{"id":45595,"date":"2023-03-28T06:54:15","date_gmt":"2023-01-17T11:33:19","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/45595-2\/"},"modified":"2024-04-29T20:50:54","modified_gmt":"2024-04-29T12:50:54","slug":"45595-2","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/45595-2\/","title":{"rendered":""},"content":{"rendered":"<p>ROS2\u3067NAT\u8d8a\u3048\u3059\u308b\u306e\u3063\u3066\u4f55\u304b\u3044\u3044\u624b\u6bb5\u7121\u3044\u304b\u306a\u3041\u3068\u63a2\u3057\u3066\u3044\u305f\u969b\u306b\u898b\u3064\u3051\u305f\u3082\u306e\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u3088\u304f\u3042\u308b\uff0aMQ\u7cfb\u306e\u4f55\u304b\u3068\u601d\u3044\u304d\u3084\u3001\u3082\u3046\u3061\u3087\u3063\u3068\u878d\u901a\u304c\u5229\u3044\u3066\u3044\u308d\u3044\u308d\u3068\u3067\u304d\u305d\u3046\u306a\u96f0\u56f2\u6c17\u304c\u4f1d\u308f\u3063\u3066\u304d\u307e\u3059\u3002ROS2\u306ePlugin\u3082\u3042\u308a\u3001Rust, C, Python, Java\u3068\u8a00\u8a9eBinding\u3082\u63c3\u3063\u3066\u3044\u308b\u3088\u3046\u3067\u3059\u3002<\/p>\n<p>\u4eca\u56de\u306f\u3001\u30af\u30e9\u30a6\u30c9\u4e0a\u306bZenoh\u306eRouter\uff08\u30b5\u30fc\u30d0\uff09\u3092\u7acb\u3066\u3066\u30012PC\u9593\u3067ROS2\u901a\u4fe1\u3055\u305b\u3066\u307f\u307e\u3059\u3002<\/p>\n<h1>\u30b5\u30fc\u30d0<\/h1>\n<p>zenoh\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002apt\u3067\u3082\u5165\u308b\u306e\u3067\u3059\u304c\u3001zenoh-bridge-dds\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u3068\u6574\u5408\u3057\u306a\u3044\u305f\u3081\u3001\u30bd\u30fc\u30b9\u304b\u3089\u30d3\u30eb\u30c9\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n<p>Rust\u306e\u30d3\u30eb\u30c9\u74b0\u5883\u304c\u5fc5\u8981\u3068\u306a\u308a\u307e\u3059\u3002\u4ee5\u4e0b\u30b3\u30de\u30f3\u30c9\u3067\u5165\u308a\u307e\u3059\uff08Rust\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3063\u3066\u3053\u3093\u306a\u7c21\u5358\u3067\u3057\u305f\u3063\u3051\u30fb\u30fb\u3081\u3063\u3061\u3083\u697d\u3067\u3059\u3002\u53c2\u7167\uff1ahttps:\/\/www.rust-lang.org\/ja\/tools\/install \uff09<\/p>\n<pre class=\"post-pre\"><code>curl --proto '=https' --tlsv1.2 -sSf https:\/\/sh.rustup.rs | sh\r\nsource \"$HOME\/.cargo\/env\"\r\n<\/code><\/pre>\n<p>\u307e\u305f\u3001\u30d3\u30eb\u30c9\u306b\u306fClang\u304c\u5fc5\u8981\u3068\u306a\u308b\u305f\u3081\u3001apt\u7b49\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304a\u3044\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code>sudo apt install -y clang\r\n<\/code><\/pre>\n<p>zenoh\u306egithub\u30ea\u30dd\u30b8\u30c8\u30ea\u304b\u3089\u6700\u65b0\u306eRelease\u306e\u30bf\u30b0\u3092\u6307\u5b9a\u3057\u3066\u3092\u30bd\u30fc\u30b9\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002\u3053\u306e\u969b\u3001\u5f8c\u8ff0\u306ezenoh-bridge-dds\u3068\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u63c3\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code>git clone https:\/\/github.com\/eclipse-zenoh\/zenoh.git -b 0.6.0-dev\r\n<\/code><\/pre>\n<p>\u30d3\u30eb\u30c9\u306b\u306f\u7d50\u69cb\u6642\u9593\u304c\u639b\u304b\u308a\u307e\u3059\u3002\u3086\u3063\u304f\u308a\u304a\u5f85\u3061\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code>cargo build --release --all-targets\r\n<\/code><\/pre>\n<p>.