{"id":2786,"date":"2021-06-14T16:27:37","date_gmt":"2021-06-14T07:27:37","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2786"},"modified":"2021-06-17T14:31:16","modified_gmt":"2021-06-17T05:31:16","slug":"robotino%e3%81%a7rcll%e3%81%ab%e5%87%ba%e3%82%8b%e6%96%b9%e6%b3%95%ef%bc%8e","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2786","title":{"rendered":"Robotino\u3067RCLL\u306b\u51fa\u308b\u65b9\u6cd5\uff0e"},"content":{"rendered":"

RefBox \u3068\u306e\u901a\u4fe1\u304c\u9375\u306b\u306a\u3063\u3066\u304d\u307e\u3059\uff0e
\nRefBox <=> ROS <=> View \u3068\u3044\u3046\u4e8c\u6bb5\u968e\u306e\u901a\u4fe1\u304c\u5fc5\u8981\u3068\u306a\u308a\uff0c\u305d\u306e\u305f\u3081\u306e\u624b\u9806\u3092\u307e\u3068\u3081\u307e\u3059\uff0e<\/p>\n

RefBox \u3084ROS \u95a2\u4fc2\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u7b49\u306f\u7d42\u308f\u3063\u3066\u3044\u308b\u3053\u3068\u3068\u3057\u307e\u3059\uff0e<\/p>\n

\u307e\u305a\u306f\uff0c\u95a2\u4fc2\u3059\u308b\u30bd\u30fc\u30b9\u3092\u3068\u3063\u3066\u304d\u307e\u3059\uff0e<\/p>\n

