{"id":2390,"date":"2020-08-19T12:40:42","date_gmt":"2020-08-19T03:40:42","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2390"},"modified":"2021-06-01T10:38:25","modified_gmt":"2021-06-01T01:38:25","slug":"refbox%e3%81%aeros%e5%af%be%e5%bf%9c","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2390","title":{"rendered":"RefBox\u306eROS\u5bfe\u5fdc"},"content":{"rendered":"

\u3068\u308a\u3042\u3048\u305aRobotino\u5468\u308a\u3092ROS\u306b\u5bfe\u5fdc\u3055\u305b\u305f\u3044\u306a\u3041\u3068\u3044\u3046\u91ce\u671b\u306e\u7b2c\u4e00\u5f3e\uff0e
\n\u3068\u601d\u3063\u305f\u3051\u3069\uff0c\u3059\u3067\u306bTim\u304c\u4f5c\u696d\u3057\u3066\u3044\u305f\u2026\uff0e<\/p>\n

\r\ncd git\r\ngit clone https:\/\/github.com\/timn\/ros-rcll_ros_msgs\r\ngit clone https:\/\/github.com\/timn\/ros-rcll_refbox_peer\r\n<\/pre>\n
ros-rcll_refbox_peer \u304c\uff0c\u3069\u3046\u3084\u3089Fawkes \u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u524d\u63d0\u3068\u3057\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\uff0e
\nprotobuff_comm\/peer.h \u304c\u898b\u3064\u304b\u3089\u306a\u3044\u30a8\u30e9\u30fc\u306b\u95a2\u3057\u3066\u306f\uff0cCMakeLists.txt \u306brcll-refbox \u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u60c5\u5831\u3092\u8ffd\u52a0\uff0e
\nFawkes_INCLUDE_DIRS \u306b\u52a0\u3048\u3068\u304d\u307e\u3057\u305f\uff0e<\/p>\n
\r\nelseif (RCLLRefbox_FOUND)\r\n  list(APPEND _LIBRARIES "llsf_msgs")\r\n  list(APPEND Fawkes_INCLUDE_DIRS "~\/rcll-refbox\/src\/libs\/")\r\n\r\n\t# Use Fawkes' protobuf_comm\r\n  set_target_properties(rcll_refbox_peer PROPERTIES\r\n    INCLUDE_DIRECTORIES "${Fawkes_INCLUDE_DIRS};${catkin_INCLUDE_DIRS}"\r\n<\/pre>\n
\u4e00\u756a\u9762\u5012\u304f\u3055\u305d\u3046\u306a\u306e\u304c\uff0cllsf_msgs \u3092\u5fc5\u8981\u3068\u3057\u3066\u3044\u308b\u90e8\u5206\u3067\uff0crcll-refbox\/src\/msgs \u306b\u7f6e\u304d\u63db\u3048\u308b\u306e\u304c\u56de\u907f\u7b56\u306a\u306e\u304b\u306a\u3041\uff0e<\/p>\n
\r\nryukoku@NUC8i7BEH:~\/git\/ros-rcll_refbox_peer$ grep fawkes-robotino * -R\r\ncmake\/FindFawkes_llsf_msgs.cmake:# - Fawkes: check for llsf_msgs (fawkes-robotino only)\r\ncmake\/FindRCLLRefbox_llsf_msgs.cmake:# - RCLLRefbox: check for llsf_msgs (fawkes-robotino only)\r\ncmake\/FindFawkes.cmake:      PATHS $ENV{HOME}\/fawkes $ENV{HOME}\/fawkes-robotino $ENV{HOME}\/fawkes-athome\r\ncmake\/FindFawkes.cmake:            $ENV{HOME}\/robotics\/fawkes $ENV{HOME}\/robotics\/fawkes-robotino\r\ncmake\/FindFawkes.cmake:            $ENV{HOME}\/robotics\/fawkes-athome \/opt\/fawkes-robotino\r\n<\/pre>\n
