{"id":2293,"date":"2020-07-22T14:10:06","date_gmt":"2020-07-22T05:10:06","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2293"},"modified":"2020-08-08T18:15:54","modified_gmt":"2020-08-08T09:15:54","slug":"cobotta%e3%81%aeros%e3%81%ae%e3%83%a1%e3%83%a2%ef%bc%88melodic%e3%81%ae%e5%a4%b1%e6%95%97%e4%be%8b%ef%bc%89%e3%81%ae%e3%83%a1%e3%83%a2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2293","title":{"rendered":"cobotta\u306eros\u306e\u30e1\u30e2\uff08Melodic\u306e\u5931\u6557\u4f8b\uff09\u306e\u30e1\u30e2"},"content":{"rendered":"<p><a href=\"https:\/\/www.kdel.org\/wp\/?p=2288\">cobotta\u306eros\u306e\u30e1\u30e2\uff08Kinetic\u306e\u4f8b\u2026\uff09 \u306e\u30e1\u30e2<\/a>\u3067Ubuntu 16.04\u304b\u3089Cobotta\u306b\u63a5\u7d9a\u3067\u304d\u305f\u306e\u3067\uff0c<a href=\"https:\/\/www.kdel.org\/wp\/?p=2268\">cobotta\u306eros\u306e\u30e1\u30e2\uff08Melodic\u306e\u5931\u6557\u4f8b\uff09<\/a>\u306e\u30ea\u30d9\u30f3\u30b8\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get update; sudo apt-get upgrade; sudo apt-get dist-upgrade;\r\nsudo apt-get remove libreoffice-common\r\nsudo apt-get autoremove\r\n\r\nsudo apt-get install git vim tigervnc-viewer net-tools\r\nsudo update-alternatives --config editor\r\n\r\nsudo sh -c 'echo &quot;deb http:\/\/packages.ros.org\/ros\/ubuntu $(lsb_release -sc) main&quot; &gt; \/etc\/apt\/sources.list.d\/ros-latest.list'\r\nsudo apt-key adv --keyserver 'hkp:\/\/ha.pool.sks-keyservers.net:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654\r\nsudo apt-get update\r\n\r\nsudo apt-get install ros-melodic-desktop-full\r\nsudo apt-get install python-rosdep python-genmsg libyaml-cpp-dev # \u2190 python-rosdep python-genmsg libyaml-cpp-dev # python-rosdep2 \u3092\u5165\u308c\u308b\u3068\uff0cros-melodic \u306e\u5927\u534a\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u524a\u9664\u3055\u308c\u307e\u3057\u305f\u306e\u3067\uff0cpython-rosdep \u306b\u4fee\u6b63\uff0e\u3053\u306e\u524d\u306e\u30de\u30b7\u30f3\u306f\uff0crosdep2 \u3067\u3044\u305f\u3051\u3093\u3060\u3051\u3069\u306a\u3041\uff0e\r\nsudo apt-get install ros-melodic-actionlib ros-melodic-controller-manager ros-melodic-joint-limits-interface ros-melodic-transmission-interface ros-melodic-realtime-tools ros-melodic-moveit-commander ros-melodic-moveit ros-melodic-robot-state-publisher\r\nsudo rosdep init\r\nrosdep update\r\necho &quot;source \/opt\/ros\/melodic\/setup.bash&quot; &gt;&gt; ~\/.bashrc\r\nsource ~\/.bashrc\r\n\r\ngit clone https:\/\/github.com\/DENSORobot\/denso_robot_ros\/\r\ngit clone https:\/\/github.com\/DENSORobot\/denso_cobotta_ros\/\r\n\r\n#\r\n# denso_robot_ros\/denso_robot_control\/launch\/denso_robot_control.launch\r\n# \u4e0a\u8a18\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u4e2d\u8eab\u3092cobotta\u7528\u306b\u5909\u66f4\uff0e\u5177\u4f53\u7684\u306b\u306f\uff0cip_address\u3068\uff0crobot_name \u3067\u3059\uff0e\r\n\r\ncd denso_robot_ros\r\nfor DIR in bcap_core bcap_service denso_robot_core denso_robot_control denso_robot_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\n \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\n\r\nsudo ln -s ~\/denso_cobotta_ros\/denso_cobotta_descriptions\/cobotta_description \/usr\/local\/share\/denso_cobotta_descriptions\/\r\nsudo ln -s ~\/denso_cobotta_ros\/denso_cobotta_lib\/devel\/lib\/libdenso_cobotta_lib.so \/opt\/ros\/melodic\/lib\/\r\nsudo ln -s ~\/denso_cobotta_ros\/denso_cobotta_lib\/include\/denso_cobotta_lib \/usr\/include\/\r\n\r\nfor DIR