{"id":2682,"date":"2021-05-14T15:27:38","date_gmt":"2021-05-14T06:27:38","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2682"},"modified":"2021-05-19T10:55:59","modified_gmt":"2021-05-19T01:55:59","slug":"robocup-2021-logistics-league-refbox-workshop","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2682","title":{"rendered":"RoboCup 2021 Logistics League – RefBox Workshop\uff08\u306e\u30e1\u30e2\uff09"},"content":{"rendered":"

\u3068\u308a\u3042\u3048\u305a\uff0c\u52d5\u753b\u8996\u8074\u3068\uff0c\u65e5\u672c\u8a9e\u8a33\u4f5c\u6210\u3092\u3057\u3066\u307f\u307e\u3059\u304b\uff0e<\/p>\n

WEBVTT
\nNOTE duration:”00:36:57.3870000″
\nNOTE language:en-us
\nNOTE Confidence: 0.87113625<\/p>\n

Hello and welcome everybody to the RefBox Workshop which is a qualification requirement for the RoboCup Logistics League this year.
\nWhat we’re going to cover in this workshop is, how to start everything that you need which is the web shop, it is the front end, and the RefBox itself.
\n\u7686\u3055\u3093\uff0cRefBox\u8b1b\u7fd2\u4f1a\u3078\u3088\u3046\u3053\u305d\uff0e
\n\u3053\u308c\u306f\uff0c\u4eca\u5e74\u306eRoboCup Logistics League\u306e\u53c2\u52a0\u8981\u4ef6\u3067\u3059\uff0e
\n\u3053\u306e\u8b1b\u7fd2\u4f1a\u3067\u6271\u3046\u306e\u306f\uff0c\u5fc5\u8981\u3068\u306a\u308b\u5168\u3066\u306e\u3082\u306e\u3092\u3069\u306e\u3088\u3046\u306b\u59cb\u3081\u308b\u304b\u3000\u3067\u3059\uff0eweb shop\uff0c front end\uff0c\u305d\u3057\u3066RefBox \u305d\u306e\u3082\u306e\u3067\u3059\uff0e<\/p>\n

We will start by making sure that everything that we need is up and running.
\nSo first of all, for the web shop, we need to know whether our web server is running where the web shop is hosted.
\nIn order to do this, we do type in this command
\n\u307e\u305a\uff0c\u5fc5\u8981\u3068\u306a\u308b\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u5168\u3066\u52d5\u3044\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3057\u307e\u3059\uff0e
\n\u307e\u305a\u306f\uff0cweb shop\u3067\u3059\uff0e
\nweb shop\u304c\u52d5\u3044\u3066\u3044\u308b\u30d1\u30bd\u30b3\u30f3\u3067web\u30b5\u30fc\u30d0\u304c\u52d5\u3044\u3066\u3044\u308b\u304b\u3092\u77e5\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e
\n\u3053\u308c\u3092\u78ba\u8a8d\u3059\u308b\u306b\u306f\uff0c\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3057\u307e\u3059\uff0e<\/p>\n

\r\nsudo systemctl status httpd\r\n<\/pre>\n
Then it asks you for the password.
\nThe password is refbox in small letters.
\nAnd then you wait until you get a response from the service and you can see.
\n\u305d\u3046\u3059\u308b\u3068\uff0c\u30d1\u30b9\u30ef\u30fc\u30c9\u3092\u6c42\u3081\u3089\u308c\u307e\u3059\uff0e
\n\u30d1\u30b9\u30ef\u30fc\u30c9\u306f\uff0c\u300c\uff08\u5c0f\u6587\u5b57\u3067\uff09refbox\u300d\u3067\u3059\uff0e
\n\u305d\u3057\u3066\uff0c\u30b5\u30fc\u30d3\u30b9\u304c\u5fdc\u7b54\u3059\u308b\u307e\u3067\u5c11\u3057\u5f85\u3061\u307e\u3057\u3087\u3046\uff0e<\/p>\n
It is active. So now we can close this command with control C.
\nAnd now we need to check whether the Mongo database is running, which is a requirement for the refbox and to do this we type in this command and then we hit enter and then we can see here that the Mongo database is running.
\n\u52d5\u4f5c\u3057\u307e\u3057\u305f\uff0e
\nCTRL+C \u3067\uff0c\u3053\u306e\u30b3\u30de\u30f3\u30c9\u3092\u7d42\u4e86\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u6b21\u306b\uff0cMongo database\u304c\u52d5\u3044\u3066\u3044\u308b\u304b\u3069\u3046\u304b\u78ba\u8a8d\u3057\u307e\u3057\u3087\u3046\uff0e\u3053\u308c\u306f\uff0cRefBox \u306b\u5fc5\u8981\u3067\u3059\uff0e
\n\u78ba\u8a8d\u306b\u306f\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3057\uff0cMongo database\u304c\u52d5\u3044\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e<\/p>\n
\r\nsudo systemctl status mongod\r\n<\/pre>\n
Another requirement that we need for the web shop is a mySQL database and in order to Check this.
\nWe type in this. And we check whether the my SQL database is running.
\nweb shop\u306b\u5fc5\u8981\u306a\u6b8b\u308b\u9805\u76ee\u306f\uff0cmySQL\u30c7\u30fc\u30bf\u30d9\u30fc\u30b9\u3067\u3059\uff0e
\n\u3053\u308c\u306e\u78ba\u8a8d\u65b9\u6cd5\u306f\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3067\u3059\uff0e<\/p>\n
\r\nsudo systemctl status mysqld.service\r\n<\/pre>\n
And you can see here it is running.
\nSo now that we know that everything we need is running.
\n\u52d5\u4f5c\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e
\n\u3053\u308c\u3067\u5fc5\u8981\u306a\u7269\u304c\u5168\u3066\u52d5\u4f5c\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3057\u305f\uff0e<\/p>\n
We will start to fire up all the things that we need so the front end.
\nThe front end is located in a directory called rcll-refbox-front-end.
\nfront end\u3067\u5fc5\u8981\u306a\u7269\u3092\u5168\u3066\u8d77\u52d5\u3057\u307e\u3057\u3087\u3046\uff0e
\nfront end\u306f\uff0crcll-refbox-frontend\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u4e2d\u306b\u3042\u308a\u307e\u3059\uff0e<\/p>\n
And now we will change into this directory.
\nAnd you can see here.
\nDoes all the files on top level and when you check the readme with any editor you like, you can use Vim. You can use nano or you can see that in order to run it.
\nYou type in this command NPM run serve.
\nAll the other things up front are already done, so you only need to run it and now you are here.
\nNPM run serve.
\n\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u5165\u308a\u307e\u3057\u305f\uff0e
\n\u3053\u3053\u3067\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e
\nvim\u3084nano\u306a\u3069\u306e\u30a8\u30c7\u30a3\u30bf\u3092\u4f7f\u3063\u3066readme\u3092\u78ba\u8a8d\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nNPM\u306e\u5b9f\u884c\u65b9\u6cd5\u306b\u3064\u3044\u3066\u66f8\u3044\u3066\u3044\u307e\u3059\uff0e
\n\u4ed6\u306e\u90e8\u5206\u306f\u5b9f\u884c\u6e08\u307f\u3067\u3059\u304c\uff0c\u3082\u3057\u4f5c\u696d\u3059\u308b\u5fc5\u8981\u304c\u3042\u308c\u3070\u3053\u3053\u306b\u5f93\u3063\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
\r\nnpm run serve\r\n<\/pre>\n
Oh, make sure that you do not have a typo.
\n\u6253\u3061\u9593\u9055\u3048\u3066\u3044\u307e\u3057\u305f\u306d\uff08npm\u3092rpm\u3068\u5165\u308c\u3066\u3057\u307e\u3063\u3066\u3044\u307e\u3057\u305f\uff09\uff0e<\/p>\n
This takes a bit of time for it to start up because this virtual machine is a bit low spec.
\nYou can see here the modules are built.
\nAre being built. And then you can see here that it’s going to be hosted on Localhost Port 8080.
\nAnd so you open up your browser.
\nAnd you go to localhost 8080 and you can see here is the new front end, and you can already see that that it is complaining that there’s no connection which is actually correct because we have not yet started a refbox.
\n\u4eee\u60f3\u30de\u30b7\u30f3\u306e\u6027\u80fd\u304c\u5c11\u3057\u30ae\u30ea\u30ae\u30ea\u306e\u305f\u3081\uff0c\u8d77\u52d5\u306b\u5c11\u3057\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059\uff0e
\n\u30d3\u30eb\u30c9\u6e08\u307f\u306e\u30e2\u30b8\u30e5\u30fc\u30eb\u304c\u3053\u3053\u306b\u51fa\u3066\u304d\u307e\u3059\uff0e
\n\u3053\u3053\u306b\u66f8\u3044\u3066\u3042\u308b\u3068\u304a\u308a\uff0clocalhost\u306e\u30dd\u30fc\u30c88080\u756a\u306b\u3066\u63a5\u7d9a\u3067\u304d\u307e\u3059\uff0e
\n\u30d6\u30e9\u30a6\u30b6\u3092\u8d77\u52d5\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u305d\u3057\u3066\uff0clocalhost:8080\u306b\u63a5\u7d9a\u3059\u308b\u3068\uff0cfront end\u304c\u8d77\u52d5\u3057\u307e\u3059\uff0e\u307e\u3060RefBox\u3092\u8d77\u52d5\u3057\u3066\u3044\u306a\u3044\u306e\u3067\u300cno connection\u300d\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u51fa\u307e\u3059\uff0e<\/p>\n
So you can just click OK. And then this is the front end.
\nSo. To go back where we are, we go back to our terminals.
\nWe can see here. OK, the front end is still running.
\n\u300cOK\u300d\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u3053\u308c\u304c\u300cfront end\u300d\u3067\u3059\uff0e
\n\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u623b\u3063\u3066\u4e0b\u3055\u3044\uff0e
\n\u3053\u306e\u72b6\u614b\u3067\u3082\uff0cfront end\u306f\u307e\u3060\u52d5\u3044\u3066\u3044\u307e\u3059\uff0e<\/p>\n
And now what we will do is we will loads A custom config for our RefBox.
\nTo do this, you’ll need to change into the directory rcll-refbox which we are going to do now.
\nAnd and I said RefBox, you have these directories, but you need this one. CFG for config.
\nAnd then in config you can see that there are a lot of config files here.
\nMost of them are template files.
