{"id":939,"date":"2019-07-23T13:28:47","date_gmt":"2019-07-23T04:28:47","guid":{"rendered":"https:\/\/ahnbk.com\/?p=939"},"modified":"2019-07-23T13:28:47","modified_gmt":"2019-07-23T04:28:47","slug":"%ec%bb%a4%ec%8a%a4%ed%85%80-%eb%a9%94%ec%8b%9c%ec%a7%80%eb%a5%bc-%ec%9d%b4%ec%9a%a9%ed%95%a0-%ea%b2%bd%ec%9a%b0-catkin-%eb%b9%8c%eb%93%9c-%ec%97%90%eb%9f%ac-%ed%95%b4%ea%b2%b0","status":"publish","type":"post","link":"https:\/\/ahnbk.com\/?p=939","title":{"rendered":"\ucee4\uc2a4\ud140 \uba54\uc2dc\uc9c0\ub97c \uc774\uc6a9\ud560 \uacbd\uc6b0 catkin \ube4c\ub4dc \uc5d0\ub7ec \ud574\uacb0"},"content":{"rendered":"\n<p>ROS \ud328\ud0a4\uc9c0\ub97c \uac1c\ubc1c\ud560 \ub54c, Topic, Service, Action\uc744 \uc0ac\uc6a9\ud560 \uacbd\uc6b0, \uae30\uc874 \uc815\uc758\ub418\uc5b4 \uc788\ub294 \uc5ec\ub7ec\uac00\uc9c0 \uba54\uc2dc\uc9c0\ub97c \uc0ac\uc6a9\ud560 \uc218\ub3c4 \uc788\uc9c0\ub9cc, \ud3b8\uc758\uc0c1 \uc0ac\uc6a9\uc790\uac00\uc758 \ucee4\uc2a4\ud140 \uba54\uc2dc\uc9c0\ub97c \uc774\uc6a9\ud574\uc57c \ud558\ub294 \uacbd\uc6b0\uac00 \uc788\ub2e4.<\/p>\n\n\n\n<p>\uc774\ub54c Python\uc73c\ub85c \uac1c\ubc1c\ud558\uba74 \ubcc4\ub2e4\ub978 \ubb38\uc81c\ub294 \uc5c6\uc9c0\ub9cc, C++\ub85c \ub9cc\ub4e0 \ub178\ub4dc\uc758 \uacbd\uc6b0 catkin \ube4c\ub4dc\ub97c \ud558\uac8c \ub418\uba74 \ucee4\uc2a4\ud140 \uba54\uc2dc\uc9c0\uc758 header \ud30c\uc77c\uc744 \ucc3e\uc744 \uc218 \uc5c6\ub2e4\ub294 \uc5d0\ub7ec\uac00 \ub098\uc628\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>Errors     &lt;&lt; dynamixel_ros_control:make \/home\/robot\/catkin_ws\/logs\/dynamixel_ros_control\/build.make.000.log                                                                        \nIn file included from \/home\/robot\/catkin_ws\/src\/dynamixel_ros_control\/include\/dynamixel_ros_control\/dynamixel_hw_interface.h:9:0,                                                   \n                 from \/home\/robot\/catkin_ws\/src\/dynamixel_ros_control\/src\/dynamixel_ros_control_node.cpp:3:                                                                         \n\/home\/robot\/catkin_ws\/src\/dynamixel_ros_control\/include\/dynamixel_ros_control\/dynamixel_motor.h:11:48: fatal error: dynamixel_ros_control\/HomingAction.h: No such file or directory \ncompilation terminated.                                                                                                                                                             \nmake[2]: *** [CMakeFiles\/dynamixel_ros_control_node.dir\/src\/dynamixel_ros_control_node.cpp.o] Error 1                                                                               \nmake[1]: *** [CMakeFiles\/dynamixel_ros_control_node.dir\/all] Error 2                                                                                                                \nmake: *** [all] Error 2    <\/code><\/pre>\n\n\n\n<p> \uba87\ubc88 \ube4c\ub4dc\ub97c \ubc18\ubcf5\ud558\ub2e4\ubcf4\uba74 \uc5d0\ub7ec \uc5c6\uc774 \ube4c\ub4dc \ub418\ub294 \uacbd\uc6b0\ub3c4 \uc788\uc9c0\ub9cc \ub9c8\ub545\ud55c \ud574\uacb0 \ubc29\ubc95\uc740 \uc544\ub2c8\ub2e4. \uba87\ubc88 \uace8\uce58\ub97c \uc369\ub2e4\uac00 <a rel=\"noreferrer noopener\" aria-label=\"wiki (opens in a new tab)\" href=\"http:\/\/wiki.ros.org\" target=\"_blank\">wiki<\/a>\uc758 \ud22c\ud1a0\ub9ac\uc5bc\uc744 \ub2e4\uc2dc\uae08 \uc0b4\ud3b4\ubcf4\ub2c8 \ud574\uacb0\ucc45\uc774 \ub098\uc640\uc788\uc5c8\ub2e4. \ud558\uc9c0\ub9cc \ud328\ud0a4\uc9c0\ub97c \ub9cc\ub4e4\ub54c \uc0dd\uc131\ub418\ub294 CMakeList.txt \ud30c\uc77c\uc5d4 \uc774 \ub0b4\uc6a9\uc774 \ubc18\uc601\ub418\uc5b4 \uc788\uc9c0 \uc54a\uc544 \ud63c\ub780\uc774 \uc788\ub294 \ub4ef \ud558\ub2e4.<\/p>\n\n\n\n<p><a href=\"http:\/\/wiki.ros.org\/ROS\/Tutorials\/WritingPublisherSubscriber%28c%2B%2B%29\">Writing a Simple Publisher and Subscriber (C++)<\/a> \ud398\uc774\uc9c0\ub97c \ubcf4\uba74 \uc911\uac04\ucbe4 \ub2e4\uc74c\uacfc \uac19\uc774 \uc785\ub825\ud558\ub77c\uace0 \ub098\uc628\ub2e4. <\/p>\n\n\n\n<figure class=\"wp-block-image\"><img data-attachment-id=\"940\" data-permalink=\"https:\/\/ahnbk.com\/?attachment_id=940\" data-orig-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?fit=1584%2C374&amp;ssl=1\" data-orig-size=\"1584,374\" data-comments-opened=\"1\" data-image-meta=\"{&quot;aperture&quot;:&quot;0&quot;,&quot;credit&quot;:&quot;&quot;,&quot;camera&quot;:&quot;&quot;,&quot;caption&quot;:&quot;&quot;,&quot;created_timestamp&quot;:&quot;0&quot;,&quot;copyright&quot;:&quot;&quot;,&quot;focal_length&quot;:&quot;0&quot;,&quot;iso&quot;:&quot;0&quot;,&quot;shutter_speed&quot;:&quot;0&quot;,&quot;title&quot;:&quot;&quot;,&quot;orientation&quot;:&quot;0&quot;}\" data-image-title=\"image-6\" data-image-description=\"\" data-image-caption=\"\" data-medium-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?fit=1000%2C236&amp;ssl=1\" data-large-file=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?fit=525%2C124&amp;ssl=1\" decoding=\"async\" loading=\"lazy\" width=\"525\" height=\"124\" src=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?resize=525%2C124&#038;ssl=1\" alt=\"\" class=\"wp-image-940\" srcset=\"https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?w=1584&amp;ssl=1 1584w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?resize=1000%2C236&amp;ssl=1 1000w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?resize=768%2C181&amp;ssl=1 768w, https:\/\/i0.wp.com\/ahnbk.com\/wp-content\/uploads\/2019\/07\/image-6.png?w=1050&amp;ssl=1 1050w\" sizes=\"(max-width: 767px) 89vw, (max-width: 1000px) 54vw, (max-width: 1071px) 543px, 580px\" data-recalc-dims=\"1\" \/><\/figure>\n\n\n\n<p>\ub178\ub4dc\ub97c \ube4c\ub4dc\ud558\uae30 \uc804, \ub178\ub4dc\uc5d0 \uc758\uc874 \ud56d\ubaa9\uc744 \ucd94\uac00\ud558\uc5ec \uc704\uc640 \uac19\uc740 \uc5d0\ub7ec\ub97c \ubc29\uc9c0\ud558\ub824\ub294\ub4ef \ud558\ub2e4. \ub530\ub77c\uc11c CMakeList.txt \ud30c\uc77c\uc5d0 \ub2e4\uc74c\uacfc \uac19\uc774 \uc785\ub825\ud558\uba74 \ub41c\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>add_executable(${PROJECT_NAME}_node\n  src\/dynamixel_ros_control_node.cpp\n  src\/dynamixel_hw_interface.cpp\n  src\/dynamixel_motor.cpp\n)\n\nadd_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_generate_messages_cpp)\ntarget_link_libraries(${PROJECT_NAME}_node\n  ${catkin_LIBRARIES}\n)<\/code><\/pre>\n\n\n\n<p>\uc774\uc81c \ub2e4\uc2dc catkin \ube4c\ub4dc\ub97c \ud560 \ub54c, \uad00\ub828 \uc5d0\ub7ec\ub294 \ubc1c\uc0dd\ud558\uc9c0 \uc54a\ub294\ub2e4. <\/p>\n","protected":false},"excerpt":{"rendered":"<p>ROS \ud328\ud0a4\uc9c0\ub97c \uac1c\ubc1c\ud560 \ub54c, Topic, Service, Action\uc744 \uc0ac\uc6a9\ud560 \uacbd\uc6b0, \uae30\uc874 \uc815\uc758\ub418\uc5b4 \uc788\ub294 \uc5ec\ub7ec\uac00\uc9c0 \uba54\uc2dc\uc9c0\ub97c \uc0ac\uc6a9\ud560 \uc218\ub3c4 \uc788\uc9c0\ub9cc, \ud3b8\uc758\uc0c1 \uc0ac\uc6a9\uc790\uac00\uc758 \ucee4\uc2a4\ud140 \uba54\uc2dc\uc9c0\ub97c \uc774\uc6a9\ud574\uc57c \ud558\ub294 \uacbd\uc6b0\uac00 \uc788\ub2e4. \uc774\ub54c Python\uc73c\ub85c \uac1c\ubc1c\ud558\uba74 \ubcc4\ub2e4\ub978 \ubb38\uc81c\ub294 \uc5c6\uc9c0\ub9cc, C++\ub85c \ub9cc\ub4e0 \ub178\ub4dc\uc758 \uacbd\uc6b0 catkin \ube4c\ub4dc\ub97c \ud558\uac8c \ub418\uba74 \ucee4\uc2a4\ud140 \uba54\uc2dc\uc9c0\uc758 header \ud30c\uc77c\uc744 \ucc3e\uc744 \uc218 \uc5c6\ub2e4\ub294 \uc5d0\ub7ec\uac00 \ub098\uc628\ub2e4. \uba87\ubc88 \ube4c\ub4dc\ub97c \ubc18\ubcf5\ud558\ub2e4\ubcf4\uba74 \uc5d0\ub7ec \uc5c6\uc774 \ube4c\ub4dc \ub418\ub294 &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ahnbk.com\/?p=939\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;\ucee4\uc2a4\ud140 \uba54\uc2dc\uc9c0\ub97c \uc774\uc6a9\ud560 \uacbd\uc6b0 catkin \ube4c\ub4dc \uc5d0\ub7ec \ud574\uacb0&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"advanced_seo_description":"","jetpack_seo_html_title":"","jetpack_seo_noindex":false,"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"footnotes":"","_jetpack_memberships_contains_paid_content":false},"categories":[12],"tags":[218,217,216,220,219,13],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/p2wXSW-f9","jetpack-related-posts":[],"jetpack_likes_enabled":false,"_links":{"self":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/939"}],"collection":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=939"}],"version-history":[{"count":2,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/939\/revisions"}],"predecessor-version":[{"id":942,"href":"https:\/\/ahnbk.com\/index.php?rest_route=\/wp\/v2\/posts\/939\/revisions\/942"}],"wp:attachment":[{"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=939"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=939"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=939"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}