\r\n#\r\n# get RefBox Code\r\n#\r\ncd\r\ngit clone https:\/\/github.com\/robocup-logistics\/rcll-refbox\r\ncd rcll-refbox\r\ngit checkout neltester\/challenges-2021\r\ngit pull --ff-only\r\nmake\r\n<\/pre>\n
BTR2021\u306e\u6e96\u5099\uff08Ubuntu 18.04\uff09\u306e\u30e1\u30e2<\/a>\u306b\u3042\u308a\u307e\u3059\u304c\uff0c\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u306e\u3067 ~\/rcll-refbox\/etc\/buildsys\/config.mk \u306e\u6700\u5f8c\uff08\u300cendif # __buildsys_config_mk_\u300d\u306e\u624b\u524d\uff09\u306b\u4ee5\u4e0b\u3092\u8ffd\u52a0\uff0e<\/p>\n
\r\nCFLAGS_EXTRA += -Wno-unused-variable\r\n<\/pre>\n
\u3068\u308a\u3042\u3048\u305a\uff0c\u3053\u308c\u3067\u518d\u5ea6make\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n
\r\n#\r\n# get ROS code\r\n#\r\nmkdir -p ~\/catkin_ws\/src\r\n# cd ~\/catkin_ws\r\n# git clone https:\/\/github.com\/timn\/ros-rcll_ros_msgs\r\n# git clone https:\/\/github.com\/timn\/ros-rcll_refbox_peer\r\ncd\r\ngit clone https:\/\/github.com\/wadaru\/BabyTigers\r\nln -s ~\/BabyTigers\/ros\/ros* catkin_ws\/src\/\r\nmkdir -p ~\/catkin_ws\/src\/ros-rcll_btr_msgs\/msg\r\n#\r\n# set for RefBox\r\n#\r\nln -s ~\/rcll-refbox\/src\/msgs ~\/rcll-refbox\/src\/libs\/llsf_msgs\r\n#\r\ncd catkin_ws\r\ncatkin_make\r\ncd ..\r\n<\/pre>\n
\u3055\u3066\uff0c\u8d77\u52d5\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u304b\uff0e
\nRefBox \u306f\uff0c\u5225\u306e\u30de\u30b7\u30f3\u3067\u52d5\u3044\u3066\u3044\u308b\u3082\u306e\u3068\u3057\u307e\u3059\uff0e
\n\u30bf\u30fc\u30df\u30ca\u30eb\u306e\u30bf\u30d6\u304c\u3044\u304f\u3064\u304b\u5fc5\u8981\u3067\u3059\uff0e
\n\u4e0a\u8a18\u306ecatkin_make \u304c\u53cd\u6620\u3055\u308c\u3066\u3044\u306a\u3044\u5834\u5408\u306f\uff0csource ~\/catkin_ws\/devel\/setup.bash \u306e\u5b9f\u884c\u3092\u5fd8\u308c\u306a\u3044\u3088\u3046\u306b\uff0e<\/p>\n
\r\n# 1\u3064\u76ee\r\nroscore\r\n<\/pre>\n
\r\n# 2\u3064\u76ee\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\nIP=172.26.255.255\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 peer_address:=$IP peer_public_send_port:=4444 peer_public_recv_port:=4444 peer_cyan_send_port:=4441 peer_cyan_recv_port:=4441 peer_magenta_send_port:=4442 peer_magenta_recv_port:=4442\r\npopd\r\n<\/pre>\n
\r\n# 3\u3064\u76ee\r\n# \u2193\u3000\u4eca\u306f\u300c~\u300d\u304c\u4f7f\u3048\u308b\u6a21\u69d8\r\nrobview ~\/BabyTigers\/ros\/ros-rcll_btr_msgs\/refbox-view3.rvw2 \r\n<\/pre>\n
\r\n# 4\u3064\u76ee\r\nrosrun rcll_btr_msgs refbox-view3.py\r\n<\/pre>\n
\u3042\u308c\uff0crcll_btr_msgs \u304c\u767b\u9332\u3055\u308c\u3066\u3044\u307e\u305b\u3093\u306d\u2026\uff0e
\n\u3061\u3068\u3000\u8abf\u67fb\u3057\u307e\u3059\uff0e<\/p>\n
ROS\u3067\u30d3\u30eb\u30c9\u3057\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u8a8d\u8b58\u3055\u308c\u306a\u304b\u3063\u305f\u3068\u304d\u306e\u5bfe\u51e6\u6cd5<\/a>\u306b\u66f8\u3044\u3066\u3042\u308a\u307e\u3057\u305f\uff0e<\/p>\n
\r\ncd ~\/catkin_ws\r\ncatkin_make\r\nrospack profile\r\nsource ~\/catkin_ws\/devel\/setup.bash\r\n<\/pre>\n
\u3053\u308c\u3067\uff0crosrun rcll_btr_msgs refbox-view3.py \u304c\u52d5\u304d\u307e\u3059\uff0e<\/s><\/p>\n
 source ~\/catkin_ws\/devel\/setup.bash<\/pre>\n
\u3067\u5bfe\u5fdc\u3067\u304d\u308b\u53ef\u80fd\u6027\u304c\u9ad8\u3044\u3067\u3059\uff0e
\nrefbox-frontend \u304b\u3089\u64cd\u4f5c\u3059\u308c\u3070\uff0c\u7af6\u6280\u306e\u6d41\u308c\u304c\u7406\u89e3\u3067\u304d\u308b\u306f\u305a\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
RefBox \u3068\u306e\u901a\u4fe1\u304c\u9375\u306b\u306a\u3063\u3066\u304d\u307e\u3059\uff0e RefBox ROS View \u3068\u3044 …<\/p>\n
  Robotino\u3067RCLL\u306b\u51fa\u308b\u65b9\u6cd5\uff0e<\/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":[3,2,9,24,17,16],"tags":[],"class_list":["post-2786","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-3","category-robotino-4","category-robview3","category-16"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2786","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=2786"}],"version-history":[{"count":13,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2786\/revisions"}],"predecessor-version":[{"id":2804,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2786\/revisions\/2804"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2786"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2786"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2786"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}