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SUGAR SWEET ROBOTICS CO., LTD.
SUGAR SWEET ROBOTICS
1
SUGAR SWEET ROBOTICS CO., LTD.
(Yuki Suga)
2012 SUGAR SWEET ROBOTICS 20102012 20072010 ()
2
h"p://ysuga.neth"p://revast.co.jph"p://sugarsweetrobo7cs.com
SUGAR SWEET ROBOTICS CO., LTD.
20072010 3
h"p://www.sugano.mech.waseda.ac.jp
WABOT-HOUSE
SUGAR SWEET ROBOTICS CO., LTD.
20102012
4
Mobile Robot Pioneer Neuronics Katana
Inuktun Aldebaran Robotics NAO
h"p://revast.co.jp
SUGAR SWEET ROBOTICS CO., LTD. 2012 SUGAR SWEET ROBOTICS
RT
Web
5
ROS
RT
RT
SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
LIDAR
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SUGAR SWEET ROBOTICS CO., LTD.
10
SUGAR SWEET ROBOTICS CO., LTD.
11
SUGAR SWEET ROBOTICS CO., LTD.
C, C++, Java, C# PC
Python, Ruby
PHP, Javascript
Matlab, Scilab, R
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SUGAR SWEET ROBOTICS CO., LTD.
SLAM
13
SUGAR SWEET ROBOTICS CO., LTD.
()
14
SUGAR SWEET ROBOTICS CO., LTD.
15
SUGAR SWEET ROBOTICS CO., LTD.
ITA A
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SUGAR SWEET ROBOTICS CO., LTD.
SysML
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
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UML
SUGAR SWEET ROBOTICS CO., LTD.
(ISO, JIS)
32
SUGAR SWEET ROBOTICS CO., LTD.
SysML Systems Modeling Language
OMG (Object Modeling Group) UMLCORBA
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
SysML
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SUGAR SWEET ROBOTICS CO., LTD.
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SUGAR SWEET ROBOTICS CO., LTD.
37
SUGAR SWEET ROBOTICS CO., LTD.
OSOS OS
DBMS (Oracle, MySQL)
OSOS
38
SUGAR SWEET ROBOTICS CO., LTD.
f
Microsoft Robotics Developer Studio Kinect
YARP iCub
OROCOS
OpROS
ORiN DENSO
ROS Robot Operating System DARPA Robotics Challenge
RT-middleware OMG OpenRTM-aist
naoqi Aldebaran Robotics NAOSoftBankPepper
39
SUGAR SWEET ROBOTICS CO., LTD.
ROS
40
SUGAR SWEET ROBOTICS CO., LTD.
ROS ROS (Robot Operating System) OS Ubuntu LinuxUnix OS
ROS
41
SUGAR SWEET ROBOTICS CO., LTD.
ROS & WillowGarage WillowGarage (Menlo Park, CA)
2006 Founder : S. Hassan : eGroupsGoogle CEO : S. Cousins IBM,Xerox
Milestone 1 2008/12/12 3.14km Milestone 2 2009/6/3 Milestone 3 2010/1/22 ROS1.0 Milestone 4 2010/6/29 PR2 Beta Program
ROS (Robot Operating System) plumbing + tools + capabilities + ecosystem
2007 Switchyard Stanford AI M.Quigley
2008 WillowGarage B. GerkeyStage/Player
2012DARPA
42
2008K.Wyrobek,E.Berger,H.F.M.VanderLoos,K.Salisbury
ROS
h"p://maps.google.com/maps/ms?ie=UTF&msa=0&msid=209668390659853657363.00049c608b78bc7779683
SUGAR SWEET ROBOTICS CO., LTD. Willow Garage to Shut Down?