\u3053\u3044\u3064\u3089\u3092\u3064\u3076\u3057\u3066\u3044\u304f\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e<\/p>\n
\r\nln -s ~\/rcll-refbox\/src\/msgs ~\/rcll-refbox\/src\/libs\/llsf_msgs\r\n<\/pre>\n
\u3068\u308a\u3042\u3048\u305a\u306f\uff0c\u3053\u308c\u3067\u3048\u3048\u304b\uff0e
\n\u6b21\u306f\uff0c\u3053\u306eros\u7248\u306f2017\u5e74\u3067\u66f4\u65b0\u304c\u6b62\u307e\u3063\u3066\u3044\u308b\u306e\u3067\uff0c2020\u5e74\u7248\u306b\u5bfe\u5fdc\u3055\u305b\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e
\n\u4e00\u65e6\uff0c\u4f11\u61a9(\u00b4-\u03c9-`)<\/p>\n
\n
— 2021\/05\/21 \u518d\u958b —<\/p>\n
\n
\u30a8\u30e9\u30fc\u3092\u9806\u306b\u898b\u3066\u3044\u304d\u307e\u3057\u3087\u3046\u304b\uff0e<\/p>\n
\r\n[ 98%] Building CXX object ros-rcll_refbox_peer\/CMakeFiles\/rcll_refbox_peer.dir\/src\/rcll_refbox_peer_node.cpp.o\r\n\/home\/robotino\/catkin_ws\/src\/ros-rcll_refbox_peer\/src\/rcll_refbox_peer_node.cpp  In function \u2018bool srv_cb_send_machine_report(rcll_ros_msgs::SendMachineReport::Request&, rcll_ros_msgs::SendMachineReport::Response&)\u2019:\r\n\/home\/robotino\/catkin_ws\/src\/ros-rcll_refbox_peer\/src\/rcll_refbox_peer_node.cpp:439:8: error: \u2018class llsf_msgs::MachineReportEntry\u2019 has no member named \u2018set_type\u2019; did you mean \u2018set_name\u2019?\r\n   mre->set_type(rmre.type);\r\n        ^~~~~~~~\r\n        set_name\r\n<\/pre>\n
~\/rcll-refbox\/src\/libs\/llsf_msgs\/MachineReport.proto \u3092\u898b\u308b\u3068\uff0c<\/p>\n
\r\nmessage MachineReportEntry {\r\n  enum CompType {\r\n    COMP_ID  = 2000;\r\n    MSG_TYPE = 60;\r\n  }\r\n\r\n  \/\/ Machine name and recognized type\r\n  \/\/ and zone the machine is in\r\n  required string name = 1;\r\n  optional Zone   zone = 3;\r\n  optional uint32 rotation = 4; \/\/ [0-360] in deg\r\n}\r\n<\/pre>\n
\u3068\u306a\u3063\u3066\u3044\u3066\uff0ctype\u304c\u6d88\u3048\u3066\u3044\u307e\u3059\u306d\uff0e
\n~\/rcll-refbox\/src\/llsf-report-machine.cpp \u3092\u898b\u308b\u3068\uff0c<\/p>\n
\r\n                       entry->set_name(machine_name_);\r\n<\/pre>\n
\u3068\u306a\u3063\u3066\u3044\u3066\uff0cname\u3060\u3051\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u3067\u306f\uff0cmachine_name_ \u306f\u4f55\u304b\u3068\u3044\u3046\u3068\uff0c<\/p>\n
\r\n        ArgumentParser argp(argc, argv, "T:r:z:");\r\n...\r\n        team_name_    = argp.items()[0];\r\n        machine_name_ = argp.items()[1];\r\n<\/pre>\n
\u3068\u306a\u3063\u3066\u3044\u3066\uff0c\u5f15\u6570\u300cr\u300d\u306e\u6587\u5b57\u5217\u304c\u5165\u3063\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\uff0e
