{"id":383,"date":"2025-06-20T19:51:01","date_gmt":"2025-06-20T10:51:01","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=383"},"modified":"2025-06-20T19:51:02","modified_gmt":"2025-06-20T10:51:02","slug":"%e3%80%90%e9%96%8b%e7%99%ba%e3%80%91unitreego2%e3%82%92ros2%e3%81%a7%e9%96%8b%e7%99%ba%e3%81%99%e3%82%8b","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=383","title":{"rendered":"\u3010\u958b\u767a\u3011UnitreeGo2\u3092ROS2\u3067\u958b\u767a\u3059\u308b"},"content":{"rendered":"\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_74 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\" >\u306f\u3058\u3081\u306b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E9%96%8B%E7%99%BA%E7%92%B0%E5%A2%83\" >\u958b\u767a\u74b0\u5883<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99\" >\u4e8b\u524d\u6e96\u5099<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#ROS2_Foxy%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" >ROS2 Foxy\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#SDK%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" >SDK\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E5%AE%9F%E8%A1%8C\" >\u5b9f\u884c<\/a><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#Topic%E3%81%AE%E7%A2%BA%E8%AA%8D\" >Topic\u306e\u78ba\u8a8d<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E3%82%B9%E3%83%86%E3%83%BC%E3%83%88%E3%81%AE%E5%8F%96%E5%BE%97\" >\u30b9\u30c6\u30fc\u30c8\u306e\u53d6\u5f97<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#Rviz%E3%81%AB%E3%82%88%E3%82%8B%EF%BC%92D%E7%82%B9%E7%BE%A4%E3%81%AE%E5%8F%96%E5%BE%97\" >Rviz\u306b\u3088\u308b\uff12D\u70b9\u7fa4\u306e\u53d6\u5f97<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E3%82%B9%E3%83%9D%E3%83%BC%E3%83%84%E3%83%A2%E3%83%BC%E3%83%89%E3%81%AE%E3%82%B9%E3%83%86%E3%83%BC%E3%83%88%E7%A2%BA%E8%AA%8D\" >\u30b9\u30dd\u30fc\u30c4\u30e2\u30fc\u30c9\u306e\u30b9\u30c6\u30fc\u30c8\u78ba\u8a8d<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E3%82%B9%E3%83%9D%E3%83%BC%E3%83%84%E3%83%A2%E3%83%BC%E3%83%89%E3%81%AE%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E5%AE%9F%E8%A1%8C\" >\u30b9\u30dd\u30fc\u30c4\u30e2\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u5b9f\u884c<\/a><\/li><\/ul><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/robolease.disr-inc.com\/?p=383\/#%E3%81%8A%E3%82%8F%E3%82%8A%E3%81%AB\" >\u304a\u308f\u308a\u306b<\/a><\/li><\/ul><\/nav><\/div>\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%AF%E3%81%98%E3%82%81%E3%81%AB\"><\/span>\u306f\u3058\u3081\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u30ed\u30dc\u30c3\u30c8\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u30e1\u30b8\u30e3\u30fc\u306aROS2\u3092\u7528\u3044\u3066\u3001\u516c\u5f0f\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u3082\u3068\u306b\u958b\u767a\u306e\u65b9\u6cd5\u3092\u3054\u7d39\u4ecb\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002ROS2\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u3067SDK\u3067\u30e9\u30c3\u30d7\u3055\u308c\u308b\u3053\u3068\u306a\u304f\u3001Go2\u306e\u901a\u4fe1\u3068\u5236\u5fa1\u3092\u76f4\u63a5\u884c\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E9%96%8B%E7%99%BA%E7%92%B0%E5%A2%83\"><\/span>\u958b\u767a\u74b0\u5883<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Go2 \u672c\u4f53\uff1aEDU\uff08\u4e8c\u6b21\u958b\u767a\u53ef\u7248\uff09<\/li>\n\n\n\n<li>\u5916\u90e8PC\uff1aUbuntu 20.0.4 LST<\/li>\n<\/ul>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E4%BA%8B%E5%89%8D%E6%BA%96%E5%82%99\"><\/span>\u4e8b\u524d\u6e96\u5099<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>Docking Station\u3068\u5916\u90e8PC\u306e\u63a5\u7d9a\u3092\u6e08\u307e\u305b\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-robo-renta wp-block-embed-robo-renta\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"wp-embedded-content\" data-secret=\"E5msiNqDhX\"><a href=\"https:\/\/robolease.disr-inc.com\/?p=348\">\u3010\u958b\u767a\u65b9\u6cd5\u3011UnitreeGo2\u306e\u958b\u767a\u74b0\u5883\u306e\u8a2d\u5b9a<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"&#8220;\u3010\u958b\u767a\u65b9\u6cd5\u3011UnitreeGo2\u306e\u958b\u767a\u74b0\u5883\u306e\u8a2d\u5b9a&#8221; &#8212; Robo Renta\" src=\"https:\/\/robolease.disr-inc.com\/?p=348&#038;embed=true#?secret=zpWglRMjFA#?secret=E5msiNqDhX\" data-secret=\"E5msiNqDhX\" width=\"500\" height=\"282\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"ROS2_Foxy%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>ROS2 Foxy\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u5916\u90e8PC\u3092\u901a\u3057\u3066ROS2\u3067\u958b\u767a\u3092\u884c\u3044\u307e\u3059\u3002Ros2\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u6e08\u307f\u306e\u5834\u5408\u306f\u30b9\u30ad\u30c3\u30d7\u3057\u3066\u304f\u3060\u3055\u3044\u3002<br>\uff08\uff11\uff09\u30ec\u30dd\u30b8\u30c8\u30ea\u306e\u6e96\u5099<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n~$ sudo apt update &amp;&amp; sudo apt upgrade -y\n~$ sudo apt install curl gnupg lsb-release -y\n~$ sudo curl -sSL https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.asc | sudo apt-key add -\n~$ sudo sh -c &#039;echo &quot;deb &#x5B;arch=amd64] http:\/\/packages.ros.org\/ros2\/ubuntu $(lsb_release -cs) main&quot; &gt; \/etc\/apt\/sources.list.d\/ros2-latest.list&#039;\n<\/pre><\/div>\n\n\n<p>\uff08\uff12\uff09ROS2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n~$ sudo apt update\n~$ sudo apt install ros-foxy-desktop -y\n<\/pre><\/div>\n\n\n<p>\uff08\uff13\uff09\u300cROS 2\u300d\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u300c~\/.bashrc\u300d\u306b\u8ffd\u52a0\u3002<br>Ubuntu \u8d77\u52d5\u6642\u306b\u81ea\u52d5\u5b9f\u884c\u3059\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n~$ echo &quot;source \/opt\/ros\/foxy\/setup.bash&quot; &gt;&gt; ~\/.bashrc\n~$ source ~\/.bashrc\n<\/pre><\/div>\n\n\n<p>\uff08\uff14\uff09\u300cROS 2 \u300d\u306e\u4f9d\u5b58\u95a2\u4fc2\u30c4\u30fc\u30eb\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3002<br>\u300ccolcon\u300d\u306f\u30d3\u30eb\u30c9\u30c4\u30fc\u30eb\u3001\u300cargcomplete\u300d\u306f\u81ea\u52d5\u88dc\u5b8c\u30c4\u30fc\u30eb\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n~$ sudo apt install python3-colcon-common-extensions -y\n~$ sudo apt install python3-argcomplete\n<\/pre><\/div>\n\n\n<p>\uff08\uff15\uff09\u52d5\u4f5c\u78ba\u8a8d\u3002\u305d\u308c\u305e\u308c\u3067\u4ee5\u4e0b\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3057\u3066\u30b3\u30de\u30f3\u30c9\u306e\u5b9f\u884c\u7d50\u679c\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n~$ ros2 run demo_nodes_cpp talker\n&#x5B;INFO] &#x5B;1728804852.487135627] &#x5B;talker]: Publishing: &#039;Hello World: 1&#039;\n&#x5B;INFO] &#x5B;1728804853.487033120] &#x5B;talker]: Publishing: &#039;Hello World: 2&#039;\n&#x5B;INFO] &#x5B;1728804854.487094554] &#x5B;talker]: Publishing: &#039;Hello World: 3&#039;\n    :\n<\/pre><\/div>\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n~$ ros2 run demo_nodes_py listener\n&#x5B;INFO] &#x5B;1728804878.493128370] &#x5B;listener]: I heard: &#x5B;Hello World: 27]\n&#x5B;INFO] &#x5B;1728804879.487816334] &#x5B;listener]: I heard: &#x5B;Hello World: 28]\n&#x5B;INFO] &#x5B;1728804880.487765651] &#x5B;listener]: I heard: &#x5B;Hello World: 29]\n    :\n<\/pre><\/div>\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"SDK%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>SDK\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>(1)\u516c\u5f0f\u30ec\u30dd\u30b8\u30c8\u30ea\u304b\u3089\u30b5\u30f3\u30d7\u30eb\u306e\u30b3\u30fc\u30c9\u3092\u53d6\u5f97\u3057\u307e\u3059\u3002\u203bHOME\u76f4\u4e0b\u3067\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u3053\u306e\u3042\u3068\u306eBuild\u3067\u5931\u6557\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>~ $ git clone https:\/\/github.com\/unitreerobotics\/unitree_ros2.git<\/p>\n\n\n\n<p>(2)\u4f9d\u5b58\u95a2\u4fc2\u306e\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\nsudo apt install ros-foxy-rmw-cyclonedds-cpp\nsudo apt install ros-foxy-rosidl-generator-dds-idl\n<\/pre><\/div>\n\n\n<p>(3)cyclone dds\u306e\u30b3\u30f3\u30d1\u30a4\u30eb<br>Cyclonedds\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u524d\u306b\u3001\u30bf\u30fc\u30df\u30ca\u30eb\u8d77\u52d5\u6642\u306bROS2\u74b0\u5883\u304c\u8aad\u307f\u3053\u307e\u308c\u3066\u3044\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<br>\u300c~\/.bashrc\u300d\u30d5\u30a1\u30a4\u30eb\u306b\u300csource\/opt\/ros\/foxy\/setup.bash\u300d\u304c\u8ffd\u52a0\u3055\u308c\u3066\u3044\u308b\u5834\u5408\u306f\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u304c\u5fc5\u8981<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\nsudo apt install gedit\nsudo gedit ~\/.bashrc\n# source \/opt\/ros\/foxy\/setup.bash\n<\/pre><\/div>\n\n\n<p>(4)\u30b3\u30f3\u30d1\u30a4\u30eb\u306e\u5b9f\u884c<br>\u3082\u3057\u30b3\u30f3\u30d1\u30a4\u30eb\u304c\u5931\u6557\u3059\u308b\u5834\u5408\u306fterminal\u3092\u7acb\u3061\u4e0a\u3052\u306a\u304a\u3057\u3066\u3001\u6b63\u3057\u3044\u74b0\u5883\u304b\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001<code>ros2<\/code>\u3092\u5b9f\u884c\u3057\u3001\u201dcommand not found\u201d \u3068\u8868\u793a\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\ncd ~\/unitree_ros2\/cyclonedds_ws\/src\ngit clone https:\/\/github.com\/ros2\/rmw_cyclonedds -b foxy\ngit clone https:\/\/github.com\/eclipse-cyclonedds\/cyclonedds -b releases\/0.10.x \ncd ..