\nRefBox\u7528\u306b\u30ab\u30b9\u30bf\u30de\u30a4\u30ba\u3055\u308c\u305f\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u307f\u307e\u3057\u3087\u3046\uff0e
\n\u3053\u308c\u3092\u3059\u308b\u306b\u306f\uff0crcll-refbox \u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u79fb\u52d5\u3057\u307e\u3059\uff0e
\n\u4ee5\u5f8c\uff0cRefBox \u3068\u8a00\u3063\u305f\u3089\uff0c\u3053\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u3053\u3068\u3067\u3059\uff0e
\n\u305d\u3057\u3066\uff0c\u3053\u308c\uff08cfg\uff09\uff0c\u8a2d\u5b9a\u306e\u305f\u3081\u306ecfg \u306b\u79fb\u52d5\u3057\u307e\u3059\uff0e
\ncfg \u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u306f\uff0c\u591a\u6570\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308a\u307e\u3059\uff0e
\n\u3053\u308c\u3089\u306f\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8\u306e\u30d5\u30a1\u30a4\u30eb\u3067\u3059\uff0e<\/p>\n
Up to this file, this file is the actual file that is going to be loaded by the RefBox.
\nSo how do we do this with a custom one? Well?
\nYou check the readme and you can see that.
\n\u3053\u306e\u30d5\u30a1\u30a4\u30eb\uff08config.yaml\uff09\uff0c\u3053\u308c\u304cRefBox \u304c\u8aad\u307f\u8fbc\u3080\u5b9f\u969b\u306e\u30d5\u30a1\u30a4\u30eb\u3067\u3059\uff0e
\n\uff08\u203b\u3053\u308c\u4ee5\u5916\u306e\u30d5\u30a1\u30a4\u30eb\u306f\uff0cRefBox\u306f\u8aad\u307f\u8fbc\u307f\u307e\u305b\u3093\uff09
\n\u3053\u308c\u3092\u3069\u306e\u3088\u3046\u306b\u5909\u66f4\u3059\u308b\u304b\u306f\uff0creadme\u3092\u8aad\u3093\u3067\u4e0b\u3055\u3044\uff0e<\/p>\n
That’s like all of this these instructions.
\nUh, we have. Several conflicts to do, and This is why we need to enable the Mongo database.
\nWe need to enable the challengers we need to enable the web shop.
\nAnd then. You need to change the team name.
\n\u8aac\u660e\u6587\u304c\u3053\u3061\u3089\u3067\u3059\uff0e
\n\u4f55\u30ab\u6240\u304b\u8a2d\u5b9a\u3092\u5909\u3048\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e
\nMongo \u30c7\u30fc\u30bf\u30d9\u30fc\u30b9\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3059\u308b\u3068\u304b\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u6709\u52b9\u306b\u3059\u308b\u3068\u304b\uff0cweb shop\u3092\u6709\u52b9\u306b\u3059\u308b\u3068\u304b\u3067\u3059\uff0e
\n\u305d\u3057\u3066\uff0c\u30c1\u30fc\u30e0\u540d\u3092\u5909\u66f4\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e<\/p>\n
You can read all of this in this readme here and you have to change it to the name of your team.
\nWe will go over this in the config file later on as well.
\nSo and then how do you configure a challenge?
\nreadme \u306e\u3053\u306e\u8fba\u3092\u3088\u304f\u8aad\u3093\u3067\u4e0b\u3055\u3044\u306d\uff0e
\n\u30c1\u30fc\u30e0\u540d\u306e\u5909\u66f4\u3092\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\n\u3042\u3068\u3067\u3084\u308a\u307e\u3057\u3087\u3046\uff0e
\n\u305d\u3057\u3066\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u7528\u306e\u8a2d\u5b9a\u3092\u884c\u3044\u307e\u3059\uff0e<\/p>\n
The challenges have a name and you need to name your challenge and it should be your team name.
\nThe challenge that you want to do and the difficulty level that you want to do.
\nThis is as I already mentioned, the RefBox loads only the name called Config.yaml.
\nAnd if you want your file to be loaded, you need to copy your template file.
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u306f\u300c\u540d\u524d\u300d\u3092\u6301\u3063\u3066\u3044\u3066\uff0c\u300c\u30c1\u30fc\u30e0\u540d_\u30c1\u30e3\u30ec\u30f3\u30b8\u540d_\u96e3\u6613\u5ea6\uff08difficulty level\uff09\u300d\u306b\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\n\u5148\u307b\u3069\u3082\u8ff0\u3079\u307e\u3057\u305f\u304c\uff0cRefBox\u306fconfig.yaml \u306e\u307f\u3092\u8aad\u307f\u8fbc\u307f\u307e\u3059\uff0e
\n\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067\u6b32\u3057\u3044\u3068\u304d\u306f\uff0c\u30c6\u30f3\u30d7\u30ec\u30d5\u30a1\u30a4\u30eb\u3092\uff08\u203bconfig.yaml\u3078\uff09\u30b3\u30d4\u30fc\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e<\/p>\n
\r\ncp config_XXX.yaml config.yaml\r\n<\/pre>\n
Into the config document file.
\nAnd here is a documentation on how to configure the challenges, what the challenges are and what they could require exactly is written down in the rule book.
\nUh, So what we’re going to cover here now is OK, so you have this field challenges and then you have enable which you need to set to true the name.
\n\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u898b\u3066\u307f\u307e\u3057\u3087\u3046\uff0e
\n\u3053\u3053\u304b\u3089\u304c\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u3069\u3046\u8a2d\u5b9a\u3059\u308b\u304b\u66f8\u304b\u308c\u3066\u3044\u308b\u90e8\u5206\u3067\u3059\uff0e
\n\u3069\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u3059\u308b\u306e\u304b\uff0c\u305d\u3057\u3066\u30eb\u30fc\u30eb\u30d6\u30c3\u30af\u306b\u66f8\u304b\u308c\u3066\u3044\u308b\u901a\u308a\u4f55\u304c\u5fc5\u8981\u3068\u3055\u308c\u3066\u3044\u308b\u306e\u304b\u3000\u3067\u3059\uff0e
\n\u3053\u3053\u3067\u53d6\u308a\u4e0a\u3052\u308b\u5185\u5bb9\u306f\u554f\u984c\u3042\u308a\u307e\u305b\u3093\uff0e
\nchallenges \u306e\u30d5\u30a3\u30fc\u30eb\u30c9\u304c\u3042\u308a\uff0cenable\u3092true\u306b\u8a2d\u5b9a\u3057\u3066\uff0cname\u3092\u8a2d\u5b9a\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\n\uff08\u203b\u753b\u9762\u4e0a\u3067\u306f\uff0c”challges\/enable: false\uff0cchallenges\/name: “\u3068\u306a\u3063\u3066\u3044\u308b\uff09<\/p>\n
Is the exact same thing that you saw earlier here,
\nso this is actually where you type in.
\nYour name in the config file, not in the readme file.
\n\u3055\u3063\u304d\uff0c\u3053\u3053\u3067\u5165\u529b\u3057\u307e\u3057\u305f\u3088\u306d\uff08\u203b\u6700\u521d\u306ename\u306e\u90e8\u5206\uff09\uff0e
\n\u3053\u308c\u3068\u540c\u3058\u306e\u3092\u5165\u529b\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nreadme \u306e\u30d5\u30a1\u30a4\u30eb\u306b\u66f8\u304b\u308c\u3066\u3044\u308bname\u3067\u306f\u3042\u308a\u307e\u305b\u3093\uff0e<\/p>\n
And then you can configure the fields what size you want.
\nWhich size do you want?
\nYou don’t need to change this for the challenges, but you need to change this for the Virtual RoboCup League where we’re going to be playing on half a field, which is the 7 by 8 meter field.
\n\u30d5\u30a3\u30fc\u30eb\u30c9\u306e\u30b5\u30a4\u30ba\u306e\u8a2d\u5b9a\u304c\u3053\u3053\u3067\u3059\uff0e
\n\u3069\u306e\u30b5\u30a4\u30ba\u304c\u826f\u3044\u3067\u3059\u304b\uff1f
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u306b\u304a\u3044\u3066\u306f\uff0c\u3053\u308c\u3092\u5909\u3048\u308b\u5fc5\u8981\u6027\u306f\u3042\u308a\u307e\u305b\u3093\uff0e
\n\u30cf\u30fc\u30d5\u30d5\u30a3\u30fc\u30eb\u30c9\u3067\u5b9f\u65bd\u3059\u308bVirtual RoboCup League\u306b\u6311\u6226\u3059\u308b\u3068\u304d\u306f\uff0c\u3053\u308c\u30927 x 8 [meter]\uff08\u203b\u5b9f\u969b\u306f\uff0c\u300cwidth: 7, height: 8\u300d\u3067\u3059\uff09\u3078\u5909\u66f4\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
Mirror tells you that the field should be mirrored.
\nBe careful with this setting because this setting doubles the field size, so you will suddenly have 10 meter by 10 meter field.
\nWhich is actually not true, but you will have double the size movies.
\n\u300cMirror\u300d\u306e\u9805\u76ee\u306f\uff0c\u30d5\u30a3\u30fc\u30eb\u30c9\u304c\u300c\u5bfe\u79f0\u7684\u300d\u304b\u3092\u793a\u3057\u307e\u3059\uff0e
\n\u3053\u306e\u8a2d\u5b9a\u306f\u6ce8\u610f\u6df1\u304f\u6271\u3063\u3066\u4e0b\u3055\u3044\uff0e\u30d5\u30a3\u30fc\u30eb\u30c9\u30b5\u30a4\u30ba\u304c\u500d\u306b\u306a\u308b\u304b\u3089\u3067\u3059\uff0e
\n\u3064\u307e\u308a\uff0c\u3053\u3053\u3092\u5909\u66f4\u3057\u305f\u3089\uff0c10 x 10\u30e1\u30fc\u30c8\u30eb\u306e\u30d5\u30a3\u30fc\u30eb\u30c9\u306b\u306a\u3063\u3066\u3057\u307e\u3044\u307e\u3059\uff0e
\n\u300ctrue\u300d\u306b\u306f\u3057\u306a\u3044\u306f\u305a\u3067\u3059\u304c\uff0c\u3082\u3057\u8a2d\u5b9a\u3057\u305f\u3089\u4e8c\u500d\u306e\u79fb\u52d5\u304c\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n
Yes, this is the production time.
\nThis is how long the production phase is going to be.
\n\u3055\u3066\uff0c\u3053\u3053\uff08challenges\/production-time\uff09\u306f\u300c\u751f\u7523\u6642\u9593\uff08production time\uff09\u300d\u306e\u9805\u76ee\u3067\u3059\uff0e
\n\u751f\u7523\u30d5\u30a7\u30fc\u30ba\u306e\u6642\u9593\u3092\u6c7a\u3081\u307e\u3059\uff0e<\/p>\n
This is also important right here.
\nIt says true this will be set to false because orders are supposed to be configured with the webshop.
\nI will show this later on in the tutorial so always make sure that this is set to false.
\nI will show this again in a config file later. Uhm?
