{"id":8696,"date":"2021-10-22T18:00:00","date_gmt":"2021-10-22T09:00:00","guid":{"rendered":"https:\/\/www.rapyuta-robotics.com\/ja\/?p=8696"},"modified":"2026-02-06T18:07:21","modified_gmt":"2026-02-06T09:07:21","slug":"rosconjp2021blog","status":"publish","type":"post","link":"https:\/\/www.rapyuta-robotics.com\/ja\/2021\/10\/22\/rosconjp2021blog\/","title":{"rendered":"rclUE &#8211; a tool to enable robotics simulation in Unreal Engine 4"},"content":{"rendered":"\n<p>ROSConJP 2021\u3067\u767a\u8868\u3057\u305fUnreal Engine4(UE4)\u7528\u306eROS2 client library\u3067\u3042\u308brclUE\u306b\u3064\u3044\u3066\u3001\u3054\u7d39\u4ecb\u3057\u307e\u3059\u3002rclUE\u3092\u4f7f\u3046\u3053\u3068\u3067\u3001UE4\u3092ROS2\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u3057\u3066\u4f7f\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u767a\u8868\u30b9\u30e9\u30a4\u30c9\u306f<a href=\"https:\/\/docs.google.com\/presentation\/d\/1MI_Q9sSbBypiVuVxU2T4Hf7QjUsVFXeoZZ9NcS0Od5s\/edit\">\u3053\u3061\u3089<\/a><\/p>\n\n\n\n<p><strong>\u306f\u3058\u3081\u306b<\/strong><br>\u30e9\u30d4\u30e5\u30bf\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u3067\u306fCloud robotics platform rapyuta.io\u3092\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002\u30ed\u30dc\u30c3\u30c8\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u3057\u3066\u306fGazebo\u3092\u4f7f\u7528\u3057\u3066\u3044\u3066\u3001Gazebo\u3092\u30af\u30e9\u30a6\u30c9\u4e0a\u306bdeploy\u3059\u308b\u3053\u3068\u3067\u3001ROS1\u3092\u7528\u3044\u305f\u30af\u30e9\u30a6\u30c9\u4e0a\u306e\u30de\u30eb\u30c1\u30ed\u30dc\u30c3\u30c8\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u5b9f\u73fe\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>Gazebo\u3092\u4f7f\u3063\u3066\u30af\u30e9\u30a6\u30c9\u4e0a\u3067\u8907\u6570\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092\u69cb\u7bc9\u3059\u308b\u969b\u306b\u3044\u304f\u3064\u304b\u8ab2\u984c\u304c\u3042\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>ROS1\u306f\u4e00\u53f0\u306e\u30ed\u30dc\u30c3\u30c8\u7528\u306b\u8a2d\u8a08\u3055\u308c\u3066\u3044\u308b\u306e\u3067\u3001\u8907\u6570\u53f0\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u306a\u3046\u969b\u306b\u3044\u304f\u3064\u304b\u306e\u30cf\u30c3\u30af(hack)\u304c\u5fc5\u8981<\/li><li>\u8907\u6570\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u305f\u3081\u306eGazebo\u306e\u30d1\u30d5\u30a9\u30fc\u30de\u30f3\u30b9\/\u30b9\u30b1\u30fc\u30e9\u30d3\u30ea\u30c6\u30a3\u306e\u554f\u984c<\/li><li>\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u30b9\u30b1\u30fc\u30eb\u30a2\u30c3\u30d7\u3059\u308b\u305f\u3081\u306b\u306f\u3001\u30af\u30e9\u30a6\u30c9\u4e0a\u306b\u5206\u6563\u74b0\u5883\u3092\u69cb\u7bc9\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3057\u305f\u3002\/clock topic\u3092\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u4e0a\u3067\u30d6\u30ed\u30fc\u30c9\u30ad\u30e3\u30b9\u30c8\u3057\u3066\u540c\u671f\u3092\u3059\u308b\u65b9\u6cd5\u306f\u3001\u6700\u9069\u3068\u306f\u8a00\u3048\u306a\u3044<\/li><li>URDF\/SDF\u3092\u7de8\u96c6\u3059\u308b\u3053\u3068\u306f\u3001ROS\u30a8\u30f3\u30b8\u30cb\u30a2\u4ee5\u5916\u306b\u306f\u7c21\u5358\u3067\u306f\u306a\u3044\u3053\u3068\u3082\u591a\u3044<\/li><\/ul>\n\n\n\n<p>\u3088\u308a\u591a\u304f\u306e\u30ed\u30dc\u30c3\u30c8\u3067\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u5b9f\u884c\u3057\u3001\u307e\u305f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u5c02\u9580\u5bb6\u4ee5\u5916\u3067\u3082\u69cb\u6210\u3092\u7c21\u5358\u306b\u7de8\u96c6\u53ef\u80fd\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u5b9f\u73fe\u3059\u308b\u305f\u3081\u3001Unreal