\nr\uff1frotation\uff1f\u89d2\u5ea6\uff1f
\n\u3042\u3068\u3067\uff0c\u624b\u52d5\u3067\u8a66\u3057\u3066\u307f\u308b\u5fc5\u8981\u304c\u3042\u308a\u305d\u3046\u3067\u3059\uff0e
\n\u4eca\u306e\u3068\u3053\u308d\uff0cmre->set_type(rmre.type);\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n
\r\n\/\/ mre->set_type(rmre.type);\r\n<\/pre>\n
\u6b21\u306e\u30a8\u30e9\u30fc\u306f\uff0c<\/p>\n
\r\n[ 98%] Building CXX object ros-rcll_refbox_peer\/CMakeFiles\/rcll_refbox_peer.dir\/src\/rcll_refbox_peer_node.cpp.o\r\n\/home\/robotino\/catkin_ws\/src\/ros-rcll_refbox_peer\/src\/rcll_refbox_peer_node.cpp  In function \u2018bool srv_cb_send_prepare_machine(rcll_ros_msgs::SendPrepareMachine::Request&, rcll_ros_msgs::SendPrepareMachine::Response&)\u2019:\r\n\/home\/robotino\/catkin_ws\/src\/ros-rcll_refbox_peer\/src\/rcll_refbox_peer_node.cpp:526:8: error: \u2018class llsf_msgs::PrepareInstructionDS\u2019 has no member named \u2018set_gate\u2019\r\n   dsi->set_gate(req.ds_gate);\r\n<\/pre>\n
set_gate \u304c\u5b58\u5728\u3057\u306a\u3044\u3088\u3063\u3066\u3068\u3053\u308d\u3067\u3059\u306d\uff0e
\nPrepareInstructionDS \u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3059\uff0e
\n~\/rcll-refbox\/src\/libs\/llsf_msgs\/MachineInstructions.proto \u3092\u898b\u3066\u307f\u307e\u3057\u3087\u3046\uff0e<\/p>\n
\r\nmessage PrepareInstructionDS {\r\n  reserved "gate";\r\n  reserved 1;\r\n  required uint32 order_id = 2;\r\n}\r\n<\/pre>\n
reserved \u306f\uff0c\u904e\u53bb\u3068\u306e\u6574\u5408\u6027\u306e\u305f\u3081\u306b\u6b8b\u3057\u3066\u3044\u308b\u3051\u3069\uff0c\u4eca\u306f\u4f7f\u3063\u3066\u3044\u306a\u3044\u3088\u7684\u306a\u72b6\u614b\u3060\u3063\u305f\u3068\u601d\u3044\u307e\u3059\uff0e
\n~\/rcll-refbox\/src\/tools\/rcll-prepare-machine.cpp \u3092\u898b\u3066\u307f\u307e\u3059\uff0e<\/p>\n
\r\n                        } else if (machine_type_ == "DS") {\r\n                                llsf_msgs::PrepareInstructionDS *prep_ds = prep.mutable_instruction_ds();\r\n                                prep_ds->set_order_id(ds_order_id_);\r\n<\/pre>\n
DS\u3078\u306e\u30b3\u30de\u30f3\u30c9\u306f\uff0corser_id \u3092\u9001\u308b\u3060\u3051\u3067\u3059\u306d\uff0e
\n\u3053\u308c\u306f\uff0c\u30aa\u30fc\u30c0\u30fc\u60c5\u5831\u306bgate\u304c\u542b\u307e\u308c\u3066\u3044\u308b\u304b\u3089\uff0c\u4e0d\u8981\u306b\u306a\u3063\u305f\u3068\u3044\u3046\u6d41\u308c\u3067\u3059\u306d\uff0e
\n\u3053\u308c\u3089\u306e\u5b9a\u7fa9\u306f\uff0csrc\/ros-rcll_ros_msgs\/srv\/SendPrepareMachine.srv \u306b\u3042\u308b\u306e\u3067\uff0c<\/p>\n
\r\n# DS: gate\/slide to deliver onto\r\n# uint32 ds_gate\r\nuint32 ds_order_id\r\n<\/pre>\n
