{"id":1581,"date":"2019-03-25T12:10:54","date_gmt":"2019-03-25T03:10:54","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=1581"},"modified":"2019-03-27T20:07:24","modified_gmt":"2019-03-27T11:07:24","slug":"robotino-%e3%82%bb%e3%83%83%e3%83%88%e3%82%a2%e3%83%83%e3%83%97%e3%83%a1%e3%83%a2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=1581","title":{"rendered":"Robotino \u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u30e1\u30e2"},"content":{"rendered":"<p>\u624b\u5143\u306eRobotino + Laptop \u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30e1\u30e2\uff0e<\/p>\n<p>\u307e\u305a\uff0c\u8a2d\u5b9a\u306f\uff0c\u4ee5\u4e0b\u306e\u901a\u308a\uff0e<\/p>\n<ul>\n<li>robotino-base:<\/li>\n<ul>\n<li>hostname: robotino-base4<\/li>\n<li>IPv4: 192.168.11.49<\/li>\n<li>IPv4: 192.168.111.202<\/li>\n<li>Username: robotino<\/li>\n<\/ul>\n<li>robotino-laptop:<\/li>\n<ul>\n<li>hostname: robotino-laptop4<\/li>\n<li>IPv4: 192.168.11.52<\/li>\n<li>IPv4: 192.168.111.201<\/li>\n<li>Username: ryukoku<\/li>\n<\/ul>\n<li>WLAN<\/li>\n<ul>\n<li>WLAN0: BabyTigers-R<\/li>\n<li>WLAN1: BabyTigers-Planex<\/li>\n<\/ul>\n<\/ul>\n<hr>\n<p>\u4ee5\u4e0b\uff0cbtr2019\/tk-fawkes \u306esubversion \u306b\u4e0a\u304c\u3063\u3066\u3044\u308b\u72b6\u614b\u306b\u5bfe\u3059\u308b\u4f5c\u696d\u3067\u3059\uff0e<\/p>\n<p>\u307e\u305a\u306f\uff0crobotino \u306e\u65b9\uff0e<\/p>\n<ul>\n<li>05:08:22.916165 FawkesMainThread: [EXCEPTION] Failed to open URG device \/dev\/usblrf (errno: 2, No such file or directory)<\/li>\n<ul>\n<li>Laser \u306e Plugin\uff0e\u306e\u30a8\u30e9\u30fc\uff0e\u30b7\u30f3\u30dc\u30ea\u30c3\u30af\u30ea\u30f3\u30af\u3092\u8cbc\u3063\u3066\u3044\u306a\u3044\u3060\u3051\uff0esudo ln -s \/dev\/ttyACM0 \/dev\/usblrf; sudo chmod 777 \/dev\/ttyACM0 \u3067\u5bfe\u5fdc\uff0e<\/li>\n<\/ul>\n<\/ul>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">fawkes-robotino\/bin\/fawkes -p tk-m-base<\/pre>\n<p>\u3067\u8d77\u52d5\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">05:12:30.265564 AmclThread: Applying pose: -2.100 5.280 0.000 (cov: 0.250 0.000 0.000, 0.000 0.250 0.000, 0.000 0.000 0.069)<\/pre>\n<p>\u3055\u3066\uff0c\u8a2d\u5b9a\u304c\u5408\u3063\u3066\u3044\u308b\u306e\u304b\u5426\u304b\uff0c\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n<p>\u6b21\u306b\uff0claptop \u306e\u65b9\uff0e<\/p>\n<p>fawkes-robotino\/cfg\/conf.d\/robotino.yaml \u306e\u4fee\u6b63\uff0e<\/p>\n<ul>\n<li>hardware\/robotino\/driver \u3092direct\u3078\uff0e<\/li>\n<li>\u3082\u3057\u304b\u3057\u3066\uff0codometry\/mode \u306f\uff0c<s>calc\u304b\u3089copy \u306b\u3057\u305f\u65b9\u304c\u826f\u3044\u304b\u3082<\/s>copy\u3060\u3068odometry \u304c\u5909\u5316\u3057\u307e\u305b\u3093\u3067\u3057\u305f\uff0ecalc\u3067\u6b63\u89e3\u3063\u307d\u3044\uff0e<\/li>\n<\/ul>\n<p>\u306a\u304a\uff0cdriver\u3092direct \u306b\u3057\u305f\u3089\uff0csudo initctl stop controld3 \u304c\u5fc5\u9808\u3067\u3059\uff0e<\/p>\n<p>joystick \u306f\uff0c2017\u304b\u3089\u52d5\u304b\u306a\u304f\u306a\u3063\u3066\u3044\u308b\u306e\u3067\uff0c2016\u306efawkes-robotino\/fawkes\/src\/plugin\/joystick \u3092\u30b3\u30d4\u30fc\u3057\u3066\u5bfe\u5fdc\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  map_file: maps\/mini-map.png\r\n  resolution: 0.05\r\n  origin_x: -3.3\r\n  origin_y: -6.92\r\n  origin_theta: 0\r\n\r\n  init_pose_x: -2.1\r\n  init_pose_y: 5.28\r\n  init_pose_a: 0\r\n<\/pre>\n<p>\u306e\u8a2d\u5b9a\u306b\u5bfe\u3057\u3066\uff0c\u521d\u671f\u5ea7\u6a19\u306f\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">05:12:30.265564 AmclThread: Applying pose: -2.100 5.280 0.000 (cov: 0.250 0.000 0.000, 0.000 0.250 0.000, 0.000 0.000 0.069)<\/pre>\n<p>\u52d5\u304b\u3057\u3066\u307f\u308b\u3068\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n14:51:06.220456 CLIPS (agent): ++++++++++++++++MOVE_INTO_AREA+++++++++++++++++\r\n14:51:06.220555 CLIPS (agent): Calling skill goto{place=&quot;starting_pos&quot;}\r\n14:51:06.220623 ClipsAgentThread: Calling skill goto{place=&quot;starting_pos&quot;}\r\n14:51:06.220716 CLIPS (agent): Paused, disabling motor\r\n14:51:06.286437 CLIPS (agent): Skill goto is RUNNING, was: IDLE\r\n14:51:07.218166 CLIPS (agent): Unpaused, enabling motor\r\n14:51:12.406834 CLIPS (agent): Skill goto is FINAL, was: RUNNING\r\n14:51:12.407249 CLIPS (agent): Calling skill ppgoto{place=&quot;P1&quot;}\r\n14:51:12.407308 ClipsAgentThread: Calling skill ppgoto{place=&quot;P1&quot;}\r\n14:51:12.407814 SkillerLua: Sending PlaceGotoMessage(P1)\r\n14:51:12.408596 NavGraphThread: goto 'P1'\r\n14:51:12.408784 NavGraphThread: Starting route: P4 - P1\r\n14:51:12.408815 NavGraphThread: Sending next goal on plan start\r\n14:51:12.472971 CLIPS (agent): Skill ppgoto is RUNNING, was: IDLE\r\n14:51:14.070472 NavGraphThread: Node 'P1' has been reached\r\n14:51:15.067521 CLIPS (agent): Skill ppgoto is FINAL, was: RUNNING\r\n14:51:15.067815 CLIPS (agent): Calling skill ppgoto{place=&quot;P2&quot;}\r\n14:51:15.067859 ClipsAgentThread: Calling skill ppgoto{place=&quot;P2&quot;}\r\n14:51:15.068304 SkillerLua: Sending PlaceGotoMessage(P2)\r\n14:51:15.068863 NavGraphThread: goto 'P2'\r\n14:51:15.068989 NavGraphThread: Starting route: P1 - P2\r\n14:51:15.069014 NavGraphThread: Sending next goal on plan start\r\n14:51:15.134048 CLIPS (agent): Skill ppgoto is RUNNING, was: IDLE\r\n14:51:25.646870 CLIPS (agent): Paused, disabling motor\r\n<\/pre>\n<p>\u969c\u5bb3\u7269\u56de\u907f\u305b\u305a\u306b\u885d\u7a81\u3059\u308b\u306e\u3067\uff0ccolli.yaml \u3092\u8abf\u6574<\/p>\n<ul>\n<li>plugins\/colli\/write_spam_debug: false => true<\/li>\n<li>plugins\/colli\/security_distance: 0 => 0.5<\/li>\n<li>plugins\/colli\/emergency_stopping\/threshold_distance: 0.4 => 1.0<\/li>\n<li>plugins\/colli\/roboshape\/round\/laser_offset_y_from_middle: 0.5 => 