\n\u6b21\u306b\u3053\u3053\uff08challenges\/orders\uff09\u3082\u91cd\u8981\u3067\u3059\uff0e
\n\u5b9f\u969b\u306e\u3068\u3053\u308d\uff0c\u6ce8\u6587\uff08order\uff09\u304cwebshop\u3067\u8a2d\u5b9a\u3055\u308c\u308b\u306e\u3067\uff0cfalse\u306b\u8a2d\u5b9a\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\n\uff08\u203btrue\u306b\u3059\u308b\u3068\uff0crefbox\u304c\u6ce8\u6587\u3092\u51fa\u3057\u3066\u3057\u307e\u3046\u306e\u304b\u3068\u601d\u3044\u307e\u3059\uff09
\n\u3053\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u306e\u5f8c\u307b\u3069\u306b\uff0c\u3053\u306e\u90e8\u5206\u3092\u304a\u793a\u3057\u3057\u307e\u3059\u304c\uff0cfalse\u306b\u8a2d\u5b9a\u3057\u3066\u304a\u3044\u3066\u4e0b\u3055\u3044\uff0e
\n\u3082\u3046\u4e00\u5ea6\uff0c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3067\u304a\u898b\u305b\u3057\u307e\u3059\u304b\u3089\u306d\uff0e<\/p>\n
Yeah, so so much for the general configuration.
\nNow it comes down to the configuration of your challenges.
\n\uff08\u4eca\u307e\u3067\u306e\u90e8\u5206\u306f\uff09\u4e00\u822c\u7684\u306a\u8a2d\u5b9a\u3067\u3057\u305f\uff0e
\n\u3053\u3053\u304b\u3089\u306f\u30c1\u30e3\u30ec\u30f3\u30b8\u3054\u3068\u306e\u8a2d\u5b9a\u3067\u3059\uff0e<\/p>\n
As you know, there are several different kinds of challenges.
\nThere’s a navigation challenge.
\nDoes exploration challenged as a production challenge?
\nThere’s also a grasping or pick and place challenge,
\nA lot of editing in these config files, so we will go over this briefly later.
\n\uff08\u203b\u5b57\u5e55\u304c\uff0c\u5fae\u5999\u306b\u8abf\u5b50\u60aa\u3044\u611f\u3058\u3067\u3059\u306d\uff09
\n\u3054\u5b58\u3058\u306e\u901a\u308a\uff0c\u4f55\u7a2e\u985e\u304b\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u304c\u3042\u308a\u307e\u3059\uff0e
\n\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u30c1\u30e3\u30ec\u30f3\u30b8\uff0c\u63a2\u7d22\u30c1\u30e3\u30ec\u30f3\u30b8\uff0c\u305d\u3057\u3066\u751f\u7523\u30c1\u30e3\u30ec\u30f3\u30b8\u306a\u3069\u3067\u3059\uff0e
\n\u628a\u6301\u30c1\u30e3\u30ec\u30f3\u30b8\uff0c\u30d4\u30c3\u30af\u30a2\u30c3\u30d7\u30c1\u30e3\u30ec\u30f3\u30b8\u3082\u3042\u308a\u307e\u3059\u306d\uff0e
\n\uff08\u203b\u307e\u3060\u9069\u5207\u306a\u56fa\u6709\u540d\u8a5e\u3092\u5272\u308a\u5f53\u3066\u3066\u3044\u306a\u3044\u306e\u3067\uff0c\u65e5\u672c\u8a9e\u304c\u6c7a\u307e\u308a\u6b21\u7b2c\u4fee\u6b63\u3057\u307e\u3059\uff09
\n\u628a\u6301\u30c1\u30e3\u30ec\u30f3\u30b8\u3068\u30d4\u30c3\u30af\u30a2\u30c3\u30d7\u30c1\u30e3\u30ec\u30f3\u30b8\u306f\uff0c\u3053\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u307b\u3068\u3093\u3069\u5909\u3048\u308b\u5fc5\u8981\u6027\u306f\u3042\u308a\u307e\u305b\u3093\uff0e<\/p>\n
Publish routes publish Roots is the setting that you need to
\nIf you enable this to true, the refbox will publish a set of 12 points that you will have to reach with your robots.
\nAnd you will have to reach every point and wait at the location of every point for five seconds.
\nIn order for the refbox to count you reaching that point.
\n\u300cpublish-routes\u300d\u306f\uff0c\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u6642\u306b\u30eb\u30fc\u30c8\u3092\u8868\u793a\u3059\u308b\u304b\u3069\u3046\u304b\u306e\u8a2d\u5b9a\u3067\u3059\uff0e
\n\u3082\u3057\uff0c\u3053\u308c\u3092\u300ctrue\u300d\u306b\u3057\u305f\u3089\uff0crefbox\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u884c\u304f\u3079\u304d12\u500b\u306e\u5730\u70b9\u3092\u8868\u793a\u3057\u307e\u3059\uff0e
\n\u305d\u308c\u305e\u308c\u306e\u5730\u70b9\u306b\u79fb\u52d5\u3057\u30665\u79d2\u305a\u3064\u305d\u308c\u305e\u308c\u306e\u5730\u70b9\u3067\u6b62\u307e\u3089\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\nRefBox\u304c\u5230\u7740\u70b9\u3092\u6570\u3048\u308b\u305f\u3081\u3067\u3059\uff0e<\/p>\n
Now on to the next one.
\nTo the machines the machines are actually what are going to do.
\nWhat is going to be the.
\nDetermination of your difficulty.
\nThe more machines they are on the field, the higher the.
\nAt the higher difficulty you can see this here.
\nTwo is the easy difficulty and four is the hard difficulty.
\n\u3055\u3066\uff0c\u6b21\u306e\u8a2d\u5b9a\u306b\u79fb\u308a\u307e\u3057\u3087\u3046\uff0e
\n\u30de\u30b7\u30f3\u306e\u305f\u3081\u306e\u8a2d\u5b9a\u3067\u3059\uff0e
\n\u30de\u30b7\u30f3\u304c\u5b9f\u969b\u306b\u4f55\u3092\u3059\u308b\u304b\u3000\u3067\u3059\uff0e
\n\u96e3\u6613\u5ea6\u306b\u5fdc\u3058\u3066\u5909\u308f\u308a\u307e\u3059\uff0e
\n\u96e3\u6613\u5ea6\u304c\u4e0a\u304c\u308b\u307b\u3069\uff0c\u30d5\u30a3\u30fc\u30eb\u30c9\u4e0a\u306b\u3044\u308b\u30de\u30b7\u30f3\u304c\u591a\u304f\u306a\u308a\u307e\u3059\uff0e
\neasy\u3060\u30682\u53f0\uff0chard\u3060\u30684\u53f0\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n
It is up to you to choose what stations you want fulfilled because if you want to take part in the C3 challenge,
\nOr wondering station depending on how you want to build your C3.
\nBecause you can configure it like that.
\nYes, and then you can see here that you can customize the machine setup.
\nYou can choose what colors are in the machines.
\nAnd you can choose what costs the Ring space alright so so much for the documentation.
\n\u3082\u3057\uff0cC3-\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u884c\u3046\u306e\u3067\u3042\u308c\u3070\uff0cCS\uff0cRS\uff0cBS\u304c\u5fc5\u8981\u3067\u5168\u3066\u3092\u57cb\u3081\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3057\uff0cC3\u3092\u88fd\u9020\u3059\u308b\u306e\u306b\u5fc5\u8981\u306a\u30b9\u30c6\u30fc\u30b7\u30e7\u30f3\u304c\u5fc5\u8981\u3067\u3059\uff0e
\n\uff08\u3053\u3053\u304b\u3089\u306fmacine-setup\/customize\u306e\u9805\u76ee\u3067\u3059\uff09
\n\u597d\u304d\u306a\u3088\u3046\u306b\u8a2d\u5b9a\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u30de\u30b7\u30f3\u306e\u8a2d\u5b9a\u3082\u5909\u3048\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\n\u30de\u30b7\u30f3\u304c\u6271\u3046\u8272\u3092\u8a2d\u5b9a\u3067\u304d\u307e\u3059\uff0e
\ncost\uff08Ring-space\u3067\u306e\u30ea\u30f3\u30b0\u306e\u4fa1\u5024\uff09\u3082\u9078\u629e\u3067\u304d\u307e\u3059\uff0e<\/p>\n
We will now look at an actual config file, so now we close this file and we
\n\u3055\u3066\uff0c\u5b9f\u969b\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u898b\u307e\u3057\u3087\u3046\uff0e
\n\u30d5\u30a1\u30a4\u30eb\u3092\u9589\u3058\u3066\uff0c\u5b9f\u969b\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u958b\u304d\u307e\u3059\uff0e
\nconfig_easy_exploration \u3092\u898b\u3066\u307f\u307e\u3057\u3087\u3046\uff08\u203b\u30d5\u30a1\u30a4\u30eb\u540d\u306f\uff0cconfig_explo_easy.yaml\u3067\u3059\uff09\uff0e<\/p>\n
Hey stop. You can ignore a lot of this stuff that is happening here, but you need to pay close attention to this.
\nBecause this needs to be true so that you get the points correctly,
\nAnd then you need to change this to the name of your team as well.
\n\u203b\u3053\u3053\u3082\uff0c\u5b57\u5e55\u304c\u9069\u5f53\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u306d\uff0e
\n\u3055\u3066\uff0c\u3044\u308d\u3044\u308d\u306a\u8a2d\u5b9a\u304c\u3042\u308a\u307e\u3059\u306d\uff0e
\n\u307e\u305a\u306f\uff0c\u3053\u3053\uff08mongodb\/enable\uff09\u3092\u898b\u3066\u307f\u307e\u3057\u3087\u3046\uff0e
\n\u3053\u3053\u306f\u300ctrue\u300d\u306b\u306a\u3063\u3066\u3044\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\n\u5f97\u70b9\u306a\u3069\u306e\u8a18\u9332\u3092\u6b63\u3057\u304f\u5f97\u308b\u305f\u3081\u3067\u3059\uff0e
\n\u3053\u3053\u3092true \u306b\u3057\u3066\u3044\u308b\u3068\uff0crefbox \u304c\u8a66\u5408\u306e\u30ed\u30b0\u3092\u6b8b\u3057\u307e\u3059\uff0e
\n\u8a66\u5408\u306e\u5f8c\u3067\u59d4\u54e1\u4f1a\u306b\u305d\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u9001\u3089\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e<\/p>\n
My team is carologistics, so we’re going to have coverage sticks here.
\nBut if you’re just enter your team.
\nRemove the account logistics and enter your team name here.
