{"id":45098,"date":"2023-09-15T03:31:59","date_gmt":"2023-05-04T18:13:15","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/45098-2\/"},"modified":"2024-05-03T23:48:16","modified_gmt":"2024-05-03T15:48:16","slug":"45098-2","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/45098-2\/","title":{"rendered":""},"content":{"rendered":"<h2>\u3053\u308c\u306f\u4f55\uff1f<\/h2>\n<p>Rust\u3067ROS2\u306e\u30ce\u30fc\u30c9\u3092\u66f8\u304f\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306e\u89e3\u8aac\u3067\u3059\u3002\u57fa\u672c\u7684\u306b\u306f\u3053\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u6cbf\u3063\u3066\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u305d\u306e\u52d5\u4f5c\u78ba\u8a8d\u306b\u3064\u3044\u3066\u307e\u3068\u3081\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<p>\u4eca\u56de\u306fDocker\u3092\u4f7f\u308f\u305a\u3001\u95a2\u9023\u30bd\u30d5\u30c8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3082\u624b\u52d5\u3067\u3084\u3063\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<p>\u304b\u306a\u308a\u524d\u306e\u8a18\u4e8b\u3067ros2-rust\u306e\u306b\u3064\u3044\u3066\u66f8\u3044\u305f\u306e\u3067\u3059\u304c\u3001\u4e2d\u3005\u30d5\u30a9\u30ed\u30fc\u3067\u304d\u305a2\u5e74\u3082\u7acb\u3063\u3066\u3057\u307e\u3044\u307e\u3057\u305f\u3002\u3002<\/p>\n<h2>\u5bfe\u8c61\u3068\u3059\u308b\u8aad\u8005<\/h2>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Rust\u3067ROS2\u3092\u66f8\u3044\u3066\u307f\u305f\u3044\u3068\u3001\u5e38\u3005\u601d\u3063\u3066\u3044\u308b\u4eba<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\u4e00\u901a\u308aRust\u306e\u57fa\u672c\u7684\u306a\u6587\u6cd5\u6a19\u6e96\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u7406\u89e3\u3057\u3066\u3044\u308b\u4eba<\/ul>\n<h2>\u74b0\u5883<\/h2>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Ubuntu 22.04\u3000(ROS Humble)<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\u8a00\u8a9e Rust 1.65.0(1.63\u4ee5\u4e0a\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304c\u5fc5\u9808)<\/ul>\n<h2>\u4f5c\u696d\u6e96\u5099<\/h2>\n<h3>\u95a2\u9023\u30bd\u30d5\u30c8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h3>\n<p>ROS2\u3067\u4f7f\u7528\u3059\u308b\u306e\u57fa\u672c\u7684\u306a\u30c4\u30fc\u30eb\u985e\u3068cargo\u53ca\u3073colcon\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<br \/>\n\u7aef\u672b\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"c\"># \u57fa\u672c\u7684\u306a\u30c4\u30fc\u30eb\u985e<\/span>\r\n<span class=\"nb\">sudo <\/span>apt <span class=\"nb\">install<\/span> <span class=\"nt\">-y<\/span> git libclang-dev python3-pip python3-vcstool\r\n<span class=\"c\"># cargo\u3068colcon\u3078\u305d\u308c\u305e\u308c\u304a\u4e92\u3044\u7528\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/span>\r\ncargo <span class=\"nb\">install<\/span> <span class=\"nt\">--debug<\/span> cargo-ament-build\r\npip <span class=\"nb\">install <\/span>git+https:\/\/github.com\/colcon\/colcon-cargo.git\r\npip <span class=\"nb\">install <\/span>git+https:\/\/github.com\/colcon\/colcon-ros-cargo.git\r\n<\/code><\/pre>\n<h3>\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u4f5c\u6210\u3068\u95a2\u9023\u30bd\u30fc\u30b9\u306e\u30a4\u30f3\u30dd\u30fc\u30c8<\/h3>\n<p>\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3092\u4f5c\u6210\u3057\u3001ros2_rust\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3068\u95a2\u9023\u3059\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u985e\u3092\u30a4\u30f3\u30dd\u30fc\u30c8\u3057\u307e\u3059\u3002<br \/>\n\u7aef\u672b\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code>mkdir -p workspace\/src &amp;&amp; cd workspace\r\ngit clone https:\/\/github.com\/ros2-rust\/ros2_rust.git src\/ros2_rust\r\nvcs import src &lt; src\/ros2_rust\/ros2_rust_humble.repos\r\n<\/code><\/pre>\n<h2>\u4f5c\u696d\u5185\u5bb9<\/h2>\n<h3>\u30d1\u30c3\u30b1\u30fc\u30b8\u4f5c\u6210<\/h3>\n<p>\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u4f5c\u6210\u306b\u306f\u7aef\u672b\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092workspace\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3067\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002<br \/>\ncargo\u3092\u7528\u3044\u3066\u30d1\u30c3\u30b1\u30fc\u30b8\u4f5c\u6210\u3092\u3057\u307e\u3059\u3002\u6b8b\u5ff5\u306a\u304c\u3089ros2 pkg create\u306e\u3088\u3046\u306a\u30c4\u30fc\u30eb\u304crclrs\u306b\u306f\u307e\u3060\u306a\u3044\u305d\u3046\u3067\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>cargo new republisher_node <span class=\"o\">&amp;&amp;<\/span> <span class=\"nb\">cd <\/span>republisher_node\r\n<\/code><\/pre>\n<p>\u307e\u305fROS2\u306e\u30d3\u30eb\u30c9\u306b\u95a2\u9023\u3059\u308b\u30d5\u30a1\u30a4\u30eb\u3082\u624b\u52d5\u3067\u4f5c\u6210\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u4f5c\u6210\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u76f4\u4e0b\u306bpackage.xml\u3092\u4f5c\u6210\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nt\">&lt;package<\/span> <span class=\"na\">format=<\/span><span class=\"s\">\"3\"<\/span><span class=\"nt\">&gt;<\/span>\r\n  <span class=\"nt\">&lt;name&gt;<\/span>republisher_node<span class=\"nt\">&lt;\/name&gt;<\/span>\r\n  <span class=\"nt\">&lt;version&gt;<\/span>0.0.0<span class=\"nt\">&lt;\/version&gt;<\/span>\r\n  <span class=\"nt\">&lt;description&gt;<\/span>TODO: Package description<span class=\"nt\">&lt;\/description&gt;<\/span>\r\n  <span class=\"nt\">&lt;maintainer<\/span> <span class=\"na\">email=<\/span><span class=\"s\">\"user@todo.todo\"<\/span><span class=\"nt\">&gt;<\/span>user<span class=\"nt\">&lt;\/maintainer&gt;<\/span>\r\n  <span class=\"nt\">&lt;license&gt;<\/span>TODO: License declaration<span class=\"nt\">&lt;\/license&gt;<\/span>\r\n\r\n  <span class=\"nt\">&lt;depend&gt;<\/span>rclrs<span class=\"nt\">&lt;\/depend&gt;<\/span>\r\n  <span class=\"nt\">&lt;depend&gt;<\/span>std_msgs<span class=\"nt\">&lt;\/depend&gt;<\/span>\r\n\r\n  <span class=\"nt\">&lt;export&gt;<\/span>\r\n    <span class=\"nt\">&lt;build_type&gt;<\/span>ament_cargo<span class=\"nt\">&lt;\/build_type&gt;<\/span>\r\n  <span class=\"nt\">&lt;\/export&gt;<\/span>\r\n<span class=\"nt\">&lt;\/package&gt;<\/span>\r\n<\/code><\/pre>\n<p>CMakeLists.txt\u306f\u5fc5\u8981\u3042\u308a\u307e\u305b\u3093\u3002<\/p>\n<h3>\u30b3\u30fc\u30c9\u3092\u8a18\u8ff0\u3059\u308b<\/h3>\n<p>\u4eca\u56de\u306f\/in_topic\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u3092\u53d7\u4fe1\u3057\u305f\u3089\u3001\/out_topic\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u30781\u79d2\u6bce\u306bpublish\u3057\u7d9a\u3051\u308b\u30ce\u30fc\u30c9\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n<p>\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002main.rs\u3092\u4ee5\u4e0b\u306e\u5185\u5bb9\u3067\u66f4\u65b0\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"k\">use<\/span> <span class=\"nn\">std<\/span><span class=\"p\">::<\/span><span class=\"nn\">sync<\/span><span class=\"p\">::{<\/span><span class=\"nb\">Arc<\/span><span class=\"p\">,<\/span><span class=\"n\">Mutex<\/span><span class=\"p\">};<\/span>\r\n<span class=\"k\">use<\/span> <span class=\"nn\">std_msgs<\/span><span class=\"p\">::<\/span><span class=\"nn\">msg<\/span><span