{"id":44924,"date":"2023-06-19T21:48:14","date_gmt":"2023-12-22T10:54:03","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/44924-2\/"},"modified":"2024-04-30T09:41:52","modified_gmt":"2024-04-30T01:41:52","slug":"44924-2","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/44924-2\/","title":{"rendered":""},"content":{"rendered":"

RUST\u3067ROS\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308b<\/h1>\n

\u306f\u3058\u3081\u306b<\/h2>\n

\u682a\u5f0f\u4f1a\u793eRist\u306e\u30ed\u30dc\u30c3\u30c8\u30c1\u30fc\u30e0\u306e\u30d7\u30e9\u30c0\u30f3\u3067\u3059\u3002\u30cd\u30d1\u30fc\u30eb\u51fa\u8eab\u3067\u3059\u304c\u30012\u5e74\u524d\u306b\u6765\u65e5\u3057\u307e\u3057\u305f\u3002
\n\u30bf\u30a4\u306e\u30a2\u30b8\u30a2\u5de5\u79d1\u5927\u5b66\u5927\u5b66\u9662\u3067\u30e1\u30ab\u30c8\u30ed\u30cb\u30af\u30b9\u306e\u4fee\u58eb\u53f7\u3092\u53d6\u5f97\u3002
\nRist\u306b\u5165\u793e\u3059\u308b\u524d\u306f\u7814\u7a76\u8005\u3001\u6a5f\u68b0\u30a8\u30f3\u30b8\u30cb\u30a2\u3068\u3057\u3066\u50cd\u3044\u3066\u3044\u307e\u3057\u305f\u3002<\/p>\n

\u6982\u8981<\/h2>\n

\u3053\u308c\u306f\u3001Rist\u306e\u540c\u50da\u306b\u3088\u308bA Gentle Introduction to rosrust, and its actionlib Support\u3068Turtlebot3(Burger)\u3092ROS Bridge\u3057\u3066Rust\u3067\u52d5\u304b\u3059\u6e96\u5099\u306e\u30d5\u30a9\u30ed\u30fc\u30a2\u30c3\u30d7\u8a18\u4e8b\u3067\u3001ROS\u3067’.rs’\u306erust\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3080ROS\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3001RUST\u3092\u4f7f\u3063\u3066\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u4f5c\u6210\u3059\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u66f8\u304b\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n

Catkin_ws\u3067Cargo\u3092\u4f7f\u3063\u3066\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b<\/h2>\n

\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308b\u306e\u306f\u7c21\u5358\u306a\u4f5c\u696d\u3067\u3059\u304c\u3001’.rs’ \u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3080\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308b\u306e\u306f\u3001ROS \u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u8a00\u8a9e\u304c c++ \u3068 python \u3067\u3042\u308b\u305f\u3081\u3001\u5c11\u3057\u9762\u5012\u3067\u3059\u3002\u7a7a\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b\u306b\u306f:<\/p>\n

$ <\/span>roscd\r\n$ <\/span>cd<\/span> ..\/ src\r\n$ <\/span>catkin_create_pkg rust_test\r\n<\/code><\/pre>\n
\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u4f5c\u6210\u3055\u308c\u305f\u3089\u3001catkin_ws\u306esrc\u30d5\u30a9\u30eb\u30c0\u306e\u4e2d\u306b\u5165\u3063\u3066\u3001\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u898b\u3066\u304f\u3060\u3055\u3044\u3002ROS\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u306f\u4ee5\u4e0b\u306e\u3082\u306e\u304c\u542b\u307e\u308c\u3066\u3044\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n
catkin_ws\r\n \u251c\u2500\u2500 build\r\n \u251c\u2500\u2500 devel\r\n \u2514\u2500\u2500 src\r\n    \u2514\u2500\u2500 rust_test\r\n        \u251c\u2500\u2500 CMakeLists.txt\r\n        \u2514\u2500\u2500 package.xml\r\n<\/code><\/pre>\n
\u203b \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b\u524d\u306b\u3001catkin_ws\u306esrc\u30d5\u30a9\u30eb\u30c0\u306b\u3042\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002
\n\u6b21\u306fcargo\u3092\u4f7f\u3063\u3066catkin_ws\u306esrc\u30d5\u30a9\u30eb\u30c0\u5185\u306bRUST\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n
