{"id":10346,"date":"2024-09-11T20:10:08","date_gmt":"2024-09-11T11:10:08","guid":{"rendered":"https:\/\/developers.agirobots.com\/jp\/?p=10346"},"modified":"2024-09-11T20:44:09","modified_gmt":"2024-09-11T11:44:09","slug":"urdf_to_graphiz-docker","status":"publish","type":"post","link":"https:\/\/developers.agirobots.com\/jp\/urdf_to_graphiz-docker\/","title":{"rendered":"URDF\u306e\u69cb\u9020\u3092PDF\u306b\u51fa\u529b\u3059\u308b\u4fbf\u5229\u306a\u30c4\u30fc\u30eb\u300eurdf_to_graphiz\u300f\u3092Docker\u7d4c\u7531\u3067\u4f7f\u3046"},"content":{"rendered":"\n

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\u305d\u3082\u305d\u3082urdf_to_graphiz\u3068\u306f<\/h2>\n\n\n\n

urdf_to_graphiz\u3068\u306f\u3001URDF\u306e\u69cb\u9020\u3092\u30b3\u30de\u30f3\u30c9\uff11\u3064\u3067PDF\u306b\u51fa\u529b\u3067\u304d\u308b\u30c4\u30fc\u30eb\u3067\u3059\u3002\u4f8b\u3048\u3070\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306aURDF\u304c\u3042\u3063\u305f\u3068\u304d\u306b\u3001\u305d\u308c\u305e\u308c\u306e\u30ea\u30f3\u30af\u304c\u3069\u306e\u3088\u3046\u306b\u3057\u3066\u7e4b\u304c\u308c\u3066\u3044\u308b\u306e\u304b\u3092\u78ba\u8a8d\u3057\u305f\u3044\u3068\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

<?xml version="1.0"?>\n<robot name="simple_robot">\n  <!-- \u30d9\u30fc\u30b9\u30ea\u30f3\u30af -->\n  <link name="base_link">\n    <visual>\n      <geometry>\n        <box size="1 1 1"\/> <!-- \u30b5\u30a4\u30ba 1x1x1\u306e\u76f4\u65b9\u4f53 -->\n      <\/geometry>\n      <origin xyz="0 0 0" rpy="0 0 0"\/>\n      <material name="gray">\n        <color rgba="0.5 0.5 0.5 1.0"\/> <!-- \u30b0\u30ec\u30fc\u8272 -->\n      <\/material>\n    <\/visual>\n    <collision>\n      <geometry>\n        <box size="1 1 1"\/>\n      <\/geometry>\n      <origin xyz="0 0 0" rpy="0 0 0"\/>\n    <\/collision>\n    <inertial>\n      <mass value="1.0"\/>\n      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"\/>\n      <origin xyz="0 0 0" rpy="0 0 0"\/>\n    <\/inertial>\n  <\/link>\n\n  <!-- 2\u756a\u76ee\u306e\u30ea\u30f3\u30af -->\n  <link name="second_link">\n    <visual>\n      <geometry>\n        <box size="0.5 0.5 0.5"\/> <!-- \u30b5\u30a4\u30ba 0.5x0.5x0.5\u306e\u76f4\u65b9\u4f53 -->\n      <\/geometry>\n      <origin xyz="0 0 1.0" rpy="0 0 0"\/> <!-- base_link\u306e\u4e0a\u306b\u914d\u7f6e -->\n      <material name="blue">\n        <color rgba="0 0 1 1.0"\/> <!-- \u9752\u8272 -->\n      <\/material>\n    <\/visual>\n    <collision>\n      <geometry>\n        <box size="0.5 0.5 0.5"\/>\n      <\/geometry>\n      <origin xyz="0 0 1.0" rpy="0 0 0"\/>\n    <\/collision>\n    <inertial>\n      <mass value="0.5"\/>\n      <inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.05" iyz="0.0" izz="0.05"\/>\n      <origin xyz="0 0 0" rpy="0 0 0"\/>\n    <\/inertial>\n  <\/link>\n\n  <!-- \u30d9\u30fc\u30b9\u30ea\u30f3\u30af\u30682\u756a\u76ee\u306e\u30ea\u30f3\u30af\u3092\u63a5\u7d9a\u3059\u308b\u30b8\u30e7\u30a4\u30f3\u30c8 -->\n  <joint name="fixed_joint" type="fixed">\n    <parent link="base_link"\/>\n    <child link="second_link"\/>\n    <origin xyz="0 0 1.0" rpy="0 0 0"\/> <!-- \u4f4d\u7f6e\u3068\u5411\u304d\u3092\u6307\u5b9a -->\n  <\/joint>\n<\/robot>\n<\/code><\/pre><\/div>\n\n\n\n
\u30d5\u30a1\u30a4\u30eb\u540d\u304c\u3001simple_robot.urdf\u3060\u3068\u3057\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3061\u8fbc\u3080\u3053\u3068\u3067\u3001\u3053\u306eURDF\u306e\u69cb\u9020\u3092PDF\u3068\u3057\u3066\u51fa\u529b\u3057\u3066\u304f\u308c\u307e\u3059\u3002<\/p>\n\n\n\n
urdf_to_graphiz simple_robot.urdf<\/code><\/pre><\/div>\n\n\n\n
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\n
\"\"<\/figure><\/div>\n\n\n
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\u306a\u305cDocker\u304b\u3089\u4f7f\u3046\u306e\u304b\uff1f<\/h2>\n\n\n\n
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<\/p>\n\n\n\n
Docker\u30a4\u30e1\u30fc\u30b8\u306e\u69cb\u7bc9\u3068\u4f7f\u3044\u65b9<\/h2>\n\n\n\n
\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057\u3066\u3001Docker\u30a4\u30e1\u30fc\u30b8\u3092\u69cb\u7bc9\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
git config --global core.autocrlf false # Windows\u30e6\u30fc\u30b6\u306f\u3053\u306e\u884c\u304c\u5fc5\u9808\ngit clone https:\/\/github.com\/AkamisakaAtsuki\/urdf_to_graphiz_docker.git\ncd urdf_to_graphiz_docker\ndocker build -t urdf_to_graphiz_docker .\ncd ..<\/code><\/pre><\/div>\n\n\n\n
\u30a8\u30e9\u30fc\u306a\u304f\u30d3\u30eb\u30c9\u3067\u304d\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3061\u8fbc\u3080\u3060\u3051\u3067URDF\u306e\u69cb\u9020\u3092PDF\u306b\u51fa\u529b\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n
docker run --rm -v .:\/data urdf_to_graphiz_docker simple_robot.urdf<\/code><\/pre><\/div>\n\n\n\n
\u5185\u5bb9\u306f\u4ee5\u4e0a\u3067\u3059\u3002<\/p>\n\n\n\n
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<\/p>\n","protected":false},"excerpt":{"rendered":"
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