{"id":22306352,"url":"https://github.com/ar-ray-code/rostack-chan","last_synced_at":"2025-07-29T04:33:03.470Z","repository":{"id":186282292,"uuid":"674943690","full_name":"Ar-Ray-code/rostack-chan","owner":"Ar-Ray-code","description":"stack-chan interface using ros2_control","archived":false,"fork":false,"pushed_at":"2023-08-26T06:11:10.000Z","size":3252,"stargazers_count":8,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2024-05-01T17:48:06.469Z","etag":null,"topics":["stackchan"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Ar-Ray-code.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2023-08-05T08:48:54.000Z","updated_at":"2024-03-25T13:50:22.000Z","dependencies_parsed_at":null,"dependency_job_id":"aefe2a18-a46b-42f2-b4e8-2c9d68296341","html_url":"https://github.com/Ar-Ray-code/rostack-chan","commit_stats":null,"previous_names":["ar-ray-code/rostack-chan"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2Frostack-chan","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2Frostack-chan/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2Frostack-chan/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Ar-Ray-code%2Frostack-chan/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Ar-Ray-code","download_url":"https://codeload.github.com/Ar-Ray-code/rostack-chan/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":227981850,"owners_count":17850920,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["stackchan"],"created_at":"2024-12-03T19:15:24.797Z","updated_at":"2024-12-03T19:15:25.513Z","avatar_url":"https://github.com/Ar-Ray-code.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# rostack-chan（ﾛｽﾀｯｸﾁｬﾝ）\n\nROS2で構成したｽﾀｯｸﾁｬﾝ（ﾛｽﾀｯｸﾁｬﾝ）です。\n\n![](./images/stackchan.gif)\n\n## 必要なもの\n\n### ソフトウェア\n\n- ROS 2 Humble (Ubuntu 22.04)\n- [feetech_scs_ros2_driver](https://github.com/Ar-Ray-code/feetech_scs_ros2_driver)\n- （表情の変化）： Docker\n\n### ハードウェア\n\n- FeeTech SCS0009 (ID: 0, 1, baudrate: 1000000)\n- M5Stack CORE2\n\n## ビルド\n\n### M5Stackへの書き込み\n\n[PlatformIO](https://platformio.org/install)を起動して、 [face](./face/)をM5Stackに書き込みます。\n\n- 内部でM5Unifiedを使用していますが、micro-ROSの関係上、S3・C3系のビルドが通らない可能性があります。\n- [ip_template.hpp](./face/src/ip_template.hpp)をもとに `ip.hpp` を作成してWi-Fi(2.4GHz)への接続先を設定してください。\n- `IP_ADDRESS`は接続先のコンピュータのIPアドレスを設定してください。\n- `ROS_DOMAIN_ID`は0固定です。（何も設定していない場合の `ROS_DOMAIN_ID` は0です）\n\n\u003cbr\u003e\n\n### コンピュータ側の準備\n\nDockerと`ros-humble-desktop`をインストールした上で、[package.xml](./rostackchan_description/package.xml)を満たす依存関係をインストールします。\n\n```bash\nsudo apt install -y \\\n    ros-humble-ros2-control* \\\n    ros-humble-control-msgs \\\n    ros-humble-xacro\n```\n\n次に、aptでインストールできないパッケージをインストールします。\n\n```bash\nmkdir -p ~/ws_rostackchan/src\ncd ~/ws_rostackchan/src\n\ngit clone https://github.com/HarvestX/h6x_serial_interface.git -b humble\ngit clone https://github.com/Ar-Ray-code/feetech_scs_ros2_driver.git -b main\ngit clone https://github.com/Ar-Ray-code/rostack-chan.git -b main\n```\n\n`~/ws_rostackchan`内のパッケージをビルドします。\n\n\n```bash\ncd ~/ws_rostackchan\nsource /opt/ros/humble/setup.bash\ncolcon build\n```\n\n\u003cbr\u003e\n\n## 実行\n\nｽﾀｯｸﾁｬﾝに5Vを供給してサーボモータをPCに接続します。\n\nその上で、以下のコマンドを実行します。\n\n### Terminal1：(micro-ROS使用時)\n\n```bash\ndocker run -it --rm --net=host microros/micro-ros-agent:humble udp4 --port 2000\n```\n\n### Terminal2\n\n```bash\nsource ~/ws_rostackchan/install/setup.bash\nros2 launch rostackchan_example rostackchan_random.launch.py\n```\n\n## dpkg\n\n⚠️ Humbleのみ動作確認済み\n\nrostackchan_exampleを含むセンサパッケージがビルドされています。（詳しくは　[rpi-bullseye-ros2](https://github.com/Ar-Ray-code/rpi-bullseye-ros2/tree/main/repos)） を確認してください。\n\n- [Humble](https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bullseye/ros-humble-desktop-rostackchan-full-0.3.2_20230825_arm64.deb)\n- ~~[Iron](https://s3.ap-northeast-1.wasabisys.com/download-raw/dpkg/ros2-desktop/debian/bullseye/ros-iron-desktop-rostackchan-full-0.3.2_20230825_arm64.deb)~~\n\n## reference\n\n- https://github.com/meganetaaan/stack-chan\n- https://github.com/dynamixel-community/dynamixel_hardware_examples\n- https://github.com/Ar-Ray-code/feetech_scs_ros2_driver\n- https://github.com/NITKK-ROS-Team/micro_ros_arduino_simpler\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Frostack-chan","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Far-ray-code%2Frostack-chan","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Far-ray-code%2Frostack-chan/lists"}