\r\n  \/\/ dsi->set_gate(req.ds_gate);\r\n  dsi->set_order_id(req.ds_order_id);\r\n<\/pre>\n
\u3068\u3057\u3066\u307f\u307e\u3059\u304b\uff0e
\n\u203b\u3053\u308c\u3082\uff0c\u4e2d\u8eab\u304c\u5408\u3063\u3066\u3044\u308b\u306e\u304b\u3069\u3046\u304b\uff0c\u3042\u3068\u3067\u78ba\u8a8d\u304c\u5fc5\u8981\uff0e
\n\u6b21\u306f\u306a\u3093\u3060\u308d\uff0e<\/p>\n
\r\n[ 98%] Building CXX object ros-rcll_refbox_peer\/CMakeFiles\/rcll_refbox_peer.dir\/src\/rcll_refbox_peer_node.cpp.o\r\n\/home\/robotino\/catkin_ws\/src\/ros-rcll_refbox_peer\/src\/rcll_refbox_peer_node.cpp  In function \u2018bool srv_cb_send_prepare_machine(rcll_ros_msgs::SendPrepareMachine::Request&, rcll_ros_msgs::SendPrepareMachine::Response&)\u2019:\r\n\/home\/robotino\/catkin_ws\/src\/ros-rcll_refbox_peer\/src\/rcll_refbox_peer_node.cpp:529:20: error: \u2018CsOp_IsValid\u2019 is not a member of \u2018llsf_msgs\u2019\r\n   if (! llsf_msgs::CsOp_IsValid(req.cs_operation)) {\r\n                    ^~~~~~~~~~~~\r\n\/home\/robotino\/catkin_ws\/src\/ros-rcll_refbox_peer\/src\/rcll_refbox_peer_node.cpp:529:20: note: suggested alternative: \u2018CSOp_IsValid\u2019\r\n   if (! llsf_msgs::CsOp_IsValid(req.cs_operation)) {\r\n                    ^~~~~~~~~~~~\r\n                    CSOp_IsValid\r\n<\/pre>\n
~\/rcll-refbox\/src\/libs\/llsf_msgs\/MachineInstructions.proto \u306b\u306f\uff0c<\/p>\n
\r\nmessage PrepareInstructionCS {\r\n  required CSOp operation = 1;\r\n}\r\n<\/pre>\n
\u3068\u3042\u308a\u307e\u3059\u306d\uff0e
\n\u3093\uff0e
\nCsOp \u3067\u306f\u306a\u304f\uff0cCSOp\uff1f
\n\u305d\u306e\u6b21\u306e\u30a8\u30e9\u30fc\u3082\u540c\u69d8\u3067\u3059\u306d\uff0e
\n\u6700\u5f8c\u306f\uff0c<\/p>\n
\r\n[100%] Linking CXX executable \/home\/robotino\/catkin_ws\/devel\/lib\/rcll_refbox_peer\/rcll_refbox_peer\r\nCMakeFiles\/rcll_refbox_peer.dir\/src\/rcll_refbox_peer_node.cpp.o: In function `setup_private_peer(llsf_msgs::Team)':\r\nrcll_refbox_peer_node.cpp:(.text+0x1b4c): undefined reference to `protobuf_comm::ProtobufBroadcastPeer::~ProtobufBroadcastPeer()'\r\n<\/pre>\n
protobuf_comm\u3078\u306e\u30ea\u30f3\u30af\u306e\u30a8\u30e9\u30fc\uff1f
\n\u95a2\u4fc2\u3057\u305d\u3046\u306a\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u8ffd\u52a0\uff0e
\n\u6700\u5f8c\u306eAPPEND \u306f\uff0cUbuntu 18.04\u306e\u5834\u5408\u3067\u3059\uff0e
\nFedora 33\u306e\u5834\u5408\u306f\u300clist(APPEND Fawkes_LIBRARIES “\/usr\/lib64\/libprotobuf.so”)\u300d\u3067OK\u3067\u3059\uff0e<\/p>\n
