{"id":2268,"date":"2020-07-20T20:59:41","date_gmt":"2020-07-20T11:59:41","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2268"},"modified":"2020-07-21T20:26:50","modified_gmt":"2020-07-21T11:26:50","slug":"cobotta%e3%81%aeros%e3%81%ae%e3%83%a1%e3%83%a2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2268","title":{"rendered":"cobotta\u306eros\u306e\u30e1\u30e2\uff08Melodic\u306e\u5931\u6557\u4f8b\uff09"},"content":{"rendered":"<p>\u3055\u3066\uff0c\u3088\u3046\u3084\u304f\u5468\u8fba\u306e\u4ed5\u4e8b\u304c\u843d\u3061\u7740\u3044\u3066\u304d\u305f\u306e\u3067\uff0cCobotta \u3092\u89e6\u308a\u307e\u3059\uff0e<br \/>\n\u307e\u305a\u306f\uff0c\u624b\u5143\u306e\u30d1\u30bd\u30b3\u30f3\u306e\u6e96\u5099\uff0e<br \/>\n\u5358\u7d14\u306bUbuntu 18.04 + ROS (Kinetic)\u3067\u9032\u3081\u307e\u3059\uff0e<\/p>\n<p><a href=\"https:\/\/qiita.com\/kineneticnamaco\/items\/2a7039200307c1fda0db\">Docker\u3067\u30c7\u30f3\u30bd\u30fc\u306eros\u3092\u52d5\u304b\u3059<\/a>\u3092\u53c2\u8003\u306b\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5165\u308c\u3066\u307f\u307e\u3059\uff0e<br \/>\n\u3042\uff0c\u624b\u5143\u306eubuntu\uff0cmelodic \u3092\u5165\u308c\u3061\u3083\u3063\u3066\u305f\u2026\uff0e<br \/>\n\u4ed5\u65b9\u304c\u306a\u3044\u306e\u3067ubuntu\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u304b\u3089\u3084\u308a\u76f4\u3057\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get update; sudo apt-get upgrade; sudo apt-get disst-upgrade; sudo apt-get autoremove\r\n<\/pre>\n<p>\u3042\uff0cUbuntu 18.04 \u3063\u3066\uff0cROS\u306fMelodic \u306e\u307f\u3067\uff0ckinetic \u306f\u4e0d\u53ef\u304b\u2026\uff0e<br \/>\n\u3057\u307e\u3063\u305f\uff0e\u5b9f\u6a5f\u3082Ubuntu 18.04 \u3067\u4f5c\u3063\u3066\u3057\u307e\u3063\u3066\u3044\u308b\u3057\uff0c\u4eca\u306eRobotino \u308218.04\u3060\u2026\uff0e<\/p>\n<p><a href=\"https:\/\/github.com\/DENSORobot\/denso_robot_ros\/issues\/29\">Failed to change to slave mode. (83501024) for cobotta #29<\/a>\u306e\u8cea\u554f\u8005\u306e\u74b0\u5883\u3092\u898b\u308b\u3068\uff0cBionic \u304b\u3089Cobotta\u306b\u3064\u306a\u3044\u3067\u3044\u308b\u3088\u3046\u306a\u306e\u3067\uff0c\u305d\u306e\u65b9\u5411\u3067\u9032\u3081\u3066\u307f\u308b\u3053\u3068\u306b\u3057\u307e\u3059\uff0e<br \/>\n\u306a\u304a\uff0c\u5225\u306e\u30de\u30b7\u30f3\u306eros \u306b\u3064\u306a\u3050\u306b\u306f\uff0c<a href=\"https:\/\/faboplatform.github.io\/AutowareDocs\/07.RC_program\/00.about_ros\/\">ROS\u306b\u3064\u3044\u3066<\/a>\u306b\u3042\u308b\u3068\u304a\u308a\uff0c\u74b0\u5883\u5909\u6570\u306eROS_MASTER_URI\u3068\uff0cROS_IP\u3092\u8a2d\u5b9a\u3059\u308b\u611f\u3058\uff08\u306e\u306f\u305a\uff09\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install python-genmsg\r\ngit clone https:\/\/github.com\/DENSORobot\/denso_robot_ros.git\r\ncd denso_robot_ros\r\nfor DIR in bcap_core bcap_service denso_robot_core denso_robot_control; do\r\n    pushd $DIR\r\n    cmake .\r\n    make\r\n    sudo make install\r\n    source \/usr\/local\/setup.bash\r\n    popd\r\ndone\r\nexport ROS_MASTER_URI=&quot;http:\/\/10.42.0.184:11311\/&quot; # \u2190 Cobotta\u306eIP\r\nexport ROS_IP=&quot;10.42.0.188&quot; # \u2190 \u81ea\u5206\u306e\u30de\u30b7\u30f3\u306eIP\r\nexport ROS_HOSTNAME=&quot;cobotta-6&quot; # \u2190 Cobotta\u306e\u30db\u30b9\u30c8\u540d\r\nroslaunch denso_robot_control denso_robot_control.launch\r\n\r\nsudo apt-get install ros-melodic-moveit\r\npython packing_pose.py\r\n<\/pre>\n<p>ToDO \u306e\u30e1\u30e2<br \/>\n<a href=\"http:\/\/wiki.ros.org\/denso_robot_ros\/ja\">denso_robot_rosja<\/a>\u3088\u308a\uff0c<br \/>\n\u300c\u4ed6\u306e\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u3092\u5229\u7528\u3059\u308b\u5834\u5408\u306f\u3001ROSConverter\u306b\u3088\u308aURDF\u30d5\u30a1\u30a4\u30eb\u3068MoveIt\u30b3\u30f3\u30d5\u30a3\u30b0\u30ec\u30fc\u30b7\u30e7\u30f3\u30d5\u30a1\u30a4\u30eb\u3092\u751f\u6210\u3057\u3066\u304f\u3060\u3055\u3044\u3002\u300d<br \/>\n\u3092\u8aad\u3093\u3067\uff0ccobotta\u7528\u306e\u30bf\u30a4\u30d7\u3092\u4f5c\u6210\u3059\u3079\u3057\uff0e<\/p>\n<p>\u2026\uff0c\u306a\u3093\u304b\uff0c\u4f5c\u696d\u304c\u3088\u304f\u5206\u304b\u3089\u306a\u304b\u3063\u305f\u306e\u3067\uff0ccobotta \u306e\u4e2d\u306b\u3042\u308b catkin_ws\/src\/denso_cobotta_ros \u3092\u30b3\u30d4\u30fc\u3057\u3066\u304d\u3066\uff0ccmake .; make; sudo make install \u3057\u3061\u3083\u3044\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nscp -r cobotta@10.42.0.184:\/home\/cobotta\/catkin_ws\/src\/denso_cobotta_ros .