Company Says 'No, Just Changing' (2013/2/11)
43
WillowGarage(2006-)WillowGaragedevelopshardwareandopensourceso]wareforpersonalrobo7csapplica7on-Sco"Hassan,SteveCousins
OpenSourceRobo7csFounda7on,Inc.(OSRF)isanindependentnon-profitorganiza7onfoundedbymembersoftheglobalrobo7cscommunity.-BrianGerkey,JohnHsu,RobertaFriedman,NateKoenig,SteffiPaepcke,MorganQuigley
IndustrialPercep7onisthesecondspinoffofWillowGaragewherethefoundersweremembersoftheresearchandso]wareengineeringteams.-KurtKonolige,GaryBradski,EthanRublee,StefanHinterstoisser,TroyStraszhei
Weareaninterna7onallyrenownedgroupofexpertscien7stsandengineers,workingtogethertosolvecomplicated3Dpercep7onproblems.-RaduB.Rusu,DavidBoardman,SteveCousins,FrankDellaert,AnwarGhuloum,KenSpratlin.
hiDOFwasfoundedbyagroupofengineersfromWillowGarageseekingtoleverageadvancedrobo7ctechnologyandtoolsforcommercialapplica7ons.-EitanMarder-Eppstein,WimMeeusse,E.GilJone,VijayPradeep,SteveCousins.
SuitableTechnologiesisastartupworkingtofulfillthepromiseofremotepresencetechnology.Ourmissionistoconnectpeopleseparatedbydistanceinthemostnaturalwaypossible.-Sco"Hassan,JoshTyler,BoPreising,MilanBhalala
NPO
SUGAR SWEET ROBOTICS CO., LTD.
ORiN
44
SUGAR SWEET ROBOTICS CO., LTD.
ORiN ()
ORiN
DENSO
Windows
.NET(VC,VB,C#) DENSOORiNDENSO
FAORiN
EtherCAT(TwinCAT3)
ROS,RTM
45
SUGAR SWEET ROBOTICS CO., LTD.
46
SUGAR SWEET ROBOTICS CO., LTD.
47
SUGAR SWEET ROBOTICS CO., LTD.
naoqi
48
SUGAR SWEET ROBOTICS CO., LTD.
naoqi () Aldebaran Robotics NAO SoftBankPepper
Win, Linux, OSX Python, C++, Java, .NET, MATLAB
Module Module
Choregraphe Module
49
SUGAR SWEET ROBOTICS CO., LTD.
naoqi
Module Linux, Win, MacOSX C++, Python, C#, Java, MATLAB
50
SUGAR SWEET ROBOTICS CO., LTD.
Choregraphe NAOBOX
BOX
BOX BOXPythonPython
51
SUGAR SWEET ROBOTICS CO., LTD.
Choregraphe BOX
LED
BOX
52
SUGAR SWEET ROBOTICS CO., LTD.
RT (RTM)
53
SUGAR SWEET ROBOTICS CO., LTD.
RT RT != Real Time. RT == Robot Technology (RT) RTRT (RTC)
RTC RTC
RTCCORBAUMLOMG(Object Management Group)
OS OS OS OS RT
54
SUGAR SWEET ROBOTICS CO., LTD.
RT
OpenRTM-aist CORBAC++, Python, JavaWin, Linux, Mac
OpenRTM.NET.NET framework H-RTMHonda Research InstituteOMGRTCFSM RTM SafetyIEC 61508 SIL3RT
miniRTC, microRTCRTMCANZigBee RTM on AndroidAndroidRTMOpenRTM-aist RTC-CANopenCANopenRTC
55
SUGAR SWEET ROBOTICS CO., LTD.
(OS, )
56
RTM ()
ROS
SUGAR SWEET ROBOTICS CO., LTD.
SIer
57
SUGAR SWEET ROBOTICS CO., LTD.
58
SUGAR SWEET ROBOTICS CO., LTD.
59
SUGAR SWEET ROBOTICS CO., LTD.
ROS
FA (ROS-industrial) ROS
RTM RTM
ROS ORiN
DENSOFA ORiN (LabView) FA
60
SUGAR SWEET ROBOTICS CO., LTD.
ROS
61
SUGAR SWEET ROBOTICS CO., LTD.
