{"id":2141,"date":"2025-05-23T18:41:20","date_gmt":"2025-05-23T09:41:20","guid":{"rendered":"https:\/\/www.rocher.kyoto.jp\/arbr\/?p=2141"},"modified":"2025-05-23T18:41:20","modified_gmt":"2025-05-23T09:41:20","slug":"ai%e3%83%ad%e3%83%9c%e3%83%83%e3%83%88%e5%85%a5%e9%96%80%e3%81%aedocker%e5%86%85vnc%e3%81%a7%e3%81%aa%e3%81%8f%e6%89%8b%e5%85%83%e3%81%aevscode%e3%81%a7%e6%93%8d%e4%bd%9c","status":"publish","type":"post","link":"https:\/\/www.rocher.kyoto.jp\/arbr\/?p=2141","title":{"rendered":"AI\u30ed\u30dc\u30c3\u30c8\u5165\u9580\u306edocker\u5185VNC\u3067\u306a\u304f\u624b\u5143\u306eVSCode\u3067\u64cd\u4f5c"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">ROS2\u3068Python\u3067\u4f5c\u3063\u3066\u5b66\u3076AI\u30ed\u30dc\u30c3\u30c8\u5165\u9580\u3092\u59cb\u3081\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">dokcer\u74b0\u5883\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u3066\u3001dokcer\u5185\u306eubuntu\u4e0aVNC\u3067\u8272\u3005\u64cd\u4f5c\u3092\u3059\u308b\u6d41\u308c\u3060\u3051\u3069\u30b3\u30d4\u30da\u7b49\u304c\u9762\u5012\u3002\u624b\u5143\u306eWindows\u304b\u3089VSCode\u3067\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3061\u305f\u304f\u306a\u3063\u305f\u3002\uff08\u306a\u304a\u3001\u66f8\u7c4d\u3067\u306fLinuxPC\u304b\u3089localhost\u306edocker\u306b\u3064\u306a\u3044\u3067\u8272\u3005\u5b66\u3076\u5f62\u3060\u304c\u3001LinuxPC\u3067\u306a\u304f\u540c\u3058\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u5185\u306eWindowsPC\u304b\u3089Linux\u306b\u3064\u306a\u3044\u3067\u3044\u308b\uff09<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">WindowsPC\u306eVSCode\u304b\u3089docker\u30b3\u30f3\u30c6\u30ca\u306b\u30a2\u30bf\u30c3\u30c1\u3057\u3066\u305d\u3063\u3061\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u64cd\u4f5c\u3059\u308b\u3053\u3068\u306b\u3057\u305f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">2\u7ae0\u306f\u3058\u3081\u3050\u3089\u3044\u306b\u4ee5\u4e0b\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3066\u3068\u3044\u3046\u3082\u306e\u304c\u3042\u3063\u305f\u306e\u3067\u6253\u3063\u305f\u3068\u3053\u308d\u30a8\u30e9\u30fc\uff08\u5185\u5bb9\u306f\u9577\u3044\u306e\u3067\u4e0b\u306b\u5168\u6587\u30b3\u30d4\u30da\uff09<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>ros2 launch turtlebot3_gazebo empty_world.launch.py<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">ubuntu\u4e0aVNC\u304b\u3089\u76f4\u63a5\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3064\u3068\u52d5\u304f\u3002VNC\u306edisplay\u8a2d\u5b9a\u304cVSCode\u3067\u3055\u308c\u3066\u3044\u306a\u3044\u6a21\u69d8\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">VSCode\u304b\u3089\u3064\u306a\u3052\u305fdocke\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">root@fb5b03f29614:~\/airobot_ws\/install\/turtlebot3_gazebo\/share\/turtlebot3_gazebo\/models# export DISPLAY=:1.0<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\u3053\u308c\u3067\u52d5\u3044\u305f\u6a21\u69d8\u3002DISPLAY=:1.0\u306e1.0\u3068\u304b\u306f\u914d\u5e03\u3055\u308c\u3066\u3044\u308bdocker\u306a\u306e\u3067\u304d\u3063\u3068\u6559\u6750\u5185\u3067\u306f\u540c\u3058\u3002\u8a2d\u5b9a\u4f9d\u5b58\u306e\u306f\u305a\u3067\u306f\u3042\u308b\u306e\u3067\u52d5\u304b\u306a\u3051\u308c\u3070VNC\u4e0a\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u4ee5\u4e0b\u3092\u6253\u3063\u3066\u78ba\u304b\u3081\u308b\u3068\u3088\u3044\u304b\u3082\u3002<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">ubuntu@fb5b03f29614:~$ echo $DISPLAY<br>:1.0<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6bce\u56deexport\u3059\u308b\u306e\u3082\u9762\u5012\u306a\u306e\u3067bashrc\u306b\u66f8\u3044\u3068\u304f\u3002\uff08\u307e\u3060\u66f8\u7c4d\u3092\u59cb\u3081\u305f\u3070\u304b\u308a\u306a\u306e\u3067\u8a2d\u5b9a\u3044\u3058\u3063\u305f\u3053\u3068\u3067\u5f8c\u3067\u4f55\u304b\u8d77\u3053\u308b\u304b\u3082\u3057\u308c\u306a\u3044\u3051\u3069\u305d\u3093\u306a\u306b\u5f71\u97ff\u306a\u3044\u3068\u601d\u3046\uff09<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">echo 'export DISPLAY=:1.0' >> ~\/.bashrc<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u30a8\u30e9\u30fc\u306e\u6642\u306e\u30ed\u30b0\u3079\u305f\u3070\u308a<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u53c2\u8003<\/p>\n\n\n\n<pre class=\"wp-block-preformatted\">root@fb5b03f29614:~\/airobot_ws\/install\/turtlebot3_gazebo\/share\/turtlebot3_gazebo\/models# ros2 launch turtlebot3_gazebo empty_world.launch.py<br>[INFO] [launch]: All log files can be found below \/home\/ubuntu\/.ros\/log\/2025-05-23-09-11-53-206520-fb5b03f29614-734030<br>[INFO] [launch]: Default logging verbosity is set to INFO<br>world_file_namee : empty_worlds\/waffle_pi.model<br>urdf_file_name : turtlebot3_waffle_pi.urdf<br>[INFO] [gzserver-1]: process started with pid [734136]<br>[INFO] [gzclient -2]: process started with pid [734139]<br>[INFO] [ros2-3]: process started with pid [734142]<br>[INFO] [robot_state_publisher-4]: process started with pid [734144]<br>[robot_state_publisher-4] [WARN] [1747991519.112923629] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.