in denso_cobotta_driver denso_cobotta_gripper denso_cobotta_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\n\r\nsudo apt-get install python-pip\r\npip install --upgrade pip\r\npip install --user pyassimp\r\n\r\nsudo cp -r ~\/denso_cobotta_ros\/denso_cobotta_descriptions\/cobotta_description \/usr\/local\/share\/denso_robot_descriptions\r\nsudo cp \/usr\/local\/share\/denso_robot_descriptions\/vs060_description\/vs060.launch.xml \/usr\/local\/share\/denso_robot_descriptions\/cobotta_description\/cobotta.launch.xml\r\nsudo ln -s \/usr\/local\/share\/denso_robot_descriptions\/cobotta_description\/denso_cobotta_control.yaml \/usr\/local\/share\/denso_robot_descriptions\/cobotta_description\/denso_robot_control.yaml \r\n#\r\n# cobotta_description\/cobotta.urdf.xacro \u3092 cobotta.urdf \u306b\u5c55\u958b\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e\r\n# xacro \u304c\u3046\u307e\u304f\u52d5\u4f5c\u3057\u306a\u304b\u3063\u305f\u306e\u3067\uff0ccobotta \u4e0a\u3067\u5c55\u958b\u3057\u3066\u304b\u3089\u30b3\u30d4\u30fc\u3057\u307e\u3057\u305f\uff0e\r\n# cobotta \u306e denso_cobotta_ros\/denso_cobotta_descriptions\/cobotta_description\/cootta.urdf \u306b\u5bfe\u3057\u3066\r\n# rosrun xacro xacro cobotta.urdf.xacro --inorder &gt; cobotta.urdf\r\n# \u3067\u4f5c\u6210\u3067\u304d\u307e\u3059\r\n\r\nexport ROS_HOSTNAME=&quot;ubuntu&quot; # \u2190 PC\u306e\u540d\u524d\r\nexport ROS_IP=&quot;10.42.0.88&quot; # \u2190 PC\u306eIP\u30a2\u30c9\u30ec\u30b9\r\nexport ROS_MASTER_URI=&quot;http:\/\/10.42.0.184:11311\/&quot; # \u2190 cobotta \u306eroscore\r\n\r\nroslaunch denso_robot_control denso_robot_control.launch\r\n<\/pre>\n<p>\u3042\u308c\uff0c\u306a\u3093\u304bpublisher \u3042\u305f\u308a\u306e\u8abf\u5b50\u304c\u60aa\u3044\uff1f<br \/>\n\u2192\u3000hostname \u306e\u8abf\u6574\u3092\u9593\u9055\u3048\u3066\u3044\u307e\u3057\u305f\uff0e\u8907\u6570\u306e\u30de\u30b7\u30f3\u3067\u540c\u3058hostname \u3092\u4f7f\u3063\u3066\u3044\u308b\u3068\uff0ccobotta \u5074\u304c\u901a\u4fe1\u3067\u304d\u306a\u304f\u306a\u308a\u300cunable to connect to move_group action server\u300d\u306e\u30a8\u30e9\u30fc\u3092\u51fa\u3057\u307e\u3059\uff0e<br \/>\n\u2192\u3000\u305d\u308c\u305e\u308c\u306e\/etc\/hosts \u306b\u30de\u30b7\u30f3\u540d\u3068IP\u30a2\u30c9\u30ec\u30b9\u3092\u66f8\u3044\u305f\u65b9\u304c\u7121\u96e3\u3063\u307d\u3044\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>cobotta\u306eros\u306e\u30e1\u30e2\uff08Kinetic\u306e\u4f8b\u2026\uff09 \u306e\u30e1\u30e2\u3067Ubuntu 16 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2293\"> <span class=\"screen-reader-text\">cobotta\u306eros\u306e\u30e1\u30e2\uff08Melodic\u306e\u5931\u6557\u4f8b\uff09\u306e\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":[20,3,2,6],"tags":[],"class_list":["post-2293","post","type-post","status-publish","format-standard","hentry","category-cobotta","category-logistics-league","category-robocup","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2293","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=2293"}],"version-history":[{"count":18,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2293\/revisions"}],"predecessor-version":[{"id":2383,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2293\/revisions\/2383"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2293"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2293"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2293"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}