ROS () Ubuntu Linux
apt OS
Node
Node Node Node
Topic / Service / Parameter (Pub-sub) TopicService Parameter
Master roscore (Master) NodeTopic MasterXML-RPCTopicTCP
(roslaunch)
CMake (catkin, rosbuild) rosdep
OpenCV, PCL, OpenNI
62
SUGAR SWEET ROBOTICS CO., LTD.
PackageNode Package Node
Package0Node
Package.xmlrosdep
CMakeLists.txtCMakeROS
63
.launch
CMakeLists.txt package.xml
SUGAR SWEET ROBOTICS CO., LTD.
Node Topic
Pub/Sub Topic
Service
64
Publish
Subscribe
Provide
1.Request
2.Call 3.Result
SUGAR SWEET ROBOTICS CO., LTD.
Node Parameter
Parameter
Parameter
NodeParameter
set
get
SUGAR SWEET ROBOTICS CO., LTD.
MasterNode MasterNode Master
TopicPublish/SubscribeNode ServiceProvideNode XML-RPC
Topic (MasterAPI) NodeMasterTopic Publisher PublisherTCPMasterSubscriber SubscriberMaster/
66
SUGAR SWEET ROBOTICS CO., LTD.
RT
67
SUGAR SWEET ROBOTICS CO., LTD.
RT RT Real Time. RT==Robot Technology (RT) RTRT (RTC)
RTC RTCCORBAUMLOMG(Object
Management Group) OS
OS OS OS RT
68
SUGAR SWEET ROBOTICS CO., LTD.
RTC RTC
RTC RTCCREATEINACTIVE
RTCACTIVE
on_execute RTCdeactivateINACTIVE
RTC RTC
69
CREATED INACTIVE
ACTIVEERROR
DEACTIVATE
ACTIVATERESET
SUGAR SWEET ROBOTICS CO., LTD.
RTC (Execution Context)
EC EC EC
ECRTCACTIVEon_execute
ECRTC EC EC
70
CREATED INACTIVE
ACTIVEERROR
DEACTIVATE
ACTIVATERESET
RTC
SUGAR SWEET ROBOTICS CO., LTD.
RT
OpenRTM-aist CORBAC++, Python, JavaWin, Linux, Mac
OpenRTM.NET.NET framework H-RTMHonda Research InstituteOMGRTCFSM RTM SafetyIEC 61508 SIL3RT
miniRTC, microRTCRTMCANZigBee RTM on AndroidAndroidRTMOpenRTM-aist RTC-CANopenCANopenRTC
71
SUGAR SWEET ROBOTICS CO., LTD.
SysMLRTC
72
SUGAR SWEET ROBOTICS CO., LTD.
73
NAO, Pepper: Aldebaran Robotics
Mobilerobots: Adept MobileRobot
FA: DENSO, MITSUBISHI Kabuki : Yujin Robotics : V-STONE
SUGAR SWEET ROBOTICS CO., LTD.
RT
74
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75
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RT
76
SUGAR SWEET ROBOTICS CO., LTD.
PC
I/OUSB RC
77
SUGAR SWEET ROBOTICS CO., LTD.
78
WinXP+VC++2008
SUGAR SWEET ROBOTICS CO., LTD.
79
SUGAR SWEET ROBOTICS CO., LTD.
USB OpenRTM-aistExample OpenCV
80
TimedOctetSeqOpenCV
SUGAR SWEET ROBOTICS CO., LTD.
OpenCV
81
TimedOctetSeqOpenCV
TimedDoubleX
TimedDoubleY
SUGAR SWEET ROBOTICS CO., LTD.
82
SUGAR SWEET ROBOTICS CO., LTD.
RCiMCs04 iXs Research 45[mm] x 30[mm] USB
4chRC 4chA/D
83
iMCs04
TimedIntRC
TimedFloatA/D
SUGAR SWEET ROBOTICS CO., LTD.
84
SUGAR SWEET ROBOTICS CO., LTD.