\ncolcon build --packages-select cyclonedds #Compile cyclone-dds package\n<\/pre><\/div>\n\n\n<p>(5)unitree_go\u3068unitree_api\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30f3\u30d1\u30a4\u30eb<br>build\u304c\u5b8c\u4e86\u3057\u305f\u3089\u3001\u5f15\u304d\u7d9a\u304d\u540c\u3058terminal\u3067foxy\u306esetup.bash\u3092\u3057\u3001\u305d\u306e\u5f8c\u5168\u4f53\u306e\u30b3\u30f3\u30d1\u30a4\u30eb\u3092\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\nsource \/opt\/ros\/foxy\/setup.bash \ncolcon build\n<\/pre><\/div>\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%AE%9F%E8%A1%8C\"><\/span>\u5b9f\u884c<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u4e00\u5ea6OS\u3092\u518d\u8d77\u52d5\u3057\u3001\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067unitree\u95a2\u9023\u306eros\u3092\u5229\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Topic%E3%81%AE%E7%A2%BA%E8%AA%8D\"><\/span>Topic\u306e\u78ba\u8a8d<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u5916\u90e8PC\u3092\u901a\u3057\u3066Go2\u672c\u4f53\u306e\u30c8\u30d4\u30c3\u30af\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n$ source ~\/unitree_ros2\/setup.sh\n$ ros2 topic list\n\/api\/assistant_recorder\/request\n\/api\/assistant_recorder\/response\n\/api\/audiohub\/request\n\/api\/audiohub\/response\n\/api\/bashrunner\/request\n\/api\/bashrunner\/response\n\/api\/config\/request\n\/api\/config\/response\n\/api\/fourg_agent\/request\n\/api\/fourg_agent\/response\n\/api\/gas_sensor\/request\n\/api\/gas_sensor\/response\n\/api\/gesture\/request\n\/api\/gpt\/request\n\/api\/gpt\/response\n\/api\/motion_switcher\/request\n\/api\/motion_switcher\/response\n\/api\/obstacles_avoid\/request\n\/api\/obstacles_avoid\/response\n\/api\/pet\/request\n\/api\/pet\/response\n\/api\/programming_actuator\/request\n\/api\/programming_actuator\/response\n\/api\/robot_state\/request\n\/api\/robot_state\/response\n\/api\/sport\/request\n\/api\/sport\/response\n\/api\/sport_lease\/request\n\/api\/sport_lease\/response\n\/api\/uwbswitch\/request\n\/api\/uwbswitch\/response\n\/api\/videohub\/request\n\/api\/videohub\/response\n\/api\/vui\/request\n\/api\/vui\/response\n\/arm_Command\n\/arm_Feedback\n\/audiohub\/player\/state\n\/audioreceiver\n\/audiosender\n\/config_change_status\n\/frontvideostream\n\/gas_sensor\n\/gesture\/result\n\/gnss\n\/gpt_cmd\n\/gptflowfeedback\n\/lf\/lowstate\n\/lf\/sportmodestate\n\/lio_sam_ros2\/mapping\/odometry\n\/lowcmd\n\/lowstate\n\/multiplestate\n\/parameter_events\n\/pctoimage_local\n\/pet\/flowfeedback\n\/programming_actuator\/command\n\/programming_actuator\/feedback\n\/public_network_status\n\/qt_add_edge\n\/qt_add_node\n\/qt_command\n\/qt_notice\n\/query_result_edge\n\/query_result_node\n\/rosout\n\/rtc\/state\n\/rtc_status\n\/selftest\n\/servicestate\n\/servicestateactivate\n\/sportmodestate\n\/uslam\/client_command\n\/uslam\/cloud_map\n\/uslam\/frontend\/cloud_world_ds\n\/uslam\/frontend\/odom\n\/uslam\/localization\/cloud_world\n\/uslam\/localization\/odom\n\/uslam\/navigation\/global_path\n\/uslam\/server_log\n\/utlidar\/client_cmd\n\/utlidar\/cloud\n\/utlidar\/cloud_base\n\/utlidar\/cloud_deskewed\n\/utlidar\/grid_map\n\/utlidar\/height_map\n\/utlidar\/height_map_array\n\/utlidar\/imu\n\/utlidar\/lidar_state\n\/utlidar\/mapping_cmd\n\/utlidar\/range_info\n\/utlidar\/range_map\n\/utlidar\/robot_odom\n\/utlidar\/robot_pose\n\/utlidar\/server_log\n\/utlidar\/switch\n\/utlidar\/voxel_map\n\/utlidar\/voxel_map_compressed\n\/uwbstate\n\/uwbswitch\n\/videohub\/inner\n\/webrtcreq\n\/webrtcres\n\/wirelesscontroller\n\/wirelesscontroller_unprocessed\n\/xfk_webrtcreq\n\/xfk_webrtcres\n\n<\/pre><\/div>\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B9%E3%83%86%E3%83%BC%E3%83%88%E3%81%AE%E5%8F%96%E5%BE%97\"><\/span>\u30b9\u30c6\u30fc\u30c8\u306e\u53d6\u5f97<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Rviz%E3%81%AB%E3%82%88%E3%82%8B%EF%BC%92D%E7%82%B9%E7%BE%A4%E3%81%AE%E5%8F%96%E5%BE%97\"><\/span>Rviz\u306b\u3088\u308b\uff12D\u70b9\u7fa4\u306e\u53d6\u5f97<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3067rviz\u3092\u7acb\u3061\u4e0a\u3052\u3001\/utlidar\/cloud\u3092subscribe\u3059\u308b\u3053\u3068\u3067\u3001\u8868\u793a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n$ ros2 run rviz2 rviz2\n<\/pre><\/div>\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"677\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/Screenshot-from-2025-06-20-19-32-26-1024x677.png\" alt=\"\" class=\"wp-image-385\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/Screenshot-from-2025-06-20-19-32-26-1024x677.png 1024w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/Screenshot-from-2025-06-20-19-32-26-300x198.png 300w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/Screenshot-from-2025-06-20-19-32-26-768x507.png 768w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/Screenshot-from-2025-06-20-19-32-26.png 1117w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B9%E3%83%9D%E3%83%BC%E3%83%84%E3%83%A2%E3%83%BC%E3%83%89%E3%81%AE%E3%82%B9%E3%83%86%E3%83%BC%E3%83%88%E7%A2%BA%E8%AA%8D\"><\/span>\u30b9\u30dd\u30fc\u30c4\u30e2\u30fc\u30c9\u306e\u30b9\u30c6\u30fc\u30c8\u78ba\u8a8d<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n$ ros2 topic echo \/sportmodestate \nstamp:\n  sec: 1750415646\n  nanosec: 521781075\nerror_code: 100\nimu_state:\n  quaternion:\n  - -0.9527515172958374\n  - 0.009728764183819294\n  - -0.006678077857941389\n  - 0.3035217225551605\n  gyroscope:\n  - -0.008522114716470242\n  - -0.0010652643395587802\n  - -0.015978964045643806\n  accelerometer:\n  - -0.16160862147808075\n  - -0.28371289372444153\n  - 9.552865028381348\n  rpy:\n  - -0.022594517096877098\n  - 0.006819368805736303\n  - -0.6168944835662842\n  temperature: 79\nmode: 0\nprogress: 0.0\ngait_type: 0\nfoot_raise_height: 0.0\nposition:\n- -0.051570795476436615\n- -0.021044490858912468\n- 0.30955570936203003\nbody_height: 0.3208828866481781\nvelocity:\n- 0.0029916828498244286\n- 0.007184749469161034\n- -0.018200717866420746\nyaw_speed: -0.015978964045643806\nrange_obstacle:\n- 0.0\n- 0.0\n- 0.0\n- 0.0\nfoot_force:\n- 0\n- 0\n- 0\n- 0\nfoot_position_body:\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\nfoot_speed_body:\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n- 0.0\n---\n<\/pre><\/div>\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B9%E3%83%9D%E3%83%BC%E3%83%84%E3%83%A2%E3%83%BC%E3%83%89%E3%81%AE%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E5%AE%9F%E8%A1%8C\"><\/span>\u30b9\u30dd\u30fc\u30c4\u30e2\u30fc\u30c9\u306e\u30b5\u30f3\u30d7\u30eb\u5b9f\u884c<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3067\u30d3\u30eb\u30c9\u3057\u305f\u306e\u3061\u3001\u30b5\u30f3\u30d7\u30eb\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: plain; title: ; notranslate\" title=\"\">\n$ cd ~unitree_ros2\/example\n$ colcon build\n<\/pre><\/div>\n\n<div class=\"wp-block-syntaxhighlighter-code \"><pre class=\"brush: bash; title: ; notranslate\" title=\"\">\n.