Engine4(UE4)\u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3068\u3057\u3001UE4\u3092ROS2\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u3057\u3066\u4f7f\u3046\u305f\u3081\u306erclUE\u306e\u958b\u767a\u3092\u306f\u3058\u3081\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>UE4\u306fOSS\u306e\u30b2\u30fc\u30e0\u30a8\u30f3\u30b8\u30f3\u3067\u3042\u308a\u3001\u9ad8\u54c1\u8cea\u306a\u63cf\u753b\u3084\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u7269\u7406\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306a\u3069\u306e\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u307e\u3059\u3002rclUE\u306fC++\u3068UE4\u306e\u30d3\u30b8\u30e5\u30a2\u30eb\u30b9\u30af\u30ea\u30d7\u30c6\u30a3\u30f3\u30b0\u304b\u3089\u4f7f\u7528\u3067\u304d\u3001ROS\u958b\u767a\u8005\u4ee5\u5916\u3067\u3082\u7c21\u5358\u306b\u4f7f\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>Turtlebot3 \u3092\u5229\u7528\u3057\u305f\u30c7\u30e2\u306f <a href=\"https:\/\/github.com\/rapyuta-robotics\/turtlebot3-UE\">turtlebot examples to UE4<\/a> \u304b\u3089\u5229\u7528\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"Turtlebot3 in UE4 with ROS2 and rclUE\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/utU-_AfV2SI?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Turtlebot3\u306e\u30c7\u30e2\u30ec\u30dd\u30b8\u30c8\u30ea\u306f<a href=\"https:\/\/github.com\/rapyuta-robotics\/rclUE\">rclUE plugin<\/a> \u3068<a href=\"https:\/\/github.com\/rapyuta-robotics\/RapyutaSimulationPlugins\">RapyutaSimulationPlugins<\/a>\u3092\u30b5\u30d6\u30e2\u30b8\u30e5\u30fc\u30eb\u3068\u3057\u3066\u5185\u90e8\u306b\u542b\u3093\u3067\u3044\u307e\u3059\u3002rclUE \u306fROS2\u30ce\u30fc\u30c9\u306a\u3069\u3092UE4\u304b\u3089\u5229\u7528\u3059\u308b\u305f\u3081\u306e\u6a5f\u80fd\u3092\u542b\u3093\u3067\u304a\u308a\u3001RapyutaSimulationPlugins\u306flidar\u3084\u5dee\u52d5\u4e8c\u8f2a\u30ed\u30dc\u30c3\u30c8\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3059\u308b\u305f\u3081\u306e\u6a5f\u80fd\u304c\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>Unreal Engine\u3092\u30ed\u30dc\u30c3\u30c8\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u3057\u3066\u4f7f\u7528\u3059\u308b\u52d5\u6a5f<\/strong><\/p>\n\n\n\n<p><a href=\"https:\/\/www.unrealengine.com\/en-US\/\">Unreal Engine<\/a> \u306f Epic Games\u304c\u958b\u767a\u3057\u3066\u3044\u308b\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u306e\u30b2\u30fc\u30e0\u30a8\u30f3\u30b8\u30f3\u3067\u3001\u9ad8\u6a5f\u80fd\u306a\u30d5\u30a9\u30c8\u30ea\u30a2\u30ea\u30b9\u30c6\u30a3\u30c3\u30af\u306a\u30ec\u30f3\u30c0\u30ea\u30f3\u30b0\u6a5f\u80fd\u306a\u3069\u3092\u6709\u3057\u3066\u3044\u307e\u3059\u3002UE4\u306f\u591a\u304f\u306e\u6a5f\u80fd\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u3057\u3066\u4f7f\u3046\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u3053\u3068\u304c\u30e1\u30ea\u30c3\u30c8\u3068\u3057\u3066\u8003\u3048\u3089\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>\u9ad8\u6a5f\u80fd\u306a\u30ec\u30f3\u30c0\u30ea\u30f3\u30b0\u6a5f\u80fd\u3092\u3064\u304b\u3046\u3053\u3068\u3067\u3001\u6a5f\u68b0\u5b66\u7fd2\u306a\u3069\u306b\u5229\u7528\u3067\u304d\u308b<\/li><li>Blueprint visual