TWAIN
102(L)48(W)26(H) 70[g] 600dpi
85
TimedOctetSeqBitMap
SUGAR SWEET ROBOTICS CO., LTD.
86
TimedString
TimedOctetSeqBitmap
SUGAR SWEET ROBOTICS CO., LTD.
AquesTalk
87
TimedString
SUGAR SWEET ROBOTICS CO., LTD.
88
SUGAR SWEET ROBOTICS CO., LTD.
GUI
89
SUGAR SWEET ROBOTICS CO., LTD.
90
SUGAR SWEET ROBOTICS CO., LTD.
2 APIRTC
RTC
91
SUGAR SWEET ROBOTICS CO., LTD.
92
RTC
ExactDynamicsiARM
InuktunminiTracsTRACLabsBiclops
VIDEREDesignBiclops
SUGAR SWEET ROBOTICS CO., LTD.
WASEDA UNIV, Jan. 2014
RTC
API PC RTC
93
RT
SUGAR SWEET ROBOTICS CO., LTD.
94
SUGAR SWEET ROBOTICS CO., LTD.
arduinoRT
95
SUGAR SWEET ROBOTICS CO., LTD.
RTno () RTno = RT-middleware + Arduino
ArduinoRT RTArduino RTC
96
SUGAR SWEET ROBOTICS CO., LTD.
RTM OpenRTM-aist
Linux TOPPERS
RTC-CANopen CANOpen
RTC-Lite (miniRTC, microRTC) CANZigBeeARM
RTno arduino Float
97
SUGAR SWEET ROBOTICS CO., LTD.
RTno
98
arduinoRTC
RTnoPC
SUGAR SWEET ROBOTICS CO., LTD.
RT
99openrtm.org
SUGAR SWEET ROBOTICS CO., LTD.
RTnoRTC
rtcconf
100
#includevoidrtcconf(void){conf._default.connec7on_type=Connec7onTypeSerial1;conf._default.baudrate=57600;exec_cxt.periodic.type=Timer1Execu7onContext;exec_cxt.periodic.rate=1000;//[Hz]}
SUGAR SWEET ROBOTICS CO., LTD.
RTnoRTC
OpenRTM-aist
101
TimedLongin0;InPortin0In("in0",in0);TimedLongSeqin0;InPortin0In("in1",in0);TimedLongout0;OutPortout0Out("out0",out0);TimedLongSeqout0;OutPortout0Out("out1",out0);
SUGAR SWEET ROBOTICS CO., LTD.
RTnoRTC
onInitialize
102
intRTno::onIni7alize(){addInPort(in0In);addInPort(in1In);addOutPort(out0Out);addOutPort(out1Out);intLED=13;pinMode(LED,OUTPUT);returnRTC_OK;}
SUGAR SWEET ROBOTICS CO., LTD.
RTnoRTC
onActivated, onDeactivated
103
intRTno::onAc7vated(){digitalWrite(LED,LOW);returnRTC_OK;}
intRTno::onDeac7vated(){digitalWrite(LED,LOW);returnRTC_OK;}
SUGAR SWEET ROBOTICS CO., LTD.
RTnoRTC
onExecute
104
out0.data=3.14159;out0Out.write();out0.data.length(3);out0.data[0]=1.1;out0.data[1]=2.2;out0.data[2]=3.3;out0Out.write();returnRTC_OK;}
intRTno::onExecute(){if(in0In.isNew()){in0In.read();longdata=in0.data;digitalWrite(LED,data);}if(in0In.isNew(&in1In)){in0In.read();for(inti=0;iINACTIVE on_activatedINACTIVE->ACTIVE on_deactivatedACTIVE->INACTIVE on_executeACTIVE
143
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder RTC Builder
Builder EditorRTC
Builder Editor RTC
144
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder
MyController
145
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder
146
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder
1.onExecute
2.ON147
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder
RTM_ROOT ~/.bashrc TimedVelocity2DTimedVector2D
148
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder
C++
149
()
149
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder MyController Builder Editor
150
SUGAR SWEET ROBOTICS CO., LTD.
