{"id":2510,"date":"2020-12-28T09:50:26","date_gmt":"2020-12-28T00:50:26","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2510"},"modified":"2021-01-06T17:22:47","modified_gmt":"2021-01-06T08:22:47","slug":"ubuntu-18-04%e3%81%b8%e3%81%aefawkes-robotino-%e3%81%ae%e3%82%a4%e3%83%b3%e3%82%b9%e3%83%88%e3%83%bc%e3%83%ab%ef%bc%88%e3%81%be%e3%81%a8%e3%82%81%e7%89%88-2020-12-28%e7%89%88%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2510","title":{"rendered":"Ubuntu 18.04\u3078\u306efawkes-robotino without Gazebo \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u307e\u3068\u3081\u7248: 2020\/12\/28\u7248\uff09"},"content":{"rendered":"<p><a href=\"https:\/\/www.kdel.org\/wp\/?p=1554\">Ubuntu 18.04\u3078\u306efawkes-robotino \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u307e\u3068\u3081\u7248\uff09<\/a>\u3092\u3082\u3046\u4e00\u5ea6\u8ffd\u3044\u304b\u3051\u3066\u307f\u307e\u3057\u305f\uff0e<br \/>\n\u307e\u305a\u306fUbuntu 18.04\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff0e<br \/>\n\u6700\u7d42\u7248\u306f\uff0c<a href=\"https:\/\/releases.ubuntu.com\/18.04\/\">18.04.5<\/a>\u3067\u3059\u306d\uff0e<br \/>\n<a href=\"https:\/\/releases.ubuntu.com\/18.04\/ubuntu-18.04.5-desktop-amd64.iso\">64-bit PC (AMD64) desktop image<\/a>\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066USB\u306b\u713c\u3044\u3066\uff0c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff0e<br \/>\n<a href=\"https:\/\/www.kdel.org\/wp\/?p=1515\">Linux \u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u6642\u306e\u8a2d\u5b9a<\/a>\u306b\u5f93\u3063\u3066\uff0c\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3068\u8a2d\u5b9a\u306e\u5909\u66f4\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install net-tools openssh-server ccache subversion git gcc build-essential vim\r\nsudo update-alternatives --config editor\r\n<\/pre>\n<p>\u3053\u308c\u3067ssh\u3067\u30ed\u30b0\u30a4\u30f3\u3067\u304d\u308b\u306e\u3067\uff0c\u3042\u3068\u306f\u30bf\u30fc\u30df\u30ca\u30eb\u304b\u3089\u4f5c\u696d\uff0e<br \/>\nsudo\u306e\u8a2d\u5b9a<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\"> \r\n# sudo visudo \u3067\/etc\/sudoers \u3092\u7de8\u96c6\r\n# for Ubuntu\r\n%sudo   ALL=(ALL) NOPASSWD:ALL\r\n# for Fedora\r\n%wheel  ALL=(ALL)       NOPASSWD: ALL\r\n<\/pre>\n<p>ccache\u306e\u8a2d\u5b9a<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# \u4ee5\u4e0b\u3092.bashrc \u306b\u8ffd\u52a0\u3059\u308b\u3068\u5e78\u305b\u306b\u306a\u308c\u307e\u3059\uff0e\r\n# ccache for Fedora\r\n## export PATH=&quot;\/usr\/lib64\/ccache:$PATH&quot;\r\n# ccache for Ubuntu 18.04\r\nexport PATH=&quot;\/usr\/lib\/ccache:$PATH&quot;\r\nexport USE_CCACHE=1\r\nexport CCACHE_DIR=~\/.ccache\r\nexport set CC='ccache gcc'\r\nexport set CXX='ccache g++'\r\n<\/pre>\n<hr>\n<p><a href=\"https:\/\/www.kdel.org\/wp\/?p=1482\">RefBox \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff082019\/03\/11\u7248\uff09<\/a>\u3067\u3044\u3051\u308b\u304b\u306a\u3041\uff0e<br \/>\n\u9055\u3063\u305f\uff0e<a href=\"https:\/\/www.kdel.org\/wp\/?p=2413\">Ubuntu 18.04\u3067\u306eRefBox (2020\/09\/03\u7248)<\/a>\u3067\u3059\u306d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo add-apt-repository ppa:timn\/clips\r\nsudo apt-get update\r\nsudo apt-get install libmodbus-dev libclips-dev clips libclipsmm-dev \\\r\n                     protobuf-compiler libprotobuf-dev libprotoc-dev \\\r\n                     libboost-all-dev libmodbus-dev \\\r\n                     libglibmm-2.4-dev libgtkmm-3.0-dev \\\r\n                     libncursesw5-dev libyaml-cpp-dev libavahi-client-dev\\\r\n                     libssl-dev libgecode-dev\\\r\n                     lib64ncurses5-dev cmake-curses-gui git\r\nsudo apt-get install libmbedtls-dev cmake libmicrohttpd-dev rapidjson-dev\\\r\n                     libaprutil1-dev libwebsocketpp-dev\r\ngit clone https:\/\/github.com\/FreeOpcUa\/freeopcua\r\ncd freeopuca\r\n# \u4ee5\u4e0b\u306ecmake \u306e\u30b3\u30de\u30f3\u30c9\u5b9f\u884c\u6642\u306b\u6b21\u306e\u9806\u3067\u30ad\u30fc\u5165\u529b\r\n# c =&gt; e =&gt; c =&gt; e =&gt; g \u2190 \u4eca\u56de\u306f\u3053\u308c\u3067\u901a\u308a\u307e\u3057\u305f\uff0e\r\nccmake .\r\ncmake .\r\nmake\r\nsudo make install\r\ncd ..\r\ngit clone https:\/\/github.com\/robocup-logistics\/rcll-refbox.git\r\ncd rcll-refbox\r\nmake\r\n<\/pre>\n<p>\u3068\u308a\u3042\u3048\u305a\uff0c\u3053\u308c\u3067RefBox \u304c\u3067\u304d\u3042\u304c\u308a\uff0e<br \/>\n\u203b\u305f\u3060\u3057\uff0cmongodb\u306f\u5165\u308c\u3066\u3044\u307e\u305b\u3093\u306e\u3067\uff0c\u6b21\u306e\u4e16\u754c\u5927\u4f1a\u306e\u6642\u306b\u56f0\u308b\u304b\u3082\uff0e<\/p>\n<hr>\n<p>\u6b21\u306f\uff0cfawkes-robotino \u3092\u5165\u308c\u3066\u307f\u307e\u3059\uff0e<\/p>\n<ul>\n<li><a href=\"https:\/\/www.fawkesrobotics.org\/projects\/rcll2015-release\/\">Fawkes Domain Release for the RoboCup Logistics League 2015<\/a>\u306e<a href=\"https:\/\/files.fawkesrobotics.org\/releases\/fawkes-robotino-2015.tar.bz2\">fawkes-robotino-2015<\/a><\/li>\n<li><a href=\"https:\/\/www.fawkesrobotics.org\/projects\/rcll2016-release\/\">Fawkes Domain Release for the RoboCup Logistics League 2016<\/a>\u306e<a href=\"https:\/\/files.fawkesrobotics.org\/releases\/fawkes-robotino-2016-2.tar.bz2\">fawkes-robotino-2016-2<\/a><\/li>\n<li><a href=\"https:\/\/www.fawkesrobotics.org\/projects\/rcll2019-release\/\">Fawkes Domain Release for the RoboCup Logistics League 2019<a>\u306e<a href=\"https:\/\/files.fawkesrobotics.org\/releases\/fawkes-robotino-2019.tar.gz\">fawkes-robotino-2019<\/a><\/li>\n<\/ul>\n<hr>\n<p>\u307e\u305a\u306f\uff0c\u5fc5\u8981\u305d\u3046\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# Add ROS package repository, required e.g. for bullet\r\nsudo sh -c 'echo &quot;deb http:\/\/packages.ros.org\/ros\/ubuntu $(lsb_release -sc) main&quot; &gt; \/etc\/apt\/sources.list.d\/ros-latest.list'\r\nwget http:\/\/packages.ros.org\/ros.key -O - | sudo apt-key add -\r\nsudo apt-get update\r\n# Recent CLIPS\/clipsmm versions\r\nsudo add-apt-repository -y ppa:timn\/clips\r\nsudo apt-get update\r\n# On Ubuntu 18.04\r\nsudo apt-get install asciidoc doxygen \\\r\n  libmagic-dev libssl-dev