{"id":1329,"date":"2019-01-09T09:59:33","date_gmt":"2019-01-09T00:59:33","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=1329"},"modified":"2019-01-09T10:00:08","modified_gmt":"2019-01-09T01:00:08","slug":"fawkes-robotino-%e3%81%ae%e8%a8%ad%e5%ae%9a%e5%a4%89%e6%9b%b4","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=1329","title":{"rendered":"Fawkes-robotino \u306e\u8a2d\u5b9a\u5909\u66f4"},"content":{"rendered":"\n\u7814\u7a76\u5ba4\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u3092\u6301\u3063\u3066\u3044\u308b\u4eba\u306f\uff0cRCLL2018\u3078\u306e\u5909\u66f4\u70b9<\/a>\u3092\u53c2\u7167\u3057\u3066\u4e0b\u3055\u3044\uff0e\n\n
Index: \/fawkes-robotino\/cfg\/conf.d\/amcl.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -8,6 +8,8 @@\n   # If path starts with slash (\/) it's considered to be absolute,\n   # otherwise relative to the config directory\n-  map_file: maps\/halle.png\n+  #map_file: maps\/halle.png\n   # Resolution of the map; meters per pixel\n+  # -------- RCLL 2017 --------\n+  map_file: maps\/rcll-2017-map.png\n   resolution: 0.05\n \n@@ -17,7 +19,11 @@\n   # There is a wall of one grid cell thickness around the map, therefore\n   # set the origin to (-0.05, -0.05)\n-  origin_x: 0.0\n-  origin_y: 0.0\n-  origin_theta: 0.0\n+  # origin_x: 0.0\n+  # origin_y: 0.0\n+  # origin_theta: 0.0\n+  origin_x: -9.5  #\/\/ setting of version RCLL 2017\n+  origin_y: -2.0  #\/\/ setting of version RCLL 2017\n+  origin_theta: 0 \n+\n \n   # Pixels with occupancy probability greater than this threshold are\n@@ -29,10 +35,11 @@\n   # considered completely free\n   free_threshold: 0.2\n-  \n+\n   # Laser Minimum Range, beams shorter than this are ignored\n   laser_min_range: 0.05\n \n   # Laser Maximum Range, beams longer than this are ignored\n-  laser_max_range: 15.0\n+  # laser_max_range: 15.0\n+  laser_max_range: 5.0\n \n   # Maximum number of beams to consider\n@@ -111,6 +118,10 @@\n \n   # Initial pose (x, y, yaw)\n+  #init_pose_x: 4.5\n+  #init_pose_y: -0.5\n+  # init_pose_a: 1.57\n+  # ----- Initial pose RCLL 2017 -----\n   init_pose_x: 4.5\n-  init_pose_y: -0.5\n+  init_pose_y: 0.5\n   init_pose_a: 1.57\n \n@@ -147,6 +158,9 @@\n     # If path starts with slash (\/) it's considered to be absolute,\n     # otherwise relative to the config directory\n-    map_file: maps\/halle-wall.png\n+    # map_file: maps\/halle-wall.png\n     # Resolution of the map; meters per pixel\n+    # resolution: 0.05\n+    # -------- RCLL 2017 --------\n+    map_file: maps\/rcll-2017-wall.png\n     resolution: 0.05\n \n@@ -156,7 +170,10 @@\n     # There is a wall of one grid cell thickness around the map, therefore\n     # set the origin to (-0.05, -0.05)\n-    origin_x: 0.0\n-    origin_y: 0.0\n-    origin_theta: 0.0\n+    # origin_x: 0.0\n+    # origin_y: 0.0\n+    # rigin_theta: 0.0\n+    origin_x: -9.5  #\/\/ setting of version RCLL 2017\n+    origin_y: -2.0  #\/\/ setting of version RCLL 2017\n+    origin_theta: 0\n \n     # Pixels with occupancy probability greater than this threshold are<\/pre>\n
\nIndex: fawkes-robotino\/cfg\/conf.d\/clips-agent.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2260\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -43,5 +43,6 @@\n   # Note that this release does not include the production phase code for 2016\n   # for the rcll2016 domain model and agent specification\n-  agent: rcll2016\/rcll2016\n+  # agent: rcll2016\/rcll2016\n+  agent: rcll2018\/btr2018\n   # To use the 2015 agent, which does include the old production phase code,\n   # uncomment the following line. The config values are in clips-agent-2015.yaml.