{"id":1865,"date":"2019-08-26T16:23:03","date_gmt":"2019-08-26T07:23:03","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=1865"},"modified":"2019-08-28T16:51:25","modified_gmt":"2019-08-28T07:51:25","slug":"fawkes%e3%81%ae%e5%9c%b0%e5%9b%b3%e3%81%ae%e5%a4%89%e6%9b%b4","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=1865","title":{"rendered":"fawkes\u306e\u5730\u56f3\u306e\u5909\u66f4"},"content":{"rendered":"<p>\u5730\u56f3\u306b\u95a2\u3057\u3066\u306f\uff0crobotino-base \u306e fawkes-robotino\/cfg\/conf.d\/amcl.yaml \u3067\u5730\u56f3\u60c5\u5831\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u79fb\u52d5\u5148\u306e\u5ea7\u6a19\u306f\uff0cfawkes-robotino\/cfg\/conf.d\/navgraph.yaml \u306e graph_file: navgraph-basis.yaml\u3092\u6307\u5b9a\u3057\u3066\u304a\u308a\uff0c\u305d\u306e fawkes-robotino\/cfg\/navgraph-basis.yaml \u306b\u3066\u5ea7\u6a19\u70b9\u7b49\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u3059\u3067\u306b1\u53f7\u99284\u968e\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u3067\u304d\u3042\u304c\u3063\u3066\u3044\u308b\u306e\u3067\uff0c\u4e0a\u8a18\u3092\u5dee\u3057\u66ff\u3048\u307e\u3059\uff0e<\/p>\n<p>\u307e\u305a\uff0c\u5730\u56f3\u60c5\u5831\u306f\uff0c\u30d3\u30c3\u30c8\u30de\u30c3\u30d7\u3067\u3059\uff0e<br \/>\nfawkes-robotino\/cfg\/conf.d\/amcl.yaml \u306e\u5730\u56f3\u60c5\u5831\u3092 1-4floor-map.png \u3068\uff0c1-4floor-wall.png \u306b\u5909\u66f4\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  # \u4ee5\u4e0b\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\r\n  #mini size 4floor\r\n  # map_file: maps\/mini-4floor-map.png\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  # \u4ee5\u4e0b\u306e\u8a2d\u5b9a\u90e8\u5206\u306e\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3092\u5143\u306b\u623b\u3059\uff0e\r\n  # 4-Floor - param\r\n  #map_file: maps\/1-4floor-map.png\r\n  #resolution: 0.05\r\n  #origin_x: -13.32\r\n  #origin_y: -29.2\r\n  #origin_theta: 0\r\n<\/pre>\n<p>\u521d\u671f\u5ea7\u6a19\u306e\u4fee\u6b63<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  # \u4ee5\u4e0b\u3092\u6709\u52b9\u306b\r\n  # 4-Floor\r\n  #init_pose_x: -11.0\r\n  #init_pose_y: -17.5\r\n  #init_pose_a: 0.0\r\n\r\n  # \u4ee5\u4e0b\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\r\n  # 1-410\r\n  # init_pose_x: -2.1\r\n  init_pose_x: 0.0\r\n  # init_pose_y: 5.28\r\n  init_pose_y: 2.5\r\n  init_pose_a: 0\r\n<\/pre>\n<p>\u58c1\u306e\u8a2d\u5b9a<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n    # \u4ee5\u4e0b\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\r\n    # mini-size-4floor\r\n    # map_file: maps\/mini-4floor-wall.png\r\n    map_file: maps\/mini-wall.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    # \u4ee5\u4e0b\u3092\u6709\u52b9\u306b\r\n    # 4-Floor - param\r\n    map_file: maps\/1-4floor-wall.png\r\n    resolution: 0.05\r\n    origin_x: -13.32\r\n    origin_y: -29.2\r\n    origin_theta: 0\r\n<\/pre>\n<p>fawkes-robotino\/cfg\/conf.d\/navgraph.yaml \u306f\uff0c\u4ee5\u4e0b\u306e\u4fee\u6b63\u3092\u3057\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  # Graph file to use for path planning\r\n  # graph_file: navgraph-basis.yaml\r\n  graph_file: navgraph-4floor.yaml\r\n<\/pre>\n<p>\u3042\u3068\u306f\uff0cfawkes-robotino\/cfg\/conf.d\/clips-agent.yaml \u306e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n    patrol:\r\n\r\n      num: 4\r\n<\/pre>\n<p>\u30924\u304b\u308925\u306b\u5909\u66f4\u3067\u3059\uff0e<\/p>\n<p>\u3053\u308c\u3067\uff0cstarting_pos \u304b\u3089\u59cb\u3081\u3066\uff0cP1\u304b\u3089P25\u307e\u3067\u5de1\u56de\u3059\u308b\u30eb\u30fc\u30c8\u306b\u5909\u308f\u308a\u307e\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5730\u56f3\u306b\u95a2\u3057\u3066\u306f\uff0crobotino-base \u306e fawkes-robotino\/ &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=1865\"> <span class=\"screen-reader-text\">fawkes\u306e\u5730\u56f3\u306e\u5909\u66f4<\/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],"tags":[],"class_list":["post-1865","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\/1865","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=1865"}],"version-history":[{"count":4,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1865\/revisions"}],"predecessor-version":[{"id":1869,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1865\/revisions\/1869"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1865"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1865"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1865"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}