{"id":2402,"date":"2020-08-26T18:43:50","date_gmt":"2020-08-26T09:43:50","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2402"},"modified":"2020-11-10T16:06:58","modified_gmt":"2020-11-10T07:06:58","slug":"robotino%e3%81%a7ros","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2402","title":{"rendered":"Robotino\u3067ROS"},"content":{"rendered":"

Robotino\u3068ROS<\/a>\u3067\u771f\u9762\u76ee\u306b\u3064\u306a\u3052\u308b\u65b9\u6cd5\u3092\u8003\u3048\u305f\u3051\u3069\uff0c\u9069\u5207\u306aRobotino-api2\u3092\u5f97\u308b\u306e\u304c\u96e3\u3057\u3044\u306e\u3067\uff0cView2\u306eUDP\u7d4c\u7531\u3067ROS\u3092\u3064\u306a\u3052\u3066\u307f\u307e\u3057\u305f\uff0e<\/p>\n

\u307e\u305a\uff0c\u3082\u306e\u306f\uff0cBabyTigers\/python\/<\/a>\u306b\u3066\u516c\u958b\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n

Robotino <=> RobView <=> UDP\u3067python <=> ROS
\n\u3068\u3044\u3046\u611f\u3058\u3067\u3064\u306a\u3052\u307e\u3059\uff0e<\/p>\n

\u307e\u305a\uff0cRobotino \u306e\u90e8\u5206\u3067\u3059\u304c\uff0c\u5b9f\u6a5f\u3092\u7528\u610f\u3057\u3066\u3082\u826f\u3044\u3067\u3059\u3057\uff0cRobotinoSim<\/a> \u3067\u3082\u5927\u4e08\u592b\u3067\u3059\uff0e
\n\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306f\uff0copenRobotino<\/a>\u306e\u30da\u30fc\u30b8\u304b\u3089\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u306a\u304a\uff0cUbuntu \u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u306b\u306fwine \u304c\u5fc5\u8981\u3067\u3059\uff0e
\nWine\u3092\u5165\u308c\u3066RobView2\u3092\u4f7f\u3046\u65b9\u6cd5\u306b\u95a2\u3057\u3066\u306f\uff0cRobotino2\u3092Ubuntu 18.04\u304b\u3089\u5236\u5fa1<\/a>\u3092\u53c2\u8003\u306b\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u3053\u306e\u65b9\u6cd5\u3067\uff0crobotinoSim Demo\u3082\u540c\u69d8\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u307e\u3059\uff0e
\n\u540c\u4e00\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u3064\u306a\u304c\u3063\u3066\u3044\u308b\u5225\u306eWindows\u30de\u30b7\u30f3\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\uff0c\u305d\u3061\u3089\u3067\u5b9f\u884c\u3057\u3066\u3082\u5927\u4e08\u592b\u3067\u3059\uff0e
\n\u307c\u3061\u307c\u3061\u8ca0\u8377\u304c\u304b\u304b\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u3059\u306e\u3067\uff0c\u4f59\u88d5\u306e\u3042\u308b\u30de\u30b7\u30f3\u3067\u52d5\u304b\u3059\u65b9\u304c\u826f\u3044\u3067\u3057\u3087\u3046\uff0e
\n\u4f59\u88d5\u306e\u306a\u3044\u30de\u30b7\u30f3\u3067\u52d5\u304b\u3057\u305f\u5834\u5408\uff0c\u753b\u9762\u306e\u66f4\u65b0\u304c\u3055\u308c\u306a\u3044\u5834\u5408\u304c\u3042\u308a\u307e\u3059\uff08Ubuntu\u306eWine\u306e\u5834\u5408\u3082\u540c\u69d8\uff09\uff0e
\n\u305d\u306e\u3068\u304d\u306f\uff0c\u30de\u30a6\u30b9\u3067\u753b\u9762\u3092\u63b4\u3093\u3067\u52d5\u304b\u3057\u3066\u3084\u308b\u3068\uff0c\u66f4\u65b0\u3055\u308c\u307e\u3059\u2026\uff0e<\/p>\n