$ <\/span>cargo new rust_ws\r\n<\/code><\/pre>\n
rust_ws\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u4e2d\u306b\u306f\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u8868\u793a\u3055\u308c\u3066\u3044\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n
\r\nrust_ws\r\n \u251c\u2500\u2500 Cargo.toml\r\n \u2514\u2500\u2500 src\r\n    \u2514\u2500\u2500 main.rs\r\n<\/code><\/pre>\n
catkin_ws\u306e\u4e2d\u306b\u306f\u3001ROS\u30d1\u30c3\u30b1\u30fc\u30b8rust_test\u3068\u30ab\u30fc\u30b4\u30d1\u30c3\u30b1\u30fc\u30b8rust_ws\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
ROS\u3067RUST\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3059<\/h2>\n
ROS\u306f\u307e\u3060RUST\u3092\u30b5\u30dd\u30fc\u30c8\u3057\u3066\u3044\u306a\u3044\u306e\u3067\u3001 rust_ws \u30ab\u30fc\u30b4\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u3044\u304f\u3064\u304b\u306e\u5909\u66f4\u3092\u52a0\u3048\u306a\u3051\u308c\u3070\u306a\u308a\u307e\u305b\u3093\u3002
\n\u30e9\u30b9\u30c8\u30c6\u30b9\u30c8\u30d5\u30a9\u30eb\u30c0\u304b\u3089 **CMakeLists.txt \u3068 package.xml \u3092\u30b3\u30d4\u30fc\u3057\u3066\u3001rust_ws\u30d5\u30a9\u30eb\u30c0\u306b\u8cbc\u308a\u4ed8\u3051\u3066\u304f\u3060\u3055\u3044\u3002\u65b0\u3057\u3044\u30d1\u30c3\u30b1\u30fc\u30b8\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n
rust_ws\r\n \u251c\u2500\u2500 Cargo.toml\r\n \u251c\u2500\u2500 CMakeLists.txt\r\n \u251c\u2500\u2500 package.xml\r\n \u2514\u2500\u2500 src\r\n    \u2514\u2500\u2500 main.rs\r\n<\/code><\/pre>\n
CMakeLists.txt*\u3068package.xml*\u306f\u3001\u73fe\u5728\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u30b3\u30d4\u30fc\u3057\u305f\u5225\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u3082\u306e\u306a\u306e\u3067\u3001ROS\u3068RUST\u304c\u6a5f\u80fd\u3059\u308b\u3088\u3046\u306b\u30b3\u30fc\u30c9\u3092\u5909\u66f4\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
CMakeLists.txt\u30d5\u30a1\u30a4\u30eb\u3092\u5909\u66f4<\/h4>\n
\u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5143\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u540d\u3001\u3059\u306a\u308f\u3061 rust_test \u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002
\nOriginal CMakeLists.txt<\/p>\n
cmake_minimum_required(VERSION 2.8.3)\r\nproject(rust_test)\r\n\r\nfind_package(catkin REQUIRED)\r\ninclude_directories(\r\n# include\r\n# ${catkin_INCLUDE_DIRS}\r\n)\r\n<\/code><\/pre>\n
Modified CMakeLists.txt
\nrust_test\u3092\u73fe\u5728\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u540drust_ws\u306b\u5909\u66f4\u3057\u3001\u4ee5\u4e0b\u306e\u30b3\u30fc\u30c9\u3092\u8ffd\u52a0\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
cmake_minimum_required(VERSION 2.8.3)\r\nproject(rust_ws)\r\n\r\nfind_package(catkin REQUIRED)\r\ninclude_directories(\r\n# include\r\n# ${catkin_INCLUDE_DIRS}\r\n)\r\nadd_custom_target(rust_ws\r\n    ALL\r\n    COMMAND cargo build --release -p rust_ws\r\n    COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_BINARY_DIR}\/cargo\/release\/rust_ws ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}\/rust_ws\r\n    COMMENT \"Building my Rust library\"\r\n)\r\n<\/code><\/pre>\n
package.xml\u30d5\u30a1\u30a4\u30eb\u3092\u5909\u66f4<\/h4>\n
\u307e\u305f\u3001package.xml\u3082\u4fee\u6b63\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002CMakeLists.txt\u30d5\u30a1\u30a4\u30eb\u306e\u4fee\u6b63\u3068\u540c\u69d8\u306b\u3001\u5143\u306e\u540d\u524d\u3092\u73fe\u5728\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u540d\u306b\u5909\u66f4\u3057\u307e\u3059\u3002