\r\nelseif (RCLLRefbox_FOUND)\r\n  list(APPEND _LIBRARIES "llsf_msgs")\r\n  list(APPEND Fawkes_INCLUDE_DIRS "~\/rcll-refbox\/src\/libs\/")\r\n  list(APPEND Fawkes_LIBRARIES "~\/rcll-refbox\/lib\/libllsf_protobuf_comm.so")\r\n  list(APPEND Fawkes_LIBRARIES "~\/rcll-refbox\/lib\/protobuf\/libllsf_msgs.so")\r\n  list(APPEND Fawkes_LIBRARIES "~\/rcll-refbox\/lib\/protobuf\/libllsf_log_msgs.so")\r\n  list(APPEND Fawkes_LIBRARIES "~\/rcll-refbox\/lib\/libmps_comm.so")\r\n  list(APPEND Fawkes_LIBRARIES "\/usr\/lib\/x86_64-linux-gnu\/libprotobuf.so")\r\n\r\n        # Use Fawkes' protobuf_comm\r\n  set_target_properties(rcll_refbox_peer PROPERTIES\r\n    INCLUDE_DIRECTORIES "${Fawkes_INCLUDE_DIRS};${catkin_INCLUDE_DIRS}"\r\n    COMPILE_FLAGS "${Fawkes_CFLAGS} ${catkin_CFLAGS}"\r\n    LINK_FLAGS "${Fawkes_LFLAGS}"\r\n    LINK_LIBRARIES "${Fawkes_LIBRARIES};${catkin_LIBRARIES}"\r\n    INSTALL_RPATH "${Fawkes_LIBRARY_DIRS}"\r\n    INSTALL_RPATH_USE_LINK_PATH TRUE\r\n    BUILD_WITH_INSTALL_RPATH TRUE)\r\n  message(STATUS "Using Fawkes protobuf_comm by RCLLRefBox")\r\nelse()\r\n<\/pre>\n
\u3053\u308c\u3067\uff0c\u3068\u308a\u3042\u3048\u305a\uff0ccatkin_make \u304c\u901a\u308a\u307e\u3057\u305f\uff0e
\ncatkin_ws \u3067\u52d5\u4f5c\u3055\u305b\u308b\u306e\u3067\uff0csource ~\/catkin_ws\/devel\/setup.bash \u306e\u5b9f\u884c\u3092\u5fd8\u308c\u306a\u3044\u3088\u3046\u306b\uff01<\/p>\n
\r\nroslaunch rcll_refbox_peer.launch num_robots:=1 team_name:=BabyTigers robot_name:=kotora robot_number:=1 crypto_key:=randomkey\r\n<\/pre>\n
\uff082021\/06\/01\u8ffd\u8a18\uff09
\n\u203blaunch\u3067\u306e\u8d77\u52d5\u306f\uff0c\u4e0a\u8a18\u306e\u3088\u3046\u306b\u5f15\u6570\u3068\u3057\u3066\u4e0e\u3048\u308b\u65b9\u304c\u7d20\u76f4\u3067\u3059\u306d\uff0e
\n\u2193 \u4ee5\u4e0b\u3067\u306f\uff0c\u8a66\u884c\u932f\u8aa4\u7684\u306b\u3084\u3063\u3066\u3044\u305f\u306e\u3067\uff0claunch\u30d5\u30a1\u30a4\u30eb\u3092\u76f4\u63a5\u66f8\u304d\u63db\u3048\u3066\u52d5\u4f5c\u78ba\u8a8d\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u4e0a\u8a18\u306e\u5f15\u6570\u65b9\u5f0f\u306b\u8aad\u307f\u66ff\u3048\u3066\u8aad\u3093\u3067\u4e0b\u3055\u3044\u307e\u305b\u307e\u305b\uff0e<\/p>\n
~\/catkin_ws\/src\/ros-rcll_refbox_peer\/launch\/rcll_refbox_peer.launch \u306b\uff0c\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u3084\u30ed\u30dc\u30c3\u30c8\u306e\u8a2d\u5b9a\u3092\u66f8\u304d\u307e\u3059\uff0e
\n\u3068\u308a\u3042\u3048\u305a\uff0cbabyTigers-R \u306e\u30c6\u30b9\u30c8\u6a5f\u306e\u8a2d\u5b9a\uff0e<\/p>\n