RTC Eclipseworkspace Win C:\Users\\workspace Linux/home//workspace
RTC
151
SUGAR SWEET ROBOTICS CO., LTD.
CMake CMake
CMakeLists.txtCMake
152
SUGAR SWEET ROBOTICS CO., LTD.
ROBOTECH2012RT
CMake
build RTC/workspace/MyController
/workspace/MyController/build
ConfigureOK
2012/7/11153
SUGAR SWEET ROBOTICS CO., LTD.
CMake2.8
Visual Studio 12 2013 Use default native compilers
Generate Visual Studio
154
SUGAR SWEET ROBOTICS CO., LTD.
MacLinux
cd $HOME/workspace/MyController # RTC mkdir build# build cd build # build cmake ../ # cmake make #
RTCBMacRTC RTC$ModuleName
RTC/include/$ModuleName/$ModuleName.h
155
#include !#include !#include !#include !#include !#include !#include !#include !
#include !#include !#include !#include !#include !#include !#include !#include !
SUGAR SWEET ROBOTICS CO., LTD.
Visual Studio build/src/MyController.sln Visual Studio
MyControllerRTC MyControllerCompRTC
MyController MyController.cpp
156
SUGAR SWEET ROBOTICS CO., LTD.
Visual Studio MyController::onExecute
RTCACTIVE
157
RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){
m_velocity.data.vx=0.05;//m_velocity.data.vy=0;m_velocity.data.va=1.0;m_velocityOut.write();//returnRTC::RTC_OK;
}
SUGAR SWEET ROBOTICS CO., LTD.
2 TimedVelocity2D2 tm : Time
sec : unsigned long nsec : unsigned long
data : Velocity2D vx : doubleX (m/s) vy : doubleY (m/s) va : double (rad/s)
X
Y
158
SUGAR SWEET ROBOTICS CO., LTD.
TimedVelocity2Dvel vel.data.vxX [m/s] vel.data.vyY [m/s] vel.data.vaZ [rad/s]
IDL
C:\Program Files (x86)\OpenRTM-aist\1.1\rtm\idl
TimedVelocity2DExtendedDatatype.idl
X
Y
159
LinuxMac/usr/include/openrtm-1.1/rtm/idl/usr/local/include/openrtm-1.1/rtm/idl
SUGAR SWEET ROBOTICS CO., LTD.
IDL
C++, Java, Python IDLRTC Builder
CORBA
160
/*!*@structTimedVelocity2D*@briefTime-stampedversionofVelocity2D.*/structTimedVelocity2D{Timetm;Velocity2Ddata;};
/*!*@structVelocity2D*@briefVeloci7esin2Dcartesianspace.*/structVelocity2D{///Velocityalongthexaxisinmetrespersecond.doublevx;///Velocityalongtheyaxisinmetrespersecond.doublevy;///Yawvelocityinradianspersecond.doubleva;};
SUGAR SWEET ROBOTICS CO., LTD.
RTC
MyControllerComp
MobileRobotSim.bat
RT System EditorACTIVE
161
SUGAR SWEET ROBOTICS CO., LTD.
2
RTC
MyController
X
Y
162
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder Eclipse
RTC Builder
RTC.xml
163
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder
velocity_x
164
SUGAR SWEET ROBOTICS CO., LTD.
velocity_x : double
: velocity_x : 0.05
velocity_theta : double : velocity_theta : 1.0
165
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder
Generated Merge
Generated
()
166
SUGAR SWEET ROBOTICS CO., LTD.
2
MyController
RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){
std::cout
SUGAR SWEET ROBOTICS CO., LTD.
RTC
MobileRobotSim.bat RT System EditorACTIVE RT System EditorConfiguration ViewRTC
168
SUGAR SWEET ROBOTICS CO., LTD.
3
velTimedVelocity2D
posTimedPose2D
bumperTimedBooleanSeq
TimedPose2DMyController
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder RTCBuilder
MyController / RTC.xml () TimedPose2Dpose
170
SUGAR SWEET ROBOTICS CO., LTD.