class=\"p\">::<\/span><span class=\"nb\">String<\/span> <span class=\"k\">as<\/span> <span class=\"n\">StringMsg<\/span><span class=\"p\">;<\/span>\r\n\r\n<span class=\"k\">struct<\/span> <span class=\"n\">RepublisherNode<\/span> <span class=\"p\">{<\/span>\r\n    <span class=\"n\">node<\/span><span class=\"p\">:<\/span> <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">Node<\/span><span class=\"p\">,<\/span>\r\n    <span class=\"n\">_subscription<\/span><span class=\"p\">:<\/span> <span class=\"nb\">Arc<\/span><span class=\"o\">&lt;<\/span><span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">Subscription<\/span><span class=\"o\">&lt;<\/span><span class=\"n\">StringMsg<\/span><span class=\"o\">&gt;&gt;<\/span><span class=\"p\">,<\/span>\r\n    <span class=\"n\">publisher<\/span><span class=\"p\">:<\/span> <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">Publisher<\/span><span class=\"o\">&lt;<\/span><span class=\"n\">StringMsg<\/span><span class=\"o\">&gt;<\/span><span class=\"p\">,<\/span>\r\n    <span class=\"n\">data<\/span><span class=\"p\">:<\/span> <span class=\"nb\">Arc<\/span><span class=\"o\">&lt;<\/span><span class=\"n\">Mutex<\/span><span class=\"o\">&lt;<\/span><span class=\"nb\">Option<\/span><span class=\"o\">&lt;<\/span><span class=\"n\">StringMsg<\/span><span class=\"o\">&gt;&gt;&gt;<\/span><span class=\"p\">,<\/span>\r\n<span class=\"p\">}<\/span>\r\n\r\n<span class=\"k\">impl<\/span> <span class=\"n\">RepublisherNode<\/span> <span class=\"p\">{<\/span>\r\n    <span class=\"k\">fn<\/span> <span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"n\">context<\/span><span class=\"p\">:<\/span> <span class=\"o\">&amp;<\/span><span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">Context<\/span><span class=\"p\">)<\/span> <span class=\"k\">-&gt;<\/span> <span class=\"nb\">Result<\/span><span class=\"o\">&lt;<\/span><span class=\"k\">Self<\/span><span class=\"p\">,<\/span> <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">RclrsError<\/span><span class=\"o\">&gt;<\/span> <span class=\"p\">{<\/span>\r\n        <span class=\"k\">let<\/span> <span class=\"k\">mut<\/span> <span class=\"n\">node<\/span> <span class=\"o\">=<\/span> <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"nn\">Node<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"n\">context<\/span><span class=\"p\">,<\/span> <span class=\"s\">\"republisher\"<\/span><span class=\"p\">)<\/span><span class=\"o\">?<\/span><span class=\"p\">;<\/span>\r\n        <span class=\"k\">let<\/span> <span class=\"n\">data<\/span> <span class=\"o\">=<\/span> <span class=\"nn\">Arc<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"nn\">Mutex<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"nb\">None<\/span><span class=\"p\">));<\/span>\r\n        <span class=\"k\">let<\/span> <span class=\"n\">data_cb<\/span> <span class=\"o\">=<\/span> <span class=\"nn\">Arc<\/span><span class=\"p\">::<\/span><span class=\"nf\">clone<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"n\">data<\/span><span class=\"p\">);<\/span>\r\n        <span class=\"k\">let<\/span> <span class=\"n\">_subscription<\/span> <span class=\"o\">=<\/span> <span class=\"n\">node<\/span><span class=\"nf\">.create_subscription<\/span><span class=\"p\">(<\/span>\r\n            <span class=\"s\">\"in_topic\"<\/span><span class=\"p\">,<\/span>\r\n            <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">QOS_PROFILE_DEFAULT<\/span><span class=\"p\">,<\/span>\r\n            <span class=\"k\">move<\/span> <span class=\"p\">|<\/span><span class=\"n\">msg<\/span><span class=\"p\">:<\/span> <span class=\"n\">StringMsg<\/span><span class=\"p\">|<\/span> <span class=\"p\">{<\/span> \r\n                <span class=\"o\">*<\/span><span class=\"n\">data_cb<\/span><span class=\"nf\">.lock<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">()<\/span> <span class=\"o\">=<\/span> <span class=\"nf\">Some<\/span><span class=\"p\">(<\/span><span class=\"n\">msg<\/span><span class=\"p\">);<\/span>\r\n            <span class=\"p\">},<\/span>\r\n        <span class=\"p\">)<\/span><span class=\"o\">?