Ubuntu 18.04へのfawkes-robotino のインストール(つづき)

Ubuntu 18.04へのfawkes-robotino with Gazebo のインストールの続き.
環境変数は,以下の通り.

export FAWKES_DIR=~/fawkes-robotino-2016
export GAZEBO_RCLL=~/gazebo-rcll
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$GAZEBO_RCLL/plugins/lib/gazebo
export GAZEBO_MODEL_PATH=$GAZEBO_RCLL/models
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$GAZEBO_RCLL/models/carologistics

export LLSF_REFBOX_DIR=~/rcll-refbox
# export GAZEBO_WORLD_PATH=~/gazebo-rcll/worlds/carologistics/llsf.world
export GAZEBO_WORLD_PATH=~/gazebo-rcll/worlds/carologistics/rcll-2017-default.world
16:11:52.173366 FawkesMainThread: Failed to load plugins gazsim-meta-clips-exec, exception follows
16:11:52.173402 FawkesMainThread: [EXCEPTION] Transform gripper: wrong or incomplete transform data
16:11:52.173402 FawkesMainThread: [EXCEPTION] Publisher for gripper has already been added
16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize thread 'StaticTransformsThread' (ThreadList static-transforms)
16:11:52.173402 FawkesMainThread: [EXCEPTION] Plugin >>> static-transforms <<< could not be initialized, unloading
16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize meta plugin gazsim-meta-robotino, aborting loading.
16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize meta plugin gazsim-meta-robotino-ros, aborting loading.
16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize meta plugin gazsim-meta-clips-exec, aborting loading.

メタタグ:gazsim-meta-clips-exec の読み込み中にエラーが出ていますね.
なんかgripperの名前がPublisherで既に使われているとかどうとか.
仕方が無いのでcfg/conf.d/static_transforms.yaml のgripperの部分を変更

    gripper:
      frame: !frame gripper_z_dyn
      # child_frame: !frame gripper
      child_frame: !frame gripper1

次は,tagvisionでのエラー
[/code]
16:19:32.533007 FawkesMainThread: Failed to load plugins gazsim-meta-clips-exec, exception follows
16:19:32.533031 FawkesMainThread: [EXCEPTION] Plugin ‘gazsim-tag-vision’ could not be loaded: failed to open module
16:19:32.533031 FawkesMainThread: [EXCEPTION] dlopen failed
16:19:32.533031 FawkesMainThread: [EXCEPTION] dlerror: /home/ryukoku/fawkes-robotino-2019/plugins/gazsim-tag-vision.so: undefined symbol: _ZTIN6fawkes18TagVisionInterfaceE
[/code]

ryukoku@ryukoku-HiGame:~/fawkes-robotino-2019/src/plugins/tag_vision$ make
--> Omitting tag-vision plugin (ALVAR not available)

ALVAR を入れていないから,tag_vision が作れていない模様.

sudo apt-get install ros-melodic-ar-track-alvar ros-melodic-ar-track-alvar-msgs
# msgsがいるかどうかは不明
/home/ryukoku/fawkes-robotino-2019/src/plugins/tag_vision/tag_vision_thread.cpp:182:1: error: reference to ‘tf’ is ambiguous
 tf::TransformPublisher *
 ^~

とほほ.
2016からtag_vision_* と,tag_position* のファイルをコピーしてきて,config.mk に-Wno-format-securityを追加して回避.
→ 結局は,meta-tag からハズして起動….

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