\u6b21\u306b\uff0cRobotino <=> Robview \u306e\u90e8\u5206\u3067\u3059\uff0e
\nRobView \u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\uff0cros.rvw2<\/a>\u3067\u3059\uff0e
\n\u306a\u3093\u3068\uff0cRobotino 2\u306b\u3082\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u3059\uff01<\/p>\n

Robotino \u306eIP\u30a2\u30c9\u30ec\u30b9\u306f\uff0c36\u884c\u76ee\u3092\u5909\u66f4\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n

\r\n        <md:varExpr md:value="127.0.0.1:8080" md:varname="ipAddress"\/>\r\n<\/pre>\n
\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u5834\u5408\u306f\uff0c\u305d\u308c\u3092\u52d5\u304b\u3057\u3066\u3044\u308b\u30d1\u30bd\u30b3\u30f3\u306eIP\u30a2\u30c9\u30ec\u30b9\u306b\u5909\u66f4\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u30d5\u30a1\u30a4\u30a2\u30a6\u30a9\u30fc\u30eb\u304c\u901a\u4fe1\u3092\u6b62\u3081\u3066\u3044\u308b\u5834\u5408\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u306e\u3067\u8981\u6ce8\u610f\uff0e
\nRobotino 3\u306e\u5834\u5408\u306f\uff0c\u30dd\u30fc\u30c8\u756a\u53f7\u309212080\u306b\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n
Ubuntu 18.04\u3067Robview2 \u3092\u4f7f\u3046\u5834\u5408\u306f\uff0cwine\u540c\u69d8\uff0cRobotino2\u3092Ubuntu 18.04\u304b\u3089\u5236\u5fa1<\/a>\u3092\u53c2\u8003\u306b\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nUbuntu 18.04\u3067Robview3 \u3092\u4f7f\u3046\u5834\u5408\u306f\uff0c\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u3042\u308a\u307e\u3059\u306e\u3067\uff0capt\u306esource.list\u3092\u5909\u66f4\uff08\u3068\u3044\u3046\u304bsource.list.d\u306b\u30d5\u30a1\u30a4\u30eb\u3092\u8ffd\u52a0\uff09\u3057\u3066\uff0c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nGUI\u3067\u52d5\u304b\u3057\u3066\u3082\u826f\u3044\u3067\u3059\u3057\uff0crobview_interpreter \u3092\u4f7f\u3063\u3066CUI \u3067\u52d5\u304b\u3059\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\uff0e<\/p>\n
RobView <=> ROS \u306e\u90e8\u5206\u306f\uff0cudp_comm.py<\/a>\u3092\u4f7f\u3063\u3066\u4e0b\u3055\u3044\uff0e
\nRobView \u304b\u3089Robotino \u306e\u60c5\u5831\uff08\u30aa\u30c9\u30e1\u30c8\u30ea\u30fc\uff0c\u901f\u5ea6\uff09\u3092\u53d7\u3051\u53d6\u308a\uff0cROS\u306e\u65b9\u3067Publish \u3057\u3066\u3044\u307e\u3059\uff0e
\n\u4eca\u306e\u3068\u3053\u308d\uff0c\u4ee5\u4e0b\u306e\u5f62\u3067Publish \u3057\u3066\u3044\u307e\u3059\u304c\uff0c\u4eca\u5f8c\u5909\u66f4\u3059\u308b\u53ef\u80fd\u6027\u306f\u5927\u3044\u306b\u3042\u308a\u307e\u3059\uff0e<\/p>\n
\r\n pub01 = rospy.Publisher('robotino\/odometry', Pose, queue_size = 10)\r\n pub02 = rospy.Publisher('robotino\/bumper', Bool, queue_size = 10)\r\n pub03 = rospy.Publisher('robotino\/getVelocity', Float32MultiArray, queue_size = 10)\r\n<\/pre>\n