\n\u3053\u3053\uff08game\uff09\u306e\u9805\u76ee\u306eteams\u304c\u30c1\u30fc\u30e0\u540d\u3067\u3059\uff0e
\n\u79c1\u306e\u30c1\u30fc\u30e0\u540d\u306fCarologistics\u3067\u3059\uff0e
\n\u81ea\u5206\u305f\u3061\u306e\u30c1\u30fc\u30e0\u540d\u3092\u5165\u308c\u308b\u3068\u304d\u306f\uff0cCarologistics \u3092\u6d88\u3057\u3066\uff0c\u81ea\u5206\u306e\u30c1\u30fc\u30e0\u540d\u3092\u3053\u3053\u306b\u5165\u308c\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
\uff08\u753b\u9762\u3092\u30b9\u30af\u30ed\u30fc\u30eb\u3057\u3066\uff0c13:00\u3050\u3089\u3044\uff09
\nSo now we have reached the most interesting part, which is this one.
\n\u3053\u3053\uff08challenges\uff08shell\u306e\u624b\u524d\u307e\u3067\uff09\uff09\u304c\u4e00\u756a\u8208\u5473\u6df1\u3044\u90e8\u5206\u3067\u3059\uff0e<\/p>\n
As you can see, the challenge is enabled.
\nThe field size is correct as well.
\nIt is not mirrored. There is.
\nNo, sending off the MPS positions because it is an exploration challenge.
\n\u898b\u3066\u5206\u304b\u308b\u3068\u304a\u308a\uff0c\u300cchallenges\/enable\u300d\u304ctrue\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
\n\u30d5\u30a3\u30fc\u30eb\u30c9\u306e\u5927\u304d\u3055\u306f\uff0c\u3042\u3063\u3066\u3044\u307e\u3059\u3088\u306d\uff085x5m\uff09\uff0e
\n\u300cmirror\u300d\u306f\u300cfalse\u300d\u3067\u3059\uff0e
\n\u63a2\u7d22\u30c1\u30a7\u30ec\u30f3\u30b8\uff08exploration challenge\uff09\u3067\u3059\u306e\u3067\uff0cMPS\u306e\u60c5\u5831\u306f\u4f55\u3082\u9001\u308a\u307e\u305b\u3093\uff08send-mps-ground-truth\u306e\u9805\u76ee\u304c”[]”\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff09\uff0e<\/p>\n
And there’s also no orders because we are not going to be ordering
\n\u305d\u3057\u3066\uff0c\u6ce8\u6587\u306f\u3042\u308a\u307e\u305b\u3093\u306e\u3067\uff0c\u30aa\u30fc\u30c0\u30fc\u306e\u9805\u76ee\u306f\u3042\u308a\u307e\u305b\u3093\uff08disabled\u3068\u304bfalse\u3068\u304b\u306e\u8a2d\u5b9a\u3092\u3059\u308b\u5fc5\u8981\u306f\u306a\u3044\u611f\u3058\u3067\u3059\uff09\uff0e<\/p>\n
And now you can already see here.
\nThat this is not what we want, because we need the power
\nI am sorry, we obviously don’t need this to be published because
\nSo this is correct as well.
\n\u6b21\u306f\u300cpublish-routes\u300d\u306e\u9805\u76ee\u3067\u3059\uff0e
\n\u4eca\u56de\uff0c\u63a2\u7d22\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u3059\u306e\u3067\uff0c\u7d4c\u8def\u3092\u8868\u793a\u3059\u308b\u5fc5\u8981\u6027\u306f\u3042\u308a\u307e\u305b\u3093\uff08\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u30c1\u30e3\u30ec\u30f3\u30b8\u3060\u3063\u305f\u3089\u5fc5\u8981\u305d\u3046\u3067\u3059\u306d\uff09\uff0e
\n\u305d\u306e\u305f\u3081\uff0c\u300cenable: false\u300d\u306e\u8a2d\u5b9a\u3067\u5408\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n
And we want to have it easy, so we just have two stations and
\n2\u3064\u306eMPS\u3092\u4f7f\u3046\u306e\u3067\uff0c\u300cmachines\u300d\u306b\u306f2\u3064\u306eMPS\u304c\u66f8\u3044\u3066\u3042\u308a\u307e\u3059\uff0e
\nMPS\u3068\u3057\u3066\u306e\u52d5\u4f5c\u306f\u4e0d\u8981\u306a\u306e\u3067\uff0c\u300cmachine-setup\/customize\u300d\u306f\u300cfalse\u300d\u3067\u3059\uff0e<\/p>\n
When you finished editing your configuration, you will now need to ensure that
\n\u3055\u3066\uff0c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u9589\u3058\u307e\u3057\u3087\u3046\uff0e
\nvi\uff08vim\u542b\u3080\uff09\u306e\u5834\u5408\u306f\uff0c\u4fdd\u5b58\u3057\u3066\u7d42\u4e86\u306f\u300cesc\u300d+\u300c:wq\u300d\u3067\u3059\uff08write + quit\uff09\uff0e<\/p>\n
Configuration file into the configuration file that is actually to be loaded.
\n\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u969b\u306b\u8aad\u307f\u8fbc\u3080\u306b\u306f\uff0cconfig.yaml \u3078\u30b3\u30d4\u30fc\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e<\/p>\n
\r\ncp config_explo_easy.yaml config.yaml\r\n<\/pre>\n
So now check whether it actually worked.
\nYou can open the config and you can see hear that. You loaded the exploration easy challenge.
\nSo now you can just go ahead.
\nAnd start the RefBox in order to start the red box,
\nSo go into the bin directory and you will have to start.
\nThis executable.
\nSo now you can see that.
\n\u78ba\u8a8d\u306e\u305f\u3081\u306b\u30d5\u30a1\u30a4\u30eb\uff08config.yaml\uff09\u3092\u958b\u3044\u3066\u307f\u307e\u3057\u3087\u3046\uff0e
\nchallenges\u306e\u3068\u3053\u308d\u304cexploration easy \u306e\u8a2d\u5b9a\u306b\u306a\u3063\u3066\u3044\u308b\u304b\u3069\u3046\u304b\uff0c\u3082\u3046\u4e00\u5ea6\u78ba\u8a8d\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u305d\u3057\u3066\uff0crefbox\u3092\u8d77\u52d5\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\uff08bin\uff09\u306b\u79fb\u52d5\u3057\u3066\uff0c\u8d77\u52d5\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u300cllsf-refbox\u300d \u306e\u30d5\u30a1\u30a4\u30eb\u3067\u3059\uff0e\u5b9f\u884c\u5f62\u5f0f\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n
\r\ncd rcll-refbox\/bin\r\n.\/llsf-refbox\r\n<\/pre>\n
Everything is started.
\nAnd you can go to your Front end.
\nYou can find on local also and now you can see it that you are already connected to it.
\nIf you are not already connected to it, you can type localhost and then use Port 1234 to get to the refbox, so type that in and you can see OK.
\n\u8d77\u52d5\u3057\u305f\u3089\uff0c\u6b21\u306ffront end\u306b\u79fb\u308a\u307e\u3059\uff0e
\n\u300clocalhost:8080 \u300d\u3067\u63a5\u7d9a\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e
\n\u300cnew client connected\u300d\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\uff0cclient\u306e\u63a5\u7d9a\u3092\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e
\n\u53f3\u4e0a\u306e\u5730\u7403\u5100\u306e\u30de\u30fc\u30af\u3092\u62bc\u3059\u3053\u3068\u3067\uff0c\u63a5\u7d9a\u306e\u9805\u76ee\uff08\u300cEnter Ip and Port\u300d\uff09\u304c\u51fa\u3066\u304d\u307e\u3059\uff0e
\n\u3053\u3053\u306b\uff0c\u300clocalhost:1234\u300d\u3068\u5165\u529b\u3057\u307e\u3059\uff0e
\n\u3053\u308c\u3067\uff0cRefBox\u306b\u3064\u306a\u304c\u308a\u307e\u3059\uff0e<\/p>\n
I’m connected then you can add your two men.
\nAnd now you’re all set to start your challenge in
\nOnce you do this, you will enter the setup phase.
\n\u300cAdd Team Cyan\u300d\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u30c1\u30fc\u30e0\u540d\u3092\u5165\u529b\u3057\u3066\u4e0b\u3055\u3044\uff08\u4eca\u56de\u306fCarologistics\uff09\uff0e
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u958b\u59cb\u3059\u308b\u306b\u306f\uff0c\u300c\u30b9\u30bf\u30fc\u30c8\u30dc\u30bf\u30f3\uff08start\/resume game\uff09\u300d\u3092\u62bc\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u3053\u308c\u3067\u300c\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u30d5\u30a7\u30fc\u30ba\uff08setup phase\uff09\u300d\u306b\u5165\u308a\u307e\u3059\uff0e<\/p>\n
And now you can already see that this.
\nIs correct? All of these stations are not actually set up on the field.
\nThey are just here.
\nSure, but the minus one indicates that they are not on the field and
\n\u753b\u9762\u306e\u5de6\u5074\u306bMPS\u306e\u60c5\u5831\u304c\u51fa\u3066\u304d\u307e\u3059\uff0e
\n\uff08\u4e0b\u50745\u3064\u306e\uff09\u3053\u308c\u3089\u306eMPS\u306f\u6b63\u3057\u3044\u306e\u3067\u3057\u3087\u3046\u304b\uff1f
\n\u3053\u308c\u3089\u306eMPS\u306f\uff0c\u30d5\u30a3\u30fc\u30eb\u30c9\u306b\u5b9f\u969b\u306b\u306f\u8a2d\u7f6e\u3055\u308c\u307e\u305b\u3093\uff0e
\n\u3053\u3053\u306b\u66f8\u3044\u3066\u3042\u308b\u3060\u3051\u3067\u3059\uff0e
\n\u300c\u30de\u30a4\u30ca\u30b9\u300d\u306e\u8868\u8a18\uff08=\u53b3\u5bc6\u306b\u306f\uff0c\u300c-1\u00b0\u300d\uff09\u306f\uff0c\u30d5\u30a3\u30fc\u30eb\u30c9\u306b\u5b58\u5728\u3057\u306a\u3044\u3053\u3068\u3092\u610f\u5473\u3057\u307e\u3059\uff0e
\n\u4eca\u56de\u306f\uff0c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306b\u66f8\u3044\u305f\u3068\u304a\u308a\uff0cBase Station\u3068Cap Station-1 \u306e\u307f\u304c\u5b58\u5728\u3057\u307e\u3059\uff0e<\/p>\n
So now once you have finished your setup.
\nYou can actually start your challenge and you are doing the exploration challenge.
\nSo you are going to enter the exploration phase once you click on it,
\nSo now you have entered the exploration phase and now you can see that the.
\nPosition of the machines has.
