u30eb\u3001\u6709\u540d\u306aROS\u30c4\u30fc\u30eb\u3067\u3042\u308bGazebo\u3084Movelt\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306e\u30ea\u30bd\u30fc\u30b9\uff08URDF\uff09\u3082\u4ed8\u5c5e\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\"\"\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\u88fd\u54c1\u6982\u8981<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tTM ROS\u30c9\u30e9\u30a4\u30d0\u306f\u3001\u30c8\u30d4\u30c3\u30af\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u3001\u30b5\u30fc\u30d3\u30b9\u30b5\u30fc\u30d0\u30fc\u3001\u30a2\u30af\u30b7\u30e7\u30f3\u30b5\u30fc\u30d0\u30fc\u306e3\u3064\u306e\u4e3b\u8981\u90e8\u5206\u3067\u69cb\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002

\r\n\r\n\u30c8\u30d4\u30c3\u30af\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u306fEthernet\u30b9\u30ec\u30fc\u30d6\u3092\u4ecb\u3057\u3066TMflow\u306b\u63a5\u7d9a\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u304b\u3089\u30c7\u30fc\u30bf\uff08\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u3001\u95a2\u7bc0\u306e\u72b6\u614b\u3001\u30c4\u30fc\u30eb\u306e\u30dd\u30fc\u30ba\u306a\u3069\uff09\u3092\u53ce\u96c6\u3057\u3001\u9867\u5ba2\u306eROS\u30ce\u30fc\u30c9\u304c\u30c8\u30d4\u30c3\u30af\u3092\u30b5\u30d6\u30b9\u30af\u30e9\u30a4\u30d6\u3057\u3066\u305d\u306e\u60c5\u5831\u3092\u6240\u5f97\u306b\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u3082\u306e\u3067\u3059\u3002

\r\n\r\n\u30b5\u30fc\u30d3\u30b9\u30b5\u30fc\u30d0\u30fc\u306f\u3001\u4e00\u7a2e\u306etm_msg\u3092\u4f7f\u7528\u3057\u305f\u30e2\u30fc\u30b7\u30e7\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30eb\u3092\u76ee\u7684\u3068\u3057\u3066\u3044\u307e\u3059\u3002\u30c9\u30e9\u30a4\u30d0\u304cTmflow\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u5185\u306e\u30ea\u30c3\u30b9\u30f3\u30ce\u30fc\u30c9\u306b\u63a5\u7d9a\u3057\u305f\u5f8c\u3001\u9867\u5ba2\u306eROS\u30ce\u30fc\u30c9\u304c\u30ea\u30c3\u30b9\u30f3\u30ce\u30fc\u30c9\u3068\u5bfe\u8a71\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u4f5c\u3055\u305b\u307e\u3059\u3002

\r\n\r\n\u30a2\u30af\u30b7\u30e7\u30f3\u30b5\u30fc\u30d0\u30fc\u306f\u3001Movelt\u3067\u751f\u6210\u3055\u308c\u305f\u8ecc\u9053\u3092\u5909\u63db\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u304d\u3092\u5de5\u85e4\u3059\u308b\u30a2\u30af\u30b7\u30e7\u30f3\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30a4\u30b9\u3068\u3057\u3066\u6a5f\u80fd\u3057\u307e\u3059\u3002

