{"id":2534,"date":"2020-12-30T15:41:00","date_gmt":"2020-12-30T06:41:00","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2534"},"modified":"2020-12-31T11:02:59","modified_gmt":"2020-12-31T02:02:59","slug":"ubuntu-18-04%e3%81%b8%e3%81%aefawkes-robotino-with-gazebo-%e3%81%ae%e3%82%a4%e3%83%b3%e3%82%b9%e3%83%88%e3%83%bc%e3%83%ab","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2534","title":{"rendered":"Ubuntu 18.04\u3078\u306efawkes-robotino with Gazebo \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb"},"content":{"rendered":"<p><a href=\"https:\/\/www.kdel.org\/wp\/?p=2510\">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<\/a>\u306e\u7d9a\u304d\u3067\uff0cgazebo \u306e\u90e8\u5206\u3092\u5bfe\u5fdc\u3055\u305b\u3066\u307f\u307e\u3059\uff0e<br \/>\n\u307e\u305a\u306f\uff0c\u524a\u9664\u3057\u305fgazebo9 \u3092\u5165\u308c\u76f4\u3057\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# bash -c &quot;$(curl -SsfL https:\/\/git.io\/ros-melodic-desktop)&quot;\r\nsudo apt-get install gazebo9 gazebo9-common gazebo9-plugin-base libgazebo9 libgazebo9-dev ros-melodic-gazebo-dev ros-melodic-gazebo-msgs \\\r\n                     ros-melodic-gazebo-plugins ros-melodic-gazebo-ros ros-melodic-gazebo-ros-control ros-melodic-gazebo-ros-pkgs \\\r\n                     ros-melodic-simulators ros-melodic-urdf-sim-tutorial \\\r\n                     ros-melodic-desktop-full ros-melodic-gazebo-plugins ros-melodic-gazebo-ros \\\r\n                     ros-melodic-gazebo-ros-control ros-melodic-gazebo-ros-pkgs \\\r\n                     ros-melodic-simulators ros-melodic-urdf-sim-tutorial\r\n<\/pre>\n<p>2016\u30682019\u306e\u3069\u3061\u3089\u306b\u3057\u3088\u3046\u304b\u306a\u3041\uff0e<br \/>\n\u3068\u308a\u3042\u3048\u305a\uff0c\u305d\u306e\u307e\u307emake \u3059\u308b\u3068\u2026\uff0e<\/p>\n<hr>\n<ul>\n<li>fawkes-robotino-2016<\/li>\n<\/ul>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n               --&gt; Entering sub-directory fawkes\/src\/plugins\/gazebo\/gazsim-robotino\/gazebo-plugin-motor\r\n                  &#x5B;C++] fawkes\/src\/plugins\/gazebo\/gazsim-robotino\/gazebo-plugin-motor\/motor.cpp\r\n\/home\/ryukoku\/fawkes-robotino-2016\/fawkes\/src\/plugins\/gazebo\/gazsim-robotino\/gazebo-plugin-motor\/motor.cpp: In member function \u2018virtual void gazebo::Motor::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)\u2019:\r\n\/home\/ryukoku\/fawkes-robotino-2016\/fawkes\/src\/plugins\/gazebo\/gazsim-robotino\/gazebo-plugin-motor\/motor.cpp:58:41: error: \u2018class gazebo::physics::World\u2019 has no member named \u2018GetName\u2019; did you mean \u2018Name\u2019?\r\n   this-&gt;node_-&gt;Init(model_-&gt;GetWorld()-&gt;GetName()+&quot;\/&quot;+name_);\r\n                                         ^~~~~~~\r\n                                         Name\r\n<\/pre>\n<p>GetName\u304c\u306a\u3044\u3063\u3066\u3068\u3053\u308d\u3067\u6b62\u307e\u308a\u307e\u3059\uff0e<br \/>\n<a href=\"https:\/\/www.kdel.org\/wp\/?p=1524\">Ubuntu 18.04\u3078\u306efawkes-robotino \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u8a66\u884c\u932f\u8aa4\u7248\uff09<\/a>\u306e\u6642\u3068\u540c\u3058\u3067\u3059\u306d\uff0e<\/p>\n<hr>\n<ul>\n<li>fawkes-robotino-2019<\/li>\n<\/ul>\n<p>\u3053\u3063\u3061\u306f\uff0c\u554f\u984c\u7121\u304fmake\u304c\u901a\u308a\u307e\u3059\u306d\uff0e<br \/>\nGazebo\u306e\u30e2\u30c7\u30eb\u306f\uff0c<a href=\"https:\/\/github.com\/robocup-logistics\/gazebo-rcll\">gazebo-rcll<\/a>\u3067\u3059\u306d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd\r\ngit clone https:\/\/github.com\/robocup-logistics\/gazebo-rcll\r\ncd gazebo-rcll\r\nmake\r\n<\/pre>\n<p>\u3042\u3068\u306f\u74b0\u5883\u5909\u6570\u3092\u8a2d\u5b9a\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\n.bashrc \u306e\u6700\u5f8c\u306b\u66f8\u3044\u3066\u304a\u304f\u3068\u5e78\u305b\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nexport FAWKES_DIR=~\/fawkes-robotino-2019\r\nexport GAZEBO_PLUGIN_PATH=~\/gazebo-rcll\/plugins\/lib\/gazebo\r\nexport GAZEBO_WORLD_PATH=~\/gazebo-rcll\/worldscarologistics\/rcll-2017-default.world\r\n<\/pre>\n<p>\u3042\u3068\u306f\uff0crefbox\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306e\u8a2d\u5b9a\u304c\u5fc5\u8981\u3067\u3059\u306d\uff0e<br \/>\n\u73fe\u6bb5\u968e\u3067git\u3067\u53d6\u3063\u3066\u304d\u305f\u9650\u308a\u3067\u306f\uff0c127.0.0.1\u306e\u8a2d\u5b9a\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u306e\u3067\uff0c<br \/>\n\u305d\u306e\u307e\u307e\u5229\u7528\u53ef\u80fd\u3067\u3059\uff0e<br \/>\n\u30c1\u30fc\u30e0\u306e\u90e8\u5206\u3092\u8ffd\u52a0\u3059\u308b\u3050\u3089\u3044\u304b\u306a<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncat ~\/rcll-refbox\/cfg\/config.yaml\r\n#    public-peer:\r\n#      # host: !ipv4 192.168.122.255\r\n#      host: !ipv4 127.0.0.1\r\n#      # port: !udp-port 4444\r\n#      send-port: !udp-port 4444\r\n#      recv-port: !udp-port 4445\r\n#\r\n#    cyan-peer:\r\n#      # host: !ipv4 192.168.122.255\r\n#      host: !ipv4 127.0.0.1\r\n#      # port: !udp-port 4441\r\n#      send-port: !udp-port 4441\r\n#      recv-port: !udp-port 4446\r\n#\r\n#    magenta-peer:\r\n#      # host: !ipv4 192.168.122.255\r\n#      host: !ipv4 127.0.0.1\r\n#      # port: !udp-port 4442\r\n#      send-port: !udp-port 4442\r\n#      recv-port: !udp-port 4447\r\n#\r\n#  game:\r\n#    teams: &#x5B;Carologistics,BabyTigers]\r\n#    crypto-keys:\r\n#      Carologistics: randomkey\r\n#      BabyTigers: randomkey\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd $FAWKES_DIR\/bin\r\n.\/gazsim.bash -x start -a -r -n 1\r\n# \u4e0a\u8a18\u3067\u52d5\u304b\u306a\u3044\u5834\u5408\u306f\uff0c\r\n$FAWKES_DIR\/bin\/gazsim-startup.bash -x gazebo\r\n\u4ee5\u4e0b\uff0c\u30e1\u30e2\r\n&quot;\/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x gazebo   &quot;\r\n&quot;\/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x roscore -p 11311  &quot;\r\n&quot;\/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x roscore -p 11321  &quot;\r\n&quot;\/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x move_base -p 11321  &quot;\r\n&quot;\/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x refbox  &quot;\r\n&quot;\/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x refbox-shell  &quot;\r\n&quot;export TAB_START_TIME=1609317893; \/home\/ryukoku\/fawkes-robotino-2019\/bin\/wait-at-first-start.bash 10; \/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x fawkes -p 11321 -i robotino1   -r    -m gazsim-meta-clips-exec  -f \/home\/ryukoku\/fawkes-robotino-2019\/bin  &quot;\r\n&quot;export TAB_START_TIME=1609317893; \/home\/ryukoku\/fawkes-robotino-2019\/bin\/wait-at-first-start.bash 5; \/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x comm   &quot;\r\n<\/pre>\n<p>\u3053\u3093\u306a\u611f\u3058\u304b\u306a\u3041\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n&quot;\/home\/ryukoku\/fawkes-robotino-2019\/bin\/gazsim-startup.bash -x move_base -p 11321  &quot;\r\n<\/pre>\n<p>\u3053\u3053\u306e\u52d5\u304d\uff0c\u3042\u3084\u3057\u3044\u3067\u3059\u306d\uff0e<br \/>\n\u3070\u3089\u3057\u3066\u5b9f\u884c\u3057\u3066\u307f\u308b\u3068<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n\texport ROS_MASTER_URI=http:\/\/localhost:$PORT\r\n\trosparam set \/use_sim_time true\r\n\texport ROS_PACKAGE_PATH=$FAWKES_DIR\/cfg\/move_base_robotino:$ROS_PACKAGE_PATH\r\n\troslaunch $@ --wait robotino_move_base robotino_move_base_simu.launch\r\n<\/pre>\n<p>\u3068\u306a\u3063\u3066\u3044\u307e\u3059\u304c\uff0cROS_PACKAGE_PATH\u306e\u4e2d\u306brobotino_move_base\u304c\u3044\u306a\u3044\u6c17\u304c\u3059\u308b\u2026\uff0e<br \/>\n\u3053\u3053\u306f\uff0c\u3068\u308a\u3042\u3048\u305a\u624b\u5143\u306b\u3042\u308b\u30d5\u30a1\u30a4\u30ebmove_base.launch \u3067\u52d5\u304b\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u304b\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">roslaunch move_base.launch<\/pre>\n<p>refbox \u304c\u306a\u3044\u30a8\u30e9\u30fc\u306f\uff0c\u74b0\u5883\u5909\u6570LLSF_REFBOX_DIR\u306e\u8a2d\u5b9a\u304c\u5fc5\u8981\u3067\u3059\u306d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">export LLSF_REFBOX_DIR=~\/rcll-refbox<\/pre>\n<p>$GAZEBO_RCLL \u306e\u74b0\u5883\u5909\u6570\u3092\u30bb\u30c3\u30c8\u3057\u308d\u3063\u3066\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u51fa\u3066\u3044\u307e\u3059\u306d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">export GAZEBO_RCLL=~\/gazebo-rcll<\/pre>\n<p>\u3053\u308c\u3067\u52d5\u304f\u304b\u306a\uff0e<br \/>\nUnable to find uri[model:\/\/tag]\u306e\u30a8\u30e9\u30fc\u304c\u51fa\u307e\u3059\u306d\uff0e<br \/>\nGAZEBO_RCLL\u304bGAZEBO_WORLD_MODEL\u3092\u9593\u9055\u3048\u3066\u3044\u308b\u304b\u306a\uff0e<br \/>\n\u904e\u53bb\u306e\u8a18\u61b6\u3092\u601d\u3044\u3060\u305d\u3046\u2026\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Ubuntu 18.04\u3078\u306efawkes-robotino without Ga &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2534\"> <span class=\"screen-reader-text\">Ubuntu 18.04\u3078\u306efawkes-robotino with Gazebo \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/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-2534","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\/2534","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=2534"}],"version-history":[{"count":15,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2534\/revisions"}],"predecessor-version":[{"id":2554,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2534\/revisions\/2554"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2534"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2534"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2534"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}