{"id":45120,"date":"2023-08-11T03:32:51","date_gmt":"2023-10-02T08:35:12","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/45120-2\/"},"modified":"2024-04-30T18:00:31","modified_gmt":"2024-04-30T10:00:31","slug":"45120-2","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/45120-2\/","title":{"rendered":""},"content":{"rendered":"<h1>\u3053\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306e\u5185\u5bb9<\/h1>\n<p>ROS\u3092\u89e6\u308a\u59cb\u3081\u305f\u304c\u3001python\u3082C++\u3082\u3042\u307e\u308a\u5f97\u610f\u3067\u306f\u306a\u3044\u306e\u3067\u3001Rust\u3067Node\u3092\u66f8\u304d\u305f\u304f\u3084\u308a\u65b9\u3092\u8abf\u3079\u305f\u3002<br \/>\nrosrust\u3092\u5229\u7528\u3059\u308c\u3070\u3067\u304d\u308b\u3053\u3068\u306f\u3059\u3050\u308f\u304b\u3063\u305f\u3057\u3001\u308f\u304b\u308a\u3084\u3059\u3044\u8a18\u4e8b\u3082\u7d39\u4ecb\u3055\u308c\u3066\u3044\u305f\u304c\u3001\u3053\u308c\u3089\u306e\u30da\u30fc\u30b8\u3060\u3051\u3067\u306fcatkin\u3067\u7ba1\u7406\u3059\u308b\u65b9\u6cd5\u304c\u308f\u304b\u3089\u306a\u304b\u3063\u305f\u306e\u3067\u8abf\u3079\u305f\u7d50\u679c\u3092\u30e1\u30e2\u3059\u308b\u3002<\/p>\n<p>\u4ee5\u4e0b\u306e\u5185\u5bb9\u306f\u57fa\u672c\u7684\u306b\u516c\u5f0f\u30b5\u30a4\u30c8\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u3068rosrust\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u306b\u7acb\u3063\u3066\u3044\u305fissue\u306e\u5185\u5bb9\u3067\u3042\u308b\u3002<\/p>\n<h1>\u624b\u9806<\/h1>\n<p>\u307e\u305aRust\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u308b\u3002\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u540d\u306f\u9069\u5b9c\u5909\u66f4\u3059\u308b\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$cd<\/span> ~\/catkin_ws\/src\r\n<span class=\"nv\">$cargo<\/span> new <span class=\"nt\">--bin<\/span> rust_test\r\n<\/code><\/pre>\n<p>\u4f5c\u3089\u308c\u305fRust\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3092ROS\u30d1\u30c3\u30b1\u30fc\u30b8\u3068\u3057\u3066\u8a8d\u8b58\u3055\u305b\u308b\u305f\u3081\u306b\u306f\u3001package.xml\u3068CMakeLists.txt\u3092\u542b\u307e\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044(\u516c\u5f0f\u30b5\u30a4\u30c8\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u53c2\u7167)\u306e\u3067\u3001\u3053\u306e2\u3064\u3092\u4f5c\u308b\u3002<\/p>\n<p>CMake\u30d5\u30a1\u30a4\u30eb\u306fissue\u306b neachdainn\u3055\u3093\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u305f\u5185\u5bb9\u307b\u307c\u305d\u306e\u307e\u307e\u3067\u3042\u308b\u304c\u3001\u30aa\u30ea\u30b8\u30ca\u30eb\u3067\u306fcargo\u306ep\u30aa\u30d7\u30b7\u30e7\u30f3\u3067my-project\u3068\u3057\u3066\u3044\u308b\u306e\u306b\u3001copy\u306e\u884c\u3067\u306fmy-project-binary\u3068\u66f8\u304b\u308c\u3066\u304a\u308a\u3001\u30b3\u30d4\u30fc\u306b\u5931\u6557\u3059\u308b\u306e\u3067\u6ce8\u610f\u304c\u5fc5\u8981\u3067\u3042\u308b\u3002<br \/>\nproject\u540d\u306fRust\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u540d\u3068\u5408\u308f\u305b\u3066\u5909\u66f4\u3059\u308b\u3002<\/p>\n<p>(\u3053\u308c\u3067\u3082\u52d5\u304f\u3051\u3069\u5909\u66f4\u7b87\u6240\u304c\u591a\u3044\u306e\u3067\u3001\u4fee\u6b63\u53c2\u7167)<\/p>\n<pre