{"id":5191,"date":"2022-09-10T09:32:58","date_gmt":"2022-09-10T00:32:58","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=5191"},"modified":"2022-10-10T21:50:46","modified_gmt":"2022-10-10T12:50:46","slug":"gazebo-plug-in%ec%9c%bc%eb%a1%9c-robot-move","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/gazebo-plug-in%ec%9c%bc%eb%a1%9c-robot-move\/","title":{"rendered":"gazebo plug in\uc73c\ub85c robot move"},"content":{"rendered":"\n<p>\ub85c\ubd07\uc744 \ubd88\ub800\uc73c\uba74, cmd_vel \ud1a0\ud53d\uc73c\ub85c \uc6c0\uc9c1\uc774\uace0 \uc2f6\ub2e4. \ucc3e\ub2e4\ubcf4\ub2c8 gazebo\uac00 \uc81c\uacf5\ud558\ub294  plugin\ub85c \uc6c0\uc9c1\uc77c \uc218 \uc788\uc74c\uc744 \uc54c\uc558\ub2e4. \ud50c\ub7ec\uadf8\uc778 \uc124\uc815\uc73c\ub85c \uc5b4\ub290 \ud1a0\ud53d\uc744 \uc77d\uc5b4\uc11c \ubaa8\ub378\uc744 \uc6c0\uc9c1\uc77c\uc9c0 \uacb0\uc815\ud55c\ub2e4. <\/p>\n\n\n\n<figure class=\"wp-block-embed\"><div class=\"wp-block-embed__wrapper\">\nhttps:\/\/classic.gazebosim.org\/tutorials?tut=ros_gzplugins\n<\/div><\/figure>\n\n\n\n<p>gcamp_gazebo \uc0d8\ud50c \ud504\ub85c\uadf8\ub7a8\uc744 \ucc38\uc870 \ud588\ub2e4. gazebo\ub85c \ub85c\ubd07\uc744 \uc6c0\uc9c1\uc774\ub824\uba74 \ud544\uc694\ud55c \uba87 \uac1c \ud30c\uc77c\uc744 \ub9cc\ub4e4\uc5b4\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"bash\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">now0930@amd2004:~\/ros_test\/workspace\/src\/wander_bot$ tree\n.\n\u251c\u2500\u2500 CMakeLists.txt\n\u251c\u2500\u2500 gazebo_world.launch\n\u251c\u2500\u2500 launch\n\u2502\u00a0\u00a0 \u251c\u2500\u2500 hello.launch\n\u2502\u00a0\u00a0 \u251c\u2500\u2500 my_world.launch\n\u2502\u00a0\u00a0 \u2514\u2500\u2500 robot_description.launch\n\u251c\u2500\u2500 log.txt\n\u251c\u2500\u2500 package.xml\n\u251c\u2500\u2500 src\n\u2502\u00a0\u00a0 \u2514\u2500\u2500 red_green_light.py\n\u251c\u2500\u2500 urdf\n\u2502\u00a0\u00a0 \u251c\u2500\u2500 robot.gazebo\n\u2502\u00a0\u00a0 \u251c\u2500\u2500 robot.xacro\n\u2502\u00a0\u00a0 \u2514\u2500\u2500 test.urdf\n\u2514\u2500\u2500 worlds\n    \u251c\u2500\u2500 my_world\n    \u2514\u2500\u2500 my_world2\n\n4 directories, 13 files<\/pre>\n\n\n\n<p>roslaunch\ub85c launch\uc5d0 \uc788\ub294 my_world.launch\uc5d0\uc11c \uc2dc\uc791\ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">oot@amd2004:\/home\/ros_test\/workspace\/src\/wander_bot# cat launch\/my_world.launch \n&lt;?xml version=\"1.0\" encoding=\"UTF-8\"?>\n\n&lt;launch>\n\t&lt;!