scripting(BP) \u306b\u3088\u3063\u3066\u3001\u6bd4\u8f03\u7684\u5bb9\u6613\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3084\u30ed\u30dc\u30c3\u30c8\u3092\u7de8\u96c6\u3067\u304d\u308b<\/li><li>behaviour tree (BT) \u3092\u4f7f\u3046\u3053\u3068\u3067\u3001\u4eba\u9593\u306a\u3069\u306e\u30ed\u30dc\u30c3\u30c8\u4ee5\u5916\u306e\u8981\u7d20\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7d44\u307f\u8fbc\u3081\u308b<\/li><li>\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u5bfe\u6226\u30b2\u30fc\u30e0\u306a\u3069\u3067\u5b9f\u7e3e\u306e\u3042\u308b\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3092\u4ecb\u3057\u305f\u901a\u4fe1\u30b7\u30b9\u30c6\u30e0\u3092\u8907\u6570\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3078\u306e\u9069\u7528\u3067\u304d\u308b<\/li><li>PhysX \u3084 Chaos physics engines \u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\u5b9f\u6642\u9593\u3088\u308a\u9ad8\u901f\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>rclUE \u306e\u8a2d\u8a08<\/strong><\/h2>\n\n\n\n<p><strong>Unreal Architecture&nbsp;<\/strong><\/p>\n\n\n\n<p>Unreal Engine \u306e\u30b3\u30a2\u6a5f\u80fd\u306e 1 \u3064\u306b\u3001C++\u3067\u65b0\u3057\u3044\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u6210\u3057\u3001\u305d\u306e\u30d7\u30ed\u30d1\u30c6\u30a3\u3084\u95a2\u6570\u3092\u30a8\u30c7\u30a3\u30bf\u306b\u516c\u958b\u3059\u308b\u6a5f\u80fd\u3067\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u30a8\u30c7\u30a3\u30bf\u306eGUI\u304b\u3089\u30d7\u30ed\u30d1\u30c6\u30a3\u306e\u5909\u66f4\u3001BP\u306e\u30d3\u30b8\u30e5\u30a2\u30eb\u30b9\u30af\u30ea\u30d7\u30c6\u30a3\u30f3\u30b0\u304b\u3089\u95a2\u6570\u547c\u3073\u51fa\u3057\u306a\u3069\u3092\u884c\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>Unreal \u306e\u30bf\u30a4\u30d7 \u30b7\u30b9\u30c6\u30e0\u306f\u3001\u30af\u30e9\u30b9\u5185\u306b\u4ed6\u306e\u30af\u30e9\u30b9\u3092\u30e1\u30f3\u30d0\u30fc\u3068\u3057\u3066\u3082\u305f\u305b\u308b\u3053\u3068\u3088\u308a\u3082\u3001\u7d99\u627f\u3059\u308b\u3053\u3068\u3067\u4ed6\u30af\u30e9\u30b9\u306e\u6a5f\u80fd\u3092\u4f7f\u3046\u3053\u3068\u3068\u76f8\u6027\u304c\u3044\u3044\u3088\u3046\u306b\u8a2d\u8a08\u3055\u308c\u3063\u3066\u304a\u308a\u3001\u3059\u3079\u3066\u306e\u30af\u30e9\u30b9\u304c (\u6700\u7d42\u7684\u306b) \u30d9\u30fc\u30b9\u306e UObject \u30af\u30e9\u30b9\u304b\u3089\u6d3e\u751f\u3059\u308b\u3053\u3068\u3092\u5fc5\u8981\u3068\u3057\u307e\u3059\u3002UObject \u306f\u3001Java \u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3068\u540c\u69d8\u306b\u7ba1\u7406\u3055\u308c\u305f\u30e1\u30e2\u30ea\u3067\u3042\u308a\u3001Unreal \u306b\u306f\u3053\u308c\u3089\u3092\u51e6\u7406\u3059\u308b\u305f\u3081\u306e\u30ac\u30d9\u30fc\u30b8 \u30b3\u30ec\u30af\u30bf\u30fc\u304c\u7d44\u307f\u8fbc\u307e\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u914d\u5217\u3084\u30de\u30c3\u30d7\u306a\u3069\u306e\u30c7\u30fc\u30bf\u69cb\u9020\u3084\u3001C++ \u306e STL \u5185\u306b\u5b58\u5728\u3059\u308b\u591a\u304f\u306e\u6a5f\u80fd\u306e\u4ee3\u308f\u308a\u306b\u3001Unreal \u3067\u5185\u8535\u3055\u308c\u305f\u540c\u7b49\u306e\u6a5f\u80fd\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u4e0a\u8a18\u306e\u6a5f\u80fd\u3092\u30c7\u30fc\u30bf\u69cb\u9020\u306b\u3082\u9069\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>\u5148\u884c\u4e8b\u4f8b<\/strong><\/p>\n\n\n\n<p><a href=\"https:\/\/github.com\/code-iai\/ROSIntegration\">ROSIntegration<\/a>&nbsp; \u306f\u3001ROS1 \u3068 UE4 \u306e\u9593\u306e\u901a\u4fe1\u3092 rosbridge \u3067\u53ef\u80fd\u306b\u3059\u308b