{"id":45018,"date":"2023-12-16T09:21:35","date_gmt":"2023-02-04T17:38:07","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/45018-2\/"},"modified":"2024-05-04T13:49:20","modified_gmt":"2024-05-04T05:49:20","slug":"45018-2","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/45018-2\/","title":{"rendered":""},"content":{"rendered":"<h2>\u672c\u8a18\u4e8b\u306e\u76ee\u7684<\/h2>\n<p>ROS2\u306eRust\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306f\u3044\u304f\u3064\u304b\u5b58\u5728\u3059\u308b\u3002<\/p>\n<p>2022\/12\/09\u6642\u70b9\u3067\u306e\u305d\u308c\u305e\u308c\u306e\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306e\u5b9f\u88c5\u72b6\u6cc1\u306b\u3064\u3044\u3066\u8a18\u8ff0\u3057\u3066\u304a\u304f\u3002\u4eca\u5f8c\u306e\u767a\u5c55\u306b\u671f\u5f85\u3002<\/p>\n<h2>ROS2 Rust\u30af\u30e9\u30a4\u30a2\u30f3\u30c8<\/h2>\n<p>@MrBearing \u3055\u3093\u306b\u6559\u3048\u3066\u8cb0\u3044\u307e\u3057\u305f\u304c\u3001ROSCON2022@\u4eac\u90fd\u306b\u3066\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u767a\u8868\u304c\u3042\u3063\u305f\u3088\u3046\u3067\u3059\u3002<\/p>\n<p>\u767a\u8868\u8cc7\u6599<\/p>\n<p>\u52dd\u624b\u306b\u5f15\u7528\u3055\u305b\u3066\u3082\u3089\u3046\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u611f\u3058\u3067\u3059\u3002<\/p>\n<div>\n<div class=\"post-table\">\u540d\u79f0\u4f5c\u8005URL\u6982\u8981ros2-rustMultiple contributors<a class=\"autolink\" href=\"https:\/\/github.com\/ros2-rust\/ros2_rust\" target=\"_blank\" rel=\"nofollow noopener\">https:\/\/github.com\/ros2-rust\/ros2_rust<\/a>Official Rust binding to rclros2-client\/RustDDSAtostek Oy \/ Juhana Helovuo and others<a class=\"autolink\" href=\"https:\/\/github.com\/jhelovuo\/ros2-client\" target=\"_blank\" rel=\"nofollow noopener\">https:\/\/github.com\/jhelovuo\/ros2-client<\/a>Native Rust implementation of ROS2 client library &#8211; and DDS!r2rMartin Dahl and others<a class=\"autolink\" href=\"https:\/\/github.com\/sequenceplanner\/r2r\" target=\"_blank\" rel=\"nofollow noopener\">https:\/\/github.com\/sequenceplanner\/r2r<\/a>Binding to rcl. Rust API uses async functions.rclrustYuma Hiramatsu<a class=\"autolink\" href=\"https:\/\/github.com\/rclrust\/rclrust\" target=\"_blank\" rel=\"nofollow noopener\">https:\/\/github.com\/rclrust\/rclrust<\/a>Uses Rust macros(!) to translate IDL to Rust types.<\/div>\n<\/div>\n<p>\u8cc7\u6599\u3060\u3068\u4e00\u756a\u4e0b\u306brosrust\u304c\u4e57\u3063\u3066\u3044\u307e\u3059\u304c\u3001rosrust\u306fROS1\u306a\u306e\u3067\u95a2\u4fc2\u306a\u3044\u3067\u3059\u3002<br \/>\nrus2\u306f\u6d41\u77f3\u306b\u4f5c\u308a\u304b\u3051\u3059\u304e\u308b\u306e\u3067\u7701\u304b\u305b\u3066\u3082\u3089\u3044\u307e\u3057\u305f\u3002<\/p>\n<p>\u3068\u3044\u3046\u3053\u3068\u3067\u3044\u3063\u3071\u3044\u3042\u308a\u305d\u3046\u3067\u3059\u306d\u3002<\/p>\n<h2>ROS2\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306b\u5fc5\u8981\u306a\u3082\u306e<\/h2>\n<p>\u3068\u3053\u308d\u3067\u307f\u306a\u3055\u3093ROS2\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3042\u308a\u307e\u3059\u3067\u3057\u3087\u3046\u304b\uff1f\u79c1\u306f\u3042\u308a\u307e\u305b\u3093\u3002<br \/>\n\u3057\u304b\u3057ROS1\u3060\u3051\u306f\u7d4c\u9a13\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n<h3>ROS1\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306b\u3064\u3044\u3066<\/h3>\n<p>ROS1\u3067\u306f\u4ee5\u4e0b\uff13\u3064\u3092\u30b5\u30dd\u30fc\u30c8\u3059\u308c\u3070\u5927\u4f53OK\u3067\u3057\u305f\u3002<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Pub\/Sub<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Service<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">Parameter<\/ul>\n<p>\u4ed6\u306b\u5fc5\u8981\u306a\u306e\u306factionlib\u3068\u304btf\u3068\u304b\u306a\u3093\u3067\u3059\u304c\u3001\u305d\u308c\u3089\u306f\u3053\u306e\u4ed5\u7d44\u307f\u3092\u4f7f\u3063\u3066\u5b9f\u88c5\u51fa\u6765\u308b\u306e\u3067\u3001\u305d\u3053\u306f\u30aa\u30d7\u30b7\u30e7\u30ca\u30eb\u3068\u3044\u3046\u304b\u3001\u8ab0\u304b\u4ed6\u306e\u4eba\u304c\u4f5c\u3063\u3066\u304f\u308c\u3066\u3082\u3044\u3044\u3057\u3001\u6700\u60aaPub\/Sub\u4f7f\u3048\u3070\u7121\u7406\u3084\u308aaction\u3092\u4f7f\u3046\u3053\u3068\u306f\u53ef\u80fd\u3067\u3057\u305f\u3002<\/p>\n<h3>ROS2\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306b\u3064\u3044\u3066<\/h3>\n<p>\u4e00\u65b9\u3067ROS2\u3067\u306f\u4e0a\u8a18\uff13\u3064\u306b\u52a0\u3048\u3001<\/p>\n<ul class=\"post-ul\">Action<\/ul>\n<p>\u3082\u30b5\u30dd\u30fc\u30c8\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u308c\u306fROS1\u3067\u306faction\u306fPub\/Sub\u306e\u4ed5\u7d44\u307f\u3092\u4f7f\u3063\u3066actionlib\u3068\u3044\u3046\u5916\u90e8\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u5b9f\u73fe\u3055\u308c\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u3001ROS2\u3067\u306fROS2\u672c\u4f53\u306e\u6a5f\u80fd\u3068\u3057\u3066\u53d6\u308a\u8fbc\u307e\u308c\u305f\u304b\u3089\u3067\u3059\u3002<\/p>\n<p>\u307e\u305fROS2\u3067\u65b0\u305f\u306b\u5c0e\u5165\u3055\u308c\u305fQoS\u306e\u8a2d\u5b9a\u3082ROS2\u3067\u306f\u5fc5\u9808\u3068\u8a00\u3063\u3066\u3044\u3044\u30ec\u30d9\u30eb\u3067\u3059\u3002\u305d\u308c\u306f\u8a2d\u5b9a\u306b\u3088\u3063\u3066\u306f\u5168\u304f\u901a\u4fe1\u51fa\u6765\u306a\u3044\u63a5\u7d9a\u95a2\u4fc2\u3082\u3042\u308b\uff08\u3046\u307e\u304f\u884c\u304b\u306a\u3044\u3001\u3068\u304b\u3067\u306f\u306a\u304f\u3001\u4ed5\u69d8\u3068\u3057\u3066\u63a5\u7d9a\u51fa\u6765\u306a\u3044\u3002\uff09\uff09\u305f\u3081\u3067\u3059\u3002<\/p>\n<h2>\u3068\u3044\u3046\u3053\u3068\u3067<\/h2>\n<p>ROS2\u30af\u30e9\u30a4\u30f3\u30c8\u306b\u6c42\u3081\u3089\u308c\u308b\u306e\u306f<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Pub\/Sub<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Service<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