<br>[robot_state_publisher-4] Parsing robot urdf xml string.<br>[robot_state_publisher-4] Link base_link had 7 children<br>[robot_state_publisher-4] Link camera_link had 1 children<br>[robot_state_publisher-4] Link camera_rgb_frame had 1 children<br>[robot_state_publisher-4] Link camera_rgb_optical_frame had 0 children<br>[robot_state_publisher-4] Link caster_back_left_link had 0 children<br>[robot_state_publisher-4] Link caster_back_right_link had 0 children<br>[robot_state_publisher-4] Link imu_link had 0 children<br>[robot_state_publisher-4] Link base_scan had 0 children<br>[robot_state_publisher-4] Link wheel_left_link had 0 children<br>[robot_state_publisher-4] Link wheel_right_link had 0 children<br>[robot_state_publisher-4] [INFO] [1747991519.129392605] [robot_state_publisher]: got segment base_footprint<br>[robot_state_publisher-4] [INFO] [1747991519.129444392] [robot_state_publisher]: got segment base_link<br>[robot_state_publisher-4] [INFO] [1747991519.129457726] [robot_state_publisher]: got segment base_scan<br>[robot_state_publisher-4] [INFO] [1747991519.129469065] [robot_state_publisher]: got segment camera_link<br>[robot_state_publisher-4] [INFO] [1747991519.129480764] [robot_state_publisher]: got segment camera_rgb_frame<br>[robot_state_publisher-4] [INFO] [1747991519.129492582] [robot_state_publisher]: got segment camera_rgb_optical_frame<br>[robot_state_publisher-4] [INFO] [1747991519.129504564] [robot_state_publisher]: got segment caster_back_left_link<br>[robot_state_publisher-4] [INFO] [1747991519.129516189] [robot_state_publisher]: got segment caster_back_right_link<br>[robot_state_publisher-4] [INFO] [1747991519.129527665] [robot_state_publisher]: got segment imu_link<br>[robot_state_publisher-4] [INFO] [1747991519.129539155] [robot_state_publisher]: got segment wheel_left_link<br>[robot_state_publisher-4] [INFO] [1747991519.129551238] [robot_state_publisher]: got segment wheel_right_link<br>[gzclient -2] Aborted (core dumped)<br>[ERROR] [gzclient -2]: process has died [pid 734139, exit code 134, cmd 'gzclient '].<br>[ERROR] [gzserver-1]: process has died [pid 734136, exit code 255, cmd 'gzserver \/home\/ubuntu\/airobot_ws\/install\/turtlebot3_gazebo\/share\/turtlebot3_gazebo\/worlds\/empty_worlds\/waffle_pi.model -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].<br>[ros2-3] Wait for service timed out<br>[ERROR] [ros2-3]: process has died [pid 734142, exit code 1, cmd 'ros2 param set \/gazebo use_sim_time True'].<br>^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)<br>[INFO] [robot_state_publisher-4]: process has finished cleanly [pid 734144]<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>ROS2\u3068Python\u3067\u4f5c\u3063\u3066\u5b66\u3076AI\u30ed\u30dc\u30c3\u30c8\u5165\u9580\u3092\u59cb\u3081\u305f\u3002 dokcer\u74b0\u5883\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u3066\u3001dokcer\u5185\u306eubuntu\u4e0aVNC\u3067\u8272\u3005\u64cd\u4f5c\u3092\u3059\u308b\u6d41\u308c\u3060\u3051\u3069\u30b3\u30d4\u30da\u7b49\u304c\u9762\u5012\u3002\u624b\u5143\u306eWindows\u304b\u3089VSCode\u3067\u30b3\u30de\u30f3\u30c9 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[138],"tags":[137],"class_list":["post-2141","post","type-post","status-publish","format-standard","hentry","category-ros2","tag-ros2"],"_links":{"self":[{"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=\/wp\/v2\/posts\/2141","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2141"}],"version-history":[{"count":1,"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=\/wp\/v2\/posts\/2141\/revisions"}],"predecessor-version":[{"id":2142,"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=\/wp\/v2\/posts\/2141\/revisions\/2142"}],"wp:attachment":[{"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2141"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2141"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.rocher.kyoto.jp\/arbr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2141"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}