{"id":2768,"date":"2021-06-01T10:19:29","date_gmt":"2021-06-01T01:19:29","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2768"},"modified":"2021-06-01T11:02:37","modified_gmt":"2021-06-01T02:02:37","slug":"btr2021%e3%81%ae%e4%bd%bf%e3%81%84%e6%96%b9","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2768","title":{"rendered":"BTR2021\u306e\u4f7f\u3044\u65b9"},"content":{"rendered":"<p>\u81ea\u5206\u3067\u3082\u3059\u3063\u304b\u308a\u5fd8\u308c\u3066\u3044\u308b\u306e\u3067\uff0c\u52d5\u4f5c\u74b0\u5883\u306e\u307e\u3068\u3081\uff0e<\/p>\n<p>ROS \u3092\u30d9\u30fc\u30b9\u306b\u52d5\u4f5c\u3057\u307e\u3059\uff0e<br \/>\n\u5404\u30de\u30b7\u30f3\u306e.bashrc \u306e\u4ee5\u4e0b\u306e\u8a2d\u5b9a\u306e\u90e8\u5206\u3092\u78ba\u8a8d\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u4ee5\u4e0b\u306f\uff0cRobotino \u4e0a\u306e.bashrc \u306e\u4e2d\u8eab\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nexport PATH=&quot;$PATH:~\/ownCloud\/2021\/scripts\/&quot;\r\nsource \/opt\/ros\/melodic\/setup.bash\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\nexport ROS_HOSTNAME=&quot;robotino&quot; # \u2190 PC\u306e\u540d\u524d\uff0cros\u5074\u304b\u3089\u3053\u306e\u540d\u524d\u3067\u63a5\u7d9a\u3067\u304d\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e\r\nexport ROS_MASTER_URI=&quot;http:\/\/192.168.11.59:11311\/&quot; # \u2190 Robotino\u306eroscore\r\n<\/pre>\n<p>\u81ea\u5206\u306e\u30de\u30b7\u30f3\u3067\u5b8c\u7d50\u3059\u308b\u306e\u3067\u3042\u308c\u3070\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nexport ROS_HOSTNAME='hostname'\r\nexport ROS_MASTER_URI=&quot;http:\/\/127.0.1.1:11311\/&quot;\r\n<\/pre>\n<p>\u3068\u306a\u308b\u3053\u3068\u304c\u4e00\u822c\u7684\u3067\u3059\u304c\uff0c\u610f\u5473\u3092\u7406\u89e3\u3057\u305f\u4e0a\u3067\u8a2d\u5b9a\u3057\u3066\u4e0b\u3055\u3044\uff0e<br \/>\n\u203b\u30d2\u30f3\u30c8\uff0ePC\u306e\u540d\u524d\u3092\u5f15\u304f\u306b\u306f\uff0c\/etc\/hosts \u3092\u89e6\u308b\u306e\u304c\u4e00\u756a\u624b\u3063\u53d6\u308a\u65e9\u3044\u3067\u3059\uff0e<\/p>\n<p>\u307e\u305a\uff0cros\u3092\u52d5\u304b\u3059\u30de\u30b7\u30f3\u306e\u4e0a\u3067\uff0croscore \u3092\u52d5\u304b\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u304a\u305d\u3089\u304f\uff0c\u305d\u306e\u7aef\u672b\u306f\uff0croscore \u3092\u52d5\u304b\u3059\u3060\u3051\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nroscore\r\n<\/pre>\n<p>RefBox \u3082\u52d5\u304b\u3057\u307e\u3057\u3087\u3046\u304b\uff0e<br \/>\n~\/rcll-refbox\/cfg\/config.yaml \u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u5468\u308a\u3084\u30c1\u30fc\u30e0\u540d\u3092\u9069\u5207\u306b\u8a2d\u5b9a\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\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<p>RefBox\u306e\u63a5\u7d9a\u7528\u306eROS\u3092\u8d77\u52d5\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\n\u30d1\u30b9\u3092\u901a\u305b\u3066\u3044\u308b\u306e\u3067\u3042\u308c\u3070rosRcllRefBox.sh \u306e\u5b9f\u884c\u3067OK\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nryukoku@ubuntu:~$ cat ~\/ownCloud\/2021\/scripts\/rosRcllRefBox.sh \r\n#!\/bin\/bash\r\n# Team: BabyTigers, Color: CYAN, Robot Number: 1\r\npushd ~\/catkin_ws\/src\/ros-rcll_refbox_peer\/launch\r\nroslaunch rcll_refbox_peer.launch num_robots:=1 team_name:=BabyTigers robot_name:=kotora robot_number:=1 crypto_key:=randomkey\r\npopd\r\n<\/pre>\n<p>\u4e0a\u8a18\u3092\u5b9f\u884c\u3057\u307e\u3059\uff0e<br \/>\n\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u9001\u4fe1\u306f\u3057\u3066\u3044\u306a\u3044\u306e\u3067\uff0c\u307e\u3060refbox \u306b\u30ed\u30dc\u30c3\u30c8\u306f\u73fe\u308c\u307e\u305b\u3093\uff0e<br \/>\n\u52d5\u4f5c\u78ba\u8a8d\u3057\u305f\u3051\u308c\u3070\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nwhile true; do rosservice call \/rcll\/send_beacon &quot;&#x5B;1,1,&quot;btr&quot;]&quot; &quot;&#x5B;&#x5B;2,2,&quot;btr&quot;],&#x5B;&#x5B;10,10,0],&#x5B;0,0,0,0]]]&quot;; done\r\n<\/pre>\n<p>\u3067\uff0cRefBox\u306b\u8868\u793a\u3055\u308c\u308b\u306f\u305a\u3067\u3059\uff0e<\/p>\n<p>ROS\u5bfe\u5fdc\u7248robview\u306e\u8d77\u52d5<br \/>\nGUI\u3067\u4f5c\u696d\u3059\u308b\u306e\u3067\u3042\u308c\u3070robview\u3092\uff0c\u30a4\u30f3\u30bf\u30d7\u30ea\u30bf\u3067\u4f5c\u696d\u3059\u308b\u306e\u3067\u3042\u308c\u3070robview_interpreter\u3092\u4f7f\u3044\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/ownCloud\/2021\/rvw2\r\nrobview -f `pwd`\/ros.rvw2\r\n<\/pre>\n<p>\u306a\u304a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306eRobotino \u306eIP\u30a2\u30c9\u30ec\u30b9\u306f\uff0c\u300c127.0.0.1:12080\u300d\u3067\u3059\uff0e<br \/>\n\u305d\u3053\u306e\u81ea\u52d5\u5207\u308a\u66ff\u3048\u30b9\u30af\u30ea\u30d7\u30c8\u306f\u307e\u3060\u7528\u610f\u3057\u3066\u3044\u307e\u305b\u3093\u306e\u3067\uff0cGUI\u3067\u5909\u66f4\u3057\u3066\u4fdd\u5b58\u3057\u3066\u304b\u3089\u30a4\u30f3\u30bf\u30d7\u30ea\u30bf\u3092\u4f7f\u3046\u3053\u3068\u3092\u52e7\u3081\u307e\u3059\uff0e<br \/>\n\u203b\u30c6\u30ad\u30b9\u30c8\u30d5\u30a1\u30a4\u30eb\u306a\u306e\u3067\uff0c\u76f4\u63a5\u66f8\u304d\u63db\u3048\u308b\u3053\u3068\u3082\u53ef\u80fd\u3067\u3059\uff0e<br \/>\n\u305d\u3057\u3066\uff0cROS\u5bfe\u5fdc\u7248robview\u5236\u5fa1\u7528\u306epython\u306e\u8d77\u52d5<br \/>\n\u3053\u3044\u3064\u3067\uff0cROS\u306e\u30c8\u30d4\u30c3\u30af\uff08\u30e1\u30c3\u30bb\u30fc\u30b8\uff09\u306e\u3084\u308a\u53d6\u308a\u3092\u3057\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/ownCloud\/2021\/python\r\npython robotino.py\r\n<\/pre>\n<p>\u3042\u3068\u306f\uff0c\u4f5c\u6210\u3057\u305fROS\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u5b9f\u884c\u3057\u305f\u3089\uff0crobotino \u304c\u52d5\u304d\u51fa\u3059\u306f\u305a\u3067\u3059\uff0e<br \/>\n\uff08\u91cf\u304c\u591a\u3044\u306a\u3041\u2026\uff09<br \/>\n\u4eca\u306e\u6bb5\u968e\u3067\u306f\uff0ccpulimit \u3067\u5236\u9650\u3092\u304b\u3051\u3066\u3044\u307e\u3059\u306e\u3067\uff0c<br \/>\n\u52d5\u4f5c\u6642\u3060\u3051\uff0c\u305d\u308c\u3092\u6b62\u3081\u3066\uff0c\u52d5\u4f5c\u78ba\u8a8d\u3092\u7d42\u3048\u305f\u3089\u518d\u5ea6\u5b9f\u884c\u3059\u308b\u3000\u3068\u3044\u3046\u306e\u3092\u52e7\u3081\u307e\u3059\uff0e<br \/>\n\uff08\u305d\u306e\u3046\u3061\uff0cROS\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u6700\u521d\u3068\u6700\u5f8c\u306b\u305d\u308c\u3092\u8a18\u8ff0\u3059\u308b\u65b9\u5f0f\u306b\u5909\u3048\u305f\u3044\u306a\u3041\uff09<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u81ea\u5206\u3067\u3082\u3059\u3063\u304b\u308a\u5fd8\u308c\u3066\u3044\u308b\u306e\u3067\uff0c\u52d5\u4f5c\u74b0\u5883\u306e\u307e\u3068\u3081\uff0e ROS \u3092\u30d9\u30fc\u30b9\u306b\u52d5\u4f5c\u3057\u307e\u3059 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2768\"> <span class=\"screen-reader-text\">BTR2021\u306e\u4f7f\u3044\u65b9<\/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":[3,2,9,24,17,6,16,14],"tags":[],"class_list":["post-2768","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-3","category-robotino-4","category-robview3","category-setting","category-16","category-14"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2768","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=2768"}],"version-history":[{"count":7,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2768\/revisions"}],"predecessor-version":[{"id":2778,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2768\/revisions\/2778"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2768"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2768"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2768"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}