Parameter<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">Action<\/ul>\n<p>\u4e0a\u8a184\u3064\u306b\u306a\u308a\u307e\u3059\u3002(\u591a\u5206\u4ed6\u306b\u3082\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u306e\u3067\u8a73\u3057\u3044\u65b9\u3001\u30b3\u30e1\u30f3\u30c8\u7b49\u3067\u6559\u3048\u3066\u4e0b\u3055\u3044\uff01LifeTime\u3068\u304b\uff1fQoS\u304c\u5fc5\u9808\u306a\u306e\u306f\u7406\u89e3\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u5168\u30e9\u30a4\u30d6\u30e9\u30ea\u5b9f\u88c5\u3057\u3066\u3044\u308b\u306e\u3067\u4eca\u56de\u306f\u7701\u7565\u3002)<\/p>\n<p>\u7279\u306bROS(2)\u306e\u6700\u5927\u306e\u58f2\u308a\u3067\u3042\u308bnavigation2\u306e\u6307\u4ee4\u5024\u306faction\u5f62\u5f0f\u306b\u306a\u3063\u3066\u304a\u308a\u3001action\u3092\u4f7f\u3048\u306a\u3044\u30af\u30e9\u30a4\u30f3\u30c8\u30e9\u30a4\u30d6\u30e9\u30ea\u306fnavigation\u3092\u4f7f\u3048\u306a\u3044\u4e8b\u306b\u306a\u3063\u3066\u3057\u307e\u3046\u305f\u3081\u3001action\u306e\u5b9f\u88c5\u304c\u3042\u308b\u304b\u3069\u3046\u304b\u306f\u672c\u683c\u7684\u306bROS2\u3092\u305d\u306e\u8a00\u8a9e\u3067\u4f7f\u3048\u308b\u304b\u3069\u3046\u304b\u3092\u5206\u3051\u308b\u975e\u5e38\u306b\u91cd\u8981\u306a\u89b3\u70b9\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n<h2>ROS2 Rust\u30af\u30e9\u30a4\u30f3\u30c8\u306e\u5b9f\u88c5\u72b6\u6cc1<\/h2>\n<p>\u305d\u3053\u3067\u5404\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306e\u4e0a\u8a18\uff14\u3064\u306e\u6a5f\u80fd\u306e\u5b9f\u88c5\u72b6\u6cc1\u3092\u78ba\u8a8d\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u3002<\/p>\n<div>\n<div class=\"post-table\">\u540d\u79f0Pub\/SubServiceParameterActionros2-rust\u2714\u2714\u2714<br \/>\nros2-client\/RustDDS\u2714\u2714\u2714<br \/>\nr2r\u2714\u2714\u2714\u2714rclrust\u2714\u2714\u2714<\/div>\n<\/div>\n<p>\u5b9f\u969b\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u898b\u305f\u7d50\u679c\u3001\u79c1\u306e\u8a8d\u8b58\u3067\u306f\u4e0a\u8a18\u306e\u72b6\u614b\u3067\u3059\u3002<br \/>\n\u3053\u308c\u3067\u306f\u3061\u3083\u3093\u3068ROS2\u30af\u30e9\u30a4\u30f3\u30c8\u3068\u3057\u3066\u5b8c\u6210\u3057\u3066\u3044\u308b\u306e\u306fr2r\u3060\u3051\u3001\u3068\u3044\u3046\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u3068\u3044\u3046\u3053\u3068\u3067\u5f0a\u793e\u3067\u958b\u767a\u3057\u3066\u3044\u308bOpenRR\u3067\u3082r2r\u3092\u63a1\u7528\u3057\u3066\u3044\u307e\u3059\u3002\u4ed6\u306b\u3082\u7406\u7531\u306f\u3042\u308b\u306e\u3067\u3059\u304c\u3002<\/p>\n<h2>\u5bfe\u5fdc\u30d0\u30fc\u30b8\u30e7\u30f3<\/h2>\n<p>\u307e\u305f\u3001ROS(2)\u306f\u983b\u7e41\u306b\u30d0\u30fc\u30b8\u30e7\u30f3\u30a2\u30c3\u30d7\u3057\u307e\u3059\u306e\u3067\u3001\u3069\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u304b\u304c\u91cd\u8981\u3067\u3059\u3002\u3053\u308c\u306f\u4eba\u306b\u3088\u3063\u3066\u53e4\u3044\u307b\u3046\u304c\u3044\u3044\u3001\