class=\"post-pre\"><code><span class=\"nb\">cmake_minimum_required<\/span><span class=\"p\">(<\/span>VERSION 3.0<span class=\"p\">)<\/span>\r\n<span class=\"nb\">project<\/span><span class=\"p\">(<\/span>rust_test<span class=\"p\">)<\/span>\r\n\r\n<span class=\"nb\">find_package<\/span><span class=\"p\">(<\/span>catkin REQUIRED<span class=\"p\">)<\/span>\r\n<span class=\"nf\">catkin_package<\/span><span class=\"p\">()<\/span>\r\n\r\n<span class=\"nb\">add_custom_target<\/span><span class=\"p\">(<\/span>rust_test\r\n    ALL\r\n    COMMAND cargo build --release -p rust_test\r\n    COMMAND <span class=\"si\">${<\/span><span class=\"nv\">CMAKE_COMMAND<\/span><span class=\"si\">}<\/span> -E copy <span class=\"si\">${<\/span><span class=\"nv\">CMAKE_BINARY_DIR<\/span><span class=\"si\">}<\/span>\/cargo\/release\/rust_test <span class=\"si\">${<\/span><span class=\"nv\">CMAKE_RUNTIME_OUTPUT_DIRECTORY<\/span><span class=\"si\">}<\/span>\/rust_test\r\n    COMMENT <span class=\"s2\">\"Building my Rust library\"<\/span>\r\n<span class=\"p\">)<\/span>\r\n<\/code><\/pre>\n<p>package.xml\u306fC++\u306e\u3068\u304d\u3068\u540c\u3058\u5bb9\u91cf\u3067\u66f8\u304d\u63db\u3048\u308b\u3002\u3053\u308c\u3082\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u540d\u3092\u5408\u308f\u305b\u308b<\/p>\n<pre class=\"post-pre\"><code><span class=\"cp\">&lt;?xml version=\"1.0\"?&gt;<\/span>\r\n<span class=\"nt\">&lt;package<\/span> <span class=\"na\">format=<\/span><span class=\"s\">\"2\"<\/span><span class=\"nt\">&gt;<\/span>\r\n  <span class=\"nt\">&lt;name&gt;<\/span>rust_test<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>my 1st rosrust package<span class=\"nt\">&lt;\/description&gt;<\/span>\r\n\/\/\u4ee5\u4e0b\u7565\r\n<\/code><\/pre>\n<p>\u3053\u308c\u3067ROS\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3068\u3057\u3066\u8a8d\u8b58\u3055\u308c\u3001catkin_make\u306e\u30d3\u30eb\u30c9\u5bfe\u8c61\u3068\u3057\u3066\u6271\u308f\u308c\u308b\u3002<br \/>\n\u4f46\u3057\u3053\u306e\u307e\u307e\u3060\u3068\u307e\u3060\u30d3\u30eb\u30c9\u304c\u3046\u307e\u304f\u884c\u304b\u306a\u3044\u306e\u3067\u3001Rust\u5074\u3067\u8a2d\u5b9a\u3092\u3044\u304f\u3064\u304b\u884c\u3046\u3002<\/p>\n<p>\u307e\u305a~\/catkin_ws\/Cargo.toml\u306b\u3001\u30d3\u30eb\u30c9\u5bfe\u8c61\u3068\u306a\u308bRust\u30ea\u30dd\u30b8\u30c8\u30ea\u306e\u5834\u6240\u3092\u8a18\u8f09\u3059\u308b\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nn\">[workspace]<\/span>\r\n<span class=\"py\">members<\/span> <span class=\"p\">=<\/span> <span class=\"p\">[<\/span> <span class=\"s\">\"src\/rust_test\"<\/span> <span class=\"p\">]<\/span>\r\n<\/code><\/pre>\n<p>\u6b21\u306b~\/catkin_ws\/.cargo\/config\u306b\u4ee5\u4e0b\u306e\u8a2d\u5b9a\u3092\u5165\u308c\u308b\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"nn\">[build]<\/span>\r\n<span class=\"py\">target-dir<\/span> <span class=\"p\">=<\/span> <span