\r\nrobotino@robotino:~\/catkin_ws\/src\/ros-rcll_refbox_peer\/launch$ cat rcll_refbox_peer.launch |head -n 17\r\n<launch>\r\n        <arg name="num_robots" default="1"\/>\r\n\r\n        <arg name="team_name" default="BabyTigers"\/>\r\n        <arg name="team_color" default="CYAN" \/>\r\n        <arg name="robot_name" default="kotora"\/>\r\n        <arg name="robot_number" default="1"\/>\r\n        <arg name="crypto_key" default="randomkey"\/>\r\n        <arg name="crypto_cipher" default="aes-128-cbc"\/>\r\n        <arg name="peer_address" default="192.168.17.250" \/>\r\n        <arg name="peer_public_recv_port" default="4444" \/>\r\n        <arg name="peer_public_send_port" default="4444" \/>\r\n        <arg name="peer_cyan_recv_port" default="4446" \/>\r\n        <arg name="peer_cyan_send_port" default="4441" \/>\r\n        <arg name="peer_magenta_recv_port" default="4447" \/>\r\n        <arg name="peer_magenta_send_port" default="4442" \/>\r\n<\/pre>\n
\u3053\u308c\u3067\uff0croslaunch \u3067\u5b9f\u884c\uff0e<\/p>\n
\r\nroslaunch rcll_refbox_peer.launch\r\n<\/pre>\n
roscore\u304c\u52d5\u304d\u51fa\u3057\uff0c<\/p>\n
\r\nprocess[rcll_refbox_peer_1-1]: started with pid [21106]\r\n[ INFO] [1621587212.611988118]: \/rcll_refbox_peer_1 starting up\r\n[ WARN] [1621587212.634310732]: Creating public peer: addr: 192.168.17.250  send: 4444  recv: 4444\r\n[ INFO] [1621587212.886042140]: Creating private peer for CYAN\r\n[ INFO] [1621587277.446321287]: Referee Box 2019 detected\r\n<\/pre>\n
\u3064\u306a\u304c\u308a\u307e\u3057\u305f\uff01<\/p>\n
\r\nrobotino@robotino:~\/catkin_ws\/src\/ros-rcll_refbox_peer\/launch$ rostopic list\r\n\/rcll\/beacon\r\n\/rcll\/exploration_info\r\n\/rcll\/game_state\r\n\/rcll\/machine_info\r\n\/rcll\/machine_report_info\r\n\/rcll\/order_info\r\n\/rcll\/ring_info\r\n\/rosout\r\n\/rosout_agg\r\n\/statistics\r\n<\/pre>\n
ROS\u3067\u306e\u3084\u308a\u3068\u308a\u306f\uff0c\u4e0a\u8a18\u306e\u901a\u308a\u3067\u3059\uff0e<\/p>\n
\r\nrostopic echo \/rcll\/game_state\r\n<\/pre>\n
\u3053\u308c\u3067\uff0c\u8a66\u5408\u6642\u9593\uff08game_time\uff09\u3084\u72b6\u6cc1\uff08state\u3068phase\uff09\uff0c\u5f97\u70b9\uff08points_cyan\uff09\u306a\u3069\u304c\u308f\u304b\u308a\u307e\u3059\uff0e<\/p>\n
<\/p>\n
\r\nrostopic pub -1 \/rcll\/beacon rcll_ros_msgs\/BeaconSignal -- "[1,1,1]" 1 "BabyTigers" Robot1" "CYAN" "[[2,2,2],[[10,10,0],[0,0,0,0]]]"\r\n<\/pre>\n
\u3068\u308a\u3042\u3048\u305a\uff0cpublish \u306f\u3057\u3066\u304f\u308c\u308b\u3063\u307d\u3044\uff0e
\n\u305f\u3060\uff0crefbox \u306b\u306f\u8868\u793a\u3055\u308c\u306a\u3044\u2026\uff0e\u3068\u307b\u307b\uff0e<\/p>\n