\u307e\u305f\uff0cROS\u7d4c\u7531\u3067\u6307\u793a\u3092\u53d7\u3051\u53d6\u3063\u3066\uff0cRobView \u306e\u65b9\u3067Robotino \u3092\u52d5\u304b\u3059\u3053\u3068\u3082\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u4eca\u306e\u6bb5\u968e\u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u901f\u5ea6\uff08x, y, phi\uff09\u3092\u6271\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n
\r\n rospy.Subscriber('robotino\/velocity', Float32MultiArray, setVelocity)\r\n<\/pre>\n
\u3053\u308c\u306f\u305d\u306e\u3046\u3061\uff0c\u30e2\u30fc\u30c9\u60c5\u5831\u3082\u52a0\u3048\u3066\uff0c\u5225\u306e\u6307\u793a\u3082\u51fa\u305b\u308b\u3088\u3046\u306b\u3057\u3066\u3044\u304f\u3064\u3082\u308a\u3067\u3059\uff0e
\n\u4f8b\u3048\u3070\uff0c\u300c\u6307\u5b9a\u3055\u308c\u305f\u5ea7\u6a19\u307e\u3067\u8d70\u308b\u300d\uff08= Position Driver\uff09\u3068\u304b\uff0c\u300c\u76f8\u5bfe\u7684\u306a\u5ea7\u6a19\uff08\u4f8b\uff1a\u524d\u65b91m\uff09\u307e\u3067\u8d70\u308b\u300d\u3068\u304b\uff0c\u300c\u7d4c\u8def\uff08=\u8907\u6570\u306e\u70b9\uff09\u3092\u8d70\u308b\u300d\uff08= Path Driver\uff09\u3068\u304b\u3067\u3059\uff0e<\/p>\n
\u6307\u793a\u3060\u3057\u306e\u30b5\u30f3\u30d7\u30eb\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\uff0csin02.py<\/a>\u3067\u3059\uff0e<\/p>\n
\u3042\u3068\uff0cRobotino \u642d\u8f09\u306e\u8d64\u5916\u7dda\u8ddd\u96e2\u30bb\u30f3\u30b5\uff08IR1 – IR9\uff09\u306b\u95a2\u3057\u3066\u306f\uff0c\u4eca\u306e\u3068\u3053\u308d\u5229\u7528\u3057\u3066\u3044\u307e\u305b\u3093\uff0e
\n\u5fc5\u8981\u306a\u3089\u3064\u306a\u3052\u3088\u3046\u3068\u601d\u3044\u307e\u3059\uff0e<\/p>\n
LRF \u3084\u30ab\u30e1\u30e9\u306b\u95a2\u3057\u3066\u306f\uff0cRobView \u3067\u6271\u3046\u306e\u3067\u306f\u306a\u304f\uff0cROS\u7d4c\u7531\u3068\u3044\u3046\u304bpython\u3084C\u5074\u3067\u6271\u3063\u305f\u65b9\u304c\u697d\u305d\u3046\u306a\u306e\u3067\uff0c\u3053\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3067\u306f\u89e6\u3063\u3066\u3044\u307e\u305b\u3093\uff0e
\n\u3053\u308c\u4ee5\u5916\u306b\uff0c\u4f55\u304c\u5fc5\u8981\u304b\u306a\u3041\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
Robotino\u3068ROS\u3067\u771f\u9762\u76ee\u306b\u3064\u306a\u3052\u308b\u65b9\u6cd5\u3092\u8003\u3048\u305f\u3051\u3069\uff0c\u9069\u5207\u306aRobotin …<\/p>\n
  Robotino\u3067ROS<\/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":[3,2,9,17],"tags":[],"class_list":["post-2402","post","type-post","status-publish","format-standard","hentry","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\/2402","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=2402"}],"version-history":[{"count":3,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2402\/revisions"}],"predecessor-version":[{"id":2499,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2402\/revisions\/2499"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2402"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2402"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2402"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}