\nGone and now you will have to wait for your robots to report to the
\n\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u304c\u7d42\u308f\u3063\u305f\u3089\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u958b\u59cb\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u63a2\u7d22\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u5b9f\u884c\u3059\u308b\u306b\u306f\uff0c\u300cEXPLORATION\u300d\u3092\u9078\u3076\u3068\uff0c\u63a2\u7d22\u30d5\u30a7\u30fc\u30ba\u304c\u59cb\u307e\u308a\u307e\u3059\uff0e
\n\u30af\u30ea\u30c3\u30af\u3059\u308b\u3068\u30c1\u30e3\u30ec\u30f3\u30b8\u304c\u958b\u59cb\u3057\uff0c\u63a2\u7d22\u30d5\u30a7\u30fc\u30ba\u3068\u3057\u3066\u306e\u6642\u8a08\u304c\u52d5\u304d\u59cb\u3081\u307e\u3059\uff0e
\nMPS\u306e\u4f4d\u7f6e\u3068\u5411\u304d\u306e\u60c5\u5831\u304c\u898b\u3048\u306a\u304f\u306a\u308a\u307e\u3059\uff08\u30be\u30fc\u30f3\u540d\u306f\u898b\u3048\u3066\u3044\u308b\u3088\u3046\u306a\u2026\uff09\uff0e
\n\u30ed\u30dc\u30c3\u30c8\u304c\u305d\u308c\u3089\u3092RefBox\u306b\u5831\u544a\u3059\u308b\u306e\u3092\u5f85\u3061\u307e\u3057\u3087\u3046\uff0e<\/p>\n
Once this is done, you will go into post game because
\n\u7af6\u6280\u304c\u7d42\u308f\u3063\u305f\u3089\u300cPOST_GAME\u300d\u306b\u3057\u307e\u3059\uff0e
\n\u3053\u3046\u3059\u308b\u3068\uff0cRefBox\u306fmongoDB\u306b\u8a66\u5408\u306e\u30ed\u30b0\u3092\u66f8\u304d\u51fa\u3057\u307e\u3059\uff0e
\n\u3053\u308c\u306f\uff0c\u7af6\u6280\u306e\u59d4\u54e1\u4f1a\u304c\u7af6\u6280\u5185\u5bb9\u3084\u5f97\u70b9\u3092\u5224\u5b9a\u3059\u308b\u306e\u306b\u5927\u5909\u91cd\u8981\u306a\u30c7\u30fc\u30bf\u3067\u3059\uff0e<\/p>\n
So once you have finished your challenge you will go into post game
\nAnd the game report is written to the Mongo DB.
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u304c\u7d42\u308f\u3063\u3066Post_Game\u306b\u79fb\u884c\u3057\u305f\u3089\uff0c\u5f97\u70b9\u304c\u51fa\u529b\u3055\u308c\uff08\u300cOVERALL TOTAL POINTS: 0\u300d\u306e\u90e8\u5206\uff09\uff0cmongoDB\u306b\u30c7\u30fc\u30bf\u3092\u66f8\u304d\u51fa\u3057\u307e\u3059\uff08\u300cWriting game report to MongoDB\u300d\u306e\u90e8\u5206\uff09\uff0e<\/p>\n
Alright, so this is how you start and end a challenge.
\nOnce all of this is done, you will go back to your red
\nShut down the refbox because every time you start a new challenge,
\n\u4ee5\u4e0a\uff0c\u3069\u306e\u3088\u3046\u306b\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u59cb\u3081\u3066\uff0c\u3069\u306e\u3088\u3046\u306b\u7d42\u308f\u308b\u304b\u3000\u3067\u3057\u305f\uff0e
\n\u3053\u308c\u304c\u3067\u304d\u305f\u3089\uff0c\u3044\u3063\u305f\u3093RefBox \u306e\u7aef\u672b\u306b\u623b\u3063\u3066\u4e0b\u3055\u3044\uff0e
\n\u305d\u3057\u3066\uff0cRefBox\u3092\u7d42\u4e86\uff08shutdown: CTRL + C\uff09\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u3054\u3068\u306bRefBox\u3092\u7acb\u3061\u4e0a\u3052\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e
\n\u3082\u3057\uff0c\u7acb\u3061\u4e0a\u3052\u305a\u306b\u7d99\u7d9a\u3057\u3066\u5b9f\u884c\u3059\u308b\u3068\uff0c\u5f97\u70b9\u304c\u3050\u3061\u3083\u3050\u3061\u3083\u306b\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306b\u3082\u9762\u5012\u304f\u3055\u3044\u3053\u3068\u304c\u8d77\u3053\u3063\u305f\u308a\u3059\u308b\u304b\u3089\u3067\u3059\uff0e<\/p>\n
So whenever you start a challenge, you will need to start a new ref box.
\nYou shut down the RefBox by pressing control C.
\nAnd sometimes it doesn’t shut down immediately,
\nAnd once it is shut down, you can see that now the fresh box
\n\u3067\u3059\u306e\u3067\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u958b\u59cb\u3059\u308b\u3068\u304d\u306f\u3044\u3064\u3067\u3082\uff0c\u65b0\u3057\u3044RefBox\u3092\u7acb\u3061\u4e0a\u3052\u3066\u4e0b\u3055\u3044\uff0e
\nRefBox\u3092shutdown\u3059\u308b\u306b\u306f\uff0cControl + C \u3067\u3059\uff0e
\n\u305f\u307e\u306b\uff0c\u7d42\u4e86\u3059\u308b\u306e\u306b\u6642\u9593\u304c\u304b\u304b\u308b\u3068\u304d\u304c\u3042\u308a\u307e\u3059\uff0e
\n\u305d\u306e\u3068\u304d\u306f\uff0c\u518d\u5ea6Control + C \u3092\u62bc\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u7d42\u4e86\u3057\u305f\u3089\uff0cfront end\u306f\u300cThere is no Connection!\u300d\u3068\u306a\u308a\u307e\u3059\uff0e<\/p>\n
We will go back to our tournament terminal with the conflicts and we
\n\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u623b\u308a\u307e\u3057\u3087\u3046\uff0e
\n\u6b21\u306f\uff0cproduction \u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u78ba\u8a8d\u3057\u307e\u3059\uff0e
\n\u300cconfig_production_2_machines.yaml\u300d\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f7f\u3044\u307e\u3059\uff0e<\/p>\n
So now we will look at this config.
\nAnd we will make sure again that Mongo DB is an evertz.
\nOur team name is correct.
\nAnd we will. Check.
\nWhether this is actually one we want? OK, so challenges is enabled.
\nThis is good.
\nThe field size is correct as well, and now this is important because
\nYou will get the field.
\nData from the refbox, which you can configure like this.
\nSo if you need the few data in the production phase,
\nDuring production.<\/p>\n
config \u30d5\u30a1\u30a4\u30eb\u3092\u78ba\u8a8d\u3057\u307e\u3059\uff0e
\nmongoDB\u306f\u300cenable: true\u300d\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3088\u306d\uff0e
\n\u30c1\u30fc\u30e0\u540d\u3082\u5408\u3063\u3066\u3044\u307e\u3059\u3088\u306d\uff0e
\nchallenge\u3082\u300cenable: true\u300d\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3088\u306d\uff0e
\n\u30d5\u30a3\u30fc\u30eb\u30c9\u30b5\u30a4\u30ba\u3082\u300c5×5[m]\u300d\u3067\u3059\uff0e
\n\u305d\u3057\u3066\uff0c\u3053\u3053\u300csend-mps-ground-truth\u300d\u304c\u91cd\u8981\u3067\u3059\uff0e
\n\u751f\u7523\u30c1\u30e3\u30ec\u30f3\u30b8\uff08Production Challenge\uff09\u3067\u306f\uff0c\u30d5\u30a3\u30fc\u30eb\u30c9\u306e\u63a2\u7d22\u306f\u4e0d\u8981\u3067\u3059\uff0e
\n\u30d5\u30a3\u30fc\u30eb\u30c9\u306e\u60c5\u5831\u306fRefBox \u304b\u3089\u3082\u3089\u3046\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\n\u3067\u3059\u306e\u3067\uff0c\u3053\u306e\u3088\u3046\u306b\uff08\u300csend-mps-ground-truth: [PRODUCTION]\u300d\uff09\u8a2d\u5b9a\u3057\u307e\u3059\uff0e
\n\u751f\u7523\u30d5\u30a7\u30fc\u30ba\uff08Production Phase\uff09\u3067\u306f\uff0c\u53ce\u96c6\u3059\u3079\u304d\u60c5\u5831\u306f\u307b\u3068\u3093\u3069\u3042\u308a\u307e\u305b\u3093\uff0e<\/p>\n
Again, the production time is just the length.
\nThe orders are going to be configured in the web shop which
\nWe don’t want to publish a route, which is why this is set to false and
\nAnd also we want to use the custom setup that is declared here.
\nWhich is for this challenge, not relevant because we’re only
\nSo now we have made sure that our config file is correct and we close
\nproduction-time\u306f\uff0c\u7af6\u6280\u6642\u9593\u306e\u9577\u3055\u3067\u3059\uff0e
\n\u6ce8\u6587\uff08orders\uff09\u306f\uff0cweb shop\u304b\u3089\u4e0e\u3048\u307e\u3059\uff0e
\n\u7d4c\u8def\u306f\u8868\u793a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u305b\u3093\uff08publish-routes\u306b\u3066\u300cenable: false\u300d\u3068\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\uff09\uff0e
\n\u88fd\u54c1\u306e\u88fd\u9020\u306b\u95a2\u3057\u3066\u306fcustom\u8a2d\u5b9a\u306b\u3059\u308b\u5fc5\u8981\u3067\u3059\uff08\u300cmachine-setup\/customize: true\u300d\u3067\u3059\uff09\uff0e
\n\u305d\u308c\u3089\u306e\u60c5\u5831\u304c\u3053\u3053\uff08rs1-colors\u304b\u3089RING_GREEN\u306e\u3042\u305f\u308a\u307e\u3067\uff09\u306b\u3042\u308a\u307e\u3059\uff0e
\n\u3057\u304b\u3057\uff0c\u4eca\u56de\u306fBS\u3068\uff0cCS1\u306e\u307f\u3092\u4f7f\u3044\u307e\u3059\uff08\u300cmachines: [BS, CS1]\u300d\u306e\u9805\u76ee\uff09\u306e\u3067\uff0c\u3053\u306e\u60c5\u5831\uff08RS\u95a2\u4fc2\u306e\u60c5\u5831\uff09\u306f\u610f\u5473\u3092\u6301\u3061\u307e\u305b\u3093\uff0e
\n\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u304c\u6b63\u3057\u3051\u308c\u3070\uff0c\u4fdd\u5b58\u3057\u3066\u9589\u3058\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
Again.