0.1<\/li>\n<\/ul>\n<p>\u76ee\u6a19\u5730\u70b9\u304c\u58c1\u306e\u8fd1\u304f\u3060\u3063\u305f\u305f\u3081\uff0c0.5[m]\u30681.0[m]\u306e\u30de\u30fc\u30b8\u30f3\u3092\u53d6\u3063\u305f\u3089\u5230\u7740\u3067\u304d\u306a\u304f\u306a\u308a\u307e\u3057\u305f\u2026\uff0e\u3068\u307b\u307b\uff0e\u660e\u65e5\uff0c\u5143\u306b\u623b\u3057\u307e\u3059\uff0e<\/p>\n<hr>\n<p>\u3055\u3066\uff0c\u4eca\u65e5\u306e\u4f5c\u696d\u30e1\u30e2\u3067\u3059\uff0egyro\u304c\u304a\u304b\u3057\u3044\u306e\u3067\uff0c\u305d\u3053\u304b\u3089\u78ba\u8a8d\uff0e<\/p>\n<p>\u7d50\u8ad6\uff0cFawkes \u306f\u5185\u8535\u30b8\u30e3\u30a4\u30ed\u306b\u672a\u3060\u5bfe\u5fdc\u3057\u3066\u3044\u306a\u3044\u6a21\u69d8\uff0e\u5916\u4ed8\u3051\u30b8\u30e3\u30a4\u30ed\u5fc5\u9808\u3067\u3057\u305f\u2026\uff0e<\/p>\n<p>OpenRobotino\u3092\u4f7f\u3048\u3070\uff0c\u5185\u8535\u30b8\u30e3\u30a4\u30ed\u304c\u4f7f\u3048\u308b\u3051\u3069\uff0c\u3069\u3063\u3061\u304c\u826f\u3044\u306e\u3084\u3089\uff0e<\/p>\n<hr>\n<p>\u79fb\u52d5\u6642\u306b\u3076\u3064\u304b\u308a\u3084\u3059\u3044\u306e\u306f\uff0c\u4ee5\u4e0b\u304c\u539f\u56e0\u3067\u3057\u305f\uff0e<\/p>\n<ul>\n<li>plugins\/colli\/orient_mode\/default: OrientAtTarget => OrientDuringTravel<\/li>\n<\/ul>\n<p>Calorogistics \u306f\uff0cLRF\u3092\u524d\u5f8c\u306b\u4e8c\u500b\u642d\u8f09\u3057\u3066\uff0c\u5168\u65b9\u4f4d\u76e3\u8996\u3057\u3066\u3044\u305f\u306e\u3067\u76ee\u7684\u65b9\u5411\u3092\u5411\u3044\u305f\u307e\u307e\u9032\u3093\u3067\u3082\u554f\u984c\u3042\u308a\u307e\u305b\u3093\u3067\u3057\u305f\u304c\uff0cLRF\u4e00\u500b\u306e\u5834\u5408\u306f\u5f8c\u65b9\u304c\u6b7b\u89d2\u3067\u3059\u306e\u3067\uff0c\u79fb\u52d5\u4e2d\u306f\u524d\u3092\u5411\u3044\u3066\u3044\u306a\u3044\u3068\u884c\u3051\u307e\u305b\u3093\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u624b\u5143\u306eRobotino + Laptop \u3092\u52d5\u304b\u3059\u305f\u3081\u306e\u30e1\u30e2\uff0e \u307e\u305a\uff0c\u8a2d\u5b9a\u306f\uff0c\u4ee5 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=1581\"> <span class=\"screen-reader-text\">Robotino \u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u30e1\u30e2<\/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":[10,11,3,2,9,6,14],"tags":[],"class_list":["post-1581","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-fedora","category-logistics-league","category-robocup","category-robotino-3","category-setting","category-14"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1581","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=1581"}],"version-history":[{"count":13,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1581\/revisions"}],"predecessor-version":[{"id":1595,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1581\/revisions\/1595"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1581"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1581"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1581"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}