\n@@ -49,5 +50,5 @@\n \n  \n-  rcll2016:\n+  rcll2018:\n     #agent-role defined in host.yaml (this is only the default!)\n     agent-role: nothing\n@@ -130,7 +131,11 @@\n       row: MID\n       \n-      row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]\n-      row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]\n-      row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]\n+      # row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]\n+      # row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]\n+      # row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]\n+      row-high: ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18", "C_Z77"]\n+      row-mid:  ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18","C_Z77"]\n+      row-low:  ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18","C_Z77"]\n+\n \n       #the time in seconds to report all machines even if we are not prepared for production\n<\/pre>\n
\nIndex: fawkes-robotino\/cfg\/conf.d\/dynamixel.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -59,5 +59,5 @@\n     # Either set the desired servo IDs that should be found in the servo chain\n     # or leave this field empty (servos: []) to discover all available servos\n-    servos: [1, 2]\n+    servos: []\n \n     # Autorecover of servos which disable their torque (by setting torque limit to 0)\n@@ -66,4 +66,11 @@\n     # autorecover_flags is used to specify to recover only on certian errors. This can for example be 0x20 (32)\n     # to recover on overload shutdown. To recover on all errors set autorecover_flags to 127 (7 bits per error)\n-    autorecover_enabled: false\n+    autorecover_enabled: true\n     autorecover_flags: 127\n+\n+    # set return_level\n+    # 0: SRL_RESPONDE_NONE\n+    # 1: SRL_RESPOND_READ\n+    # 2: SRL_RESPOND_ALL\n+    return_level: 1\n+\n<\/pre>\n
Index: fawkes-robotino\/cfg\/conf.d\/gazsim.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -135,6 +135,6 @@\n \n   llsf-control:\n-    team-cyan-name: "Carologistics"\n-    team-magenta-name: "Carologistics-2"\n+    team-cyan-name: "BabyTigers"\n+    team-magenta-name: "Carologistics"\n     start-game-automatically: true\n     time-to-wait-before-set-team: 5.0\n<\/pre>\n
Index: fawkes-robotino\/cfg\/conf.d\/laser-filter.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -9,6 +9,6 @@\n \n     # URG input interface\n-    #in\/urg: Laser360Interface::Laser urg\n-    in\/sick-tim55x: Laser360Interface::Laser tim55x 360\n+    in\/urg: Laser360Interface::Laser urg\n+    #in\/sick-tim55x: Laser360Interface::Laser tim55x 360\n \n     # URG filtered output interface\n@@ -32,9 +32,9 @@\n \n   robot-1080:\n-    active: true\n+    active: false\n \n     # URG input interface\n     #in\/urg: Laser360Interface::Laser urg\n-    in\/sick-tim55x: Laser1080Interface::Laser tim55x\n+    # in\/sick-tim55x: Laser1080Interface::Laser tim55x\n \n     # URG filtered output interface\n@@ -87,9 +87,9 @@\n \n   sick-downsample:\n-    active: true\n+    active: false\n \n     # URG input interface\n-    #in\/urg: Laser360Interface::Laser urg\n-    in\/sick-tim55x: Laser1080Interface::Laser tim55x\n+    in\/urg: Laser360Interface::Laser urg\n+    #in\/sick-tim55x: Laser1080Interface::Laser tim55x\n \n     # URG filtered output interface\n<\/pre>\n
Index: fawkes-robotino\/cfg\/conf.d\/laser.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -9,5 +9,5 @@\n   urg:\n     # Enable this configuration?\n-    active: false\n+    active: true\n \n     # Configuration is for Hokuyo URG laser range finder using URG library\n@@ -21,5 +21,5 @@\n   tim55x:\n     # Enable this configuration?\n-    active: true\n+    active: false\n \n     # Configuration is for Sick TiM55x over USB<\/pre>\n
