{"id":2315,"date":"2020-07-23T11:05:07","date_gmt":"2020-07-23T02:05:07","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2315"},"modified":"2020-07-23T11:29:33","modified_gmt":"2020-07-23T02:29:33","slug":"driver-for-cobotta%e3%81%ae%e3%83%a1%e3%83%a2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2315","title":{"rendered":"Driver for Cobotta\u306e\u30e1\u30e2"},"content":{"rendered":"<p><a href=\"https:\/\/www.denso-wave.com\/en\/robot\/download\/application\/cobotta_driver_for_linux.html\">Cobotta \u306eDriver <\/a>\u306eReadme \u3092\u3057\u3063\u308a\u3068\u8aad\u3093\u3067\u307f\u307e\u3057\u3087\u3046\uff08\u3068\u3044\u3044\u3064\u3064\uff0c\u3056\u304f\u3063\u3068\u66f8\u304f\u3060\u3051\u306b\u3068\u3069\u3081\u307e\u3059\uff0e\uff09<\/p>\n<p>&#8212;<br \/>\n\u307e\u305a\u306f\uff0chowto-install-ubuntu.md \u3067\u3059\uff0e<br \/>\nUbuntu \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\uff0e<br \/>\nUSB\u30e1\u30e2\u30ea\u306bUbuntu 16.04 \u3092\u5165\u308c\u3066\uff0c\u30d6\u30fc\u30c8\u3057\u3066\u4e0b\u3055\u3044\uff0e<br \/>\nUSB\u3092\u6307\u3057\u3066\u3044\u305f\u3089\uff0c\u305d\u3061\u3089\u304b\u3089\u8d77\u52d5\u3059\u308b\u306f\u305a\u3067\u3059\uff08\u3057\u306a\u3044\u3068\u304d\u306f\uff0c\u300cDEL\u300d\u30ad\u30fc\u3067BIOS\u30e1\u30cb\u30e5\u30fc\u306b\u5165\u3063\u3066Boot \u306e\u9805\u76ee\u3092\u78ba\u8a8d\uff09\uff0e<br \/>\nUbuntu \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u6642\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u3068\u3057\u3066\u306f\u300cthird-part software\u300d\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u3068\u3053\u308d\u306f\u30c1\u30a7\u30c3\u30af\u3092\u5165\u308c\u308b\u3088\u3046\u306b\u3068\u306e\u6307\u793a\u3067\u3059\uff0e<br \/>\n\u30c9\u30e9\u30a4\u30d6\u306e\u5272\u308a\u5f53\u3066\u306f\u300cErase disk and install Ubuntu\u300d\u3092\u9078\u629e\uff0e<br \/>\n\u57fa\u672c\u7684\u306b\u306f\uff0c\u3053\u308c\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u308b\u306f\u305a\uff0e<br \/>\n\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5f8c\u306e\u30b7\u30b9\u30c6\u30e0\u306e\u8a2d\u5b9a\u3068\u3057\u3066\uff0c\u300cBrightness &#038; Lock\u300d\u306e\u300cTurn screen off when inactive for\u300d\u306e\u9805\u76ee\u306f\u300cNever\u300d\u306b\uff0c\u300cDisplay\u300d\u306e\u300cbuilt-in Display\u300d\u306f\u300cOFF\u300d\u306b\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\n&#8212;<br \/>\n\u6b21\u306f\uff0chowto-install-driver.md \u304b\u306a\uff0e<br \/>\n\u30c9\u30e9\u30a4\u30d0\u30fc\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u30db\u30fc\u30e0\u76f4\u4e0b\u306b\u5c55\u958b\u3057\u307e\u3059\uff0e<br \/>\ntar xvf denso_cobotta-1.2.0-20200203.tar.bz2 #  \u2190 \u305f\u3076\u3093\uff0cbunzip2\u3067\u89e3\u51cd\u3057\u3066\u304b\u3089tar \u3067\u5c55\u958b\u306b\u306a\u308b\u306f\u305a\uff0e<br \/>\ndesno_cobota \u3067\u30b7\u30f3\u30dc\u30ea\u30c3\u30af\u30ea\u30f3\u30af\u3092\u8cbc\u308a\u307e\u3059\uff0e<br \/>\nln -s denso_cobotta-1.2.0-20200203 denso_cobotta<br \/>\nkernel \u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u30fc\u306b\u30b3\u30d4\u30fc\u3057\u3066\uff0c\u30e2\u30b8\u30e5\u30fc\u30eb\u3092\u53cd\u6620\u3055\u305b\u307e\u3059\uff0e<br \/>\nsudo cp ~\/denso_cobotta\/driver\/$(uname -r)\/denso_cobotta.ko \/lib\/modules\/$(uname -r)\/kernel\/drivers\/<br \/>\nsudo depmod -a<br \/>\n\u30c9\u30e9\u30a4\u30d0\u30fc\u306e\u8aad\u307f\u8fbc\u307f\uff0eCobotta \u306e\u30ea\u30ec\u30fc\u306e\u97f3\uff08\u304b\u3061\u3063\uff09\u304c\u805e\u3053\u3048\u308b\u306f\u305a\u3067\u3059\uff0e<br \/>\nsudo modprobe denso_cobotta io_power_mode=1<br \/>\n\u6a29\u9650\u306e\u4fee\u6b63<br \/>\nsudo chown cobotta:cobotta \/dev\/denso_cobotta<\/p>\n<p>&#8212;<br \/>\n\u6700\u5f8c\u306f\uff0chotwo-install-ros.md \u3067\u3059\uff0e<br \/>\nROS \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306f\uff0c\u4e00\u822c\u7684\u306a\u611f\u3058\uff0e<br \/>\napt\u306esource.list \u306b\u8ffd\u52a0\u3057\u3066\uff0ckey \u3092\u767b\u9332\u3057\u3066\uff0c\u66f4\u65b0\u3057\u305f\u5f8c\u306b\uff0csudo apt-get install ros-kinetic-desktop-full \u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff0e<br \/>\n\u305d\u306e\u5f8c\uff0csudo rosdep init; rosdep update \u3092\u3057\u3066\uff0c\u5fc5\u8981\u3068\u306a\u308b\u4ee5\u4e0b\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<br \/>\nsudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential<br \/>\nsudo apt-get install ros-kinetic-controller-manager ros-kinetic-position-controllers ros-kinetic-joint-state-controller ros-kinetic-joint-trajectory-controller ros-kinetic-joint-limits-interface ros-kinetic-transmission-interface<br \/>\nMoveIt! \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff0e<br \/>\nsudo apt install ros-kinetic-moveit<br \/>\nbash \u306e\u8a2d\u5b9a<br \/>\necho &#8220;source \/opt\/ros\/kinetic\/setup.bash&#8221; >> ~\/.bashrc<br \/>\nsource ~\/.bashrc<br \/>\ndenso_cobotta_ros \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\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\u3044\u305f\u65b9\u304c\u826f\u3044\u304b\u306a\u3041\uff0e\r\n<\/pre>\n<p>MoveIT! \u306e\u8d77\u52d5\uff0e<br \/>\nroslaunch denso_cobotta_bringup denso_cobotta_bringup.launch<br \/>\n\u7d42\u308f\u308a\uff0e<br \/>\n&#8212;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Cobotta \u306eDriver \u306eReadme \u3092\u3057\u3063\u308a\u3068\u8aad\u3093\u3067\u307f\u307e\u3057\u3087\u3046\uff08\u3068\u3044 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2315\"> <span class=\"screen-reader-text\">Driver for Cobotta\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-2315","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\/2315","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=2315"}],"version-history":[{"count":4,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2315\/revisions"}],"predecessor-version":[{"id":2320,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2315\/revisions\/2320"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2315"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2315"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2315"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}