2 TimedPose2D2
tm : Time sec : unsigned long nsec : unsigned long
data : Pose2D position : Point2D
x : doubleX (m) y : doubleY (m)
heading : double (rad) C++TimedPose2Dpose
pose.data.position.xX pose.data.position.yY pose.data.headingZ
X
Y
171
SUGAR SWEET ROBOTICS CO., LTD.
Visual Studio onExecute
RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){
m_velocity.data.vx=m_velocity_x;m_velocity.data.vy=0;m_velocity.data.va=m_velocity_theta;m_velocityOut.write();
if(m_poseIn.isNew()){ // m_poseIn.read(); // std::cout
SUGAR SWEET ROBOTICS CO., LTD.
RTC
MobileRobotSim.bat
RT System EditorACTIVE
173
SUGAR SWEET ROBOTICS CO., LTD.
rtc.conf RTC
IP RTC etc
rtc.confHz
rtc.conf Visual C++
exec_cxt.periodic.rate:1.0
174
SUGAR SWEET ROBOTICS CO., LTD.
ROBOTECH2012RT
example m_example
m_exampleOut
1. m_example 2. m_exampleOut.write()
2012/7/11175
example
m_example
m_exampleIn
1. m_exampleIn.isNew() 2. m_exampleIn.read() 2. m_example
SUGAR SWEET ROBOTICS CO., LTD.
4 TimedBooleanSeq (True/False) velTimedVelocity2D
posTimedPose2D
bumperTimedBooleanSeq
01
176
SUGAR SWEET ROBOTICS CO., LTD.
RTC Builder InPort : TimedBooleanSeq
: bumper bumper
177
SUGAR SWEET ROBOTICS CO., LTD.
Visual Studio **Seqdata
RTC::ReturnCode_tMyController::onExecute(RTC::UniqueIdec_id){
if(m_bumperIn.isNew()){ m_bumperIn.read(); if(m_bumper.data[0]==true){ std::cout
SUGAR SWEET ROBOTICS CO., LTD.
RTC onExecute(RTC Builder)
onActivatedActivate onDeactivatedDeactivate
outTimedDoubleSeq
GUIUp(0,1)0011
179
SUGAR SWEET ROBOTICS CO., LTD.
RT System Editor (RTCActivate/Deactivate) RTC Builder (RTC) CMake (Visual C++)
TimedVelocity2D, TimedPose2D, TimedBooleanSeq rtc.conf
180
SUGAR SWEET ROBOTICS CO., LTD.
RTC
http://openrtm.org > > RT
RTC
rtshell
RTC
http://ysuga.net
181
SUGAR SWEET ROBOTICS CO., LTD.
IT
182
SUGAR SWEET ROBOTICS CO., LTD.
SUGAR SWEET ROBOTICS
@ysuga (RTM) [email protected] http://sugarsweetrobotics.com
http://ysuga.net
183
SUGAR SWEET ROBOTICS CO., LTD.
RTM-ROS
184
RTM-ROS OpenRTM RTM
RTM
ROS
WillowGarageROSSteveCousinsspeakingatRoboDevelopmenth"p://www.willowgarage.com/blog/2008/11/17/steve-cousins-speaking-robo-development-tuesday
SUGAR SWEET ROBOTICS CO., LTD.
ROS 114148) 150( ROS Stack, Package3000) http://www.ros.org/wiki/Metrics
OpenRTM 451533) 322()
185
OpenRTM
ROS OpenRTM
h"p://maps.google.com/maps/ms?ie=UTF&msa=0&msid=209668390659853657363.00049c608b78bc7779683
h"p://maps.google.com/maps/ms?ie=UTF&msa=0&msid=202046448223103795061.0004af11ddd066defcd
SUGAR SWEET ROBOTICS CO., LTD.
OpenRTM OpenRTMRTM
ROS
186
OpenRTM ROS
NEDO