\/target\/release\/\u3000\u4ee5\u4e0b\u306b\u4e00\u901a\u308a\u6210\u679c\u7269\u304c\u751f\u6210\u3055\u308c\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>.\/target\/release\/zenohd\r\n<\/code><\/pre>\n<p>\u30b5\u30fc\u30d0\u306e\u8a2d\u5b9a\u306f\u4ee5\u4e0a\u3067\u3059\u3002\u306a\u304a\u30dd\u30fc\u30c8\u306f7447\u3092\u901a\u3059\u5fc5\u8981\u304c\u3042\u308b\u306e\u3067\u3001\u9069\u5b9c\u958b\u3051\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h1>\u30af\u30e9\u30a4\u30a2\u30f3\u30c8<\/h1>\n<p>\u3053\u3061\u3089\u3082Rust\u74b0\u5883\u3001clang\u304c\u5fc5\u8981\u3067\u3059\u3002\u4e0a\u8a18\u3068\u540c\u69d8\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre class=\"post-pre\"><code>git clone https:\/\/github.com\/eclipse-zenoh\/zenoh-plugin-dds.git -b 0.6.0-dev\r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code>cargo build --release -p zenoh-bridge-dds\r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code>.\/target\/release\/zenoh-bridge-dds -e tcp\/\u30b5\u30fc\u30d0\u306eIP\u30a2\u30c9\u30ec\u30b9:7447\r\n<\/code><\/pre>\n<p>\u3053\u306e\u72b6\u614b\u3067\u3082\u3046\u4e00\u679a\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u304d\u3001ROS\u30a2\u30d7\u30ea\u3092\u52d5\u304b\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>ros2 run domo_nodes_cpp talker\r\n<\/code><\/pre>\n<p>\u4e0a\u8a18\u306e\u8a2d\u5b9a\u3092\u5225PC\u3067\u3082\u884c\u3044\u3001\u540c\u69d8\u306bListener\u3092\u52d5\u304b\u3057\u307e\u3059\u3002<\/p>\n<pre class=\"post-pre\"><code>ros2 run domo_nodes_cpp listener\r\n<\/code><\/pre>\n<p>\u4ee5\u4e0a\u3067\u672c\u5f53\u306b\u4f55\u306e\u82e6\u52b4\u3082\u306a\u304fNAT\u8d8a\u3048ROS2\u901a\u4fe1\u304c\u884c\u3048\u3066\u3057\u307e\u3044\u307e\u3059\u3002<\/p>\n<p>\u4eca\u56de\u306fROS2\u306ebridge\u306b\u7d5e\u3063\u3066\u3057\u307e\u3044\u307e\u3057\u305f\u304c\u3001Zenoh\u306f\u69d8\u3005\u306a\u6a5f\u80fd\u3092\u6301\u3063\u3066\u3044\u308b\u3088\u3046\u3067\u3059\u3002\u307e\u305f\u3001\u7d44\u8fbc\u307f\u5411\u3051\u306e\u8efd\u91cf\u5b9f\u88c5\u3082\u3042\u308b\u3088\u3046\u3067\u3059\u3002<br \/>\n\u4eca\u5f8c\u3082\u3044\u308d\u3044\u308d\u8a66\u3057\u3066\u307f\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>ROS2\u3067NAT\u8d8a\u3048\u3059\u308b\u306e\u3063\u3066\u4f55\u304b\u3044\u3044\u624b\u6bb5\u7121\u3044\u304b\u306a\u3041\u3068\u63a2\u3057\u3066\u3044\u305f\u969b\u306b\u898b\u3064\u3051\u305f\u3082\u306e\u3067\u3059\u3002 &nbsp; \u3088\u304f\u3042\u308b [&hellip;]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-45595","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\/45595-2\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:description\" 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