{"id":300,"date":"2016-03-14T22:58:31","date_gmt":"2016-03-14T13:58:31","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?page_id=300"},"modified":"2022-05-18T18:00:15","modified_gmt":"2022-05-18T09:00:15","slug":"fawkes-robotino-%e3%81%ae%e4%bd%bf%e3%81%84%e6%96%b9","status":"publish","type":"page","link":"https:\/\/www.kdel.org\/wp\/?page_id=300","title":{"rendered":"Fawkes-Robotino \u306e\u4f7f\u3044\u65b9"},"content":{"rendered":"<p><s><a href=\"https:\/\/www.fawkesrobotics.org\/projects\/rcll2015-release\/\">RoboCup Logistics League 2015\u5e74\u512a\u52dd\u30c1\u30fc\u30e0\u306eCarologistics\u306e\u30d7\u30ed\u30b0\u30e9\u30e0<\/a><\/s><br \/>\n   <a href=\"https:\/\/www.fawkesrobotics.org\/projects\/rcll2016-release\/\">RoboCup Logistics League 2016\u5e74\u512a\u52dd\u30c1\u30fc\u30e0\u306eCarologistics\u306e\u30d7\u30ed\u30b0\u30e9\u30e0<\/a><br \/>\n\u306e\u4f7f\u3044\u65b9<\/p>\n<ul>\n<li><a href=\"https:\/\/www.kdel.org\/wp\/?p=536\">Fawkes on Robotino \u3092\u52d5\u304b\u3057\u3066\u307f\u308b<\/a><\/li>\n<\/ul>\n<p>2016\u5e74\u7248\u306e\u5909\u66f4\u70b9\u306f\uff0c\u4ee5\u4e0b\u3092\u53c2\u7167\uff0e<\/p>\n<ul>\n<li><a href=\"https:\/\/www.kdel.org\/wp\/?p=614\">Fawkes-robotino 2017\u306b\u5411\u3051\u3066<\/a><\/li>\n<li><a href=\"https:\/\/www.kdel.org\/wp\/?p=622\">fawkes-robotino.2016\u306e\u4f7f\u3044\u65b9<\/a><\/li>\n<li><a href=\"https:\/\/www.kdel.org\/wp\/?p=630\">fawkes-robotino.2016\u306eRefBox\u306e\u8a2d\u5b9a<\/a><\/li>\n<\/ul>\n<p>\u898b\u3064\u3051\u305f\u9806\u306b\u66f8\u3044\u3066\u3044\u304d\u307e\u3059\uff0e\u307e\u3068\u3081\u308b\u306e\u306f\u5f8c\u56de\u3057\uff0e<\/p>\n<ul>\n<li>\u8d77\u52d5\u306f\uff0cfawkes-robotino\/bin\/gazsim.bash\u3092\u5229\u7528\uff08<a href=\"https:\/\/www.kdel.org\/wp\/?p=285\">gazsim.bash\u8ffd\u3044\u304b\u3051\u4e2d<\/a>\u3088\u308a\uff09\n<ul>\n<li>\u5f15\u6570\u3068\u3057\u3066\uff0c-x start -a -r -n 1\u304c\u304a\u52e7\u3081\n<ul>\n<li>-x start: gazebo\u306e\u8d77\u52d5<\/li>\n<li>-a      : \u6a19\u6e96\u306eCLIPS-agent \u3092\u5229\u7528<\/li>\n<li>-r      : ROS\u306e\u8d77\u52d5<\/li>\n<li>-n 1    : \u30ed\u30dc\u30c3\u30c8\uff08robotino\uff09\u306e\u6570<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>\u30b9\u30ad\u30eb\u306e\u72b6\u614b\u9077\u79fb\u3092fawkes-robotino\/bin\/skillgui \u306b\u3066\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e<\/li>\n<li>\u7d4c\u8def\u8a2d\u5b9a\u306e\u72b6\u614b\u3092rosrun rviz rviz\u306b\u3066\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e\n<ul>\n<li>add\u3067MarkerArray\u3092\u8ffd\u52a0\u3057\u307e\u3057\u3087\u3046\uff0e<\/li>\n<\/ul>\n<\/li>\n<li>\u30ef\u30fc\u30eb\u30c9\u30de\u30c3\u30d7\u306e\u5909\u66f4\n<ul>\n<li>\u30de\u30c3\u30d7\u306epng \u30d5\u30a1\u30a4\u30eb\u3092 ~\/fawkes-robotino\/cfg\/maps\/ \u306b\u8a2d\u7f6e<\/li>\n<li>~\/fawkes-fobotino\/cfg\/conf.d\/amcl.yaml \u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u5185\u306emap_file: \u306e\u9805\u76ee\u3092\u8a2d\u7f6e\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u540d\u306b\u5909\u66f4\uff08\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306fcfg\u304b\u3089\u898b\u305f\u76f8\u5bfe\u30d1\u30b9\uff09<\/li>\n<li>~\/fawkes-robotino\/cfg\/gazsim-configurations\/gazsim-config-override.yaml \u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u5185\u306emap_file: \u306e\u9805\u76ee\u3092\u8a2d\u7f6e\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u540d\u306b\u5909\u66f4\uff08\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306fcfg\u304b\u3089\u898b\u305f\u76f8\u5bfe\u30d1\u30b9\uff09<\/li>\n<li>map\u7528\u306epng \u30d5\u30a1\u30a4\u30eb\u306f\uff0cgimp \u3067\u7de8\u96c6\u3057\u307e\u3057\u3087\u3046\uff0e<\/li>\n<\/ul>\n<\/li>\n<li>\u30ed\u30dc\u30c3\u30c8\u306e\u632f\u308b\u821e\u3044(Clips)\n<ul>\n<li>\u307e\u305a\u306f\uff0c<a href=\"https:\/\/ja.wikipedia.org\/wiki\/LISP\" target=\"_\" rel=\"noopener\">Wikipedia<\/a>\u306b\u3066LISP\u3092\u52c9\u5f37\u3057\u307e\u3057\u3087\u3046\uff0e<\/li>\n<li>\u4e00\u756a\u7c21\u5358\u306a\u306e\u304c\uff0cTechnical Challenge\u3067\u7528\u3044\u305fWhack-a-mole\uff08\u3082\u3050\u3089\u305f\u305f\u304d\uff09\u3067\u3059\u306e\u3067\uff0c\u305d\u306e\u30bd\u30fc\u30b9\u3092\u8aad\u307f\u307e\u3057\u3087\u3046\uff0e<\/li>\n<li>~\/fawkes-robotino\/src\/agents\/whack-a-mole \u306b3\u3064\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u306e\u3067\uff0c\u305d\u3053\u3092\u52c9\u5f37\u3059\u308c\u3070\uff0cLISP\u306e\u7406\u89e3\u306b\u3064\u306a\u304c\u308a\u307e\u3059\uff0e<\/li>\n<li>\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u5207\u308a\u66ff\u3048\u306f\uff0c~\/fawkes-robotino\/cfg\/conf.d\/clips-agent.yaml \u3067\u884c\u3063\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\uff08\u73fe\u5728\u306f\uff0cllsf2015\/llsf2015\uff09\uff0e<\/li>\n<\/ul>\n<\/li>\n<li>\u7d4c\u8def\u8a2d\u5b9a\n<ul>\n<li>NavGraph: \u5730\u56f3\u306b\u57fa\u3065\u3044\u305f\u7d4c\u8def\u8a2d\u5b9a:Global Planner<\/li>\n<li>Colli   : \u30bb\u30f3\u30b5\u306b\u57fa\u3065\u3044\u305f\u7d4c\u8def\u8a2d\u5b9a:Local Planner<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>\u30c8\u30e9\u30d6\u30eb\u30b7\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0\n<ul>\n<li>tf2\u306e\u30a8\u30e9\u30fc\u304c\u51fa\u3066\uff0cGazebo \u4e0a\u3067\u30ed\u30dc\u30c3\u30c8\u3068\u3064\u306a\u304c\u3089\u306a\u304f\u306a\u3063\u305f\u3089\uff0ccfg\/conf.d\/ros.yaml \u306eros::tf::use_tf2 \u306e\u5024\u3092true \u304b\u3089false \u3078\u5909\u66f4\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff0e\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">FawkesMainThread &#x5B;EXCEPTION]: tf2 enabled in config but not abailable at compile time<\/pre>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>RoboCup Logistics League 2015\u5e74\u512a\u52dd\u30c1\u30fc\u30e0\u306eCaro &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?page_id=300\"> <span class=\"screen-reader-text\">Fawkes-Robotino \u306e\u4f7f\u3044\u65b9<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":1163,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_crdt_document":"","footnotes":""},"class_list":["post-300","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/pages\/300","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=300"}],"version-history":[{"count":12,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/pages\/300\/revisions"}],"predecessor-version":[{"id":2942,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/pages\/300\/revisions\/2942"}],"up":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/pages\/1163"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=300"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}