Index: fawkes-robotino\/cfg\/conf.d\/navgraph-clusters.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -12,5 +12,5 @@\n   # If a cluster centroid is as close or closer than this threshold\n   # to an edge that very edge will be marked as blocke.\n-  close-threshold: 0.5\n+  close-threshold: 0.9\n \n   # Minimum visibility history value a cluster must have before it is\n<\/pre>\n
Index: fawkes-robotino\/cfg\/conf.d\/navgraph-generator.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -67,3 +67,3 @@\n   # provide an exploration graph for when there are no recognized\n   # machines, yet.\n-  base-graph: navgraph-basis.yaml\n+  base-graph: navgraph-basis-2018.yaml\n<\/pre>\n
Index: fawkes-robotino\/cfg\/conf.d\/navgraph.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -16,5 +16,5 @@\n \n   # Graph file to use for path planning\n-  graph_file: navgraph-basis.yaml\n+  graph_file: navgraph-basis-2018.yaml\n  \n   # Interval in which the resend the goto command; sec\n<\/pre>\n
Index: fawkes-robotino\/cfg\/maps\/llsf-map.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -2,5 +3,7 @@\n-image: llsf-map-2015.png\n+#image: llsf-map-2015.png\n+image: rcll2018-map.png \n resolution: 0.05\n-origin: [-7.0, -1.0, 0.0]\n+# origin: [-7.0, -1.0, 0.0]\n+origin: [0, 1.0, 0]\n occupied_thresh: 0.65\n free_thresh: 0.196\n<\/pre>\n
Index: fawkes-robotino\/cfg\/navgraph-basis.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -54,10 +54,10 @@\n   - !unconnected\n     name: C-ins-out\n-    pos: [3.3, -0.55]\n+    pos: [4.3, 0.55]\n     properties:\n       - always-copy: true\n   - !unconnected\n     name: C-ins-in\n-    pos: [3.3, 0.75]\n+    pos: [4.3, 0.75]\n     properties:\n       - always-copy: true\n@@ -65,10 +65,10 @@\n   - !unconnected\n     name: M-ins-out\n-    pos: [-3.3, -0.55]\n+    pos: [-4.3, 0.55]\n     properties:\n       - always-copy: true\n   - !unconnected\n     name: M-ins-in\n-    pos: [-3.3, 0.75]\n+    pos: [-4.3, 0.75]\n     properties:\n       - always-copy: true\n<\/pre>\n
Index: fawkes-robotino\/etc\/scripts\/gazsim.bash\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -36,4 +36,14 @@\n    -v                Run Fawkes in valgrind\n    -t                Skip Exploration and add all navgraph points\n+   --team-cyan       Set cyan team name\n+   --team-magenta                Set magenta team name\n+   --start-game      Automatically run game after initialization\n+                     (if used with -t go into PRODUCTION phase,\n+                      otherwise the phase will be EXPLORATION,\n+                      optionally, "--start-game=PHASE" may be given\n+                      to set the phase explicitly)\n+                     Typically requires at least --team-cyan.\n+   --rviz            Start Rviz\n+   --mps             Load the plugin of gazsim-navgraph-generator\n EOF\n }\n@@ -64,6 +74,11 @@\n SKIP_EXPLORATION=\n FAWKES_USED=false\n-\n-OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:" -- "$@")\n+START_GAME=\n+TEAM_CYAN=\n+TEAM_MAGENTA=\n+RVIZ=false\n+MPS=false\n+\n+OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:,start-game::,team-cyan:,team-magenta:,rviz,mps" -- "$@")\n if [ $? != 0 ]\n then\n@@ -155,4 +170,21 @@\n              ROS_LAUNCH_ROBOT="--ros-launch $OPTARG"\n              ;;\n+         --team-cyan)\n+             TEAM_CYAN="$OPTARG"\n+             ;;\n+         --team-magenta)\n+             TEAM_MAGENTA="$OPTARG"\n+             ;;\n+         --start-game)\n+                         if [ -n "$OPTARG" ]; then\n+                                         START_GAME="$OPTARG"\n+                         else\n+                                         if [ -n "$SKIP_EXPLORATION" ]; then\n+                                                         START_GAME="PRODUCTION"\n+                                         else\n+                                                         START_GAME="EXPLORATION"\n+                                         fi\n+                         fi\n+             ;;\n          -f)\n              FIRST_ROBOTINO_NUMBER=$OPTARG\n@@ -163,4 +195,10 @@\n          -p)\n              FAWKES_BIN=$OPTARG\/bin\n+             ;;\n+         --rviz)\n+             RVIZ=true\n+             ;;\n+         --mps)\n+             MPS=true\n              ;;\n          --) break;\n@@ -201,4 +239,5 @@\n     killall llsf-refbox\n     killall llsf-refbox-shell\n+    killall rviz\n     exit 0\n fi\n@@ -218,5 +257,5 @@\n \n     # delete old shm files. Only do this for the simulation, not on live bot.\n-    rm \/dev\/shm\/*fawkes*\n+    rm \/dev\/shm\/*fawkes* 2&gt;&amp;1 &gt;\/dev\/null\n \n     #construct command to open everything in one terminal window with multiple tabs instead of 10.000 windows\n@@ -274,4 +313,15 @@\n     fi\n \n+    if $RVIZ\n+    then\n+#        OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \\"$startup_script_location -x rviz $KEEP\\"'"\n+        OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \\"export TAB_START_TIME=$(date +%s); $script_path\/wait-at-first-start.bash 7; $startup_script_location -x rviz $KEEP\\"'"\n+    fi \n+\n+    if $MPS\n+    then\n+        OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \\"echo please enter to load the gazsim-navgraph-generator plugin; read a; wget http:\/\/localhost:8081\/plugins\/load\/gazsim-navgraph-generator -q; rm gazsim-navgraph-generator*\\"'"\n+    fi\n+\n     # open windows\n     #echo $OPEN_COMMAND\n@@ -289,4 +339,12 @@\n     fi\n \n+                if [ -n "$START_GAME" ]; then\n+                                if [ ! -x $LLSF_REFBOX_DIR\/bin\/rcll-refbox-instruct ]; then\n+                                                echo "rcll-refbox-instruct not found, not built or old version?"\n+                                else\n+                                                echo "Starting game (Phase: $START_GAME ${TEAM_CYAN:+Cyan: ${TEAM_CYAN}}${TEAM_MAGENTA:+ Magenta: ${TEAM_MAGENTA}})"\n+                                                $LLSF_REFBOX_DIR\/bin\/rcll-refbox-instruct -p $START_GAME -s RUNNING ${TEAM_CYAN:+-c ${TEAM_CYAN}}${TEAM_MAGENTA:+-m ${TEAM_MAGENTA}}\n+                                fi\n+                fi\n \n     else\n<\/pre>\n
Index: fawkes-robotino\/fawkes\/cfg\/conf.d\/dynamixel.yaml\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -10,5 +10,5 @@\n   example:\n     active: true\n-    device: \/dev\/ttyUSB0\n+    device: \/dev\/usb2ax\n \n     read_timeout_ms: 30\n@@ -69,2 +69,7 @@\n     autorecover_flags: 127\n \n+    # set return_level\n+    # 0: SRL_RESPONDE_NONE\n+    # 1: SRL_RESPOND_READ\n+    # 2: SRL_RESPOND_ALL\n+    return_level: 1\n<\/pre>\n
Index: fawkes-robotino\/fawkes\/src\/libs\/protobuf_clips\/communicator.cpp\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -329,6 +329,6 @@\n   } catch (std::runtime_error &amp;e) {\n     if (logger_) {\n-      logger_-&gt;log_warn("CLIPS-Protobuf", "Cannot create message of type %s: %s",\n-                        full_name.c_str(), e.what());\n+ \/\/     logger_-&gt;log_warn("CLIPS-Protobuf", "Cannot create message of type %s: %s",\n+ \/\/                     full_name.c_str(), e.what());\n     }\n     return CLIPS::Value(new std::shared_ptr&lt;google::protobuf::Message&gt;());\n<\/pre>\n
