Ubuntu 20.04のRobotino

Robotino のイメージファイルからの復元にてrobotino4-4.20.8.fsaを使ってRobotino を再構築しました．

robotino@robotino:~$ lsb_release -a
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 20.04.3 LTS
Release:	20.04
Codename:	focal

robotino@robotino:~$ uname -r
5.4.0-47-generic

上記の通り，Ubuntu 20.04です．
で，まずはネットワークの設定と画面共有の設定をGUI上で行います．
画面共有「Settings」の「Sharing」の「Screen Sharing」です．
Robotino のセットアップは，基本的にはBTR2022の設定と一緒のハズ．
# visudo は設定済みの模様．

sudo apt-get update; sudo apt-get upgrade; sudo apt-get dist-upgrade
sudo apt-get install -y net-tools openssh-server subversion git gcc build-essential vim screen ccache
sudo apt-get install -y libmodbus-dev \
                     protobuf-compiler libprotobuf-dev libprotoc-dev \
                     libboost-all-dev libmodbus-dev \
                     libglibmm-2.4-dev libgtkmm-3.0-dev \
                     libncursesw5-dev libyaml-cpp-dev libavahi-client-dev \
                     libssl-dev libgecode-dev \
                     lib64ncurses5-dev cmake-curses-gui git \
                     libmbedtls-dev gcc g++
cd Downloads
wget http://ppa.launchpad.net/timn/clips/ubuntu/pool/main/c/clips/clips_6.30-2ppa4~bionic1_amd64.deb
wget http://ppa.launchpad.net/timn/clips/ubuntu/pool/main/c/clips/clips-common_6.30-2ppa4~bionic1_all.deb
wget http://ppa.launchpad.net/timn/clips/ubuntu/pool/main/c/clips/libclips_6.30-2ppa4~bionic1_amd64.deb
wget http://ppa.launchpad.net/timn/clips/ubuntu/pool/main/c/clips/libclips-dev_6.30-2ppa4~bionic1_amd64.deb
wget http://ppa.launchpad.net/timn/clips/ubuntu/pool/main/c/clips/xclips_6.30-2ppa4~bionic1_amd64.deb
wget http://ppa.launchpad.net/timn/clips/ubuntu/pool/main/libc/libclipsmm/libclipsmm-dev_0.3.4-1ppa1~bionic1_amd64.deb
wget http://ppa.launchpad.net/timn/clips/ubuntu/pool/main/libc/libclipsmm/libclipsmm_0.3.4-1ppa1~bionic1_amd64.deb
sudo apt-get install -y libtinfo5 
sudo dpkg -i *.deb

# OPC-UA のインストール
git clone https://github.com/FreeOpcUa/freeopcua
cd freeopcua
### ↓ 選択肢は「c」→「e」→「c」→「e」→「g」
ccmake .
cmake .
make
sudo make install
sudo apt-get install -y libxml2-dev dh-autoreconf
sudo ldconfig

# RefBox 本体のインストール
sudo apt-get install -y libmicrohttpd-dev rapidjson-dev libaprutil1-dev libwebsocketpp-dev
cd
git clone https://github.com/robocup-logistics/rcll-refbox.git
cd rcll-refbox
make

rcll-refbox/src/libs/rest-api/clips-rest-api/clips-rest-api.cpp にてエラーが出る場合は，
rcll-refbox/etc/buildsys/config.mk に以下を追加して下さい．
（RefBox のmakeのメモ）

### Add ROS package repository, required e.g. for bullet
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install -y ros-noetic-actionlib ros-noetic-pcl-ros ros-noetic-geometry ros-noetic-image-common \
                        ros-noetic-image-transport-plugins ros-noetic-navigation \
                        libpcl-conversions-dev libtf-conversions-dev libvisualization-msgs-dev \
                        libudev-dev curl libtolua-dev
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get install -y ros-noetic-desktop-full
sudo apt-get install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool
sudo rosdep init
rosdep update

# rplidar の設定
sudo apt-get install -y ros-noetic-catkin ros-noetic-rplidar-ros
source /opt/ros/noetic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
cd src
git clone https://github.com/Slamtec/rplidar_ros.git
cd ..
catkin_make
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

### RoboCup関係のプログラムを取ってきましょうか．
### ↓ ROS の部分．とりあえずこんな感じ？
mkdir ~/git
cd ~/git
git clone https://github.com/wadaru/ros-rcll_refbox_peer
git clone https://github.com/wadaru/ros-rcll_btr_msgs
git clone https://github.com/wadaru/ros-rcll_ros_msgs
git clone https://github.com/wadaru/btr2022
mkdir ros-rcll_btr_msgs/msg
ln -s ~/rcll-refbox/src/msgs ~/rcll-refbox/src/libs/llsf_msgs
cd ~/catkin_ws/src
ln -s ~/git/ros-rcll_refbox_peer .
ln -s ~/git/ros-rcll_btr_msgs .
ln -s ~/git/ros-rcll_ros_msgs .
cd ..
catkin_make

こんな感じかな．