UE4 \u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3067\u3059\u3002<a href=\"https:\/\/carla.org\/\">CARLA<\/a> \u306f\u3001\u81ea\u5f8b\u8d70\u884c\u7814\u7a76\u7528\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u3001UE4 \u306e\u30d5\u30a9\u30fc\u30af\u3055\u308c\u305f\u30ea\u30dd\u30b8\u30c8\u30ea\u3092\u30d9\u30fc\u30b9\u306b\u3057\u3066\u304a\u308a\u3001ROS\uff08ROS2 \u3092\u542b\u3080\uff09\u3068\u81ea\u8eab\u3068\u306e\u9593\u306e\u901a\u4fe1\u3092\u53ef\u80fd\u306b\u3059\u308b\u72ec\u81ea\u306e ROS \u30d6\u30ea\u30c3\u30b8\u3092\u5099\u3048\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p><a href=\"https:\/\/microsoft.github.io\/AirSim\/\">AirSim<\/a>\u306f\u3001\u30c9\u30ed\u30fc\u30f3\u3084\u8eca\u8f2a\u4ed8\u304d\u8eca\u4e21\u5411\u3051\u306b\u8a2d\u8a08\u3055\u308c\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3067\u3001C++\u30de\u30eb\u30c1\u30ed\u30fc\u30bf\u30fc\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u30e9\u30a4\u30d6\u30e9\u30ea\u3068PD\u30dd\u30b8\u30b7\u30e7\u30f3\u30b3\u30f3\u30c8\u30ed\u30fc\u30e9\u306e2\u3064\u306e\u30ce\u30fc\u30c9\u3067\u69cb\u6210\u3055\u308c\u308b\u30e9\u30c3\u30d1\u30fc\u3092\u4ecb\u3057\u3066ROS\u3068\u7d71\u5408\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>CARLA Sim\u3068AirSim\u306f\u3001Unreal Engine\u306e\u30ec\u30f3\u30c0\u30ea\u30f3\u30b0\u6a5f\u80fd\u3092\u5229\u7528\u3057\u3066\u3001\u81ea\u5f8b\u8d70\u884c\u306b\u95a2\u9023\u3059\u308b\u6a5f\u68b0\u5b66\u7fd2\u30bf\u30b9\u30af\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>AirSim\u3084CARLA\u3067\u884c\u308f\u308c\u3066\u3044\u308b\u7d71\u5408\u3068\u306f\u5bfe\u7167\u7684\u306b\u3001rclUE\u306f\u30b7\u30f3\u30d7\u30eb\u3067\u30dd\u30fc\u30bf\u30d6\u30eb\u306a\u8a2d\u8a08\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002\u3053\u306e\u305f\u3081\u3001\u5fc5\u8981\u306a ROS2 \u306e\u6a5f\u80fd\u3092 UE4 \u30d7\u30e9\u30b0\u30a4\u30f3 (ROSIntegration \u3068\u540c\u69d8) \u306b\u5b9f\u88c5\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001\u3055\u307e\u3056\u307e\u306a UE4 \u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306b\u7c21\u5358\u306b\u7d44\u307f\u8fbc\u3080\u3053\u3068\u304c\u3067\u304d\u3001\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u304c\u3088\u308a\u5229\u7528\u3057\u3084\u3059\u304f\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3055\u3089\u306b\u3001rclUE\u3067\u306f\u3001ROS2\u8981\u7d20\u3092UE4\u306e\u30bf\u30a4\u30d7\u306b\u30de\u30c3\u30d4\u30f3\u30b0\u3057\u305f\uff08\u4f8b\uff1aROS2 Node\u3092UE4 Actor\u3001ROS2 Publisher\u3092UE4 Actor Component\uff09\u3002\u3053\u308c\u306b\u3088\u308a\u3001UE4\u306eGUI\u3084Blueprint\u306b\u3088\u308b\u62e1\u5f35\u6a5f\u80fd\u304b\u3089\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u7de8\u96c6\u3084\u95a2\u6570\u547c\u3073\u51fa\u3057\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u69cb\u6210\u3057\u305f\u3002<\/p>\n\n\n\n<p>\u30e9\u30d4\u30e5\u30bf\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u3067\u306frclUE\u306b\u3088\u308aROS \u4ee5\u5916\u306e\u958b\u767a\u8005\u3082ROS2 \u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u3092\u6d3b\u7528\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>rclUE Architecture<\/strong><\/p>\n\n\n\n<p>Unreal Engine\u306e\u7279\u6b8a\u306a\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u3092\u6d3b\u304b\u3059\u305f\u3081\u306b\u306f\u3001Unreal Engine\u306e\u6163\u7fd2\u306b\u5f93\u3046\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u305f\u3081\u3001C++ (rclcpp) \u3067\u306f\u306a\u304f\u3001C (rcl, rclc) \u3067\u66f8\u304b\u308c\u305f ROS2 \u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u9078\u629e\u3059\u308b\u3053\u3068\u3068\u3057\u307e\u3057\u305f\u3002\u7279\u306b\u3001rclcpp \u306e\u30af\u30e9\u30b9\u306f\u30b7\u30ea\u30a2\u30eb\u5316\u3068\u30ac\u30d9\u30fc\u30b8\u30b3\u30ec\u30af\u30b7\u30e7\u30f3\u306e\u52d5\u4f5c\u306b\u5fc5\u8981\u306a UE4 \u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306e\u30d9\u30fc\u30b9\u30af\u30e9\u30b9\u3092\u7d99\u627f\u3057\u305f\u30af\u30e9\u30b9\u3092\u4f5c\u308b\u306e\u306b\u9069\u3057\u3066\u3044\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<p>\u4ee5\u4e0b\u306e\u56f3\u306f\u3001rclUE \u30ec\u30a4\u30e4\u30fc\u304c\u5168\u4f53\u306e\u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3\u306b\u3069\u306e\u3088\u3046\u306b\u9069\u5408\u3059\u308b\u304b\u3092\u793a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img fetchpriority=\"high\" decoding=\"async\" width=\"438\" height=\"404\" src=\"https:\/\/www.rapyuta-robotics.com\/ja-new\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled.png\" alt=\"rclUE \u2013 a tool to enable robotics simulation in Unreal Engine 4\" class=\"wp-image-10117\" srcset=\"https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled.png 438w, https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled-300x277.png 300w\" sizes=\"(max-width: 438px) 100vw, 438px\" \/><\/figure>\n\n\n\n<p>\u4ee5\u4e0b\u3067\u306f\u3001ROS2 Node\u3001Publisher\u3001Subscriber\u306e\u5b9f\u88c5\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002\u4ed6\u306e\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\uff08Service, Action\uff09\u3082\u540c\u69d8\u306b\u5b9f\u88c5\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>ROS2 Node<\/strong><\/p>\n\n\n\n<p>ROS2Node \u306f\u3001\u30ec\u30d9\u30eb\uff08\uff1dUE4\u3067\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u74b0\u5883\u306e\u3053\u3068\uff09\u306b\u914d\u7f6e\u3067\u304d\u308b\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u30d9\u30fc\u30b9\u30af\u30e9\u30b9\u3067\u3042\u308b UE4 Actor \u3068\u3057\u3066\u5b9f\u88c5\u3055\u308c\u3066\u3044\u307e\u3059\u3002ROS2Node\u306f\u3001Publisher\u3001Subscriber\u3001Service client\u3001Service server \u3092\u5185\u90e8\u3067\u7ba1\u7406\u3059\u308b\u3088\u3046\u306b\u5b9f\u88c5\u3055\u308c\u3066\u3044\u307e\u3059\uff08\u305d\u306e\u305f\u3081\u3001rclcpp\u306e\u30a8\u30af\u30bc\u30ad\u30e5\u30fc\u30bf\u306b\u76f8\u5f53\u3059\u308b\u6a5f\u80fd\u304c\u7c21\u7565\u5316\u3055\u308c\u3066\u3044\u307e\u3059\uff09\u3002<\/p>\n\n\n\n<p><strong>ROS2 Publisher<\/strong><\/p>\n\n\n\n<p>ROS2Pulisher\u306fActorComponent\u3068\u3057\u3066\u5b9f\u88c5\u3055\u308c\u3066\u3044\u307e\u3059\u3002ActorComponent\u306f\u3001\u69d8\u3005\u306a\u30bf\u30a4\u30d7\u306eActor\u306b\u8ffd\u52a0\u3067\u304d\u308b\u518d\u5229\u7528\u53ef\u80fd\u306a\u52d5\u4f5c\u3092\u5b9a\u7fa9\u3059\u308b\u30b3\u30f3\u30dd\u30fc\u30cd\u30f3\u30c8\u306e\u57fa\u672c\u30af\u30e9\u30b9\u3067\u3059\u3002ActorComponent\u3068\u3057\u3066\u3001Publisher\u3092\u5fc5\u8981\u3068\u3059\u308b\u3042\u3089\u3086\u308bActor\u306b\u8ffd\u52a0\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>ROS2 Subscriber<\/strong><\/p>\n\n\n\n<p>\u30c8\u30d4\u30c3\u30af\u306e\u8cfc\u8aad\u306f\u3001ROS2Node \u306e\u30e1\u30bd\u30c3\u30c9\u3068\u3057\u3066\u5b9f\u88c5\u3055\u308c\u3001UE4 \u306e\u30c7\u30ea\u30b2\u30fc\u30c8\u3092\u4ecb\u3057\u3066\u30b3\u30fc\u30eb\u30d0\u30c3\u30af \u30e1\u30bd\u30c3\u30c9\u306b\u30d0\u30a4\u30f3\u30c9\u3055\u308c\u307e\u3059\u3002\u30c8\u30d4\u30c3\u30af\u3092\u8cfc\u8aad\u3057\u305f\u3044\u30a2\u30af\u30bf\u30fc\u306f\u3001\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\u3092ROS2Node\u306b\u767b\u9332\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Examples<\/h2>\n\n\n\n<p>\u4ee5\u4e0b\u3067\u306f\u5b9f\u969b\u306brclUE\u3092\u5229\u7528\u3057\u305f\u3001publisehr\u3068subscriber\u306e\u30b5\u30f3\u30d7\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3057\u307e\u3059\u3002ROS2\u306e\u6a5f\u80fd\u306fC++\u3068Blueprint\u306e\u4e21\u65b9\u304b\u3089\u4f7f\u7528\u3067\u304d\u308b\u305f\u3081\u3001\u305d\u308c\u305e\u308c\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p><strong>PubSub<\/strong> <strong>Example (Unreal C++)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"Publisher Subscriber in UE4 with ROS2 and rclUE(C++)\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/p9MZOv3uLJw?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>\u4e0a\u56f3\u306eROS2Node\u306eActor\u3067\u306f\u3001Actor\u305d\u306e\u3082\u306e\u3092\u521d\u671f\u5316\u3057\u305f\u5f8c\uff08Init()\uff09\u3001ActorComponent\u306eStringPublisher\u3092NewObject\u3067\u521d\u671f\u5316\u3057\u3001\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3001\u30c7\u30ea\u30b2\u30fc\u30c8\u306e\u30d0\u30a4\u30f3\u30c9\u3092\u884c\u3063\u3066\u3044\u307e\u3059\u3002\u305d\u306e\u5f8c\u3001\u30ce\u30fc\u30c9\u306b\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u3092\u8ffd\u52a0\u3057\u3001\u521d\u671f\u5316\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u306e\u8a2d\u5b9a\u306f\u3001\u30a2\u30af\u30bf\u30fc\u304c\u30b7\u30fc\u30f3\u306b\u8ffd\u52a0\u3055\u308c\u305f\u3068\u304d\u3084\u3001\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u304c\u30b3\u30f3\u30d1\u30a4\u30eb\u3055\u308c\u305f\u3068\u304d\u306b\u306e\u307f\u547c\u3073\u51fa\u3055\u308c\u308b\u30b3\u30f3\u30b9\u30c8\u30e9\u30af\u30bf\u3067\u306f\u306a\u304f\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u958b\u59cb\u3059\u308b\u3068\u304d\u306b\u547c\u3073\u51fa\u3055\u308c\u308b\u30a2\u30af\u30bf\u30fc\u7528\u306e\u30e1\u30bd\u30c3\u30c9\u3067\u3042\u308b BeginPlay \u3067\u884c\u3063\u3066\u3044\u308b\u3053\u3068\u306b\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002BeginPlay\u3067\u521d\u671f\u5316\u3059\u308b\u3053\u3068\u3067\u3001\u5909\u6570\uff08\u767a\u884c\u983b\u5ea6\u306a\u3069\uff09\u3092\u30a8\u30c7\u30a3\u30bf\u3067\u8a2d\u5b9a\u3067\u304d\u3001\u305d\u306e\u5909\u66f4\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u6642\u306b\u53cd\u6620\u3055\u308c\u308b\u3053\u3068\u3067\u3059\u3002\u4e00\u65b9\u3001\u30b3\u30f3\u30b9\u30c8\u30e9\u30af\u30bf\u3067\u521d\u671f\u5316\u3057\u305f\u5834\u5408\u306f\u3001\u30a8\u30c7\u30a3\u30bf\u3067\u5909\u66f4\u3057\u305f\u5909\u6570\u306f\u3001\u30a8\u30c7\u30a3\u30bf\u3092\u518d\u8d77\u52d5\u3057\u306a\u3044\u9650\u308a\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u53cd\u6620\u3055\u308c\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img decoding=\"async\" width=\"738\" height=\"372\" src=\"https:\/\/www.rapyuta-robotics.com\/ja-new\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_1.png\" alt=\"rclUE \u2013 a tool to enable robotics simulation in Unreal Engine 4\" class=\"wp-image-10116\" srcset=\"https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_1.png 