<\/span><span class=\"p\">;<\/span>\r\n\r\n        <span class=\"k\">let<\/span> <span class=\"n\">publisher<\/span> <span class=\"o\">=<\/span> <span class=\"n\">node<\/span><span class=\"nf\">.create_publisher<\/span><span class=\"p\">(<\/span><span class=\"s\">\"out_topic\"<\/span><span class=\"p\">,<\/span><span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">QOS_PROFILE_DEFAULT<\/span><span class=\"p\">)<\/span><span class=\"o\">?<\/span><span class=\"p\">;<\/span>\r\n\r\n        <span class=\"nf\">Ok<\/span><span class=\"p\">(<\/span><span class=\"k\">Self<\/span> <span class=\"p\">{<\/span>\r\n            <span class=\"n\">node<\/span><span class=\"p\">,<\/span>\r\n            <span class=\"n\">_subscription<\/span><span class=\"p\">,<\/span>\r\n            <span class=\"n\">publisher<\/span><span class=\"p\">,<\/span>\r\n            <span class=\"n\">data<\/span><span class=\"p\">,<\/span>\r\n        <span class=\"p\">})<\/span>\r\n    <span class=\"p\">}<\/span>\r\n\r\n    <span class=\"k\">fn<\/span> <span class=\"nf\">republish<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"k\">self<\/span><span class=\"p\">)<\/span> <span class=\"k\">-&gt;<\/span> <span class=\"nb\">Result<\/span><span class=\"o\">&lt;<\/span><span class=\"p\">(),<\/span><span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">RclrsError<\/span><span class=\"o\">&gt;<\/span><span class=\"p\">{<\/span>\r\n        <span class=\"k\">if<\/span> <span class=\"k\">let<\/span> <span class=\"nf\">Some<\/span><span class=\"p\">(<\/span><span class=\"n\">s<\/span><span class=\"p\">)<\/span> <span class=\"o\">=<\/span> <span class=\"o\">&amp;*<\/span><span class=\"k\">self<\/span><span class=\"py\">.data<\/span><span class=\"nf\">.lock<\/span><span class=\"p\">()<\/span><span class=\"nf\">.unwrap<\/span><span class=\"p\">(){<\/span>\r\n            <span class=\"k\">self<\/span><span class=\"py\">.publisher<\/span><span class=\"nf\">.publish<\/span><span class=\"p\">(<\/span><span class=\"n\">s<\/span><span class=\"p\">)<\/span><span class=\"o\">?<\/span><span class=\"p\">;<\/span>\r\n        <span class=\"p\">}<\/span>\r\n        <span class=\"nf\">Ok<\/span><span class=\"p\">(())<\/span>\r\n    <span class=\"p\">}<\/span>\r\n<span class=\"p\">}<\/span>\r\n\r\n<span class=\"k\">fn<\/span> <span class=\"nf\">main<\/span><span class=\"p\">()<\/span> <span class=\"k\">-&gt;<\/span> <span class=\"nb\">Result<\/span><span class=\"o\">&lt;<\/span><span class=\"p\">(),<\/span> <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">RclrsError<\/span><span class=\"o\">&gt;<\/span> <span class=\"p\">{<\/span>\r\n    <span class=\"k\">let<\/span> <span class=\"n\">context<\/span> <span class=\"o\">=<\/span> <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"nn\">Context<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"nn\">std<\/span><span class=\"p\">::<\/span><span class=\"nn\">env<\/span><span class=\"p\">::<\/span><span class=\"nf\">args<\/span><span class=\"p\">())<\/span><span class=\"o\">?