\r\nrobotino@robotino:~\/rcll-refbox\/bin$ rosnode info rcll_refbox_peer_1\r\n--------------------------------------------------------------------------------\r\nNode [\/rcll_refbox_peer_1]\r\nPublications:\r\n * \/rcll\/beacon [rcll_ros_msgs\/BeaconSignal]\r\n * \/rcll\/exploration_info [rcll_ros_msgs\/ExplorationInfo]\r\n * \/rcll\/game_state [rcll_ros_msgs\/GameState]\r\n * \/rcll\/machine_info [rcll_ros_msgs\/MachineInfo]\r\n * \/rcll\/machine_report_info [rcll_ros_msgs\/MachineReportInfo]\r\n * \/rcll\/order_info [rcll_ros_msgs\/OrderInfo]\r\n * \/rcll\/ring_info [rcll_ros_msgs\/RingInfo]\r\n * \/rosout [rosgraph_msgs\/Log]\r\n\r\nSubscriptions: None\r\n\r\nServices:\r\n * \/rcll\/send_beacon\r\n * \/rcll\/send_machine_report\r\n * \/rcll\/send_prepare_machine\r\n * \/rcll_refbox_peer_1\/get_loggers\r\n * \/rcll_refbox_peer_1\/set_logger_level\r\n<\/pre>\n
\u3042\uff0crcll\/beacon\u3067\u306f\u306a\u304f\uff0crcll\/send_beacon\u306b\u6e21\u3055\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u306e\u304b\u306a\uff0e
\n\u3042\u3068\uff0c\u8a2d\u5b9a\u306e\u30dd\u30fc\u30c8\u756a\u53f7\u3082\uff0c\u5fae\u5999\u306b\u9593\u9055\u3048\u3066\u3044\u308b\u6c17\u304c\u3059\u308b\uff0e
\n\u3068\u308a\u3042\u3048\u305a\uff0c\u4eca\u65e5\u306f\u3053\u3053\u307e\u3067\u306b\u3057\u307e\u3059\uff0e<\/s>
\nrosservice \u3092\u4f7f\u3046\u3053\u3068\u304c\u5224\u660e\uff01<\/p>\n
\r\nrobotino@robotino:~\/rcll-refbox\/bin$ rosservice call \/rcll\/send_beacon "[1,1,"btr"]" "[[2,2,"btr"],[[10,10,0],[0,0,0,0]]]"\r\n<\/pre>\n
\u3053\u308c\u3067\uff0cRefBox \u306bRobot\u304c\u8868\u793a\u3055\u308c\u307e\u3057\u305f\uff01\u3084\u3063\u305f\u306d\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
\u3068\u308a\u3042\u3048\u305aRobotino\u5468\u308a\u3092ROS\u306b\u5bfe\u5fdc\u3055\u305b\u305f\u3044\u306a\u3041\u3068\u3044\u3046\u91ce\u671b\u306e\u7b2c\u4e00\u5f3e\uff0e \u3068 …<\/p>\n
  RefBox\u306eROS\u5bfe\u5fdc<\/span> \u7d9a\u304d\u3092\u8aad\u3080 »<\/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":[10,3,2,9,17],"tags":[],"class_list":["post-2390","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-robotino-3","category-robview3"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2390","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=2390"}],"version-history":[{"count":16,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2390\/revisions"}],"predecessor-version":[{"id":2773,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2390\/revisions\/2773"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2390"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2390"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2390"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}