-- Robot pose -->\n\t&lt;arg name=\"x\" default=\"0\"\/>\n\t&lt;arg name=\"y\" default=\"0\"\/>\n\t&lt;arg name=\"z\" default=\"0\"\/>\n\t&lt;arg name=\"roll\" default=\"0\"\/>\n\t&lt;arg name=\"pitch\" default=\"0\"\/>\n\t&lt;arg name=\"yaw\" default=\"0\"\/>\n\t&lt;arg name=\"model_name\"   default=\"agv_number1\"\/>\n\n\n\n\t\t\t&lt;!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->\n\t\t&lt;include file=\"$(find gazebo_ros)\/launch\/empty_world.launch\">\n\t\t\t&lt;arg name=\"world_name\" value=\"$(find wander_bot)\/worlds\/my_world2\"\/>\n\t\t\t&lt;arg name=\"use_sim_time\" value=\"true\"\/>\n\t\t\t\t&lt;!-- more default parameters can be changed here -->\n\t\t&lt;\/include>\n\t\t&lt;arg name=\"package_name\"  default=\"wander_bot\" \/>\n\t\t&lt;arg name=\"path\"   value=\"(find $(arg package_name))\" \/>\n\t\t&lt;arg name=\"dollar\" value=\"$\" \/>\n\n\t\t&lt;include file=\"$(arg dollar)$(arg path)\/launch\/robot_description.launch\"\/> \n\n\t\t\t&lt;!-- Spawn My Robot -->\n\t\t\t&lt;!--\n\t\t\t\t&lt;node name=\"urdf_spawner\" pkg=\"gazebo_ros\" type=\"spawn_model\" respawn=\"false\" output=\"screen\" \n\t\t\t\targs=\"-urdf -param robot_description -model $(arg model_name) \n\t\t\t\t-x $(arg x) -y $(arg y) -z $(arg z)\n\t\t\t\t-R $(arg roll) -P $(arg pitch) -Y $(arg yaw)\"\/>\n\t\t\t-->\n\t\t\t\t&lt;node name=\"urdf_spawner\" pkg=\"gazebo_ros\" type=\"spawn_model\" respawn=\"false\" output=\"screen\" \n\t\t\t\t\targs=\"-urdf -param robot_description -model $(arg model_name) \n\t\t\t\t\t-x $(arg x) -y $(arg y) -z $(arg z)\n\t\t\t\t\t-R $(arg roll) -P $(arg pitch) -Y $(arg yaw)\"\/>\n\n\n\t\t\t\t&lt;node name=\"test_node\" pkg=\"wander_bot\" type=\"red_green_light.py\"\n\t\t\t\t\targs=\"\/cmd_vel\">\n\t\t\t&lt;\/node>\n\t\t&lt;\/launch>\n<\/pre>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">    &lt;include file=\"$(arg dollar)$(arg path)\/launch\/robot_description.launch\"\/> <\/pre>\n\n\n\n<p>launch\uac00 robot description\uc744 \uc2e4\ud589\ud558\ub294\ub370, command\ub85c robot.xacro\ub85c \uc138\ubd80 \uc124\uc815\uc744 \ud55c\ub2e4. command\uac00 \uc544\ub2cc \ub2e4\ub978 \ubc29\uc2dd\uc73c\ub85c\ub294 \ubaa8\ub378\uc774 \uc6c0\uc9c1\uc774\uc9c0 \uc54a\ub294\ub2e4. robot description \ub0b4\ubd80\uc5d0\ub294 robot_description, joint_state_publisher, robot_state_publisher 3\uac1c\ub97c \uc124\uc815\ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">now0930@amd2004:~\/ros_test\/workspace\/src\/wander_bot$ cat launch\/robot_description.launch \n&lt;?xml version=\"1.0\"?