\r\ncd denso_cobotta_ros\r\nfor DIR in denso_cobotta_lib denso_cobotta_descriptions; do\r\n    pushd $DIR\r\n    cmake .\r\n    make\r\n    sudo make install\r\n    source \/usr\/local\/setup.bash\r\n    popd\r\ndone\r\nln -s denso_cobotta_desciptions\/cobotta_desciption \/usr\/local\/share\/denso_cobotta_descriptions\/\r\nsudo ln -s denso_cobotta_lib\/devel\/lib\/libdenso_cobotta_lib.so \/opt\/ros\/melodic\/lib\/\r\nsudo ln -s denso_cobotta_lib\/include\/denso_cobotta_lib \/usr\/include\/\r\nfor DIR in denso_cobotta_driver denso_cobotta_gripper; do\r\n    pushd $DIR\r\n    cmake .\r\n    make\r\n    sudo make install\r\n    source \/usr\/local\/setup.bash\r\n    popd\r\ndone\r\n\r\n<\/pre>\n<p>kinematics solver doesn&#8217;t support #attempts anymore, but only a timeout \u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u306b\u5bfe\u3057\u3066\u306f\uff0c<a href=\"https:\/\/github.com\/rt-net\/crane_x7_ros\/issues\/84\">melodic\u5bfe\u5fdc #84<\/a>\u3088\u308adenso_cobotta_ros\/denso_cobotta_moveit_config\/config\/kinematics.yaml \u306e\u4e2d\u306ekinematics_solver_attempts: 3\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u3066\u5bfe\u51e6\uff0e<br \/>\n=> \u3053\u306e\u30a8\u30e9\u30fc\u306f\uff0ccobotta \u5074\u306eROS \u306b\u3064\u306a\u304e\u306b\u884c\u3063\u3066\uff0c\u5931\u6557\u3057\u3066\u3044\u308b\u306e\u3067\uff0ccobotta \u5074\u306e\u5bfe\u51e6\u304c\u5fc5\u8981\uff0e<\/p>\n<p>\u3068\u3053\u308d\u304cCobotta \u5074\u3092\u898b\u3066\u307f\u308b\u3068\u2026\uff0e<br \/>\nClient wants topic \/pickup\/result to have datatype\/md5sum [moveit_msgs\/PickupActionResult\/hogehoge], but our version has [moveit_msgs\/PickupActionResult\/hogeohge]. Dropping connection.<br \/>\n\u3068\u3042\u308a\u307e\u3059\uff0e<\/p>\n<p>\u306a\u3093\u304b\uff0c\u30d0\u30fc\u30b8\u30e7\u30f3\u9055\u3046\u304b\u3089\u5f3e\u3044\u3066\u3044\u307e\u3059\u3000\u3063\u3066\u611f\u3058\u3067\u3059\u306d\uff0e<br \/>\n\u3053\u308c\u306f\uff0cUbuntu 18.04\uff08Melodic\uff09\u3067\u306f\u304a\u624b\u4e0a\u3052\u3063\u3066\u611f\u3058\u304c\u3057\u307e\u3059\uff0e<\/p>\n<p>\u660e\u65e5\uff0cUbuntu 16.04 \u3067\u8a66\u3057\u3066\u307f\u307e\u3059\uff0e\u3068\u307b\u307b\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3055\u3066\uff0c\u3088\u3046\u3084\u304f\u5468\u8fba\u306e\u4ed5\u4e8b\u304c\u843d\u3061\u7740\u3044\u3066\u304d\u305f\u306e\u3067\uff0cCobotta \u3092\u89e6\u308a\u307e\u3059\uff0e \u307e\u305a &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2268\"> <span class=\"screen-reader-text\">cobotta\u306eros\u306e\u30e1\u30e2\uff08Melodic\u306e\u5931\u6557\u4f8b\uff09<\/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":[20,3,2,9,6],"tags":[],"class_list":["post-2268","post","type-post","status-publish","format-standard","hentry","category-cobotta","category-logistics-league","category-robocup","category-robotino-3","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2268","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=2268"}],"version-history":[{"count":12,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2268\/revisions"}],"predecessor-version":[{"id":2280,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2268\/revisions\/2280"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2268"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2268"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2268"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}