\nOriginal package.xml file:<\/p>\n
<?xml version=\"1.0\"?><\/span>\r\n<package<\/span> format=<\/span>\"2\"<\/span>><\/span>\r\n  <name><\/span>rust_test<\/name><\/span>\r\n  <version><\/span>0.0.0<\/version><\/span>\r\n  <description><\/span>The rust_test package<\/description><\/span>\r\n<\/code><\/pre>\n
Modified package.xml file:<\/p>\n
<?xml version=\"1.0\"?><\/span>\r\n<package<\/span> format=<\/span>\"2\"<\/span>><\/span>\r\n  <name><\/span>rust_ws<\/name><\/span>\r\n  <version><\/span>0.0.0<\/version><\/span>\r\n  <description><\/span>The rust_ws package<\/description><\/span>\r\n<\/code><\/pre>\n
catkin_ws\u3092cargo\u3067\u4f5c\u6210\u3057\u305f\u65b0\u3057\u3044\u30d1\u30c3\u30b1\u30fc\u30b8\u3067\u30b3\u30f3\u30d7\u3059\u308b<\/h2>\n
CMakeList.txt\u30d5\u30a1\u30a4\u30eb\u3068package.xml\u30d5\u30a1\u30a4\u30eb\u3092\u4fee\u6b63\u3057\u305f\u3089\u3001catkin_ws\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u3066\u30bd\u30fc\u30b9\u3092\u4f5c\u6210\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001catkin_ws\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u524d\u306b\u3001ROS\u304cRUST\u306e’.rs’\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3081\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306b\u3001catkin_ws\u306b\u3082\u3046\u4e00\u3064\u91cd\u8981\u306a\u8ffd\u52a0\u3092\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
    \u3053\u306e\u30b9\u30c6\u30c3\u30d7\u307e\u3067\u306f\u3001catkin_ws\u306f\u3053\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b\u306f\u305a\u3067\u3059\u3002<\/ul>\n
    catkin_ws\r\n \u251c\u2500\u2500 build\r\n \u251c\u2500\u2500 devel\r\n \u2514\u2500\u2500 src\r\n    \u251c\u2500\u2500 rust_test\r\n    \u2514\u2500\u2500 rust_ws\r\n        \u251c\u2500\u2500 Cargo.toml\r\n        \u251c\u2500\u2500 CMakeLists.txt\r\n        \u251c\u2500\u2500 package.xml\r\n        \u2514\u2500\u2500 src\r\n                \u2514\u2500\u2500 main.rs        \r\n<\/code><\/pre>\n
      \n
    • \n
        \u6b21\u306e\u30b9\u30c6\u30c3\u30d7\u3067\u306f\u3001\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u683c\u7d0d\u3059\u308b .cargo \u30d5\u30a9\u30eb\u30c0\u3092\u96a0\u3057\u30d5\u30a9\u30eb\u30c0\u3068\u3057\u3066\u4f5c\u6210\u3057\u307e\u3059\u3002<\/ul>\n<\/li>\n<\/ul>\n
        \u6700\u3082\u7c21\u5358\u306a\u65b9\u6cd5\u306f\u3001cilck\u3092\u53f3\u30de\u30a6\u30b9\u3067\u30af\u30ea\u30c3\u30af\u3057\u3066\u3001New Folder\u3092\u9078\u629e\u3059\u308b\u3053\u3068\u3067\u3059\u3002
        \n\u203b .cargo\u3068\u3044\u3046\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u4ed8\u3051\u308b\u524d\u306b\u3001\u30d5\u30a9\u30eb\u30c0\u5185\u306bconfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3057\u3066\u304a\u304f\u3053\u3068\u3092\u304a\u52e7\u3081\u3057\u307e\u3059\uff01config.png<\/p>\n
        \u7121\u984c\u306e\u30d5\u30a9\u30eb\u30c0\u540d .cargo \u3092\u975e\u8868\u793a\u306b\u3057\u307e\u3059\u3002<\/p>\n
        \u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306b\u4ee5\u4e0b\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n
        [build]\r\ntarget-dir = \"build\/cargo\"\r\n<\/code><\/pre>\n
          \n
        • \n
            \u30ab\u30fc\u30b4\u74b0\u5883\u7528\u306eCargo.toml\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/ul>\n<\/li>\n<\/ul>\n
