btr2023の準備（gazeboを動かすまでの手順）

Ubuntu 20.04でgazeboを使えるようになった後の手順です．

BTR2022の設定をとりあえず作業してください．
lib64ncurses5-dev のインストールで，以下のメーセージが出るかも．

The following packages have unmet dependencies:
 lib64ncurses-dev:i386 : Depends: libncurses-dev:i386 (= 6.2-0ubuntu2.1) but it is not going to be installed
                         Depends: lib64c-dev:i386
E: Unable to correct problems, you have held broken packages.

refboxで出たエラーは，以下の対応．

/home/wataru/rcll-refbox/src/libs/mps_comm/opcua/opc_utils.cpp:606:56: error: ‘streamed’ is not a member of ‘fmt’
  606 |   logger->info("{}>{}", std::string(lvl[0], ' '), fmt::streamed(node));

logger なので，無視して良いからコメントアウト．

home/wataru/rcll-refbox/src/libs/rest-api/clips-rest-api/clips-rest-api.cpp:179:27:error: ISO C++ forbids converting a string constant to ‘char*’ [-Werror=write-string]

RefBox の更新（RCAP2022時点）のは話なので，
etc/buildsys/config.mkの最後の方に以下を加えて対応．

CLIPS_OLD_63_API = YES

後は，今年のプログラムを扱いたいので，btr2023と，robotino_nodeを落としておきましょうか．

cd ~/git
git clone https://github.com/wadaru/btr2023
git clone https://github.com/ct2034/robotino
git clone https://github.com/robocup-logistics/gazebo-rcll
cd ~/catkin_ws/src
ln -s ~/git/robotino/robotino-ros-pkg/* .
cd ..
catkin_make

/home/robotino/catkin_ws/src/robotino_node/include/ComROS.h:11:10: fatal error:rec/robotino/api2/Com.h: No such file or directory2
   11 | #include "rec/robotino/api2/Com.h"

上記のエラーはRobotinoでROS（ct2034）より，

cat src/robotino_node/CMakeLists.txt 
...
set(CMAKE_MODULE_PATH /usr/local/robotino/api2/cmake)
set(RobotinoAPI2_INCLUDE_DIRS /opt/robotino/include)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(RobotinoAPI2)
set(REC_ROBOTINO_API2_LIBRARY /opt/robotino/lib/librec_robotino_api2.so)
...
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${RobotinoAPI2_INCLUDE_DIRS}
)
...

次にBTR2022の設定　の次の話のメモの辺りの話．

sudo apt-get -y install libgazebo9-dev libgazebo9 gazebo9-common
sudo apt-get install gazebo9
sudo apt-get install ros-noetic-gazebo-ros

# CmakeLists.txt にBoostの情報を追加．
echo "find_package(Boost REQUIRED COMPONENTS system program_options filesystem thread)" >> CMakeLists.txt
cd gazebo-rcll
cmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo
cmake --build build

ここまで作業中
—-

cd gazebo-rcll
# CmakeLists.txt にBoostの情報を追加．
echo "find_package(Boost REQUIRED COMPONENTS system program_options filesystem thread)" >> CMakeLists.txt

cd ~/git/gazebo-rcll
cmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo
cmake --build build

あとは，gazebo関係のディレクトリの修正をすれば，動くかな．
GUIでのリモートがつながらないから，ここから先の作業が難しい…．

cd ~/git/gazebo-rcll
rm CMakeLists.txt; ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/CMakeLists.txt .
cd models/carologistics
rm -rf carologistics-robotino-3;  ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/models/carologistics-robotino-3 .
rm -rf robotino-nr-1; ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/models/robotino-nr-1 .
rm -rf robotino-nr-2; ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/models/robotino-nr-2 .
rm -rf robotino-nr-3; ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/models/robotino-nr-3 .
cd ../bbu
ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/models/hokuyo_noisy1 .
ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/models/hokuyo_noisy2 .
ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/models/hokuyo_noisy3 .
cd ..
ln -s pyro/C920_ros .
cd ../plugins/src/plugins
rm -rf motor; ln -s  ~/git/btr2023/bordeaux2023/gazebo/btr/plugins/src/plugins/motor .
rm -rf odometry; ln -s  ~/git/btr2023/bordeaux2023/gazebo/btr/plugins/src/plugins/odometry .
cd ../../../worlds/carologistics
ln -s ~/git/btr2023/bordeaux2023/gazebo/btr/world/llsf_btr.world .
echo "export GAZEBO_WORLD_PATH=$GAZEBO_RCLL/worlds/carologistics/llsf_btr.world" >> ~.bashrc
echo "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$GAZEBO_RCLL/models/bbi" >> ~.bashrc
source ~/.bashrc
cd ~/gazebo-rcll
cmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo
cmake --build build

ResetOdometry.h 等が見つからないってエラーが出た場合は，
/git/btr2023/bordeaux2023/gazebo/btr/plugins/src/plugins/odometry
のディレクトリ内のシンボリックリンクを見直してください．
おそらく，ユーザ名に依存する部分（/home/ryukokuなど）が異なっている状態かと思います．
シンボリックリンクを張り直してください．

cd ~/git/btr2023/bordeaux2023/gazebo/btr/plugins/src/plugins/odometry
rm ResetOdometry.h
rm ResetOdometryRequest.h 
rm ResetOdometryResponse.h 
ln -s ~/catkin_ws/devel/include/robotino_msgs/ResetOdometry*.h .
# ResetOdometry.h から上の二つのヘッダファイルを読み込んでいますが、
# includeをダブルクォーテーションのファイル名に修正しないといけないハズ。

で，完了のはず．
/scan が出ないのは，以下のパッケージが抜けていたからかなぁ．

sudo apt-get install ros-noetic-gazebo-plugins libignition-sensors3-lidar

実行方法は以下です．

cd ~/git/btr2023/bordeaux2023/scripts
./startRCLL.bash gazebo