\/install\/unitree_ros2_example\/bin\/sport_mode_ctrl\n-0.0833535, -0.0189747, -0.999679\n-0.0833573, -0.018973, -0.999679\n-0.0833374, -0.0189771, -0.999682\n-0.0833443, -0.018988, -0.999672\n-0.083346, -0.0189807, -0.999645\n-0.0833503, -0.0189889, -0.999643\n-0.0833514, -0.0189817, -0.999636\n-0.0833541, -0.018991, -0.999646\n-0.0833561, -0.0189861, -0.999648\n-0.08335, -0.0189874, -0.999625\n-0.0833472, -0.0189902, -0.999627\n-0.083342, -0.0190032, -0.999613\n-0.0833515, -0.0189991, -0.999619\n-0.0833447, -0.0189977, -0.999614\n-0.0833523, -0.0189953, -0.99963\n-0.0833481, -0.0189962, -0.999642\n-0.0833432, -0.0189954, -0.99965\n-0.0833301, -0.0189984, -0.999652\n-0.0833259, -0.0190054, -0.999662\n-0.0833336, -0.0189955, -0.999674\n-0.0833326, -0.0189913, -0.999683\n-0.0833351, -0.0189909, -0.999689\n-0.083335, -0.0189916, -0.999698\n-0.0833422, -0.018996, -0.999716\n\n<\/pre><\/div>\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%81%8A%E3%82%8F%E3%82%8A%E3%81%AB\"><\/span>\u304a\u308f\u308a\u306b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>\u4e00\u901a\u308aROS2\u3092\u4f7f\u7528\u3057\u305f\u74b0\u5883\u69cb\u7bc9\u53ca\u3073\u30c6\u30b9\u30c8\u5b9f\u884c\u3092\u3084\u3063\u3066\u307f\u307e\u3057\u305f\u3002\u30b9\u30bf\u30c3\u30af\u3057\u305f\u65b9\u306f\u3054\u9023\u7d61\u304f\u3060\u3055\u3044<\/p>\n","protected":false},"excerpt":{"rendered":"\u306f\u3058\u3081\u306b \u30ed\u30dc\u30c3\u30c8\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u30e1\u30b8\u30e3\u30fc\u306aROS2\u3092\u7528\u3044\u3066\u3001\u516c\u5f0f\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9\u3092\u3082\u3068\u306b\u958b\u767a\u306e\u65b9\u6cd5\u3092\u3054\u7d39\u4ecb\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002ROS2\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u3067SDK\u3067\u30e9\u30c3\u30d7\u3055\u308c\u308b\u3053\u3068\u306a\u304f\u3001Go2\u306e\u901a\u4fe1\u3068\u5236\u5fa1\u3092\u76f4\u63a5\u884c\u3046\u3053\u3068 [&hellip;]","protected":false},"author":1,"featured_media":385,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[30,27,31],"tags":[],"class_list":["post-383","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-30","category-howto","category-unitreego2-4"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/06\/Screenshot-from-2025-06-20-19-32-26.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/383","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=383"}],"version-history":[{"count":2,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/383\/revisions"}],"predecessor-version":[{"id":386,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/383\/revisions\/386"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/385"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=383"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=383"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=383"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}