            Cargo.toml\u30d5\u30a1\u30a4\u30eb\u306b\u3001\u4ee5\u4e0b\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n
            [workspace]<\/span>\r\nmembers<\/span> =<\/span> [<\/span> \"src\/rust_ws\"<\/span> ]<\/span>\r\n<\/code><\/pre>\n
            \u4e0a\u8a18\u306e\u624b\u9806\u3092\u5b8c\u4e86\u3059\u308b\u3068\u3001catkin_ws\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n
            catkin_ws\r\n \u251c\u2500\u2500 build\r\n \u251c\u2500\u2500 devel\r\n \u251c\u2500\u2500 src\r\n    \u251c\u2500\u2500 rust_test\r\n    \u2514\u2500\u2500 rust_ws\r\n        \u251c\u2500\u2500 Cargo.toml\r\n        \u251c\u2500\u2500 CMakeLists.txt\r\n        \u251c\u2500\u2500 package.xml\r\n        \u2514\u2500\u2500 src\r\n                \u2514\u2500\u2500 main.rs\r\n \u2514\u2500\u2500 Cargo.toml    \r\n<\/code><\/pre>\n
            \"cargo_lock.png\"<\/div>\n
            \u6700\u5f8c\u306bcatkin_ws\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002
            \n\u203b:\u3000src\u3067\u306f\u306a\u304fcatkin_ws\u30d5\u30a9\u30eb\u30c0\u306b\u3042\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
            $ <\/span>catkin_make\r\n<\/code><\/pre>\n
            \u30a8\u30e9\u30fc\u304c\u51fa\u306a\u3044\u3088\u3046\u306b\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u305f\u5f8c\u3001\u30bd\u30fc\u30b9\u3092\u51fa\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n
            $ <\/span>source <\/span>devel\/setup.bash\r\n<\/code><\/pre>\n
            \u30bd\u30fc\u30b9\u304c\u4f5c\u6210\u3055\u308c\u308b\u3068\u3001Cargo.lock\u30d5\u30a1\u30a4\u30eb\u304ccatkin_ws\u30d5\u30a9\u30eb\u30c0\u306b\u8868\u793a\u3055\u308c\u307e\u3059\u3002\u3053\u308c\u3067ROS\u306fRUST\u306e’.rs’\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u8aad\u3080\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n
            catkin_ws\r\n \u251c\u2500\u2500 build\r\n \u251c\u2500\u2500 devel\r\n \u251c\u2500\u2500 src\r\n    \u251c\u2500\u2500 rust_test\r\n    \u2514\u2500\u2500 rust_ws\r\n        \u251c\u2500\u2500 Cargo.toml\r\n        \u251c\u2500\u2500 CMakeLists.txt\r\n        \u251c\u2500\u2500 package.xml\r\n        \u2514\u2500\u2500 src\r\n                \u2514\u2500\u2500 main.rs\r\n \u251c\u2500\u2500 Cargo.lock\r\n \u2514\u2500\u2500 Cargo.toml    \r\n<\/code><\/pre>\n
            \u30b7\u30f3\u30d7\u30eb\u306a\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u30ce\u30fc\u30c9\u306e\u30c6\u30b9\u30c8<\/h2>\n
            Source\u5f8c\u3001ROS\u306fRUST\u3068\u901a\u4fe1\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002RUST\u304cROS\u3067\u52d5\u4f5c\u3057\u3066\u3044\u308b\u304b\u3069\u3046\u304b\u3092\u30c6\u30b9\u30c8\u3059\u308b\u306b\u306f\u3001’main.rs’\u306b\u66f8\u304b\u308c\u305f\u7c21\u5358\u306a\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u30b3\u30fc\u30c9\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n
            use<\/span> env_logger<\/span>;<\/span>\r\nuse<\/span> rosrust<\/span>;<\/span>\r\n\r\nfn<\/span> main<\/span>()<\/span> {<\/span>\r\n\r\n    env_logger<\/span>::<\/span>init<\/span>();<\/span>\r\n\r\n    rosrust<\/span>::<\/span>init<\/span>(<\/span>\"topic_publisher\"<\/span>);<\/span>\r\n\r\n    \/\/create publisher<\/span>\r\n    let<\/span> pubs<\/span> =<\/span> rosrust<\/span>::<\/span>publish<\/span>(<\/span>\"cmd_vel\"<\/span>,<\/span> 10<\/span>)<\/span>.unwrap<\/span>();<\/span>\r\n\r\n    let<\/span> rate<\/span> =<\/span> rosrust<\/span>::<\/span>rate<\/span>(<\/span>10.0<\/span>);<\/span>    \r\n\r\n    while<\/span> rosrust<\/span>::<\/span>is_ok<\/span>(){<\/span>\r\n\r\n        let<\/span> mut<\/span> cmd_vel_data<\/span> =<\/span> rosrust_msg<\/span>::<\/span>geometry_msgs<\/span>::<\/span>Twist<\/span>::<\/span>default<\/span>();<\/span>\r\n\r\n        cmd_vel_data<\/span>.linear.x<\/span> =<\/span> 0.5<\/span>;<\/span>\r\n        cmd_vel_data<\/span>.linear.y<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n        cmd_vel_data<\/span>.linear.z<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n\r\n        cmd_vel_data<\/span>.angular.x<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n        cmd_vel_data<\/span>.angular.y<\/span> =<\/span> 0.0<\/span>;<\/span>\r\n        cmd_vel_data<\/span>.angular.z<\/span> =<\/span> 0.5<\/span>;<\/span>\r\n\r\n        \/\/publish cmd<\/span>\r\n        pubs<\/span>.send<\/span>(<\/span>cmd_vel_data<\/span>)<\/span>.unwrap<\/span>();<\/span>\r\n\r\n    }<\/span>\r\n    rate<\/span>.sleep<\/span>();<\/span>\r\n    rosrust<\/span>::<\/span>spin<\/span>();<\/span>\r\n\r\n}<\/span>\r\n<\/code><\/pre>\n
            \"launch.png\"<\/div>\n
            <launch><\/span>\r\n\r\n    <node<\/span> name =<\/span>\"test\"<\/span> pkg=<\/span>\"rust_ws\"<\/span> type=<\/span>\"rust_ws\"<\/span>\/><\/span>\r\n\r\n<\/launch><\/span>\r\n<\/code><\/pre>\n
            \u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067 rosrcore \u3092\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n
            $ <\/span>roscore\r\n<\/code><\/pre>\n
            \u5225\u306e\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u8d77\u52d5\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
            $ <\/span>roslaunch rust_ws test.launch\r\n<\/code><\/pre>\n
            rosrust Dependencies<\/h2>\n
            \u30bd\u30fc\u30b7\u30f3\u30b0\u5f8c\u3001ROS\u306fRUST\u3068\u901a\u4fe1\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002\u3057\u304b\u3057\u3001RUST\u306f\u307e\u3060ROS\u3068\u901a\u4fe1\u3067\u304d\u305a\u3001\u5e38\u306b\u30a8\u30e9\u30fc\u3092\u51fa\u3057\u307e\u3059\u3002
            \n\u3053\u308c\u306f\u3001RUST\u304cROS\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u8a00\u8a9e\u3067\u306f\u306a\u3044\u305f\u3081\u3001’.rs’\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\u305f\u3081\u306b\u306f\u3001\u3044\u304f\u3064\u304b\u306e\u5c0f\u3055\u306a\u3001\u3057\u304b\u3057\u91cd\u8981\u306a\u4f9d\u5b58\u95a2\u4fc2\u304c\u5fc5\u8981\u3060\u304b\u3089\u3067\u3059\u3002
            \nrust_ws*\u30d5\u30a9\u30eb\u30c0\u306b\u623b\u3063\u3066\u3001\u4ee5\u4e0b\u306e\u4f9d\u5b58\u95a2\u4fc2\u3092rust_ws\u306eCargo.toml*\u30d5\u30a1\u30a4\u30eb\u306b\u8ffd\u52a0\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
            \u4f9d\u5b58\u95a2\u4fc2\u3092\u8ffd\u52a0\u3059\u308b\u524d\u306b\uff1a<\/p>\n
            [package]<\/span>\r\nname<\/span> =<\/span> \"rust_ws\"<\/span>\r\nversion<\/span> =<\/span> \"0.1.0\"<\/span>\r\nauthors<\/span> =<\/span> [<\/span>\"Praveshkp <pravesh.k.pradhan@gmail.com>\"<\/span>]<\/span>\r\nedition<\/span> =<\/span> \"2018\"<\/span>\r\n\r\n# See more keys and their definitions at https:\/\/doc.rust-lang.org\/cargo\/reference\/manifest.html<\/span>\r\n<\/code><\/pre>\n
            \u4f9d\u5b58\u95a2\u4fc2\u3092\u8ffd\u52a0\u3057\u305f\u5f8c\uff1a<\/p>\n
