{"id":2617,"date":"2021-01-05T15:32:25","date_gmt":"2021-01-05T06:32:25","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2617"},"modified":"2025-03-03T17:32:56","modified_gmt":"2025-03-03T08:32:56","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%a4%e3%81%a5%e3%81%8d%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2617","title":{"rendered":"Ubuntu 18.04\u3078\u306efawkes-robotino \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u3064\u3065\u304d\uff09"},"content":{"rendered":"

Ubuntu 18.04\u3078\u306efawkes-robotino with Gazebo \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a>\u306e\u7d9a\u304d\uff0e
\n\u74b0\u5883\u5909\u6570\u306f\uff0c\u4ee5\u4e0b\u306e\u901a\u308a\uff0e<\/p>\n

\r\nexport FAWKES_DIR=~\/fawkes-robotino-2016\r\nexport GAZEBO_RCLL=~\/gazebo-rcll\r\nexport GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$GAZEBO_RCLL\/plugins\/lib\/gazebo\r\nexport GAZEBO_MODEL_PATH=$GAZEBO_RCLL\/models\r\nexport GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$GAZEBO_RCLL\/models\/carologistics\r\n\r\nexport LLSF_REFBOX_DIR=~\/rcll-refbox\r\n# export GAZEBO_WORLD_PATH=~\/gazebo-rcll\/worlds\/carologistics\/llsf.world\r\nexport GAZEBO_WORLD_PATH=~\/gazebo-rcll\/worlds\/carologistics\/rcll-2017-default.world\r\n<\/pre>\n
\r\n16:11:52.173366 FawkesMainThread: Failed to load plugins gazsim-meta-clips-exec, exception follows\r\n16:11:52.173402 FawkesMainThread: [EXCEPTION] Transform gripper: wrong or incomplete transform data\r\n16:11:52.173402 FawkesMainThread: [EXCEPTION] Publisher for gripper has already been added\r\n16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize thread 'StaticTransformsThread' (ThreadList static-transforms)\r\n16:11:52.173402 FawkesMainThread: [EXCEPTION] Plugin >>> static-transforms <<< could not be initialized, unloading\r\n16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize meta plugin gazsim-meta-robotino, aborting loading.\r\n16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize meta plugin gazsim-meta-robotino-ros, aborting loading.\r\n16:11:52.173402 FawkesMainThread: [EXCEPTION] Could not initialize meta plugin gazsim-meta-clips-exec, aborting loading.\r\n<\/pre>\n
\u30e1\u30bf\u30bf\u30b0:gazsim-meta-clips-exec \u306e\u8aad\u307f\u8fbc\u307f\u4e2d\u306b\u30a8\u30e9\u30fc\u304c\u51fa\u3066\u3044\u307e\u3059\u306d\uff0e
\n\u306a\u3093\u304bgripper\u306e\u540d\u524d\u304cPublisher\u3067\u65e2\u306b\u4f7f\u308f\u308c\u3066\u3044\u308b\u3068\u304b\u3069\u3046\u3068\u304b\uff0e
\n\u4ed5\u65b9\u304c\u7121\u3044\u306e\u3067cfg\/conf.d\/static_transforms.yaml \u306egripper\u306e\u90e8\u5206\u3092\u5909\u66f4<\/p>\n
\r\n    gripper:\r\n      frame: !frame gripper_z_dyn\r\n      # child_frame: !frame gripper\r\n      child_frame: !frame gripper1\r\n<\/pre>\n
\u6b21\u306f\uff0ctagvision\u3067\u306e\u30a8\u30e9\u30fc<\/p>\n
\r\n16:19:32.533007 FawkesMainThread: Failed to load plugins gazsim-meta-clips-exec, exception follows\r\n16:19:32.533031 FawkesMainThread: [EXCEPTION] Plugin 'gazsim-tag-vision' could not be loaded: failed to open module\r\n16:19:32.533031 FawkesMainThread: [EXCEPTION] dlopen failed\r\n16:19:32.533031 FawkesMainThread: [EXCEPTION] dlerror: \/home\/ryukoku\/fawkes-robotino-2019\/plugins\/gazsim-tag-vision.so: undefined symbol: _ZTIN6fawkes18TagVisionInterfaceE\r\n<\/pre>\n
\r\nryukoku@ryukoku-HiGame:~\/fawkes-robotino-2019\/src\/plugins\/tag_vision$ make\r\n--> Omitting tag-vision plugin (ALVAR not available)\r\n<\/pre>\n
ALVAR \u3092\u5165\u308c\u3066\u3044\u306a\u3044\u304b\u3089\uff0ctag_vision \u304c\u4f5c\u308c\u3066\u3044\u306a\u3044\u6a21\u69d8\uff0e<\/p>\n
\r\nsudo apt-get install ros-melodic-ar-track-alvar ros-melodic-ar-track-alvar-msgs\r\n# msgs\u304c\u3044\u308b\u304b\u3069\u3046\u304b\u306f\u4e0d\u660e\r\n<\/pre>\n
\r\n\/home\/ryukoku\/fawkes-robotino-2019\/src\/plugins\/tag_vision\/tag_vision_thread.cpp:182:1: error: reference to \u2018tf\u2019 is ambiguous\r\n tf::TransformPublisher *\r\n ^~\r\n<\/pre>\n
\u3068\u307b\u307b\uff0e
\n2016\u304b\u3089tag_vision_* \u3068\uff0ctag_position* \u306e\u30d5\u30a1\u30a4\u30eb\u3092\u30b3\u30d4\u30fc\u3057\u3066\u304d\u3066\uff0cconfig.mk \u306b-Wno-format-security\u3092\u8ffd\u52a0\u3057\u3066\u56de\u907f\uff0e
\n\u2192 \u7d50\u5c40\u306f\uff0cmeta-tag \u304b\u3089\u30cf\u30ba\u3057\u3066\u8d77\u52d5\u2026\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
Ubuntu 18.04\u3078\u306efawkes-robotino with Gazeb …<\/p>\n
  Ubuntu 18.04\u3078\u306efawkes-robotino \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u3064\u3065\u304d\uff09<\/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":[10,3,2,6,8],"tags":[],"class_list":["post-2617","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\/2617","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=2617"}],"version-history":[{"count":10,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2617\/revisions"}],"predecessor-version":[{"id":3731,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2617\/revisions\/3731"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2617"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2617"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2617"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}