{"id":2952,"date":"2022-05-20T16:32:12","date_gmt":"2022-05-20T07:32:12","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2952"},"modified":"2022-05-24T16:33:49","modified_gmt":"2022-05-24T07:33:49","slug":"btr2022%e3%81%ae%e8%a8%ad%e5%ae%9a%e3%80%80%e3%81%ae%e6%ac%a1%e3%81%ae%e8%a9%b1%e3%81%ae%e3%83%a1%e3%83%a2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2952","title":{"rendered":"BTR2022\u306e\u8a2d\u5b9a\u3000\u306e\u6b21\u306e\u8a71\u306e\u30e1\u30e2"},"content":{"rendered":"<p>gazebo\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u305f\u3044\u306a\u3041\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/robocup-logistics\/gazebo-rcll\r\ncd gazebo-rcll\r\n# CmakeLists.txt \u306bBoost\u306e\u60c5\u5831\u3092\u8ffd\u52a0\uff0e\r\necho &quot;find_package(Boost REQUIRED COMPONENTS system program_options filesystem thread)&quot; &gt;&gt; CMakeLists.txt\r\n&#x5B;bash]\r\ncmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncmake --build build\r\n<\/pre>\n<p>\u3046\u30fc\u3080\uff0e\u30a8\u30e9\u30fc\u304c\u51fa\u307e\u3059\u306d\u3047\uff0e<br \/>\n<s><\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:57:97:   required from here\r\n\/usr\/include\/c++\/9\/ext\/new_allocator.h:146:4: error: invalid new-expression of abstract class type \u2018spdlog::sinks::basic_file_sink&lt;std::mutex&gt;\u2019\r\n  146 |  { ::new((void *)__p) _Up(std::forward&lt;_Args&gt;(__args)...); }\r\n      |    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\r\n<\/pre>\n<p><mark><a href=\"https:\/\/github.com\/gabime\/spdlog\/issues\/1545\">Compile error on implementing custom sink #1545<\/a><\/mark>\u3092\u898b\u308b\u3068\uff0cMissing public keyword \u3068\u3042\u308b\u306e\u3067\uff0c<br \/>\nspdlog \u306e\u982d\u306bpublic \u3092\u3064\u3051\u3066\u307f\u305f\u3089\uff0c\u305d\u3053\u306e\u30a8\u30e9\u30fc\u306f\u6d88\u3048\u307e\u3057\u305f\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">57\u884c\u76ee\r\n-          std::make_shared&lt;spdlog::sinks::basic_file_sink_mt&gt;(fmt::format(&quot;gazebo-{}.log&quot;, name_), true));\r\n+          std::make_shared&lt;public spdlog::sinks::basic_file_sink_mt&gt;(fmt::format(&quot;gazebo-{}.log&quot;, name_), true));\r\n<\/pre>\n<p>\u6b21\u306e\u30a8\u30e9\u30fc\u306f\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:370:3: note: in expansion of macro \u2018SPDLOG_LOGGER_INFO\u2019\r\n  370 |   SPDLOG_LOGGER_INFO(logger, &quot;Workpiece {} no longer in input&quot;, wp_in_input_-&gt;GetName());\r\n      |   ^~~~~~~~~~~~~~~~~~\r\n\/home\/ryukoku\/git\/gazebo-rcll\/_deps\/spdlog-src\/include\/spdlog\/spdlog.h:291:137:error: no matching function for call to \u2018spdlog::logger::log(spdlog::source_loc, spdlog::level::level_enum, const char &#x5B;33], std::string)\u2019\r\n  291 | _loc{__FILE__, __LINE__, SPDLOG_FUNCTION}, level, __VA_ARGS__)\r\n      |                                                              ^\r\n<\/pre>\n<p>\u5bfe\u5fdc\u3059\u308b\u95a2\u6570\u304c\u306a\u3044\u3063\u3066\u3053\u3068\u3060\u3051\u3069\uff0c\u540c\u3058\u3088\u3046\u306a\u547c\u3073\u51fa\u3057\u306f\u3053\u3053\u3088\u308a\u3082\u524d\uff08\u4f8b\u3048\u3070367\u884c\u76ee\uff09\u306b\u3082\u3042\u308b\u3093\u3060\u3051\u3069\u306a\u3041\u2026\uff0e<br \/>\n\u4f55\u304c\u9055\u3046\u3093\u3060\u308d\u3046\uff0e<br \/>\n\u3069\u3046\u305bLog\u3060\u304b\u3089\uff0c\u306a\u304f\u3066\u3082\u3048\u3048\u304b\u3068\u601d\u3063\u3066\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u305f\u3089\uff0c\u4eca\u5ea6\u306f367\u884c\u76ee\u3082\u30a8\u30e9\u30fc\u306b\u306a\u3063\u3066\u3044\u305f\u2026\uff0e\u3048\u3078\u3078\uff0e<br \/>\n\u982d\u304b\u3089\u898b\u3066\u3044\u304f\u3053\u3068\u306b\u3057\u3088\u3046\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n                 from \/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:26:\r\n\/home\/ryukoku\/git\/gazebo-rcll\/_deps\/spdlog-src\/include\/spdlog\/fmt\/bundled\/core.h:67: error: &quot;FMT_HAS_FEATURE&quot; redefined &#x5B;-Werror]\r\n   67 | #  define FMT_HAS_FEATURE(x) __has_feature(x)\r\n      | \r\n<\/pre>\n<p>redefined \u306e\u30a8\u30e9\u30fc\u306f\u6c17\u8272\u60aa\u3044\u306e\u3067\uff0c\u6d88\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\uff0e<br \/>\nMakefile\u306b\u3066<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">36\u884c\u76ee\r\n- add_compile_options(-g -Wall -Werror)\r\n+ add_compile_options(-g -Wall -Wno-macro-redefined)\r\n<\/pre>\n<p>\u6b21\u306f\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n                 from \/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:21:\r\n\/usr\/include\/ignition\/math6\/ignition\/math\/Plane.hh:133:20: error: \u2018optional\u2019 in namespace \u2018std\u2019 does not name a template type\r\n  133 |       public: std::optional&lt;Vector3&lt;T&gt;&gt; Intersection(\r\n      |                    ^~~~~~~~\r\n\/usr\/include\/ignition\/math6\/ignition\/math\/Plane.hh:133:15: note: \u2018std::optional\u2019 is only available from C++17 onwards\r\n  133 |       public: std::optional&lt;Vector3&lt;T&gt;&gt; Intersection(\r\n      |        \r\n<\/pre>\n<p>C++17\u304b\u3089\u3063\u3066\u3053\u3068\u306a\u306e\u3067\uff0c\u30b3\u30f3\u30d1\u30a4\u30eb\u30aa\u30d7\u30b7\u30e7\u30f3\u306b\u8ffd\u52a0\u3057\u307e\u3057\u3087\u3046\u304b\uff0e<br \/>\nMakefile\u306b\u3066<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">36\u884c\u76ee\r\n- add_compile_options(-g -Wall -Werror)\r\n+ add_compile_options(-g -Wall -Wno-macro-redefined -std=c++17)\r\n<\/pre>\n<p>\u6b21\u306f\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n                 from \/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:26:\r\n\/home\/ryukoku\/git\/gazebo-rcll\/_deps\/spdlog-src\/include\/spdlog\/details\/null_mutex.h:12:8: error: redefinition of \u2018struct spdlog::details::null_mutex\u2019\r\n   12 | struct null_mutex\r\n<\/pre>\n<p>\u518d\u5b9a\u7fa9\u3057\u3061\u3083\u3063\u3066\u3044\u308b\u305d\u3046\u306a\uff0e<br \/>\n\u3082\u3046\u9762\u5012\u304f\u3055\u3044\u304b\u3089\uff0c\u8b66\u544a\u3092\u5168\u90e8\u7121\u8996\u3057\u307e\u3057\u3087\u3046\uff0e<br \/>\nMakefile\u306b\u3066<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">36\u884c\u76ee\r\n- add_compile_options(-g -Wall -Werror)\r\n+ add_compile_options(-g -Werror=stringop-truncation -fpermissive -std=c++17)\r\n<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nIn file included from \/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:21:\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.h:30:10: fatal error:llsf_msgs\/MachineCommands.pb.h: No such file or directory\r\n   30 | #include &lt;llsf_msgs\/MachineCommands.pb.h&gt;\r\n      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\r\ncompilation terminated.