738w, https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_1-300x151.png 300w\" sizes=\"(max-width: 738px) 100vw, 738px\" \/><\/figure>\n\n\n\n<p>\u30b5\u30d6\u30b9\u30af\u30ea\u30d7\u30b7\u30e7\u30f3\u3092\u8ffd\u52a0\u3059\u308b\u306b\u306f\u3001\u30ce\u30fc\u30c9\u304c\u521d\u671f\u5316\u3055\u308c\u305f\u5f8c\u3001FSubscriptionCallback\u578b\u306e\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306b\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570\u3092\u30d0\u30a4\u30f3\u30c9\u3057\u3001AddSubscription\u3092\u547c\u3073\u51fa\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u306e\u4f8b\u3067\u306f\u3001\u30b7\u30f3\u30d7\u30eb\u306b\u3059\u308b\u305f\u3081\u306b\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u3068\u30b5\u30d6\u30b9\u30af\u30e9\u30a4\u30d0\u30fc\u306e\u30ce\u30fc\u30c9\u3092\u4f7f\u7528\u3057\u307e\u3057\u305f\u304c\u3001\u5b9f\u969b\u306e\u4f7f\u7528\u4f8b\u3067\u306f\u3001\u3053\u308c\u3089\u306e\u6a5f\u80fd\u6027\u3092\u5fc5\u8981\u3068\u3059\u308b\u30a2\u30af\u30bf\u30fc\uff08\u30ed\u30dc\u30c3\u30c8\u306e\u30a2\u30af\u30bf\u30fc\u306a\u3069\uff09\u306b\u7d71\u5408\u3055\u308c\u308b\u3079\u304d\u3067\u3059\u3002<\/p>\n\n\n\n<p><strong>PubSub<\/strong> <strong>Example (Blueprint)<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"Publisher Subscriber in UE4 with ROS2 and rclUE(Blueprint)\" width=\"800\" height=\"450\" src=\"https:\/\/www.youtube.com\/embed\/n40sYyrkAt0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>ROS2 Publisher Node\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\uff1aROS2Node\u30a2\u30af\u30bf\u3092\u521d\u671f\u5316\u3057\u3066\u304b\u3089\u3001ActorComponent Publisher\u3092\u8ffd\u52a0\u3057\u3001\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u30d1\u30d6\u30ea\u30c3\u30b7\u30e5\u3059\u308b\u30ce\u30fc\u30c9\u3067\u521d\u671f\u5316\u3057\u307e\u3059\u3002Node\u3068Publisher\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\uff08\u30ce\u30fc\u30c9\u540d\u3001\u30e1\u30c3\u30bb\u30fc\u30b8\u30bf\u30a4\u30d7\u3001\u30c8\u30d4\u30c3\u30af\u540d\u3001Publish\u3059\u308b\u5468\u671f\u306a\u3069\uff09\u306fDetails\u30d1\u30cd\u30eb\u3067\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u4e0a\u56f3\u306e\u4e0b\u5074\u306b\u8868\u793a\u3055\u308c\u3066\u3044\u308b\u306e\u304c\u3001\u5468\u671f\u7684\u306b\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" width=\"1024\" height=\"552\" src=\"https:\/\/www.rapyuta-robotics.com\/ja-new\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_2-1024x552.png\" alt=\"rclUE \u2013 a tool to enable robotics simulation in Unreal Engine 4\" class=\"wp-image-10115\" srcset=\"https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_2-1024x552.png 1024w, https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_2-300x162.png 300w, https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_2-768x414.png 768w, https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_2-1536x828.png 1536w, https:\/\/www.rapyuta-robotics.com\/ja\/wp-content\/uploads\/sites\/10\/2021\/10\/Untitled_2.png 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>ROS2 Subscriber Node\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\uff1a