Index: fawkes-robotino\/fawkes\/src\/plugins\/clips-ros\/Makefile\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -38,4 +38,8 @@\n   LDFLAGS += $(LDFLAGS_ROS) $(LDFLAGS_CLIPS) $(call ros-pkg-lflags,xmlrpcpp) \\\n              $(call boost-libs-ldflags,$(REQ_BOOST_LIBS))\n+\n+  ifeq ($(call ros-pkg-version-atleast,xmlrpcpp,1.12.7),1)\n+    CFLAGS += -DHAVE_NEW_ROS_XMLRPCPP_PATH\n+  endif\n \n   PLUGINS_all = $(PLUGINDIR)\/clips-ros.$(SOEXT)\n<\/pre>\n
Index: fawkes-robotino\/fawkes\/src\/plugins\/clips-ros\/clips_ros_thread.cpp\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -27,5 +27,9 @@\n #include &lt;ros\/network.h&gt;\n #include &lt;ros\/xmlrpc_manager.h&gt;\n-#include &lt;XmlRpc.h&gt;\n+#ifdef HAVE_NEW_ROS_XMLRPCPP_PATH\n+#  include &lt;xmlrpcpp\/XmlRpc.h&gt;\n+#else\n+#  include &lt;XmlRpc.h&gt;\n+#endif\n \n #include &lt;tuple&gt;\n<\/pre>\n
Index: fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.cpp\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -86,4 +86,5 @@\n   cfg_max_voltage_                      = config-&gt;get_float((cfg_prefix_ + "max_voltage").c_str());\n   cfg_servos_to_discover_               = config-&gt;get_uints((cfg_prefix_ + "servos").c_str());\n+  cfg_return_level_                     = config-&gt;get_uint((cfg_prefix_ + "return_level").c_str());\n \n   chain_ = new DynamixelChain(cfg_device_.c_str(), cfg_read_timeout_ms_, cfg_enable_echo_fix_, cfg_enable_connection_stability_, cfg_min_voltage_, cfg_max_voltage_);\n@@ -145,6 +146,14 @@\n   }\n \n+  unsigned char cfg_return_levels_[] = {DynamixelChain::SRL_RESPOND_NONE, \n+                                        DynamixelChain::SRL_RESPOND_READ,\n+                                        DynamixelChain::SRL_RESPOND_ALL};\n+\n+  \/* \n   \/\/ We only want responses to be sent on explicit READ to speed up communication\n   chain_-&gt;set_status_return_level(DynamixelChain::BROADCAST_ID, DynamixelChain::SRL_RESPOND_READ);\n+  *\/\n+  chain_-&gt;set_status_return_level(DynamixelChain::BROADCAST_ID, cfg_return_levels_[cfg_return_level_]);\n+\n   \/\/ set compliance values\n   chain_-&gt;set_compliance_values(DynamixelChain::BROADCAST_ID,\n@@ -862,6 +871,6 @@\n \n   if ( (pos &lt; 0) || ((unsigned int)pos &lt; pos_min) || ((unsigned int)pos &gt; pos_max) ) {\n-    logger-&gt;log_warn(name(), "Position out of bounds, min: %u  max: %u  des: %i",\n-                     pos_min, pos_max, pos);\n+    logger-&gt;log_warn(name(), "Position out of bounds (id %d), min: %u  max: %u  des: %i",\n+                     servo_id, pos_min, pos_max, pos);\n     return;\n   }\n<\/pre>\n
Index: fawkes-robotino\/fawkes\/src\/plugins\/robotino\/openrobotino_com_thread.cpp\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -277,5 +277,5 @@\n #ifdef HAVE_OPENROBOTINO_API_2\n         com_-&gt;processComEvents();\n-\n+        update_velocities();\n         double odo_x = 0, odo_y = 0, odo_phi = 0;\n         unsigned int odo_seq = 0;\n<\/pre>\n
Index: fawkes-robotino\/src\/libs\/llsf_msgs\/Makefile\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2253\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -22,4 +22,6 @@\n MSGS_llsf_msgs = $(notdir $(patsubst %.proto,%,$(wildcard $(SRCDIR)\/*.proto)))\n \n+MachineReport.pb.cpp: | Team.pb.cpp\n+\n include $(BUILDSYSDIR)\/protobuf.mk\n include $(BUILDSYSDIR)\/base.mk\n<\/pre>\n