\nNow we want to make sure that this actually did the right thing,
\n\u305d\u3057\u3066\uff0c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306b\u30b3\u30d4\u30fc\u3057\uff0cconfig.yaml \u3092\u78ba\u8a8d\u3057\u307e\u3059\uff0e<\/p>\n
\r\ncp config_production_2_machines.yaml config.yaml\r\n<\/pre>\n
This is correct. This is correct.
\nAnd all of these things are correct as well so.
\nNice, so now you can close this.
\n\u305d\u308c\u305e\u308c\uff0c\u6b63\u3057\u3044\u3067\u3059\u3088\u306d\uff0e
\n\u554f\u984c\u306a\u3051\u308c\u3070\uff0c\u30d5\u30a1\u30a4\u30eb\u3092\u9589\u3058\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
So in order to place a order for the production challenge,
\n\u751f\u7523\u30c1\u30e3\u30ec\u30f3\u30b8\uff08production challenge\uff09\u306b\u3066\u6ce8\u6587\u3092\u51fa\u3059\u306b\u306f\uff0cweb shop\u3092\u4f7f\u308f\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e<\/p>\n
The workshop is hosted on an Apache server that is already running on startup,
\nweb shop \u306f\uff0c\u3059\u3067\u306b\u8d77\u52d5\u6642\u306bapache server\u4e0a\u3067\u52d5\u4f5c\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u30d6\u30e9\u30a6\u30b6\u3067\u300clocalhost\/opencart\u300d\u3068\u5165\u308c\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
This is the web shop and here you can can configure your products
\n\u3053\u308c\u304cweb shop\u306e\u753b\u9762\u3067\u3059\uff0e\u3053\u3053\uff08\u5de6\u5074\u306e\u30e1\u30cb\u30e5\u30fc\uff09\u3067\uff0c\u88fd\u54c1\u3092\u8a2d\u5b9a\u3067\u304d\u307e\u3059\uff0e<\/p>\n
You will pick your product that you want to produce here for this order.
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u306b\u5bfe\u3057\u3066\uff0c\u3053\u3053\u3067\u88fd\u9020\u3057\u305f\u3044\u88fd\u54c1\u3092\u9078\u3093\u3067\u4e0b\u3055\u3044\uff0e<\/p>\n
We are going to be doing a C0 product because we only have a base
\n\u3053\u308c\u306f\u30d9\u30fc\u30b9\u3068\u30ad\u30e3\u30c3\u30d7\u3060\u3051\u304c\u3042\u308b\u306e\u3067\uff0cC0\u306e\u88fd\u54c1\u3067\u3059\uff0e<\/p>\n
We are going to.
\nClick on the C Zero product and now you can see that the zero product
\nAnd I kept color.
\nAnd then you add this to your card.
\nAnd then you go to check out.
\nAnd then you.<\/p>\n
Will use these pre saved.
\nCustomer data which is.
\nThe correct account to use.
\nSo you log in.
\nOnce you have completed the locking process, you will just continue.
\nWith all of these standard values because they are not part of
\nThen once you have done all this, it is time to confirm your order
\nAnd now you can see, OK, your order has been placed.
\nBut now you need to get your order into the refbox.
\nAnd how do you do this? Alright, so you need to restart the refbox.
\n\u3067\u306f\uff0cC0\u88fd\u54c1\u306e\u6ce8\u6587\u3092\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u304b\uff0e
\nC0\u88fd\u54c1\uff08\u4e00\u756a\u5de6\u306e\u88fd\u54c1\uff09\u3092\u30af\u30ea\u30c3\u30af\u3057\u307e\u3059\uff0e
\n\u30d9\u30fc\u30b9\u306e\u8272\u3068\u30ad\u30e3\u30c3\u30d7\u306e\u8272\u3092\u9078\u3073\u307e\u3059\uff0e
\n\u305d\u3057\u3066\uff0c\u300c\u30ab\u30fc\u30c8\u306b\u8ffd\u52a0\uff08add to cart\uff09\u300d\u3092\u62bc\u3057\u307e\u3059\uff0e
\n\u305d\u3057\u3066\u300c\u652f\u6255\u3044\uff08check out\uff09\u300d\u3092\u9078\u3073\u307e\u3059\uff0e
\n\u30a2\u30ab\u30a6\u30f3\u30c8\u3092\u9078\u3093\u3067\uff0c\u30ed\u30b0\u30a4\u30f3\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u203b\u3053\u308c\uff0c\u6700\u521d\u306f\u300cNew Customer\u300d\u3067\u30a2\u30ab\u30a6\u30f3\u30c8\u3092\u4f5c\u3089\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u306e\u304b\u306a\u3041\u2026
\n\u3044\u304f\u3064\u304b\u306e\u624b\u9806\u304c\u5fc5\u8981\u3067\u3059\u306e\u3067\u300c\u6b21\u3078\uff08Continue\uff09\u300d\u3092\u9078\u3073\u307e\u3057\u3087\u3046\uff0e
\n\u6700\u5f8c\u306b\u300c\u652f\u6255\u3044\u306e\u78ba\u8a8d\uff08Confirm Order\uff09\u300d\u3092\u9078\u3073\u307e\u3059\uff0e
\n\u305d\u3046\u3059\u308b\u3068\uff0c\u300cYour order has been placed!\u300d\u306e\u753b\u9762\u306b\u306a\u308a\u307e\u3059\uff0e
\n\u6b21\u306b\uff0c\u6ce8\u6587\u60c5\u5831\u3092RefBox\u306b\u5165\u529b\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\nRefBox \u304c\u7d42\u4e86\u3057\u305f\u72b6\u614b\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\uff0c\u518d\u5ea6\uff0c\u8d77\u52d5\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
So now that you’re rough Boxer started.
\nRefBox \u304c\u8d77\u52d5\u3057\u307e\u3057\u305f\uff0e<\/p>\n
You need to start the red box controller and the Refworks controller is a
\nSo you can just type in.
\nThis command Rust launch open cards underscore red Box Red
\nRefBox Controller\u3082\u8d77\u52d5\u3057\u307e\u3059\uff0e
\nRefBox Controller \u306f\uff0cROS \u3092\u4f7f\u3063\u3066\u3044\u307e\u3059\uff0e
\n\u305d\u306e\u305f\u3081\uff0c\u8d77\u52d5\u306b\u306froslaunch \u3092\u4f7f\u3044\u307e\u3059\uff0e<\/p>\n
\r\nroslaunch opencart_refbox refbox_controller.launch\r\n<\/pre>\n
And this will start.
\nAnd this will start the communication between the web shop and the ref box.
\nSo the order that you placed will now be communicated to the red box.
\n\u3053\u308c\u3067\uff0c\u8d77\u52d5\u3057\u307e\u3059\uff0e
\n\u3053\u308c\u3067\uff0cweb shop\u3068refbox \u9593\u306e\u901a\u4fe1\u3092\u884c\u3044\u307e\u3059\uff0e
\n\u3053\u308c\u3067\uff0c\u6ce8\u6587\u3057\u305f\u5185\u5bb9\u304crefbox\u306b\u9001\u3089\u308c\u307e\u3059\uff0e<\/p>\n
You can see this here.
\nThe orders being forwarded and.
\nNow you can see OK, the connection is established here.
\nSo now what you need to do since you have restarted the ref box,
\nSo you go to your front end.
\nAnd you can see, OK, we’re already connected and I want to add team
\n\u3053\u3053\uff08\u300cForwarding order (221)\u300d\uff09\u3092\u898b\u3066\u4e0b\u3055\u3044\uff0e
\n\u6ce8\u6587\u304c\u8ee2\u9001\u3055\u308c\u3066\u3044\u307e\u3059\uff0e
\n\u305d\u3057\u3066\uff0cRefBox\u306e\u65b9\u3067\u306f\u300cClient 4 connected from ::1:57052\u300d\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u51fa\u3066\u304a\u308a\uff0c\u63a5\u7d9a\u3055\u308c\u305f\u3053\u3068\u304c\u5206\u304b\u308a\u307e\u3059\uff0e
\nRefBox\u306e\u518d\u8d77\u52d5\u304c\u3067\u304d\u305f\u3089\uff0c\u6b21\u306f\uff0cfront end\u306e\u518d\u8d77\u52d5\u3067\u3059\uff0e
\n\u30d6\u30e9\u30a6\u30b6\u3092\u518d\u8aad\u8fbc\uff08refresh\uff09\u3057\u306a\u3068\u3044\u3051\u307e\u305b\u3093\uff0e
\n\u65b0\u305f\u306b\u30bf\u30d6\u3092\u958b\u3044\u3066\uff0c\u518d\u5ea6front end\u306b\u3064\u306a\u3044\u3067\u4e0b\u3055\u3044\uff08\u300clocalhost:8080\u300d\u3067\u3059\uff09\uff0e
\n\u300cnew client connected\u300d\u3092\u78ba\u8a8d\u3057\u3066\uff0c\u30c1\u30fc\u30e0\u540d\u3092\u5165\u529b\u3057\u3066\u4e0b\u3055\u3044\uff08\u300cAdd Team Cyan\u300d\u306e\u3068\u3053\u308d\u3067\u3059\uff09\uff0e
\n\u3053\u3053\u3067\u306f\uff0c\u30c1\u30fc\u30e0\u300cCarologistics\u300d\u3092\u518d\u5ea6\u5165\u529b\u3057\u307e\u3059\uff0e<\/p>\n
Will go into the setup phase.
\nThey can see over base station.
\nI have a cap station that I want to use my production for and.
\nNow what you want to do is, since it’s a production challenge,
\n\u300cSetup Phase\u300d\u3092\u958b\u59cb\u3057\u307e\u3059\uff0e
\n\uff08\u753b\u9762\u306e\u5de6\u306e\u3068\u3053\u308d\u306b\uff09\u88fd\u9020\u306b\u5fc5\u8981\u306aC-BS\u3068C-CS1\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e
\n\u3055\u3066\uff0c\u3084\u308b\u3079\u304d\u3053\u3068\u306f\uff0c\u6b21\u306e\u901a\u308a\u3067\u3059\uff0e
\n\u307e\u305a\uff0c\u300cProduction Challenge\u300d\u3067\u3059\u306e\u3067\uff0c\u300cExploration Phase\u300d\u3092\u98db\u3070\u3057\u3066\u300cPRODUCTION\u300d\u3092\u9078\u3073\u307e\u3059\uff0e
\nRefBox \u304b\u3089MPS\u306e\u4f4d\u7f6e\u60c5\u5831\u3092\u5f97\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u306e\u3067\uff0c\u76f4\u63a5Production Phase\u304b\u3089\u59cb\u3081\u3066\u554f\u984c\u3042\u308a\u307e\u305b\u3093\uff0e<\/p>\n
That you have received this order from the webshop.
