{"id":2308,"date":"2020-07-23T00:08:45","date_gmt":"2020-07-22T15:08:45","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2308"},"modified":"2020-08-08T17:49:18","modified_gmt":"2020-08-08T08:49:18","slug":"cobotta-%e3%81%abubuntu-18-04%e3%82%92%e5%85%a5%e3%82%8c%e3%81%a6%e3%81%bf%e3%82%8b","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2308","title":{"rendered":"Cobotta \u306bUbuntu 18.04\u3092\u5165\u308c\u3066\u307f\u308b"},"content":{"rendered":"<p>\u8af8\u4e8b\u60c5\u306b\u3088\u308a\uff0cCobotta \u306eUbuntu \u3068\u3057\u306618.04\u3092\u4f7f\u3044\u305f\u304b\u3063\u305f\u306e\u3067\uff0c\u5165\u308c\u76f4\u3057\u3066\u307f\u307e\u3057\u305f\uff0e<br \/>\n\u306a\u304a\uff0c\u73fe\u6bb5\u968e\u3067<a href=\"https:\/\/www.denso-wave.com\/en\/robot\/download\/application\/cobotta_driver_for_linux.html\">Cobotta \u306eDriver \u304c\u5bfe\u5fdc<\/a>\u3057\u3066\u3044\u308b\u306e\u306f\uff0ckernel 4.15.76\u307e\u3067\u3067\u3059<s>\u306e\u3067\uff0c\u9593\u9055\u3048\u30665.3\u7cfb\u5217\u306b\u66f4\u65b0\u3057\u306a\u3044\u3088\u3046\u306b\u6c17\u3092\u3064\u3051\u307e\u3057\u3087\u3046<\/s>\u304c\uff0c\u6700\u65b0\u306eUbutnu 18.04\u3092\u5165\u308c\u308b\u30685.4.0-42-generic\u306b\u306a\u308a\u307e\u3059\uff0e\u3042\u3068\u3067\uff0e4.15.76\u306b\u623b\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n<p>\u624b\u5143\u306b\u3042\u3063\u305fUbuntu 18.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u7528USB\uff0818.04.1 LTS\uff09\u304b\u3089\u8d77\u52d5\u3057\u3066\uff0c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff0e<br \/>\n\u305b\u3063\u304b\u304f\u306a\u306e\u3067\u300cInstall Ubuntu 18.04.1 LTS alongside Ubuntu 16.04.6 LTS\u300d\u3092\u9078\u3093\u3067\uff0c\u30c7\u30e5\u30a2\u30eb\u30d6\u30fc\u30c8\u306b\u3057\u3066\u304a\u304d\u307e\u3059\uff0e<br \/>\n\u2192\u3000\u30d1\u30fc\u30c6\u30a3\u30b7\u30e7\u30f3\u306e\u30ea\u30b5\u30a4\u30ba\u306b\u5931\u6557\u3057\u307e\u3057\u305f\u2026\uff0e\u3068\u307b\u307b\uff0e<br \/>\n\u5168\u524a\u9664\u3067\u306e\u65b0\u898f\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3057\u305f\uff0e<\/p>\n<p>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u624b\u9806\u306f\uff0c<a href=\"https:\/\/densorobot.github.io\/docs\/denso_cobotta_ros\/getting_started.html\">Getting started<\/a>\u3092\u53c2\u8003\u306b\u3057\uff0c\u30d9\u30fc\u30b9\u306f<a href=\"https:\/\/www.kdel.org\/wp\/?p=2293\">cobotta\u306eros\u306e\u30e1\u30e2\uff08Melodic\u306e\u5931\u6557\u4f8b\uff09\u306e\u30e1\u30e2<\/a>\u3067\u3059\uff0e<br \/>\nBIOS\u3067\uff0c\u5185\u8535\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u3092disable\u306b\u3057\u3066\uff0c\u5916\u90e8\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u3092\u3064\u306a\u3044\u3067\u4f5c\u696d\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u5185\u8535\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u3092enable\u306b\u3057\u3066\u3044\u308b\u3068\u5916\u90e8\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u304c\u30bb\u30ab\u30f3\u30c0\u30ea\u306b\u306a\u3063\u3066\u3057\u307e\u3044\uff0c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u30a6\u30a4\u30f3\u30c9\u30a6\u3092\u898b\u3064\u3051\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u305b\u3093\uff08\u6ce3\uff09\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get update; sudo apt-get upgrade; sudo apt-get disst-upgrade; # &lt;s&gt;\u2190 \u30ab\u30fc\u30cd\u30eb\u66f4\u65b0\u3057\u3061\u3083\u30c0\u30e1\u306a\u306e\u3067\uff0c\u7d76\u5bfe\u306b\u3057\u306a\u3044\u3088\u3046\u306b&lt;\/s&gt;\u3042\u3068\u30674\u7cfb\u5217\u306b\u623b\u3057\u307e\u3059\uff0e\r\nsudo apt-get remove libreoffice-common\r\nsudo apt-get autoremove\r\n\r\n# remote \u3067\u306e\u753b\u9762\u63a5\u7d9a\u3092ON\u306b\u3057\u3066\u304a\u304f\u3068\u4fbf\u5229\u3067\u3059\uff0e\r\n# \u3064\u3044\u3067\u306b\u63a5\u7d9a\u306e\u6697\u53f7\u5316\u65b9\u5f0f\u306e\u4fee\u6b63\r\ngsettings set org.gnome.Vino require-encryption false\r\n\r\nsudo apt-get install git vim tigervnc-viewer net-tools screen openssh-server\r\nsudo update-alternatives --config editor\r\n<\/pre>\n<p>\u3053\u3053\u304b\u3089ROS\u95a2\u4fc2\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo sh -c 'echo &quot;deb http:\/\/packages.ros.org\/ros\/ubuntu $(lsb_release -sc) main&quot; &gt; \/etc\/apt\/sources.list.d\/ros-latest.list'\r\nsudo apt-key adv --keyserver 'hkp:\/\/ha.pool.sks-keyservers.net:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654\r\nsudo apt-get update\r\n\r\nsudo apt-get install ros-melodic-desktop-full\r\nsudo apt-get install python-rosdep python-genmsg libyaml-cpp-dev # python-rosdep2 \u3092\u5165\u308c\u308b\u3068\uff0cros-melodic \u306e\u5927\u534a\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u524a\u9664\u3055\u308c\u307e\u3057\u305f\u306e\u3067\uff0cpython-rosdep \u306b\u4fee\u6b63\uff0e\r\nsudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential # howto-install-ros.md \u306b\u66f8\u304b\u308c\u3066\u3044\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\r\nsudo apt-get install ros-melodic-actionlib ros-melodic-controller-manager ros-melodic-joint-limits-interface ros-melodic-transmission-interface ros-melodic-realtime-tools ros-melodic-moveit-commander ros-melodic-moveit ros-melodic-robot-state-publisher ros-melodic-joint-trajectory-controller # \u2190 joint-trajectory-controller \u304c\u306a\u3044\u3068\u30a2\u30fc\u30e0\u304c\u52d5\u304d\u307e\u305b\u3093\u2026\r\nsudo rosdep init\r\nrosdep update\r\necho &quot;source \/opt\/ros\/melodic\/setup.bash&quot; &gt;&gt; ~\/.bashrc\r\nsource ~\/.bashrc\r\n<\/pre>\n<p>\u3042\u308c\uff0ckernel\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u2026\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncobotta@cobotta-6:~\/Downloads\/denso_cobotta-1.2.0-20200203$ uname -r\r\n4.15.0-112-generic\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install  linux-source-4.15.0 linux-image-4.15.0-76-generic linux-headers-4.15.0-76-generic linux-tools-4.15.0-76-generic\r\n#\r\n# \/etc\/deffult\/grub \u306e GRUB_DEFAULT\u3092\u4e0a\u8a18\u30ab\u30fc\u30cd\u30eb\u306eUbuntu \u306b\u4fee\u6b63\uff0e\r\n# GRUB_DEFAULT=&quot;Advanced options for Ubuntu&gt;Ubuntu, with Linux 4.15.0-76-generic&quot;\r\n# \u3068\u3044\u3046\u611f\u3058\u3067\u3059\uff0e\r\n# # GRUB_DEFAULT=&quot;Ubuntu, with Linux 4.15.0-76-generic&quot;\u3060\u3068\uff0c\u4e0a\u8a18\u306e\u66f8\u304d\u65b9\u306b\u3057\u308d\u3068\u6012\u3089\u308c\u307e\u3057\u305f\u2026\uff0e\r\n# \u305d\u306e\u4e0a\u3067\uff0cupdate-grub \u3092\u5b9f\u884c\u3057\u3066\u30ea\u30bb\u30c3\u30c8\uff0e\r\n<\/pre>\n<p>\u6b21\u306f\uff0ccobotta \u306e\u30c9\u30e9\u30a4\u30d0\u30fc\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n#\r\n# https:\/\/www.denso-wave.com\/en\/robot\/download\/application\/cobotta_driver_for_linux.html\r\n# \u4e0a\u8a18\u304b\u3089denso_cobotta-1.2.0-20200203.tar.bz2 (401KB)\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\uff08\u30d0\u30fc\u30b8\u30e7\u30f3\u756a\u53f7\u3084\u65e5\u4ed8\u306e\u90e8\u5206\u306f\uff0c\u305d\u306e\u3068\u304d\u306e\u6700\u65b0\u7248\u306b\u3088\u3063\u3066\u5909\u308f\u308a\u307e\u3059\uff09\uff0e\r\n#\r\nbunzip2 denso_cobotta-1.2.0-20200203.tar.bz2\r\ntar xvf denso_cobotta-1.2.0-20200203.tar\r\nln -s denso_cobotta-1.2.0-20200203 denso_cobotta\r\nsudo cp ~\/denso_cobotta\/driver\/$(uname -r)\/denso_cobotta.ko \/lib\/modules\/$(uname -r)\/kernel\/drivers\/\r\nsudo depmod -a\r\n\r\n# \u4ee5\u4e0b\u306e2\u884c\u306f\uff0c\u6bce\u56de\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\uff0e\r\nsudo modprobe denso_cobotta io_power_mode=1\r\nsudo chown cobotta:cobotta \/dev\/denso_cobotta\r\n\r\n# denso_cobotta_ros \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\r\nmkdir -p ~\/catkin_ws\/src; cd ~\/catkin_ws\/src\r\ngit clone http:\/\/github.com\/DENSORobot\/denso_cobotta_ros.git\r\ncd ..\r\ncatkin_make\r\nsource devel\/setup.bash\r\n# \u4e0a\u8a18\u3092.bashrc \u306b\u66f8\u3044\u3066\u304a\u304f\u3068\uff0c\u5e78\u305b\u306b\u306a\u308c\u308b\u306f\u305a\uff0e\r\n<\/pre>\n<p>\u3055\u3066\uff0c\u3053\u308c\u3067python packing_pose.py \u304c<s>\u52d5\u304f\u306f\u305a\u2026\uff0e\u306a\u3093\u304b\u30b0\u30ea\u30c3\u30d1\u30fc\u306f\u52d5\u304f\u3051\u3069\uff0cjoint_? \u304c\u3046\u307e\u304f\u8a2d\u5b9a\u3067\u304d\u3066\u3044\u306a\u3044\u3063\u307d\u3044\uff1f<\/s>\u52d5\u304d\u307e\u3057\u305f\uff0e\u3084\u3063\u305f\u306d\uff0e<\/p>\n<p>\u753b\u9762\u30b5\u30a4\u30ba\u304c\u3080\u3061\u3083\u304f\u3061\u3083\u5c0f\u3055\u3044\u3051\u3069\uff0c\u4eca\u4f7f\u3063\u3066\u3044\u308b\u5206\u306b\u306f\u554f\u984c\u306a\u3044\u306e\u3067\uff0c\u653e\u3063\u3066\u304a\u304d\u307e\u3059\uff0e<br \/>\nUbuntu 16.04 \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u5b66\u751f\u306b\u3088\u308b\u3068\uff0cKernel 4.15.0.51-generic \u3060\u3063\u305f\u3089\u5927\u4e08\u592b\u3067\uff0c50\u308452\u306f\u30c0\u30e1\u3068\u3044\u3046\u306a\u304b\u306a\u304b\u30d4\u30f3\u30dd\u30a4\u30f3\u30c8\u306a\u7d50\u679c\u3060\u3063\u305f\u305d\u3046\u3067\u3059\uff0e<br \/>\n\u2192\u3000\u6c17\u306b\u306a\u308b\u4eba\u306f<a href=\"https:\/\/www.kdel.org\/wp\/?p=2335\">\u30b1\u30fc\u30d6\u30eb\u30ec\u30b9\u3067\u52d5\u304b\u3059<\/a>\u3067\u753b\u9762\u30b5\u30a4\u30ba\u3092\u5909\u66f4\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8af8\u4e8b\u60c5\u306b\u3088\u308a\uff0cCobotta \u306eUbuntu \u3068\u3057\u306618.04\u3092\u4f7f\u3044\u305f\u304b\u3063\u305f\u306e\u3067 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2308\"> <span class=\"screen-reader-text\">Cobotta \u306bUbuntu 18.04\u3092\u5165\u308c\u3066\u307f\u308b<\/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-2308","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\/2308","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=2308"}],"version-history":[{"count":17,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2308\/revisions"}],"predecessor-version":[{"id":2379,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2308\/revisions\/2379"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2308"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2308"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2308"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}