\nIndex: fawkes-robotino\/src\/plugins\/agent-monitor\/agent-monitor-processor.cpp\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2260\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -64,5 +64,6 @@\n   env_name_ = config_-&gt;get_string("\/agent-monitor\/clips-environment");\n   \/\/ own_name_ = config_-&gt;get_string("\/clips-agent\/llsf2014\/robot-name");\n-  own_name_ = config_-&gt;get_string("\/clips-agent\/rcll2016\/robot-name");\n+  \/\/ own_name_ = config_-&gt;get_string("\/clips-agent\/rcll2016\/robot-name");\n+  own_name_ = config_-&gt;get_string("\/clips-agent\/rcll2018\/robot-name");\n   refresh_interval_ = std::to_string(config_-&gt;get_int("\/agent-monitor\/refresh-interval"));\n<\/pre>\n
Index: fawkes-robotino\/src\/plugins\/gazebo\/gazsim-llsfrbcomm\/gazsim_llsfrbcomm_thread.cpp\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2264\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -207,5 +207,5 @@\n \n \/*\n-void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &amp;msg)\n+ void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &amp;msg)\n {\n   \/\/logger-&gt;log_info(name(), "Sending PPUM to refbox");\n@@ -220,5 +220,5 @@\n \n \/*\n-void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &amp;msg)\n+ void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &amp;msg)\n {\n   \/\/logger-&gt;log_info(name(), "Sending RPFM to refbox");\n<\/pre>\n
Index: fawkes-robotino\/src\/plugins\/gazebo\/gazsim-llsfrbcomm\/gazsim_llsfrbcomm_thread.h\n===================================================================\n--- \u30ea\u30d3\u30b8\u30e7\u30f3 2264\n+++ \u30ea\u30d3\u30b8\u30e7\u30f3 2266\n@@ -52,5 +52,5 @@\n \n typedef const boost::shared_ptr&lt;llsf_msgs::MachineInfo const&gt; ConstMachineInfoPtr;\n-\/\/typedef const boost::shared_ptr&lt;llsf_msgs::PlacePuckUnderMachine const&gt; ConstPlacePuckUnderMachinePtr;\n+\/\/ typedef const boost::shared_ptr&lt;llsf_msgs::PlacePuckUnderMachine const&gt; ConstPlacePuckUnderMachinePtr;\n \/\/ typedef const boost::shared_ptr&lt;llsf_msgs::RemovePuckFromMachine const&gt; ConstRemovePuckFromMachinePtr;\n typedef const boost::shared_ptr&lt;gazsim_msgs::SimTime const&gt; ConstSimTimePtr;\n@@ -108,6 +108,6 @@\n \n   \/\/handler methods\n-\/\/  void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &amp;msg);\n-\/\/  void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &amp;msg);\n+  \/\/ void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &amp;msg);\n+  \/\/ void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &amp;msg);\n   void on_time_sync_msg(ConstSimTimePtr &amp;msg);\n   void on_set_game_state_msg(ConstSetGameStatePtr &amp;msg);\n<\/pre>\n\n\n\n
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\u7814\u7a76\u5ba4\u306e\u30a2\u30ab\u30a6\u30f3\u30c8\u3092\u6301\u3063\u3066\u3044\u308b\u4eba\u306f\uff0cRCLL2018\u3078\u306e\u5909\u66f4\u70b9\u3092\u53c2\u7167\u3057\u3066\u4e0b\u3055\u3044\uff0e …<\/p>\n
  Fawkes-robotino \u306e\u8a2d\u5b9a\u5909\u66f4<\/span> \u7d9a\u304d\u3092\u8aad\u3080 »<\/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],"tags":[],"class_list":["post-1329","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1329","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=1329"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1329\/revisions"}],"predecessor-version":[{"id":1335,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1329\/revisions\/1335"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1329"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1329"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1329"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}