<\/span><span class=\"p\">;<\/span>\r\n    <span class=\"k\">let<\/span> <span class=\"n\">republisher<\/span> <span class=\"o\">=<\/span> <span class=\"nn\">Arc<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"nn\">RepublisherNode<\/span><span class=\"p\">::<\/span><span class=\"nf\">new<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"n\">context<\/span><span class=\"p\">)<\/span><span class=\"o\">?<\/span><span class=\"p\">);<\/span>\r\n    <span class=\"k\">let<\/span> <span class=\"n\">republisher_other_thread<\/span> <span class=\"o\">=<\/span> <span class=\"nn\">Arc<\/span><span class=\"p\">::<\/span><span class=\"nf\">clone<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"n\">republisher<\/span><span class=\"p\">);<\/span><span class=\"err\">\u3000<\/span>\r\n    <span class=\"nn\">std<\/span><span class=\"p\">::<\/span><span class=\"nn\">thread<\/span><span class=\"p\">::<\/span><span class=\"nf\">spawn<\/span><span class=\"p\">(<\/span><span class=\"k\">move<\/span> <span class=\"p\">||<\/span> <span class=\"k\">-&gt;<\/span><span class=\"nb\">Result<\/span><span class=\"o\">&lt;<\/span><span class=\"p\">(),<\/span><span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"n\">RclrsError<\/span><span class=\"o\">&gt;<\/span> <span class=\"p\">{<\/span>\r\n        <span class=\"k\">loop<\/span> <span class=\"p\">{<\/span>\r\n            <span class=\"k\">use<\/span> <span class=\"nn\">std<\/span><span class=\"p\">::<\/span><span class=\"nn\">time<\/span><span class=\"p\">::<\/span><span class=\"n\">Duration<\/span><span class=\"p\">;<\/span>\r\n            <span class=\"nn\">std<\/span><span class=\"p\">::<\/span><span class=\"nn\">thread<\/span><span class=\"p\">::<\/span><span class=\"nf\">sleep<\/span><span class=\"p\">(<\/span><span class=\"nn\">Duration<\/span><span class=\"p\">::<\/span><span class=\"nf\">from_millis<\/span><span class=\"p\">(<\/span><span class=\"mi\">1000<\/span><span class=\"p\">));<\/span>\r\n            <span class=\"n\">republisher_other_thread<\/span><span class=\"nf\">.republish<\/span><span class=\"p\">()<\/span><span class=\"o\">?<\/span><span class=\"p\">;<\/span>\r\n        <span class=\"p\">}<\/span>\r\n    <span class=\"p\">});<\/span>\r\n    <span class=\"nn\">rclrs<\/span><span class=\"p\">::<\/span><span class=\"nf\">spin<\/span><span class=\"p\">(<\/span><span class=\"o\">&amp;<\/span><span class=\"n\">republisher<\/span><span class=\"py\">.node<\/span><span class=\"p\">)<\/span>\r\n<span class=\"p\">}<\/span>\r\n\r\n\r\n<\/code><\/pre>\n<p>\u500b\u4eba\u7684\u306b\u306f\u304b\u306a\u308a\u7d20\u76f4\u306aRust\u3067\u66f8\u3051\u3066\u3044\u308b\u5370\u8c61\u3067\u3059\u3002<br \/>\nArc&lt;Mutex&gt;\u7b49\u306e\u591a\u91cd\u30b8\u30a7\u30cd\u30ea\u30af\u30b9\u304c\u3042\u308b\u306e\u3067\u3001\u82e5\u5e72\u3073\u3063\u304f\u308a\u3057\u307e\u3059\u304c\u3001Rust\u306e\u30de\u30eb\u30c1\u30b9\u30ec\u30c3\u30c9\u306e\u57fa\u672c\u7684\u306a\u66f8\u304d\u65b9\u3067\u66f8\u304b\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>data\u3067\u53d7\u3051\u53d6\u3063\u305f\u30e1\u30c3\u30bb\u30fc\u30b8\u3092publisher\u304c\u4e00\u79d2\u6bce\u306b\u3001\u30c8\u30d4\u30c3\u30af\u3068\u3057\u3066\u9001\u4fe1\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<h3>\u5b9f\u884c\u65b9\u6cd51(cargo\u3092\u4f7f\u3046\u65b9\u6cd5)<\/h3>\n<p>\u4f5c\u6210\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u4e0b\u3067\u7aef\u672b\u3092\u958b\u304dcargo run\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<br \/>\n\u5225\u306e\u7aef\u672b(\u7aef\u672bA)\u3092\u958b\u304d\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>ros2 topic <span