libavahi-client-dev libsqlite3-dev libxml++2.6-2v5 libxml++2.6-dev \\\r\n  libdaemon-dev liblua5.1-0-dev libtolua++5.1-dev \\\r\n  libdc1394-22-dev libbluetooth-dev libbullet-dev libelf-dev \\\r\n  libjpeg-dev libtiff5-dev libjpeg8-dev libjpeg-turbo8-dev libpng-dev libpcl-dev \\\r\n  libopencv-dev libopencv-objdetect-dev libopencv-highgui-dev libopencv-calib3d-dev \\\r\n  libopencv-apps-dev \\\r\n  librrd-dev graphviz libgraphviz-dev flite1-dev libasound2-dev \\\r\n  libcgal-dev \\\r\n  libgl1-mesa-dev freeglut3-dev libsdl1.2-dev \\\r\n  ibgconfmm-2.6-dev \\\r\n  mongodb-dev mongodb-server libncurses5-dev \\\r\n  libmicrohttpd-dev libxmlrpc-c++8-dev \\\r\n  emacs25 \\\r\n  ros-melodic-actionlib ros-melodic-pcl-ros ros-melodic-geometry ros-melodic-image-common \\\r\n  ros-melodic-image-transport-plugins ros-melodic-navigation \\\r\n  libpcl-conversions-dev libtf-conversions-dev libvisualization-msgs-dev \\\r\n  libudev-dev curl libtolua-dev\r\nbash -c &quot;$(curl -SsfL https:\/\/git.io\/ros-melodic-desktop)&quot;\r\n<\/pre>\n<hr>\n<p>\u3067\u306f\uff0c2016\u3092\u3044\u308c\u3066\u307f\u307e\u3059\uff0egazebo\u306f\u4e0d\u8981\u306a\u306e\u3067\u6d88\u3057\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get remove gazebo9 gazebo9-common gazebo9-plugin-base libgazebo9 libgazebo9-dev ros-melodic-gazebo-msgs\r\nsudo ln -s \/usr\/include\/xmlrpc.h \/usr\/include\/XmlRpc.h\r\nwget https:\/\/files.fawkesrobotics.org\/releases\/fawkes-robotino-2016-2.tar.bz2\r\ntar xvf fawkes-robotino-2016-2.tar.bz2\r\nmv fawkes-robotino fawkes-robotino-2016\r\ncd fawkes-robotino-2016\r\n<\/pre>\n<p>fawkes-robotino\/etc\/buildsys\/config.mk \u306eCFLAGS_EXTRA \u306b\u4ee5\u4e0b\u306e-Wno\u306e\u9805\u76ee\u3092\u8ffd\u52a0\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n# Globally enable optimization for the Robotino platform\r\nCFLAGS_EXTRA  += -g -Wall -Werror -O3\r\nCFLAGS_EXTRA  += -Wno-nonnull -Wno-format-truncation -Wno-deprecated -Wno-int-in-bool-context\r\n<\/pre>\n<p>\u4ee5\u4e0b\u306e3\u3064\u306e\u30d5\u30a1\u30a4\u30eb\u306e#include \u306e\u5f8c\u3050\u3089\u3044\u306b\u8ffd\u52a0\uff0e<\/p>\n<ul>\n<li>fawkes-robotino\/fawkes\/src\/libs\/navgraph\/navgraph.h<\/li>\n<li>fawkes-robotino\/fawkes\/src\/libs\/fvmodels\/velocity\/relvelo.h<\/li>\n<li>fawkes-robotino\/fawkes\/src\/plugins\/amcl\/amcl_thread.h<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n#ifndef HUGE\r\n#define HUGE HUGE_VAL\r\n#endif\r\n<\/pre>\n<p>fawkes-robotino\/fawkes\/src\/libs\/kdl_parser\/kdl_parser.cpp \u3067\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u306e\u3067\uff0c\u4ee5\u4e0b\u306e\u30d1\u30c3\u30c1\u3092\u3042\u3066\u307e\u3057\u3087\u3046\uff0e<br \/>\n<a href=\"https:\/\/lists.kbsg.rwth-aachen.de\/pipermail\/fawkes-commits\/2017\/002765.html\">[Fawkes Git] branch\/vmatare\/kdl_parser-kinetic-fix: created (1.0.0-1-g1931286)<br \/>\n<\/a><br \/>\nfawkes\/src\/libs\/kdl_parser\/Makefile <\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nifeq ($(HAVE_KDLPARSER)$(cat HAVE_EIGEN3),11)\r\n  CFLAGS  += $(CFLAGS_KDLPARSER) $(CFLAGS_EIGEN3) -std=c++11\r\n<\/pre>\n<p>fawkes\/src\/libs\/kdl_parser\/kdl_parser.cpp<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/\/ #include &lt;kdl_parser\/kdl_parser.h&gt;\r\n\/\/ #include &lt;kdl_parser\/model.h&gt;\r\n#include &quot;kdl_parser.h&quot;\r\n#include &quot;model.h&quot;\r\n...