\r\n<\/pre>\n<p>\u3042\uff0c\u5148\u306bmake\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u5974\u3060\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~git\/gazebo-rcll\/plugins\/src\/libs\/llsf_msgs\r\nmake\r\n<\/pre>\n<p><\/s><br \/>\n<mark><a href=\"https:\/\/github.com\/robocup-logistics\/gazebo-rcll\/blob\/master\/.circleci\/config.yml\">gazebo-rcll\/.circleci\/config.yaml<\/a><\/mark>\u306bDocker\u306e\u60c5\u5831\u304c\u3042\u3063\u305f\u306e\u3067\u305d\u308c\u3092\u53c2\u8003\u306b\u3057\u3066\u307f\u307e\u3059\uff0e<br \/>\n\u307e\u305a\uff0cgzebo\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5165\u308c\u3066\u3044\u306a\u304b\u3063\u305f\u3063\u307d\u3044\u2026\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">sudo apt-get -y install libgazebo9-dev libgazebo9 gazebo9-common<\/pre>\n<p>\u3042\u3068\uff0c\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u4f9d\u5b58\u95a2\u4fc2\u306b\u3088\u308a\u4f7f\u3063\u3066\u3044\u306a\u3044\u7269\u304c\u5897\u3048\u3066\u304d\u305f\u306e\u3067\u524a\u9664\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">sudo apt-get -y autoremove<\/pre>\n<p>\u30a8\u30e9\u30fc\u306e\u9805\u76ee\u304c\u57fa\u672c\u7684\u306b\u306fspdlog\u306a\u306e\u3067\uff0c\u305d\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5165\u308c\u3066\u307f\u308b\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">sudo apt-get install libspdlog-dev<\/pre>\n<p>&#8212;-<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/usr\/local\/include\/opc\/spdlog\/logger.h:76:32: note:   template argument deduction\/substitution failed:\r\n<\/pre>\n<p>\u3093\uff0espdlog \u306e\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\u304c\uff0copc\u3063\u3066\u3068\u3053\u308d\u306b\u3042\u308b\u305e\u2026\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nroot@BabyTgers-NUC7i7BNH:\/usr\/local\/include\/opc# ls\r\ncommon  spdlog  ua\r\n<\/pre>\n<p>\u3042\uff0cOPC-UA\u306e\u3068\u304d\u306b\uff0c\u4e00\u7dd2\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u3057\u307e\u3063\u3066\u3044\u308b\u3063\u307d\u3044\uff0e<br \/>\n\u304a\u3088\u3088\uff0e<br \/>\n\u3053\u308c\u304c\u60aa\u3055\u3092\u3057\u3066\u3044\u308b\u306e\u304b\u3082\uff0e<br \/>\nopcua \u306e\u30bd\u30fc\u30b9\u306eMakefile \u3092\u898b\u3066\u307f\u305f\u3051\u3069\uff0cinstall\u306e\u9805\u76ee\u306f\u3042\u308b\u306e\u306buninstall\u306e\u9805\u76ee\u304c\u306a\u3044\u2026\uff0e<br \/>\n\u304a\u3088\u3088\u3088\u3088\uff0e<br \/>\n\u3069\u3046\u3084\u3089\uff0c\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\u3060\u3051\u3092\u6271\u3063\u3066\u3044\u308b\uff08\u30d5\u30a1\u30a4\u30eb\u3092\u30b3\u30d4\u30fc\u3057\u3066\u3044\u308b\u3060\u3051\uff09\u6a21\u69d8\uff0e<br \/>\n\u3061\u3087\u3063\u3068\u5f37\u5f15\u3060\u3051\u3069\uff0c\u305d\u308c\u3089\u3092\u524a\u9664\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# sudo rm -rf \/usr\/include\/spdlog \u2190\u3000\u3053\u3063\u3061\u306f\uff0clibspdlog-dev \u306e\u30d5\u30a1\u30a4\u30eb\u3063\u307d\u3044\uff0e\r\nsudo rm -rf \/usr\/local\/include\/opc\/spdlog\r\n<\/pre>\n<p>\u3067\uff0cgazebo-rcll ccmake\u304b\u3089\u9806\u756a\u306b\u3057\u3066\u307f\u305f\u3051\u3069\uff0ccmake . \u306b\u3066\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n-- Fetching spdlog\r\n-- Build spdlog: 1.10.0\r\n-- Build type: Release\r\n-- Found FreeOpcUa on system\r\n<\/pre>\n<p>\u307f\u3064\u3051\u3061\u3083\u3063\u3066\u308b\u2026\uff0e\u3068\u307b\u307b\uff0e<br \/>\n\u3042\u30fc\uff0eMPS.cpp\u3067OPCUA\u3092\u547c\u3073\u51fa\u3059\u304b\u3089\uff0c\u305d\u3053\u304b\u3089opc\u306espdlog\u306b\u3044\u3063\u3061\u3083\u3046\u306e\u304b\u2026\uff0e<br \/>\n\u3068\u3059\u308b\u3068\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo -l \/usr\/include\/spdlog \/usr\/local\/include\/opc\r\n<\/pre>\n<p>\u3067\uff0c\u3054\u307e\u304b\u305b\u308b\u304b\u306a\u3041\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n&#x5B; 74%] Building CXX object plugins\/src\/plugins\/mps\/CMakeFiles\/mps.dir\/mps.cpp.o\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp: In constructor \u2018gazebo::Mps::Mps(gazebo::physics::ModelPtr, sdf::ElementPtr)\u2019:\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:57:9: error: parse error in template argument list\r\n   57 |    std::make_shared&lt;public spdlog::sinks::basic_file_sink_mt&gt;(fmt::format(&quot;gazebo-{}.log&quot;, name_), true));\r\n      |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/mps.cpp:57:104: error: no matching function for call to \u2018make_shared&lt;&lt;expression error&gt; &gt;(std::__cxx11::basic_string&lt;char&gt;, bool)\u2019\r\n   57 | s::basic_file_sink_mt&gt;(fmt::format(&quot;gazebo-{}.log&quot;, name_), true));\r\n      |  \r\n<\/pre>\n<p>\u304a\u3057\u3044\uff0e\u3054\u307e\u304b\u305b\u306a\u304b\u3063\u305f\uff0e<br \/>\n\u4ed5\u65b9\u304c\u7121\u3044\uff0e\u30bd\u30fc\u30b9\u304b\u3089\u5165\u308c\u3066\u307f\u308b\u304b\u2026\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get remove libspdlog-dev\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/gabime\/spdlog\r\ncd spdlog\r\nccmake .\r\ncmake .\r\nmake\r\nsudo make install\r\nsudo ldconfig\r\n<\/pre>\n<p>\u3093\uff0eapt\u3068\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u540c\u3058\u3088\u3046\u306a\u2026\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nryukoku@BabyTgers-NUC7i7BNH:~\/git\/spdlog$ cmake .\r\n-- Build spdlog: 1.10.0\r\n-- Build type: Release\r\n-- Generating example(s)\r\n-- Generating install\r\n-- Configuring done\r\n-- Generating done\r\n-- Build files have been written to: \/home\/ryukoku\/git\/spdlog\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">ln -s \/usr\/local\/include\/spdlog \/usr\/local\/include\/opc\/<\/pre>\n<p>\u3084\u3063\u3071\u308a\u540c\u3058\u6240\uff08mps.cpp\uff09\u3067\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u306a\u3041\u2026\uff0e<br \/>\n<mark><a href=\"https:\/\/src.fedoraproject.org\/rpms\/spdlog\">rpms\/spdlog<\/a><\/mark>\u3092\u898b\u308b\u3068\uff0cFedora 36-37\u306espdlog\u306f1.10.0\u3060\u3051\u3069\uff0cFedora 34\u306e\u6642\u306f\uff0cspdlog-1.8.5\u306e\u3088\u3046\u3060\uff0e<br \/>\n\u305d\u3053\u307e\u3067\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u843d\u3068\u3057\u3066\u307f\u3088\u3046\u304b\u306a\u3041\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\/spdlog\r\ngit checkout v1.8.5\r\nccmake .\r\ncmake.\r\nmake\r\n<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/usr\/include\/c++\/9\/bits\/shared_ptr.h:714:5: note: candidate: \u2018template&lt;class _Tp, class ... _Args&gt; std::shared_ptr&lt;_Tp&gt; std::make_shared(_Args&amp;&amp; ...)