class=\"s\">\"build\/cargo\"<\/span>\r\n<\/code><\/pre>\n<p>\u3053\u3046\u3057\u3066\u304a\u304f\u3068\u3001cargo\u3067\u30d3\u30eb\u30c9\u3055\u308c\u305f\u30d5\u30a1\u30a4\u30eb\u304c~\/catkin_ws\/build\/cargo\u5185\u306b\u53ce\u307e\u308b\u306e\u3067\u3001C++\u3067\u66f8\u304b\u308c\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u3068\u6df7\u3058\u3089\u306a\u3044\u3002<\/p>\n<p>\u3053\u308c\u3067\u30d3\u30eb\u30c9\u74b0\u5883\u81ea\u4f53\u306f\u3067\u304d\u305f\u306e\u3067\u3001\u5b9f\u969b\u306e\u30b3\u30fc\u30c9\u3092\u8a18\u8f09\u3059\u308b\u3002\u3053\u308c\u306f\u5143\u8a18\u4e8b\u3084rosrust\u306b\u3042\u308b\u901a\u308a\u3067\u3001Rust\u304c\u304b\u3051\u308b\u4eba\u306b\u306f\u554f\u984c\u306b\u306a\u3089\u306a\u3044\u306e\u3067\u5272\u611b\u3002<br \/>\n(\u4f46\u3057\u3001rosrust\u306e\u30c8\u30c3\u30d7\u30da\u30fc\u30b8\u306b\u6709\u308bpub\/sub\u306e\u4f8b\u306f\u3001talker\u304cString\u3067\u9001\u3063\u3066\u3044\u308b\u306e\u306blistener\u304cUInt64\u3067\u5f85\u3061\u53d7\u3051\u3066\u3044\u308b\u306e\u3067\u901a\u4fe1\u306b\u5931\u6557\u3059\u308b\u3002\u4f55\u304b\u3057\u3089\u9593\u9055\u3063\u3066\u3044\u308b\u306e\u304b\u3068\u601d\u3063\u3066\u4e09\u5ea6\u898b\u3057\u305f\u306e\u3067\u6ce8\u610f\u304c\u5fc5\u8981\u3002)<\/p>\n<p>\u6700\u7d42\u7684\u306b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u69cb\u6210\u306f\u3053\u3046\u306a\u308b<\/p>\n<pre class=\"post-pre\"><code>catkin_ws\r\n|--- Cargo.toml\r\n|--- .cargo\r\n|    |--- config\r\n|--- src\r\n     |--- rust_test\r\n     |     |--- Cargo.toml\r\n     |     |--- CMakeLists.txt\r\n     |     |--- package.xml\r\n     |     |--- src\r\n     |           |--- main.rs\r\n<\/code><\/pre>\n<p>\u3053\u306e\u72b6\u614b\u3067<\/p>\n<pre class=\"post-pre\"><code><span class=\"nv\">$cd<\/span> ~\/catkin_ws\r\n<span class=\"nv\">$catkin_make<\/span>\r\n<span class=\"nv\">$rosrun<\/span> rust_test rust_test \r\n<\/code><\/pre>\n<p>\u3059\u308b\u3068Rust\u3067\u66f8\u3044\u305fROS\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u8d77\u52d5\u3059\u308b\u3002roslaunch\u3082\u5927\u4e08\u592b\u3060\u3063\u305f\u3002C++\u3092\u66f8\u304f\u5fc5\u8981\u306f\u306a\u304f\u306a\u308a\u305d\u3046\u3067\u4e00\u5b89\u5fc3\u3002<\/p>\n<h1>\u4fee\u6b63(2020\/10\/5)<\/h1>\n<p>CMakefile\u3067\u4f55\u7b87\u6240\u3082\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u540d\u3092\u66f8\u304b\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u306e\u306f\u9762\u5012\u306a\u306e\u3067\u3001\u5909\u6570\u5316\u3057\u305f\u3002<\/p>\n<pre class=\"post-pre\"><code>\r\n<span class=\"nb\">cmake_minimum_required<\/span><span class=\"p\">(<\/span>VERSION 3.0<span class=\"p\">)<\/span>\r\n<span class=\"c1\"># add_custom_target\u3067\u30b3\u30de\u30f3\u30c9\u3092\u53e9\u304f\u306e\u3067\u74b0\u5883\u5909\u6570\u3068\u3057\u3066\u5b9a\u7fa9\u3057\u3066\u304a\u304f<\/span>\r\n<span class=\"nb\">set<\/span> <span class=\"p\">(<\/span>ENV{PROJECT_NAME} rust_test<span class=\"p\">)<\/span>\r\n<span class=\"nb\">project<\/span><span class=\"p\">(<\/span>$ENV{PROJECT_NAME}<span class=\"p\">)<\/span>\r\n\r\n\r\n<span class=\"nb\">find_package<\/span><span class=\"p\">(<\/span>catkin REQUIRED COMPONENTS\r\n                std_msgs\r\n                message_generation\r\n<span class=\"p\">)<\/span>\r\n\r\n<span class=\"nf\">add_message_files<\/span><span