\r\n\/\/ construct joint\r\n\/\/ Joint to_kdl(boost::shared_ptr&lt;urdf::Joint&gt; jnt)\r\nJoint to_kdl(urdf::JointSharedPtr jnt)\r\n...\r\n\/\/ construct inertia\r\n\/\/ RigidBodyInertia to_kdl(boost::shared_ptr&lt;urdf::Inertial&gt; i)\r\nRigidBodyInertia to_kdl(urdf::InertialSharedPtr i)\r\n...\r\n\/\/ recursive function to walk through tree\r\n\/\/ bool add_children_to_tree(boost::shared_ptr&lt;const urdf::Link&gt; root, Tree&amp; tree)\r\nbool add_children_to_tree(urdf::LinkSharedPtr root, Tree&amp; tree)\r\n{\r\n  \/\/ std::vector&lt;boost::shared_ptr&lt;urdf::Link&gt; &gt; children = root-&gt;child_links;\r\n  const std::vector&lt;urdf::LinkSharedPtr &gt; children = root-&gt;child_links;\r\n<\/pre>\n<p>fawkes\/src\/libs\/kdl_parser\/model.cpp <\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/\/ #include &lt;kdl_parser\/model.h&gt;\r\n#include &quot;model.h&quot;\r\n...\r\n  \/\/ boost::shared_ptr&lt;ModelInterface&gt; model;\r\n  ModelInterfaceSharedPtr model;\r\n<\/pre>\n<p>MachineSignal \u306f\u4eca\u306f\u4f7f\u3063\u3066\u3044\u306a\u3044\u306e\u3067\uff0cfawkes-robotino\/src\/plugins\/Makefile \u306eSUBDIRS \u304b\u3089 machine-signal \u3092\u524a\u9664\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\nsrc\/plugins\/Makefile <\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n...\r\nSUBDIRS\t= clips-motor-switch \\\r\n          voltagelogger \\\r\n          ax12_gripper \\\r\n          arduino \\\r\n          tag_vision \\\r\n          navgraph_broker\r\n<\/pre>\n<p>\u3053\u308c\u3067\uff0c\u4f5c\u6210\u3067\u304d\u308b\u306f\u305a\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nmake\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>Ubuntu 18.04\u3078\u306efawkes-robotino \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u307e\u3068 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2510\"> <span class=\"screen-reader-text\">Ubuntu 18.04\u3078\u306efawkes-robotino without Gazebo \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u307e\u3068\u3081\u7248: 2020\/12\/28\u7248\uff09<\/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":[10,3,2,6,8],"tags":[],"class_list":["post-2510","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-setting","category-ubuntu"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2510","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=2510"}],"version-history":[{"count":24,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2510\/revisions"}],"predecessor-version":[{"id":2635,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2510\/revisions\/2635"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2510"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2510"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2510"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}