\r\n\r\n\u307e\u305f\u3001\u30c6\u30c3\u30af\u30de\u30f3\u30ed\u30dc\u30c3\u30c8\u3067\u306f\u3001\u3055\u307e\u3056\u307e\u306a\u30d0\u30fc\u30b8\u30e7\u30f3\u306eROS1\u304a\u3088\u3073ROS2\u306b\u5bfe\u5fdc\u3057\u305fTM ROS\u30c9\u30e9\u30a4\u30d0\u3092\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tTM ROS\u30c9\u30e9\u30a4\u30d0\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u30c7\u30e2\u3092\u898b\u308b<\/strong><\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\u30a2\u30af\u30b7\u30e7\u30f3\u30b5\u30fc\u30d0\u30fc<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u30c8\u30d4\u30c3\u30af\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 \/feedback_states<\/em>\u3067\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u306e\u72b6\u614b\u3092\u516c\u958b\u3057\u307e\u3059\r\nFeedbackState\u306b\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3001\u30a8\u30e9\u30fc\u30b3\u30fc\u30c9\u3001I\/O\u30b9\u30c6\u30fc\u30bf\u30b9\u306a\u3069\u304c\u542b\u307e\u308c\u307e\u3059\uff08tm_msgs\/msg\/FeedbackState.msg<\/em>\u3092\u53c2\u7167\uff09\u3002\r\n\r\n\u2022 \/joint_states<\/em>\u3067\u30b8\u30e7\u30a4\u30f3\u30c8\u306e\u72b6\u614b\u3092\u516c\u958b\u3057\u307e\u3059\r\n\r\n\u2022 \/tool_pose<\/em>\u3067\u30c4\u30fc\u30eb\u30dd\u30fc\u30ba\u3092\u516c\u958b\u3057\u307e\u3059\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\u30b5\u30fc\u30d3\u30b9\u30b5\u30fc\u30d0\u30fc<\/h5>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 \/tm_driver\/send_script<\/em>\uff08tm_msgs\/srv\/SendScript.srv<\/em>\u3092\u53c2\u7167\uff09\uff1a\r\n\u30ed\u30dc\u30c3\u30c8\u30b9\u30af\u30ea\u30d7\u30c8\uff08TM Robot Expression<\/em>\uff09\u3092\u30ea\u30c3\u30b9\u30f3\u30ce\u30fc\u30c9\u306b\u9001\u4fe1\u3057\u307e\u3059\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 \/tm_driver\/set_event<\/em>\uff08tm_msgs\/srv\/SetEvent.srv<\/em>\u3092\u53c2\u7167\uff09\uff1a\r\n\u300c\u505c\u6b62\u300d\u3001\u300c\u4e00\u6642\u505c\u6b62\u300d\u3001\u307e\u305f\u306f\u300c\u518d\u958b\u300d\u30b3\u30de\u30f3\u30c9\u3092\u30ea\u30c3\u30b9\u30f3\u30ce\u30fc\u30c9\u306b\u9001\u4fe1\u3057\u307e\u3059\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 \/tm_driver\/set_io<\/em>\uff08tm_msgs\/srv\/SetIO.srv<\/em>\u3092\u53c2\u7167\uff09\uff1a\r\n\u30c7\u30b8\u30bf\u30eb\u307e\u305f\u306f\u30a2\u30ca\u30ed\u30b0\u306e\u51fa\u529b\u5024\u3092\u30ea\u30c3\u30b9\u30f3\u30ce\u30fc\u30c9\u306b\u9001\u4fe1\u3057\u307e\u3059\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u2022 _\/tm_driver\/set_position<\/em>\uff08tm_msgs\/srv\/SetPosition.srv<\/em>\u3092\u53c2\u7167\uff09\uff1a\r\n\u30e2\u30fc\u30b7\u30e7\u30f3\u30b3\u30de\u30f3\u30c9\u3092\u30ea\u30c3\u30b9\u30f3\u30ce\u30fc\u30c9\u306b\u9001\u4fe1\u3057\u307e\u3059\u3002\u30e2\u30fc\u30b7\u30e7\u30f3\u30bf\u30a4\u30d7\u306b\u306f\u3001PTP\u3001LINE\u3001CIRCLE\u3001LINE\u304c\u542b\u307e\u308c\u307e\u3059\u3002\u4f4d\u7f6e\u306e\u5024\u306f\u3001\u30b8\u30e7\u30a4\u30f3\u30c8\u89d2\u5ea6(J)\u307e\u305f\u306f\u30c4\u30fc\u30eb\u30dd\u30fc\u30ba(T)\u3067\u3059\u3002\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3001\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u30a8\u30af\u30b9\u30d7\u30ec\u30b9\u30a8\u30c7\u30a3\u30bf\u3068\u30ea\u30c3\u30b9\u30f3\u30ce\u30fc\u30c9\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
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ROS\u30d0\u30fc\u30b8\u30e7\u30f3<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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TM ROS\u30c9\u30e9\u30a4\u30d0\u30fc\u306e\u30d0\u30fc\u30b8\u30e7\u30f3<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

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TMvision\u3092\u30b5\u30dd\u30fc\u30c8<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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\n\t\t\t\t\t\t\tROS Noetic Ninjemys<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\tTM ROS1 Noetic driver<\/a>\r\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t
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\u039f<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

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\u8a73\u7d30\u60c5\u5831\u304c\u5fc5\u8981\u3067\u3059\u304b\uff1f<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t
\n\t\t\t\t\t\n\t\t\t\t\t\t\u4eca\u3059\u3050\u304a\u554f\u3044\u5408\u308f\u305b\u304f\u3060\u3055\u3044\t\t\t\t\t<\/span>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/a>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

TM ROS\u30c9\u30e9\u30a4\u30d0\u30fc Robot Operating System(ROS)\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u30ed\u30dc\u30c3\u30c8\u30a2\u30d7\u30ea\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u3088\u308a\u52b9\u7387\u7684\u306b\u69cb\u7bc9\u3059\u308b\u3053\u3068\u3092\u76ee\u7684\u3068\u3057\u305f\u3001\u8c4a\u5bcc\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u3001\u30c9\u30e9\u30a4\u30d0\u3001\u30c4\u30fc\u30eb\u3092\u542b\u3080\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30ed\u30dc\u30c3\u30c8\u30df […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"wf_page_folders":[4790],"acf":[],"yoast_head":"\nTechman Robot | TM ROS\u30c9\u30e9\u30a4\u30d0\u30fc<\/title>\n<meta name=\"description\" content=\"Robot Operating 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