{"id":1261,"date":"2018-11-20T16:08:23","date_gmt":"2018-11-20T07:08:23","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=1261"},"modified":"2019-06-21T20:07:11","modified_gmt":"2019-06-21T11:07:11","slug":"%e3%82%82%e3%81%84%e3%81%a1%e3%81%a9fawkes-robotino-%e3%82%92%e4%bd%bf%e3%81%a3%e3%81%a6%e3%81%bf%e3%82%8b","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=1261","title":{"rendered":"\u3082\u3044\u3061\u3069Fawkes-robotino \u3092\u4f7f\u3063\u3066\u307f\u308b"},"content":{"rendered":"<p>\u5fc3\u6a5f\u4e00\u8ee2\uff0cRoboCup 2019\u306b\u5411\u3051\u3066 <a href=\"https:\/\/www.fawkesrobotics.org\/projects\/rcll2016-release\/\">fawkes-robotino-2016-2.tar.bz2<\/a>\u3092\u5165\u308c\u76f4\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n<p>\u4e0a\u8a18\u30ea\u30f3\u30af\u304b\u3089fawkes-robotino-2016-2.tar.bz2 \u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u5c55\u958b\u3057\u3066\u30b3\u30f3\u30d1\u30a4\u30eb\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nwget https:\/\/files.fawkesrobotics.org\/releases\/fawkes-robotino-2016-2.tar.bz2\r\nbunzip2 fawkes-robotino-2016-2.tar.bz2\r\ntar xvf fawkes-robotino-2016-2.tar \r\ncd fawkes-robotino\r\nmake all gui -j8\r\n<\/pre>\n<hr>\n<h5>Robotino \u5074<\/h5>\n<ul>\n<li>USB \u5468\u308a\u306e\u78ba\u8a8d<\/li>\n<ul>\n<li>\u30b8\u30e3\u30a4\u30ed\uff08xg1010\uff09    => \/dev\/ttyUSB0 : cfg\/conf.d\/imu.yaml<br \/>\u203b\u6163\u6027\u8a08\u6e2c\u88c5\u7f6e\uff08\u82f1\u8a9e: inertial measurement unit\uff0c\u7565\u79f0\uff1aIMU\uff09\u3060\u305d\u3046\u3067\u3059\uff0e<\/li>\n<li>\u30b0\u30ea\u30c3\u30d1\u30fc\uff08ax12\uff09    => \/dev\/ttyUSB0 : cfg\/conf.d\/ax12gripper<\/li>\n<li>\u30ec\u30fc\u30b6\u30fc\u30ec\u30f3\u30b8\uff08urg\uff09 => \/dev\/ttyACM0 : cfg\/conf.d\/laser.yaml<\/li>\n<li>\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\uff08XBox360\uff09  => \/dev\/input\/js0 : cfg\/conf.d\/joystick.yaml\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo chmod 777 \/dev\/input\/js0<\/pre>\n<\/li>\n<\/ul>\n<li>cfg\/conf.d\/robotino.yaml \u306e\u8a2d\u5b9a\uff0e<\/li>\n<ul>\n<li>driver: direct => driver: openrobotino<\/li>\n<\/ul>\n<li>cfg\/laser.yaml \u306e\u8a2d\u5b9a\uff0e<\/li>\n<ul>\n<li>urg: active: false => active: true<\/li>\n<li>tim55x: active: true => active: false<\/li>\n<\/ul>\n<li>cfg\/laser-filter.yaml \u306e\u8a2d\u5b9a\uff0e<\/li>\n<ul>\n<li>robot: in\/sick-tim55x: Laser360Interface::Laser tim55x 360 => in\/urg: Laser360Interface::Laser urg<\/li>\n<li><s>robot-1080: in\/sick-tim55x: Laser360Interface::Laser tim55x 360 => in\/urg: Laser360Interface::Laser urg<\/s><\/li>\n<li>robot-1080: active: true => active: false <\/li>\n<\/ul>\n<li>cfg\/laser-line.yaml \u306e\u8a2d\u5b9a\uff0e<\/li>\n<ul>\n<li>laser-lines: input_cloud: filtered-1080 => input_cloud: urg-filtered<\/li>\n<\/ul>\n<li>cfg\/config.yaml \u306e\u8a2d\u5b9a\uff0e<\/li>\n<ul>\n<li>mainapp: desired_loop_time: 66333 => desired_loop_time: 0<\/li>\n<li>mainapp: max_thread_time: 133333 => max_thread_time: 0<\/li>\n<\/ul>\n<\/ul>\n<ul>\n<li>\u5b9f\u884c\u306f\uff0c<s>m-base-bare<\/s> m-base-full \u306e\u30e1\u30bf\u30bf\u30b0\u3092\u4f7f\u3046\u306f\u305a\u3067\u3059\u304c\uff0c\u5468\u8fba\u6a5f\u5668\u306e\u9055\u3044\u304c\u3042\u308a\u307e\u3059\u306e\u3067\u30e1\u30bf\u30bf\u30b0\u3092\u4f5c\u308a\u307e\u3059\uff0e<\/li>\n<ul>\n<li>m-base-wataru: m-base-bare, m-base-laser,m-base-ros,colli,amcl,m-base-joy,laser-front_dist : cfg\/conf.d\/meta_plugins.yaml <\/li>\n<\/ul>\n<\/ul>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">cd ~\/fawkes-robotino\/bin\/\r\n.