class=\"nb\">echo<\/span> \/out_topic\r\n<\/code><\/pre>\n<p>\u3055\u3089\u306b\u5225\u306e\u7aef\u672b(\u7aef\u672bB)\u3092\u958b\u304d\u3001\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>ros2 topic pub \/in_topic std_msgs\/msg\/String <span class=\"s1\">'{data: \"Bonjour\"}'<\/span> <span class=\"nt\">-1<\/span>\r\n<\/code><\/pre>\n<p>\u7aef\u672bA\u3067\u4ee5\u4e0b\u304c\u8868\u793a\u3055\u308c\u308c\u3070\u6210\u529f\u3067\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>ros2 topic <span class=\"nb\">echo<\/span> \/out_topic\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\n<\/code><\/pre>\n<h3>\u52d5\u4f5c\u78ba\u8a8d2(colcon\u3092\u4f7f\u3046\u65b9\u6cd5)<\/h3>\n<p>\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u76f4\u4e0b\u306b\u79fb\u52d5\u3057\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u7528\u3044\u3066\u30d3\u30eb\u30c9\u3057\u307e\u3059<\/p>\n<pre class=\"post-pre\"><code>colcon build\r\n<\/code><\/pre>\n<p>\u5b9f\u884c\u6642\u306f\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u4f7f\u3063\u3066\u304f\u3060\u3055\u3044\u3002(\u7aef\u672bA)<\/p>\n<pre class=\"post-pre\"><code>ros2 run republisher_node republisher_node\r\n<\/code><\/pre>\n<p>\u5225\u306e\u7aef\u672b(\u7aef\u672bB)\u3092\u958b\u304d\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>ros2 topic <span class=\"nb\">echo<\/span> \/out_topic\r\n<\/code><\/pre>\n<p>\u3055\u3089\u306b\u5225\u306e\u7aef\u672b(\u7aef\u672bC)\u3092\u958b\u304d\u3001\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>ros2 topic pub \/in_topic std_msgs\/msg\/String <span class=\"s1\">'{data: \"Bonjour\"}'<\/span> <span class=\"nt\">-1<\/span>\r\n<\/code><\/pre>\n<p>\u7aef\u672bB\u3067\u4ee5\u4e0b\u304c\u8868\u793a\u3055\u308c\u308c\u3070\u6210\u529f\u3067\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$ <\/span>ros2 topic <span class=\"nb\">echo<\/span> \/out_topic\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\ndata: Bonjour\r\n<span class=\"nt\">---<\/span>\r\n<\/code><\/pre>\n<h2>\u6210\u679c\u7269<\/h2>\n<p>Github\u306b\u4f5c\u3063\u305f\u3082\u306e\u3092\u307e\u3068\u3081\u3066\u304a\u3044\u3066\u304a\u304d\u307e\u3057\u305f\u306e\u3067\u3001\u53c2\u8003\u306b\u3057\u3066\u304f\u3060\u3055\u3044<\/p>\n<p>&nbsp;<\/p>\n<h2>\u79c1\u304c\u8a70\u307e\u3063\u305f\u3068\u3053\u308d<\/h2>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">std_msgs\u7b49\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u306f\u30bd\u30fc\u30b9\u304b\u3089\u6301\u3063\u3066\u3053\u306a\u3044\u3068\u30d3\u30eb\u30c9\u3067\u304d\u306a\u3044<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">rustc\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u4f4e\u3044\u306e\u3067rustup\u3092\u4f7f\u3063\u3066\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u4e0a\u3052\u308b\u5fc5\u8981\u304c\u3042\u3063\u305f(1.63\u4ee5\u4e0a)<\/ul>\n<h2>\u53c2\u8003\u8cc7\u6599<\/h2>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">https:\/\/github.com\/ros2-rust\/ros2_rust\/blob\/main\/docs\/writing-your-first-rclrs-node.md<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">https:\/\/github.com\/ros2-rust\/ros2_rust\/blob\/main\/docs\/building.md<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u3053\u308c\u306f\u4f55\uff1f Rust\u3067ROS2\u306e\u30ce\u30fc\u30c9\u3092\u66f8\u304f\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306e\u89e3\u8aac\u3067\u3059\u3002\u57fa\u672c\u7684\u306b\u306f\u3053\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u6cbf\u3063\u3066\u30ce\u30fc\u30c9\u3092 [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-45098","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 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