            [package]<\/span>\r\nname<\/span> =<\/span> \"rust_ws\"<\/span>\r\nversion<\/span> =<\/span> \"0.1.0\"<\/span>\r\nauthors<\/span> =<\/span> [<\/span>\"Praveshkp <pravesh.k.pradhan@gmail.com>\"<\/span>]<\/span>\r\nedition<\/span> =<\/span> \"2018\"<\/span>\r\n\r\n# See more keys and their definitions at https:\/\/doc.rust-lang.org\/cargo\/reference\/manifest.html<\/span>\r\n\r\n[dependencies]<\/span>\r\nenv_logger<\/span> =<\/span> \"0.7.1\"<\/span>\r\nrosrust<\/span> =<\/span> \"0.9\"<\/span>\r\nrosrust_msg<\/span> =<\/span> \"0.1\"<\/span>\r\n<\/code><\/pre>\n
            \u8981\u4ef6\u306b\u5fdc\u3058\u3066\u3001\u4f9d\u5b58\u95a2\u4fc2\u3092\u8ffd\u52a0\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002
            \n\u4f9d\u5b58\u95a2\u4fc2\u3092\u8ffd\u52a0\u3057\u305f\u3089\u3001\u30ab\u30fc\u30b4\u30d3\u30eb\u30c9\u3067\u4f9d\u5b58\u95a2\u4fc2\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\u3002<\/p>\n
            $ <\/span>cargo build\r\n<\/code><\/pre>\n
            \u203b\u3000cargo build\u3092 rust_ws \u30d1\u30c3\u30b1\u30fc\u30b8\u306e src \u30d5\u30a9\u30eb\u30c0\u3067\u884c\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
            cargo\u304c\u5fc5\u8981\u306a[dependencies]\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3092\u7d42\u3048\u305f\u5f8c\u3001\u65b0\u3057\u3044\u30bf\u30fc\u30df\u30ca\u30eb\u3067 rostopic echo \u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
            $ <\/span>rostopic echo<\/span> \/cmd_vel\r\n<\/code><\/pre>\n
            \u305d\u3057\u3066\u3001launch\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
            $ <\/span>roslaunch rust_ws test.launch\r\n<\/code><\/pre>\n
            \"roslaunch.png\"<\/div>\n
            \"pub_test.gif\"<\/div>\n
            Conclusion<\/h2>\n
            \u4e0a\u8a18\u306e\u624b\u9806\u3092\u8e0f\u3080\u3053\u3068\u3067\u3001RUST\u4ed8\u304d\u306eROS\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u6b20\u70b9\u306f\u3001\u65b0\u3057\u3044 ROS with RUST \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u6210\u3057\u3088\u3046\u3068\u3059\u308b\u3068\u3001\u6bce\u56de\u540c\u3058\u51e6\u7406\u3092\u3057\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u3053\u3068\u3067\u3059\u3002\u79c1\u3068 \u682a\u5f0f\u4f1a\u793eRist \u306e\u540c\u50da\u306f\u73fe\u5728\u3001\u3053\u306e\u30d7\u30ed\u30bb\u30b9\u3092\u81ea\u5f8b\u7684\u306b\u3059\u308b\u305f\u3081\u306e\u4f5c\u696d\u3092\u884c\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
            RUST\u3067ROS\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308b \u306f\u3058\u3081\u306b \u682a\u5f0f\u4f1a\u793eRist\u306e\u30ed\u30dc\u30c3\u30c8\u30c1\u30fc\u30e0\u306e\u30d7\u30e9\u30c0\u30f3\u3067\u3059\u3002\u30cd\u30d1\u30fc\u30eb\u51fa\u8eab\u3067\u3059\u304c […]<\/p>\n","protected":false},"author":12,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-44924","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"\n- Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.silicloud.com\/zh\/blog\/44924-2\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:description\" content=\"RUST\u3067ROS\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308b \u306f\u3058\u3081\u306b \u682a\u5f0f\u4f1a\u793eRist\u306e\u30ed\u30dc\u30c3\u30c8\u30c1\u30fc\u30e0\u306e\u30d7\u30e9\u30c0\u30f3\u3067\u3059\u3002\u30cd\u30d1\u30fc\u30eb\u51fa\u8eab\u3067\u3059\u304c […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/zh\/blog\/44924-2\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - 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