class=\"p\">(<\/span>\r\n                FILES\r\n                Orientation.msg\r\n<span class=\"p\">)<\/span>\r\n\r\n<span class=\"nf\">catkin_package<\/span><span class=\"p\">(<\/span>\r\n                CATKIN_DEPENDS std_msgs message_runtime\r\n<span class=\"p\">)<\/span>\r\n\r\n<span class=\"nb\">add_custom_target<\/span><span class=\"p\">(<\/span>$ENV{PROJECT_NAME}\r\n        ALL\r\n        COMMAND cargo build --release -p $ENV{PROJECT_NAME}\r\n        COMMAND <span class=\"si\">${<\/span><span class=\"nv\">CMAKE_COMMAND<\/span><span class=\"si\">}<\/span> -E copy <span class=\"si\">${<\/span><span class=\"nv\">CMAKE_BINARY_DIR<\/span><span class=\"si\">}<\/span>\/cargo\/release\/$ENV{PROJECT_NAME} <span class=\"si\">${<\/span><span class=\"nv\">CMAKE_RUNTIME_OUTPUT_DIRECTORY<\/span><span class=\"si\">}<\/span>\/$ENV{PROJECT_NAME}\r\n        COMMENT <span class=\"s2\">\"Building my Rust library\"<\/span>\r\n<span class=\"p\">)<\/span>\r\n\r\n<span class=\"c1\"># \u30bb\u30c3\u30c8\u3057\u305f\u74b0\u5883\u5909\u6570\u3092\u30af\u30ea\u30a2\u3057\u3066\u304a\u304f<\/span>\r\n<span class=\"nb\">unset<\/span> <span class=\"p\">(<\/span>ENV{PROJECT_NAME}<span class=\"p\">)<\/span>                          \r\n<\/code><\/pre>\n<p>\u3042\u3068\u3001\u5f53\u7136\u3060\u304cCMakefile\u3084package.xml\u3067\u8a18\u8f09\u3057\u3066\u3044\u308b\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u540d\u3068\u3001Cargo.toml\u5185\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u540d\u304c\u4e00\u81f4\u3057\u3066\u3044\u306a\u3044\u3068\u52d5\u304b\u306a\u3044\u306e\u3067\u6ce8\u610f\u3002<br \/>\n(\u4eca\u65e5\u5225\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30b3\u30d4\u30fc\u3057\u3066\u30cf\u30de\u3063\u305f)<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3053\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306e\u5185\u5bb9 ROS\u3092\u89e6\u308a\u59cb\u3081\u305f\u304c\u3001python\u3082C++\u3082\u3042\u307e\u308a\u5f97\u610f\u3067\u306f\u306a\u3044\u306e\u3067\u3001Rust\u3067Node [&hellip;]<\/p>\n","protected":false},"author":8,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-45120","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>- 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\/45120-2\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:description\" content=\"\u3053\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306e\u5185\u5bb9 ROS\u3092\u89e6\u308a\u59cb\u3081\u305f\u304c\u3001python\u3082C++\u3082\u3042\u307e\u308a\u5f97\u610f\u3067\u306f\u306a\u3044\u306e\u3067\u3001Rust\u3067Node [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/zh\/blog\/45120-2\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - Silicon Cloud\" \/>\n<meta property=\"article:published_time\" content=\"2023-10-02T08:35:12+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2024-04-30T10:00:31+00:00\" \/>\n<meta name=\"author\" content=\"\u96c5, \u609f\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"\u96c5, \u609f\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"1 \u5206\" \/>\n<script type=\"application\/ld+json\" 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