\nIt is being shown here as well.
\nAnd if you check your.
\nLeft works output.
\nYou can see it here as well, and if you go to the.
\nOutput of the Ros node.
\nYou can see that the order was transmitted.
\nStop. This is your production.
\nwebshop \u3067\u5165\u529b\u3057\u305f\u6ce8\u6587\u3092\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff08\u4e0b\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u30a8\u30ea\u30a2\u3068\uff0c\u53f3\u5074\u306e\u300cOrder 11: 1 x C0 from 00:06 to 17:00\u300d\uff09\uff0e
\nRefBox \u306e\u30ed\u30b0\u306e\u3053\u3053\u306e\u90e8\u5206\uff08INFO\u306e\u30ed\u30b0\u304b\u306a\u3041\uff09\u3092\u78ba\u8a8d\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nController \uff08ROS\u30ce\u30fc\u30c9\uff09\u306e\u3053\u3053\u306e\u90e8\u5206\uff08\u300cForward order (221)\u300d\u3068\u300cReceived order Message (221)\u300d\uff09\u3092\u78ba\u8a8d\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u6700\u5f8c\u306e\u3068\u3053\u308d\u306b\u300cOrder (221) was transmitted\u300d\u3068\u3042\u308a\u307e\u3059\uff0e<\/p>\n
Once the production is finished and you have produced your product successfully,
\nYou go into postgame Anwood postgame doesn’t answer challenge,
\n\u88fd\u54c1\u3092\u6b63\u3057\u304f\u88fd\u9020\u3067\u304d\u3066\uff0cProduction Phase\u3092\u7d42\u3048\u305f\u3089\uff0c\u300cPOST_GAME\u300d\u3092\u9078\u3073\u307e\u3059\uff0e
\nPOST_GAME\u306f\uff0c\u7af6\u6280\u3092\u7d42\u3048\u3066\u7af6\u6280\u30ec\u30dd\u30fc\u30c8\uff08game report\uff09\u3092MongoDB\u306b\u66f8\u304d\u51fa\u3057\uff08\u300cWriting game report to MongoDB\u300d\uff09\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u304c\u7d42\u308f\u308a\u307e\u3059\uff0e<\/p>\n
As I already mentioned, we will be looking at what to do
\nThe bigger place challenge is configuration wise.
\nThe easiest challenge to do because you really don’t need to do anything
\nTake a production challenge config file in the Config.
\nDirectory and we will be looking at the.
\nTwo machines, one again so.
\nWell, look at.
\nJust one, so for the production for the further pick and place challenge everything
\n\u6b21\u306f\uff0cPick up and place challenge \u3092\u898b\u3066\u3044\u304d\u307e\u3057\u3087\u3046\uff0e
\n\u3053\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u8a2d\u5b9a\u306f\u7c21\u5358\u3067\u3059\uff0e
\n\u88fd\u54c1\u306e\u751f\u7523\u3084MPS\u306e\u8a2d\u7f6e\u304c\u4e0d\u8981\u3060\u304b\u3089\u3067\u3059\uff0e
\nproduction_challenge \u306econfig\u3092\u898b\u3066\u3044\u304d\u307e\u3057\u3087\u3046\uff0e
\nconfig_production_2_machines.yaml\u3067\u3059\uff0e
\n\uff08\u3042\u308c\uff0c\u524d\u56de\u3068\u4e00\u7dd2\uff1f\uff09<\/p>\n
To make sure that you are getting the NPS positions,
\nEverything else just stays the same.
\nYou don’t want any orders.
\nYou don’t want any navigation routes.
\nThis can be the same as well, it doesn’t matter.
\nmachines\u306e\u9805\u76ee\u306b\u5fc5\u8981\u306a\u30de\u30b7\u30f3\u3092\u8a2d\u5b9a\u3057\uff0cMPS\u306e\u4f4d\u7f6e\u60c5\u5831\u304c\u5fc5\u8981\u306a\u306e\u3067\uff0c\u300csend-mps-ground-truth\u300d\u306f\u300c [PRODUCTION]\u300d\u306b\u3057\u307e\u3059\uff0e
\n\u4ed6\u306f\u3053\u306e\u307e\u307e\u3067\u826f\u3044\u3067\u3059\uff0e
\nOrder \u306f\u4e0d\u8981\u3067\u3059\u3067\u3057\uff0croutes\u3082\u4e0d\u8981\u3067\u3059\uff0e<\/p>\n
And then you just start the ref box with that setting.
\nWe should be going to do it now, so.
\nChange into the. Red Fox directory.
\nWe will start the red box.
\nAdditionally, we will need to restart our front and again
\nRefBox \u3092\u8d77\u52d5\u3057\u307e\u3057\u3087\u3046\uff0e
\n\u305d\u3057\u3066\uff0cfront-end\u304c\u518d\u5ea6\u5fc5\u8981\u3067\u3059\uff0e<\/p>\n
So we will call in 12 front and directory. And we were.
\nStart the front end again.
\nSo I can see here are red boxes started and now we need to wait for our front end
\nFront-end\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u30fc\u306b\u79fb\u52d5\u3057\u307e\u3057\u3087\u3046\uff08rcll-refbox-frontend\uff09\uff0e
\n\u305d\u3057\u3066\uff0cfront-end\u3092\u518d\u5ea6\u8d77\u52d5\u3057\u307e\u3059\uff0e
\nRefBox \u304c\u8d77\u52d5\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u78ba\u8a8d\u3067\u304d\u307e\u3059\uff0e<\/p>\n
\r\ncd ~\/rcll-refbox-frontend\r\nnpm run serve\r\n<\/pre>\n
You start your challenge.
\nAnd thus the refworks just basically measures a.
\nIt is like a stopwatch because you don’t process any orders
\nGrasping Challenge \u306f\uff0cRefBox \u3092\u8d77\u52d5\u3059\u308b\u3060\u3051\u3067\u3059\uff0e
\n\u6ce8\u6587\u3092\u51e6\u7406\u3057\u305f\u308a\u3057\u306a\u3044\u306e\u3067\uff0cRefBox \u306f\uff0c\u30b9\u30c8\u30c3\u30d7\u30a6\u30a9\u30c3\u30c1\u306e\u3088\u3046\u306b\u6642\u9593\u3092\u8a08\u6e2c\u3059\u308b\u306e\u307f\u3067\u3059\uff0e<\/p>\n
So you will start the challenge by start hitting the start button just
\nGo into the production phase.
\nAnd you don’t produce anything.
\nUhm? And then you just go into postgame
\n\u305d\u306e\u305f\u3081\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u958b\u59cb\u3059\u308b\u306b\u306f\u4ed6\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u3068\u540c\u69d8\u306b\u30b9\u30bf\u30fc\u30c8\u30dc\u30bf\u30f3\u3092\u62bc\u3059\u3060\u3051\u3067\u3059\uff0e
\n\u305d\u3057\u3066\uff0cProduction Phase\u3092\u59cb\u3081\u307e\u3059\u304c\uff0c\u4f55\u3082\u751f\u7523\u3059\u308b\u5fc5\u8981\u306f\u3042\u308a\u307e\u305b\u3093\uff0e
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u304c\u7d42\u308f\u3063\u305f\u3089\uff0c\u300cPOST_GAME\u300d\u306b\u3059\u308b\u3060\u3051\u3067\u3059\uff0e<\/p>\n
So. Our server should be Starting soon.
\nAlright, so our Front end is loaded now.
\nConnect to it.
\nWe are connected will add our team.
\nAnd we will start the challenge.
\nWe will enter the setup phase like usually we were going to the
\n\u3082\u3046\u5c11\u3057\u3057\u305f\u3089\uff0c\u30b5\u30fc\u30d0\u304c\u8d77\u52d5\u3057\u307e\u3059\uff0e
\n\uff08\u30d6\u30e9\u30a6\u30b6\u306e\u65b9\u3067\uff09Front end\u3092\u4eca\uff0c\u8aad\u307f\u8fbc\u307f\u307e\u3059\uff0e
\n\uff08localhost:8080\u3067\uff09\u63a5\u7d9a\u3057\u307e\u3059\uff0e
\n\u63a5\u7d9a\u3057\u3066\uff0c\u30c1\u30fc\u30e0\u540d\u3092\u5165\u529b\u3057\uff0c\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u30b9\u30bf\u30fc\u30c8\u3057\u307e\u3059\uff0e
\nSetup Phase \u304b\u3089\uff0cProduction Phase\u306b\u5207\u308a\u66ff\u3048\u307e\u3059\uff0e
\n\u6ce8\u6587\u306f\u4f55\u3082\u3042\u308a\u307e\u305b\u3093\uff0e<\/p>\n
And once you’re.
\nProduction has finished or well, production is the wrong word.
\nOnce all your picking and placing has been done,
\nAnd this is all there is to the grasping challenge.
\n\u751f\u7523\u304c\u7d42\u308f\u3063\u305f\u3089\u2026\uff0c\u9055\u3063\u305f\u751f\u7523\u3067\u306f\u306a\u304f\uff0c\u30d4\u30c3\u30ad\u30f3\u30b0&\u30d7\u30ec\u30fc\u30b9\uff08Picking and placing\uff09\u304c\u7d42\u308f\u3063\u305f\u3089\uff0c\u300cPOST_GAME\u300d\u306b\u3057\u307e\u3059\uff0e
\nPOST_GAME\u306b\u3057\u305f\u3089\uff0c\u5f97\u70b9\u304c\u51fa\u3066\uff0c\u30ed\u30b0\u3092MongoDB\u306b\u66f8\u304d\u8fbc\u307f\u307e\u3059\uff0e
\n\u3053\u308c\u306f\u628a\u6301\uff08grasping\uff09\u30c1\u30e3\u30ec\u30f3\u30b8\u3067\u3082\u4e00\u7dd2\u3067\u3059\uff0e<\/p>\n
I will take a quick look at the configuration file for a navigation
\n\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3082\uff0c\u3061\u3083\u3061\u3083\u3063\u3068\u898b\u3066\u307f\u307e\u3057\u3087\u3046\u304b\uff0e<\/p>\n
I will not explicitly start a.
\nNavigation challenge if you just.
\nLook at this check.
\nEasy one, for example.
\nYou will find that it’s looking very much the same man again true Co logistics.
