{"id":1954,"date":"2020-01-01T10:27:16","date_gmt":"2020-01-01T01:27:16","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=1954"},"modified":"2020-01-01T21:32:35","modified_gmt":"2020-01-01T12:32:35","slug":"cobotta%e3%81%aememo","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=1954","title":{"rendered":"Cobotta\u306eMemo"},"content":{"rendered":"<p>\u5b66\u751f\u304b\u3089\u60c5\u5831\uff10\u3067\u5f15\u304d\u7d99\u3044\u3060Cobotta\u3067\u3059\uff0e<br \/>\n<a href=\"https:\/\/densorobot.github.io\/docs\/denso_cobotta_ros\/quickstart_on_moveit.html\">quickstart_on_moveit<\/a>\u3092\u53c2\u8003\u306b\uff0c\u3068\u308a\u3042\u3048\u305a\u6700\u521d\u306b\u5b9f\u884c\u3059\u3079\u304d\u30b3\u30de\u30f3\u30c9\u306f\uff0c\u3053\u3093\u306a\u611f\u3058\u304b\u306a\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nsudo modprobe denso_cobotta io_power_mode=1\r\nsudo chown cobotta:cobotta \/dev\/denso_cobotta\r\nroslaunch denso_cobotta_bringup denso_cobotta_bringup.launch gripper_type:=parallel &amp;\r\nrosservice call \/cobotta\/set_motor_state &quot;state: true&quot;\r\npython ~\/catkin_ws\/src\/denso_cobotta_ros\/scripts\/packing_pose.py\r\n<\/pre>\n<p>\u30b0\u30ea\u30c3\u30d1\u30fc\u306e\u64cd\u4f5c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n rostopic pub \/cobotta\/gripper_move\/goal \\\r\n    denso_cobotta_gripper\/GripperMoveActionGoal \\\r\n      &quot;{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ''}, \\\r\n        goal_id: { stamp: { secs: 0, nsecs: 0}}, \\\r\n        goal: {target_position: 0.015, speed: 10.0, effort: 10.0}}&quot;\r\n<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nrostopic pub \/cobotta\/gripper_move\/goal \\\r\n    denso_cobotta_gripper\/GripperMoveActionGoal \\\r\n      &quot;{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ''}, \\\r\n        goal_id: { stamp: { secs: 0, nsecs: 0}}, \\\r\n        goal: {target_position: 0.0, speed: 5.0, effort: 10.0}}&quot;\r\n<\/pre>\n<p>\u624b\u3067\u52d5\u304b\u3059\u306b\u306f\uff0c\u30e2\u30fc\u30bf\u30fc\u306e\u96fb\u6e90\u3092OFF\u306b\u3057\u3066\uff0c\u30d6\u30ec\u30fc\u30ad\u3082OFF\u306b\u3059\u308b(\u305f\u3076\u3093)\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nrosservice call \/cobotta\/set_motor_state &quot;state: false&quot;\r\nrosservice call \/cobotta\/set_brake_state &quot;state: &#x5B;false, false, false, false, false, false]&quot;\r\n<\/pre>\n<p>\u65e9\u304f\u52d5\u304b\u3057\u3059\u304e\u3066\u30a8\u30e9\u30fc\u306b\u306a\u3063\u305f\u3068\u304d\u306f\uff0c\u30a8\u30e9\u30fc\u306e\u89e3\u9664<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nrosservice call \/cobotta\/clear_error\r\n<\/pre>\n<p>\u30e2\u30fc\u30bf\u30fc\u306e\u72b6\u614b\uff08\u89d2\u5ea6\uff09\u3092\u77e5\u308a\u305f\u3044\u3068\u304d\u306f\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nrostopic  echo -n 1 \/cobotta\/joint_states\r\n\u3082\u3057\u304f\u306f\r\nrostopic  echo -c \/cobotta\/joint_states\r\n<\/pre>\n<p>\u3055\u3066\uff0cpython \u306e\u52c9\u5f37\u3092\u3057\u307e\u3059\u2026\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5b66\u751f\u304b\u3089\u60c5\u5831\uff10\u3067\u5f15\u304d\u7d99\u3044\u3060Cobotta\u3067\u3059\uff0e quickstart_on_mo &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=1954\"> <span class=\"screen-reader-text\">Cobotta\u306eMemo<\/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":[20,6],"tags":[],"class_list":["post-1954","post","type-post","status-publish","format-standard","hentry","category-cobotta","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1954","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=1954"}],"version-history":[{"count":10,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1954\/revisions"}],"predecessor-version":[{"id":1964,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/1954\/revisions\/1964"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1954"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1954"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1954"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}