u65b0\u3057\u3044\u307b\u3046\u304c\u3044\u3044\u3068\u304b\u3042\u308b\u3068\u601d\u3044\u307e\u3059\u304c\u3001\u500b\u4eba\u7684\u306b\u306fFoxy\u4ee5\u524d\u306eROS2\u306f\u5b9f\u7528\u30ec\u30d9\u30eb\u306b\u306a\u3044\u3068\u601d\u3046\u306e\u3067\u3001Foxy, Humble\u306e\uff12\u3064\u3092\u30b5\u30dd\u30fc\u30c8\u3057\u3066\u3044\u308b\u304b\u3069\u3046\u304b\u304c\u91cd\u8981\u304b\u3068\u601d\u3044\u307e\u3059\u3002\u305d\u308c\u305e\u308cLTS\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u3059\u3057\u3002<\/p>\n<p>\u3053\u308c\u306f\u5b9f\u969b\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u304b\u8abf\u3079\u308b\u306e\u304c\u96e3\u3057\u3044\u306e\u3067README\u306e\u8a18\u8ff0\u3092\u4fe1\u3058\u308b\u3053\u3068\u306b\u3057\u307e\u3059\u3002<\/p>\n<div>\n<div class=\"post-table\">\u540d\u79f0FoxyHumbleros2-rust\u2714\u2714ros2-client\/RustDDS(Galactic)<br \/>\nr2r\u2714\u2714rclrust\u2714(Rolling)<\/div>\n<\/div>\n<p>\u3053\u3061\u3089\u3082\u6b63\u5f0f\u306bFoxy, Humble\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u306e\u306fr2r\u306e\u307f\u3068\u3044\u3046\u7d50\u679c\u306b\u306a\u308a\u307e\u3057\u305f\u3002(rclrust\u306fRolling\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u306e\u3067Humble\u3082\u52d5\u304d\u305d\u3046\u3067\u3059\u304c\u8a18\u8ff0\u306a\u3057)<br \/>\n(\u7de8\u96c62022\/12\/12 @wep21 \u3055\u3093\u60c5\u5831\u3042\u308a\u304c\u3068\u3046\u3054\u3056\u3044\u307e\u3059\u3002\uff1aros2-rust\u306f\u30ea\u30ea\u30fc\u30b9\u30ce\u30fc\u30c8\u306bHumble\u306e\u8a18\u8ff0\u304c\u3042\u308b\u306e\u3067\u591a\u5206\u52d5\u304f\u304b\u3068\u3002)<\/p>\n<h2>\u4eca\u56de\u306e\u7d50\u8ad6<\/h2>\n<p>\u73fe\u6642\u70b9\u3067\u306fr2r\u3057\u304b\u4f7f\u3048\u308b\u3082\u306e\u306f\u306a\u3044\u3002<\/p>\n<h2>\u7d42\u308f\u308a\u306b<\/h2>\n<p>\u3068\u3044\u3046\u3053\u3068\u30672022\/12\/09\u73fe\u5728\u3067\u306eROS2 Rust\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306e\u958b\u767a\u72b6\u6cc1\u3092\u7d39\u4ecb\u3057\u307e\u3057\u305f\u3002<br \/>\n\u4eca\u5f8c\u306e\u958b\u767a\u306b\u671f\u5f85\u3067\u3059\u3057\u3001Rust\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u958b\u767a\u304c\u3082\u3063\u3068\u76db\u308a\u4e0a\u304c\u3063\u3066\u6b32\u3057\u3044\u306e\u3067\u51fa\u6765\u308b\u7bc4\u56f2\u3067\u79c1\u3082\u8ca2\u732e\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u3053\u308d\u3067\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u672c\u8a18\u4e8b\u306e\u76ee\u7684 ROS2\u306eRust\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u306f\u3044\u304f\u3064\u304b\u5b58\u5728\u3059\u308b\u3002 2022\/12\/09\u6642\u70b9\u3067\u306e\u305d\u308c\u305e\u308c\u306e\u30af\u30e9\u30a4 [&hellip;]<\/p>\n","protected":false},"author":5,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-45018","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is 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