\nUh, this one is enabled as well, and then you can see here that the
\n\u30ca\u30d3\u30b2\u30fc\u30b7\u30e7\u30f3\u30c1\u30e3\u30ec\u30f3\u30b8\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306f\uff0cconfig_nav_easy.yaml \u3067\u3059\uff0e
\n\u4ed6\u3068\u540c\u69d8\u306b\uff0cmongoDB\u304c\u300cenable: true\u300d\u306b\u306a\u3063\u3066\u3044\u3066\uff0cgame\/teams \u304c\u81ea\u5206\u306e\u30c1\u30fc\u30e0\u540d\uff08Carologistics\uff09\u306b\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\uff0e
\n\u300cchallenges\/enable\u300d\u304c\u300ctrue\u300d\u306b\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\uff0e
\n\u305d\u3057\u3066\uff0c\u300cpublish-routes\u300d\u304c\u300cenable: true\u300d\u306b\u306a\u3063\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u307e\u3059\uff08\u2190\u203b\u3053\u3053\uff0c\u91cd\u8981\uff01\uff09<\/p>\n
And. Well, the difficulty is easy,
\nso you have two stations.
\n\u96e3\u6613\u5ea6\u3068\u3057\u3066\u300c\u7c21\u5358\uff08easy\uff09\u300d\u3092\u9078\u3093\u3067\u3044\u308b\u3068\u304d\u306f\uff0c2\u3064\u306e\u30b9\u30c6\u30fc\u30b7\u30e7\u30f3\u304c\u5fc5\u8981\u3067\u3059\uff08machines: \u306e\u9805\u76ee\uff09\uff0e<\/p>\n
Please always remember to name your games.
\nThis is something that I have not specifically done in this tutorial,
\nYou will always have to give a name to the challenge that you try.
\n\u7af6\u6280\u306e\u540d\u524d\u306e\u3068\u3053\u308d\uff0c\u5fd8\u308c\u306a\u3044\u3088\u3046\u306b\u3057\u3066\u4e0b\u3055\u3044\uff01\uff08challenges\/name \u306e\u9805\u76ee\uff09
\n\u4eca\u56de\u306e\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u3067\uff0c\u3053\u306e\u90e8\u5206\u3092\u4f55\u56de\u304b\u98db\u3070\u3057\u3066\u3044\u307e\u3057\u305f\uff0e
\n\u6311\u6226\u3059\u308b\u3068\u304d\u306f\u6bce\u56de\uff0c\u3053\u3053\u306b\u540d\u524d\u3092\u5165\u308c\u3066\u4e0b\u3055\u3044\uff01<\/p>\n
So.
\nThis is all I have to say about conflicts and rough books,
\nConfig\u3068RefBox\u306b\u95a2\u3057\u3066\uff0c\u4f1d\u3048\u308b\u3053\u3068\u306f\u4ee5\u4e0a\u3067\u3059\uff0e<\/p>\n
It is important to remember that you have to restart the red
\nYou have to restart the well, you don’t have to restart the front end,
\nRed box, so they have free things that you have to actively restart
\n\u65b0\u3057\u3044\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u3059\u308b\u3068\u304d\u306f\uff0c\u5fc5\u305aRefBox\u3092\u518d\u8d77\u52d5\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u305d\u3057\u3066\uff0cFront end\u306f\u518d\u8d77\u52d5\u3057\u306a\u304f\u3066\u3082\u5927\u4e08\u592b\u3067\u3059\u304cweb\u30da\u30fc\u30b8\u306e\u518d\u8aad\u8fbc\uff08refresh\uff09\u304c\u5fc5\u8981\u3067\u3059\uff0e
\nopencart\u306e\u518d\u8d77\u52d5\uff0ccontroller\u306e\u518d\u8d77\u52d5\u304c\u5fc5\u8981\u3067\u3059\uff0e
\n\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u884c\u3046\u5ea6\u306b\uff0c3\u3064\u306e\u518d\u8d77\u52d5\uff08refbox\uff0copencart\uff0ccontroller\uff09\u3092\u5fc5\u305a\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
Once you are done with all the challenges, now comes the arguably the most
\nYou need to submit the game reports that you have recorded and to do this you
\nRed Box folder order.
\nYou can find it in the.
\nRefworks directory and it is under ETC scripts.
\nAnd then it is the dump reportes dot Bash script.
\nIf you take a look at the script.
\nYou can see that it. Does a longo dump.
\nWith the RCL game and you will also see that you have to give it an<\/p>\n
\u5168\u3066\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u304c\u7d42\u308f\u3063\u305f\u304b\u3089\uff0c\u30b2\u30fc\u30e0\u306e\u30ed\u30b0\u3092\u904b\u55b6\u306b\u5831\u544a\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nmongoDB \u3067\u8a18\u9332\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n
\r\ncd ~\/rcll-refbox\r\ncd etc\/scripts\r\n<\/pre>\n
\u4e0a\u8a18\u306e\uff0cdump-reports.bash \u304c\u30b9\u30af\u30ea\u30d7\u30c8\u3067\u3059\uff0e
\n\u5185\u90e8\u7684\u306b\u306f\uff0cmongodump \u3092\u547c\u3073\u51fa\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u5f15\u6570\u3068\u3057\u3066\uff0c\u30c1\u30fc\u30e0\u540d\u3092\u4e0e\u3048\u3066\u4e0b\u3055\u3044\uff08$1.gz\u306e\u90e8\u5206\u306b\u5bfe\u5fdc\u3057\u307e\u3059\uff09\uff0e<\/p>\n
We can look at the README as well.
\nAnd then you can see that you should call your the file name where you are saving your game reports to should
\nREADME\u30d5\u30a1\u30a4\u30eb\u3092\u898b\u305f\u3089\uff0c\u3088\u304f\u5206\u304b\u308b\u306f\u305a\u3067\u3059\uff0e
\n\u30b2\u30fc\u30e0\u306e\u30ed\u30b0\u3092\u4fdd\u5b58\u3059\u3079\u304d\u30d5\u30a1\u30a4\u30eb\u540d\u3067\u547c\u3073\u51fa\u3057\u307e\u3059\uff0e<\/p>\n
So if you want to create the.
\nIf you now want to get your game reports from the Mongo DB,
\nMongoDB\u304b\u3089game report\u3092\u5f97\u308b\u306b\u306f\uff0cdump_reports.bash \u306b\u30c1\u30fc\u30e0\u540d\u3092\u5f15\u6570\u3068\u3057\u3066\u5b9f\u884c\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
And then I just run the script.
\nAnd you can see that it’s a four documents into this game report
\nOr I did for examples here.
\nOne was a 41 which I cut out because I showed you the exploration.
\nI showed you the production and I showed you the.
\nPicking place and the 4th one which I didn’t show is something went wrong there, but.
\n\u5b9f\u884c\u3057\u307e\u3057\u305f\uff0e
\n\u30c1\u30fc\u30e0\u540d\u306f\uff0cCarologistics \u3067\u3059\uff0e
\n4\u3064\u306e\u30b2\u30fc\u30e0\u304c\u8a18\u9332\u3055\u308c\u3066\u3044\u307e\u3059\uff0e
\n\u3064\u307e\u308a\uff0c4\u3064\u306e\u4f8b\u3092\u4eca\u56de\u5b9f\u65bd\u3057\u305f\u308f\u3051\u3067\u3059\uff0e
\n\u3053\u308c\u306f\uff0c4\u3064\u3067\uff0c\u63a2\u7d22\u30c1\u30e3\u30ec\u30f3\u30b8\uff0c\u751f\u7523\u30c1\u30e3\u30ec\u30f3\u30b8\uff0c\u30d4\u30c3\u30ad\u30f3\u30b0\uff06\u30d7\u30ec\u30fc\u30b9\u30c1\u30e3\u30ec\u30f3\u30b8\uff0c\u305d\u3057\u30664\u3064\u76ee\u306f\u5931\u6557\u3057\u305f\u306e\u3067\u9332\u753b\u3057\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\uff0e<\/p>\n
Don’t worry about it. You will see that.
\nYou can double check whether all the challenges that you did are
\n\u5fc3\u914d\u3057\u306a\u304f\u3066\u3082\u826f\u3044\u3067\u3059\uff0e
\n\u78ba\u8a8d\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e
\n\u3069\u306e\u30c1\u30e3\u30ec\u30f3\u30b8\u3092\u5b9f\u884c\u3057\u305f\u304b\u306f\uff0c\u30c0\u30d6\u30eb\u30c1\u30a7\u30c3\u30af\u3067\u304d\u307e\u3059\uff0e<\/p>\n
The file is here and that fire you will have to share with the committees
\n\u30ed\u30b0\u306e\u30d5\u30a1\u30a4\u30eb\u306f\u3053\u308c\uff08Carologistics.gz\uff09\u3067\u3059\uff0e
\n\u3053\u308c\u3092\u904b\u55b6\u3068\u5171\u6709\u3057\u3066\uff0c\u3069\u308c\u3092\u5b9f\u884c\u3057\u305f\u304b\u3092\u6c7a\u5b9a\u3057\u307e\u3059\uff0e<\/p>\n
And. Yes, this is everything I
\nhave to say for this tutorial.
\nIf you have any questions.
\nFeel free to.
\nEmail me and we can work your issues out.
\nAnd.
\nI have nothing much, nothing more to say so.
\nI wish you good luck and success working through this workshop you
\n\u3053\u308c\u3067\u30c1\u30e5\u30fc\u30c8\u30ea\u30a2\u30eb\u306f\u7d42\u308f\u308a\u3067\u3059\uff0e
\n\u3082\u3057\uff0c\u8cea\u554f\u304c\u3042\u308c\u3070\uff0ce-mail\u3067\u554f\u3044\u5408\u308f\u305b\u3066\u4e0b\u3055\u3044\uff0e
\n\u9811\u5f35\u3063\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
And remember it is.
\nMandatory that you submit. A.
\nFile for your team where at least.
\n2 custom game reports are stored so we can see that you started
\n\u30c1\u30fc\u30e0\u306e\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u5c11\u306a\u304f\u3068\u30822\u3064\u306e\u30b2\u30fc\u30e0\u30ec\u30dd\u30fc\u30c8\u3092\u63d0\u51fa\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u7af6\u6280\u3092\u958b\u59cb\u3057\u3066\u7d42\u4e86\u3057\u305f\u30ec\u30dd\u30fc\u30c8\u3067\u3059\uff0e<\/p>\n
In your mum. File.
\nHi, thank you and so we will see each other at all.
\n\u4ee5\u4e0a\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
\u3068\u308a\u3042\u3048\u305a\uff0c\u52d5\u753b\u8996\u8074\u3068\uff0c\u65e5\u672c\u8a9e\u8a33\u4f5c\u6210\u3092\u3057\u3066\u307f\u307e\u3059\u304b\uff0e WEBVTT NOTE d …<\/p>\n
  RoboCup 2021 Logistics League – RefBox Workshop\uff08\u306e\u30e1\u30e2\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],"tags":[],"class_list":["post-2682","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2682","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=2682"}],"version-history":[{"count":14,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2682\/revisions"}],"predecessor-version":[{"id":2697,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2682\/revisions\/2697"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2682"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2682"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2682"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}