ROS2Node\u30a2\u30af\u30bf\u30fc\u3092\u521d\u671f\u5316\u3057\u3001Callback\u95a2\u6570\u3092bind\u3057\u3066\u3044\u307e\u3059\u3002\u4e0a\u56f3\u306e\u4e0b\u5074\u306b\u8868\u793a\u3055\u308c\u3066\u3044\u308b\u306e\u304c\u3001msg\u3092subsccribe\u3057\u305f\u6642\u306b\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u4e0a\u8a18\u306e\u65b9\u6cd5\u4ee5\u5916\u3067\u3082\u540c\u69d8\u306e\u6a5f\u80fd\u306f\u5b9f\u88c5\u53ef\u80fd\u3067\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u304a\u308f\u308a\u306b<\/h2>\n\n\n\n<p>rclUE\u306b\u3064\u3044\u3066\u7d39\u4ecb\u3057\u307e\u3057\u305f\u3002\u4eca\u56de\u7d39\u4ecb\u3057\u305f\u5185\u5bb9\u3092\u5fdc\u7528\u3059\u308b\u3053\u3068\u3067\u3001ROS2\u304b\u3089UE4\u5185\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>turtlebot3\u3092\u3064\u304b\u3063\u305f\u4f8b\u306b\u3064\u3044\u3066\u306f<a href=\"https:\/\/github.com\/rapyuta-robotics\/turtlebot3-UE\" data-type=\"URL\" data-id=\"https:\/\/github.com\/rapyuta-robotics\/turtlebot3-UE\">\u3053\u3061\u3089<\/a>\u306e\u30ec\u30dd\u30b8\u30c8\u30ea\u306eREADME\u306b\u5f93\u3046\u3053\u3068\u3067\u8a66\u3059\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p>rclUE\u306f\u307e\u3060\u521d\u671f\u6bb5\u968e\u3067\u3042\u308a\u3001\u3044\u304f\u3064\u304b\u306e\u30d0\u30b0\u3084\u4e0d\u8db3\u3057\u3066\u3044\u308b\u6a5f\u80fd\u304c\u3042\u308a\u307e\u3059\u3002\u30d0\u30b0\u30ec\u30dd\u30fc\u30c8\u3084\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3092\u304a\u5f85\u3061\u3057\u3066\u3044\u307e\u3059\u3002\u30e9\u30d4\u30e5\u30bf\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u3067\u306f\u30b3\u30df\u30e5\u30cb\u30c6\u30a3\u3068\u5354\u529b\u3057\u3066rclUE\u3092\u3088\u308a\u4fbf\u5229\u306a\u3082\u306e\u306b\u3057\u3066\u3044\u304d\u305f\u3044\u3068\u8003\u3048\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306f\u6771\u4eac\u90fd\u306e<a href=\"https:\/\/mirai-innovation.tokyo\/project\/detail_r2_2\/\" data-type=\"URL\" data-id=\"https:\/\/mirai-innovation.tokyo\/project\/detail_r2_2\/\">\u672a\u6765\u3092\u62d3\u304f\u30a4\u30ce\u30d9\u30fc\u30b7\u30e7\u30f3TOKYO\u30d7\u30ed\u30b8\u30a7\u30af\u30c8<\/a>\u306e\u88dc\u52a9\u91d1\u3092\u53d7\u3051\u3066\u884c\u308f\u308c\u307e\u3057\u305f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>ROSConJP 2021\u3067\u767a\u8868\u3057\u305fUnreal Engine4(UE4)\u7528\u306eROS2 client library\u3067\u3042\u308brclUE\u306b\u3064\u3044\u3066\u3001\u3054\u7d39\u4ecb\u3057\u307e\u3059\u3002rclUE\u3092\u4f7f\u3046\u3053\u3068\u3067\u3001UE4\u3092ROS2\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u3057\u3066\u4f7f\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n","protected":false},"author":1,"featured_media":9892,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"content-type":"","footnotes":""},"categories":[125,20],"tags":[170,89,91,171,92,83],"class_list":["post-8696","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-events","category-engineering","tag-rciue","tag-roscon","tag-91","tag-171","tag-92","tag-83"],"acf":[],"_links":{"self":[{"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/posts\/8696","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/comments?post=8696"}],"version-history":[{"count":0,"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/posts\/8696\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/media\/9892"}],"wp:attachment":[{"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/media?parent=8696"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/categories?post=8696"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.rapyuta-robotics.com\/ja\/wp-json\/wp\/v2\/tags?post=8696"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}