\/fawkes -p m-base-wataru\r\n<\/pre>\n<hr>\n<h5>lasptop \u5074<\/h5>\n<ul>\n<li>USB \u5468\u308a\u306e\u78ba\u8a8d<\/li>\n<ul>\n<li>\u30ab\u30e1\u30e9\uff08\u30b7\u30b0\u30ca\u30eb\u8a8d\u8b58\u7528\uff09 => \/dev\/video_signal : cfg\/conf.d\/machine-signal\n<ul>\n<li>camera: v4l2:signal:device=\/dev\/video_signal:\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo ln -s \/dev\/video0 \/dev\/video_signal\r\nsudo chmod 777 \/dev\/video*<\/pre>\n<\/li>\n<\/ul>\n<\/ul>\n<li>fawkes \u306e\u30bd\u30fc\u30b9\u306e\u4fee\u6b63<\/li>\n<ul>\n<li>src\/plugins\/machine-signal<\/li>\n<ul>\n<li>sensor_thread.cpp:70 open_gate \u306e\u5909\u6570\u304c\u672a\u4f7f\u7528\u306a\u306e\u3067\uff0c\u5b9a\u7fa9\u90e8\u5206\uff0870\u884c\u76ee\uff09\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8<\/li>\n<\/ul>\n<\/ul>\n<\/ul>\n<\/ul>\n<ul>\n<li>\u30ab\u30e1\u30e9\u95a2\u4fc2\uff0c\u306a\u3093\u304b\u3046\u307e\u304f\u884c\u304b\u306a\u3044\u306e\u3067\uff0c\u30e1\u30bf\u30bf\u30b0\u304b\u3089\u53d6\u3063\u3061\u3083\u3044\u307e\u3057\u305f\uff0e<\/li>\n<ul>\n<li><s>m-wataru: ros,m-bare,m-clips-agent    : cfg\/conf.d\/meta_plugins.yaml <\/s> \u2190 \u6d88\u3057\u3059\u304e\u3066\u3044\u307e\u3057\u305f\u2026<\/li>\n<li>m-wataru: ros,m-bare,ros-pcl,navgraph,navgraph-generator,navgraph-generator-mps,mps-laser-gen,skiller,clips,clips-agent,clips-motor-switch,clips-navgraph,clips-protobuf,clips-ros,clips-tf<\/li>\n<\/ul>\n<\/ul>\n<p>\u203bmps-laer-gen \u306e\u5b9f\u884c\u6642\u306e\u30a8\u30e9\u30fc\u306f\uff0c<a href=\"https:\/\/www.kdel.org\/wp\/?p=1286\">mps-laser-gen \u306e\u5b9f\u884c\u6642\u30a8\u30e9\u30fc<\/a>\u3092\u53c2\u7167\u3057\u3066\u4e0b\u3055\u3044\uff0e<br \/>\n\u203b\u5834\u5408\u306b\u3088\u3063\u3066\u306f\uff0cprotobuf \u5468\u308a\u3092\u66f4\u65b0\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\uff0crefbox\u306emsgs\u3092\u30b3\u30d4\u30fc\u3057\u3066\u304d\u3066\uff0cmake\u3057\u76f4\u3059\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e<\/p>\n<p>\u5b9f\u884c\u306f\uff0cm-full \u306e\u30e1\u30bf\u30bf\u30b0\u3092\u4f7f\u3044\u307e\u3059\uff0e\u305d\u306e\u524d\u306b\uff0c\u5171\u6709\u30e1\u30e2\u30ea\u306e\u6383\u9664\u3092\u3057\u3066\u304a\u304f\u3079\u304d\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo rm \/dev\/shm\/*fawkes*\r\ncd ~\/fawkes-robotino\/bin\/\r\n.\/fawkes -p m-wataru     # \u672c\u5f53\u306f\uff0cm-base-bare\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\u5fc3\u6a5f\u4e00\u8ee2\uff0cRoboCup 2019\u306b\u5411\u3051\u3066 fawkes-robotino-20 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=1261\"> <span class=\"screen-reader-text\">\u3082\u3044\u3061\u3069Fawkes-robotino \u3092\u4f7f\u3063\u3066\u307f\u308b<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[10,3,2,9,16],"tags":[],"class_list":["post-1261","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-robotino-3","category-16"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1261","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"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=1261"}],"version-history":[{"count":21,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1261\/revisions"}],"predecessor-version":[{"id":1681,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1261\/revisions\/1681"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1261"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1261"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1261"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}