>\n&lt;launch>\n\n\t&lt;!-- send urdf to param server -->\n\t&lt;!-- xacro -->\n\n\t&lt;param name=\"robot_description\" command=\"$(find xacro)\/xacro --inorder '$(find wander_bot)\/urdf\/robot.xacro'\" \/>\n\n\t\t&lt;!-- urdf or raw xml file -->\n\t\t&lt;!-- &lt;param name=\"robot_description\" command=\"cat $(find museumGuide)\/urdf_model\/peoplebot.xml\" \/> -->\n\n\t\t\t&lt;!-- Send fake joint values-->\n\t\t&lt;node name=\"joint_state_publisher\" pkg=\"joint_state_publisher\" type=\"joint_state_publisher\">\n\t\t\t&lt;param name=\"use_gui\" value=\"False\"\/>\n\t\t&lt;\/node>\n\n\t\t&lt;!-- Send robot states to tf -->\n\t\t&lt;node name=\"robot_state_publisher\" pkg=\"robot_state_publisher\" type=\"robot_state_publisher\" respawn=\"false\" output=\"screen\"\/>\n\n\t&lt;\/launch>\n<\/pre>\n\n\n\n<p>robot.xacro\ub97c \ubcf4\uba74 <\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">now0930@amd2004:~\/ros_test\/workspace\/src\/wander_bot$ cat urdf\/robot.xacro \n&lt;?xml version=\"1.0\" ?>\n&lt;robot name=\"mobile_robot\" xmlns:xacro=\"http:\/\/www.ros.org\/wiki\/xacro\">\n\t&lt;material name=\"blue\">\n\t\t&lt;color rgba = \"0 0 0.8 1\"\/>\n\t&lt;\/material>\n\n\t&lt;material name=\"gray\">\n\t\t&lt;color rgba = \"1 1 1 1\"\/>\n\t&lt;\/material>\n\n\t&lt;material name=\"blueviolet\">\n\t\t&lt;color rgba = \"0.54 0.16 0.88 1\"\/>\n\t&lt;\/material>\n\n\t&lt;link name = \"base_footprint\"\/>\n\n\t&lt;xacro:include filename=\"$(find wander_bot)\/urdf\/robot.gazebo\" \/>\n\n\t&lt;link name=\"base_link\">\n\t\t&lt;visual>\n\t\t\t&lt;origin xyz=\"0 0 0\" rpy = \"0 0 0\"\/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;box size = \"0.3 0.24 0.1\" rpy = \"0 0 0\" \/>\n\t\t\t&lt;\/geometry>\n\t\t\t&lt;material name = \"gray\"\/>\n\n\t\t&lt;\/visual>\n\t\t&lt;collision>\n\t\t\t&lt;origin xyz=\"0 0 0.03\" rpy = \"0 0 0\"\/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;box size = \"0.3 0.25 0.1\" \/>\n\t\t\t&lt;\/geometry>\n\n\t\t&lt;\/collision>\n\t\t&lt;inertial>\n\t\t\t&lt;mass value = \"1.0\" \/>\n\t\t\t&lt;inertia  ixx=\"1.0\" ixy=\"0.0\"  ixz=\"0.0\"  iyy=\"1.0\"  iyz=\"0.0\"  izz=\"1.0\" \/>\n\t\t&lt;\/inertial>\n\n\t&lt;\/link>\n\n\n\t&lt;joint name = \"base_footprint_fixed\" type = \"fixed\">\n\t\t&lt;origin xyz = \"0 0 0.03\" rpy = \"0 0 0\"\/>\n\t\t&lt;parent link = \"base_footprint\"\/>\n\t\t&lt;child link = \"base_link\"\/>\n\t&lt;\/joint>\n\n\n\t&lt;link name = \"left_wheel\">\n\t\t&lt;visual>\n\t\t\t&lt;origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t&lt;\/geometry>\n\t\t\t&lt;material name =\"blue\"\/>\n\n\t\t&lt;\/visual>\n\t\t&lt;collision>\n\t\t\t&lt;origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t&lt;\/geometry>\n\n\t\t&lt;\/collision>\n\t\t&lt;inertial>\n\t\t\t&lt;mass value = \"1.0\" \/>\n\t\t\t&lt;inertia  ixx=\"1.0\" ixy=\"0.0\"  ixz=\"0.0\"  iyy=\"1.0\"  iyz=\"0.0\"  izz=\"1.0\" \/>\n\t\t&lt;\/inertial>\n\n\n\n\t&lt;\/link>\n\n\t&lt;link name = \"right_wheel\">\n\t\t&lt;visual>\n\t\t\t&lt;origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t&lt;\/geometry>\n\t\t\t&lt;material name =\"blue\"\/>\n\n\t\t&lt;\/visual>\n\t\t&lt;collision>\n\t\t\t&lt;origin xyz = \"0 0 0\" rpy = \"1.570796 0 0\" \/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;cylinder length = \"0.05\" radius = \"0.08\" \/>\n\t\t\t&lt;\/geometry>\n\n\t\t&lt;\/collision>\n\n\t\t&lt;inertial>\n\t\t\t&lt;mass value = \"1.0\" \/>\n\t\t\t&lt;inertia  ixx=\"1.0\" ixy=\"0.0\"  ixz=\"0.0\"  iyy=\"1.0\"  iyz=\"0.0\"  izz=\"1.0\" \/>\n\t\t&lt;\/inertial>\n\n\t&lt;\/link>\n\n\n\t&lt;joint name = \"left_wheel_joint\" type = \"continuous\">\n\t\t&lt;origin xyz = \"0.1 0.15 0\" rpy = \"0 0 0\"\/>\n\t\t&lt;parent link = \"base_link\"\/>\n\t\t&lt;child link = \"left_wheel\"\/>\n\t\t&lt;axis xyz = \"0 1 0\"\/>\n\n\t&lt;\/joint>\n\n\t&lt;joint name = \"right_wheel_joint\" type = \"continuous\">\n\t\t&lt;origin xyz = \"0.1 -0.15 0\" rpy = \"0 0 0\"\/>\n\t\t&lt;parent link = \"base_link\"\/>\n\t\t&lt;child link = \"right_wheel\"\/>\n\t\t&lt;axis xyz = \"0 1 0\" \/>\n\n\t&lt;\/joint>\n\n\t&lt;link name=\"scanner_link\">\n\t\t&lt;visual>\n\t\t\t&lt;origin xyz=\"0 0 0\" rpy = \"0 0 0\"\/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;cylinder length=\"0.05\" radius=\"0.035\"\/>\n\t\t\t&lt;\/geometry>\n\t\t\t&lt;material name = \"blueviolet\"\/>\n\n\t\t&lt;\/visual>\n\t\t&lt;collision>\n\t\t\t&lt;origin xyz=\"0 0 0\" rpy = \"0 0 0\"\/>\n\t\t\t&lt;geometry>\n\t\t\t\t&lt;cylinder length=\"0.05\" radius=\"0.035\"\/>\n\t\t\t&lt;\/geometry>\n\n\t\t&lt;\/collision>\n\t\t&lt;inertial>\n\t\t\t&lt;mass value = \"1.0\" \/>\n\t\t\t&lt;inertia  ixx=\"1.0\" ixy=\"0.0\"  ixz=\"0.0\"  iyy=\"10.0\"  iyz=\"0.0\"  izz=\"1.0\" \/>\n\t\t&lt;\/inertial>\n\n\t&lt;\/link>\n\n\t&lt;joint name = \"head_scanner\" type = \"fixed\">\n\t\t&lt;origin xyz = \"0.15 0 0\" rpy = \"0 1.5708 0\"\/>\n\t\t&lt;parent link = \"base_link\"\/>\n\t\t&lt;child link = \"scanner_link\"\/>\n\t&lt;\/joint>\n\n\n\t&lt;ros>\n\t\t&lt;namespace>\/&lt;\/namespace>\n\t\t&lt;argument>\/cmd_vel:=cmd_vel&lt;\/argument>\n\t&lt;\/ros>\n\n&lt;\/robot>\n<\/pre>\n\n\n\n<p>\uc5ec\uae30\uc5d0 gazebo \ud30c\uc77c\uc744 \uc124\uc815\ud574\uc57c \ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">now0930@amd2004:~\/ros_test\/workspace\/src\/wander_bot\/urdf$ cat robot.gazebo \n&lt;?xml version=\"1.0\"?>\n&lt;robot>\n\t&lt;gazebo>\n\t\t&lt;plugin name=\"differential_drive_controller\" filename=\"libgazebo_ros_diff_drive.so\">\n\t\t\t&lt;legacyMode>false&lt;\/legacyMode>\n\t\t\t&lt;updateRate>10&lt;\/updateRate>\n\t\t\t&lt;alwaysOn>true&lt;\/alwaysOn>\n\t\t\t&lt;leftJoint>left_wheel_joint&lt;\/leftJoint>\n\t\t\t&lt;rightJoint>right_wheel_joint&lt;\/rightJoint>\n\t\t\t&lt;torque>10&lt;\/torque>\n\t\t\t&lt;robotBaseFrame>base_footprint&lt;\/robotBaseFrame>\n\t\t\t&lt;wheelSeparation>0.4&lt;\/wheelSeparation>\n\t\t\t&lt;wheelDiameter>0.2&lt;\/wheelDiameter>\n\t\t\t&lt;publishWheelTF>false&lt;\/publishWheelTF>\n\t\t\t&lt;publishTf>1&lt;\/publishTf>\n\t\t\t&lt;commandTopic>cmd_vel&lt;\/commandTopic>\n\t\t\t&lt;odometryTopic>odom&lt;\/odometryTopic>\n\t\t\t&lt;odometryFrame>odom&lt;\/odometryFrame>\n\t\t\t&lt;publishWheelJointState>false&lt;\/publishWheelJointState>\n\t\t\t&lt;rosDebugLevel>na&lt;\/rosDebugLevel>\n\t\t\t&lt;wheelAcceleration>0&lt;\/wheelAcceleration>\n\t\t\t&lt;wheelTorque>5&lt;\/wheelTorque>\n\t\t\t&lt;odometrySource>world&lt;\/odometrySource>\n\t\t\t&lt;publishOdomTF>true&lt;\/publishOdomTF>\n\n\t\t&lt;\/plugin>\n\t&lt;\/gazebo>\n\n&lt;\/robot>\n<\/pre>\n\n\n\n<p>\ubaa8\ub450 \uc124\uc815\ud558\uace0 roslaunch\ub97c \ud558\uba74, \uad00\uc131 \ubaa8\uba58\ud2b8\uac00 \uc798\ubabb \ub418\uc5c8\ub294\uc9c0 \uc774\uc0c1\ud558\uac8c \uc6c0\uc9c1\uc778\ub2e4.<\/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 loading=\"lazy\" title=\"gazebo \ud14c\uc2a4\ud2b8\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/tvRWp4PnnFk?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\ub85c\ubd07\uc744 \ubd88\ub800\uc73c\uba74, cmd_vel \ud1a0\ud53d\uc73c\ub85c \uc6c0\uc9c1\uc774\uace0 \uc2f6\ub2e4. \ucc3e\ub2e4\ubcf4\ub2c8 gazebo\uac00 \uc81c\uacf5\ud558\ub294 plugin\ub85c \uc6c0\uc9c1\uc77c \uc218 \uc788\uc74c\uc744 \uc54c\uc558\ub2e4. \ud50c\ub7ec\uadf8\uc778 \uc124\uc815\uc73c\ub85c \uc5b4\ub290 \ud1a0\ud53d\uc744 \uc77d\uc5b4\uc11c \ubaa8\ub378\uc744 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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