\u2019\r\n  714 |     make_shared(_Args&amp;&amp;... __args)\r\n      |     ^~~~~~~~~~~\r\n\/usr\/include\/c++\/9\/bits\/shared_ptr.h:714:5: note:   template argument deduction\/substitution failed:\r\n<\/pre>\n<p>\u9055\u3046\u306a\u3041\uff0espdlog \u306e\u554f\u984c\u3067\u306f\u306a\u304f\uff0cmake_shared\u306e\u554f\u984c\u306a\u306e\u304b\u306a\u3041\uff0e<\/p>\n<p>\u4ee5\u524d\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u90aa\u9b54\u3092\u3057\u3066\u3044\u308b\u306e\u304b\u3082\u77e5\u308c\u306a\u3044\u306e\u3067\uff0cspdlog\u3068gazebo-rcll\u3092\u6d88\u3057\u3066\uff0c\u518d\u5ea6\u4f5c\u696d\uff0e<br \/>\nspdlog \u306f1.8.5\u306b\u5909\u66f4\uff0egazebo-rcll\u306fCMakeLists.txt\u306bboost\u306e\u60c5\u5831\u3092\u8ffd\u52a0\uff0e<br \/>\n\u5358\u306a\u308bmake\u3060\u3068\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u306e\u3067\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncmake --build build\r\n<\/pre>\n<p>\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n&#x5B; 76%] Building CXX object plugins\/src\/plugins\/mps\/CMakeFiles\/mps.dir\/ring_station.cpp.o\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/ring_station.cpp: In member function \u2018virtual void gazebo::RingStation::process_command_in()\u2019:\r\n\/home\/ryukoku\/git\/gazebo-rcll\/plugins\/src\/plugins\/mps\/ring_station.cpp:75:12: error: \u2018color\u2019 may be used uninitialized in this function &#x5B;-Werror=maybe-uninitialized]\r\n   75 |  mount_ring(color);\r\n      |  ~~~~~~~~~~^~~~~~~\r\ncc1plus: all warnings being treated as errors\r\n<\/pre>\n<p>\u304a\uff0c\u6b21\u306e\u30a8\u30e9\u30fc\u306b\u9032\u3093\u3060\u611f\u3058\u304b\u3082\uff0e<br \/>\ncolor \u304c\u521d\u671f\u5316\u305b\u305a\u306b\u4f7f\u3063\u3066\u3044\u308b\u72b6\u614b\uff1f<br \/>\n~\/git\/gazebo-rcll\/plugins\/src\/libs\/gazsim_msgs\/WorkpieceCommand.proto \u3092\u898b\u308b\u3068Color\u306f\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/\/ The possible colors of the ring\r\nenum Color{\r\n  RED = 0;\r\n  GREEN = 1;\r\n  BLUE = 2;\r\n  GREY = 3;\r\n  BLACK = 4;\r\n  YELLOW = 5;\r\n  ORANGE = 6;\r\n  SILVER = 7;\r\n  NONE = 8;\r\n}\r\n<\/pre>\n<p>\u3068\u306a\u3063\u3066\u3044\u308b\u306e\u3067\uff0c\u521d\u671f\u5316\u6642\u306bNONE\u3092\u4ee3\u5165\u3057\u3068\u3051\u3070\u826f\u3044\u306e\u3067\u306f\uff1f<br \/>\n56\u884c\u76ee\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u4fee\u6b63\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nvoid\r\nRingStation::process_command_in()\r\n{\r\n...\r\n-        gazsim_msgs::Color color;\r\n+        gazsim_msgs::Color color = gazsim_msgs::Color::NONE;\r\n...\r\n        mount_ring(color);\r\n<\/pre>\n<p>\u3068\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n&#x5B; 76%] Building CXX object plugins\/src\/plugins\/mps\/CMakeFiles\/mps.dir\/storage_station.cpp.o\r\n&#x5B; 77%] Linking CXX shared library ..\/..\/..\/libmps.so\r\n\/usr\/bin\/ld: \/usr\/local\/lib\/libspdlog.a(spdlog.cpp.o): relocation R_X86_64_TPOFF32 against `_ZGVZN6spdlog7details2os9thread_idEvE3tid' can not be used when making a shared object; recompile with -fPIC\r\ncollect2: error: ld returned 1 exit status<\/pre>\n<p>\u3084\u3063\u3071\u308a\u30a8\u30e9\u30fc\u2026\uff0e<br \/>\n\u3042\uff0c\u3053\u308c\u3063\u3066-fPIC\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u306f\uff0cgazebo-rcll\u306b\u5bfe\u3057\u3066\u3067\u306f\u306a\u304f\uff0cspdlog\u306b\u5bfe\u3057\u3066\u4ed8\u4e0e\u304c\u5fc5\u8981\u306a\u306e\u304b\u2026\uff0e<br \/>\nspdlog\/CMakeLists.txt \u306badd_compile_options(-fPIC)\u3092\u8ffd\u52a0\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n# ---------------------------------------------------------------------------------------\r\n# Set default build to release\r\n# ---------------------------------------------------------------------------------------\r\nif(NOT CMAKE_BUILD_TYPE)\r\n    set(CMAKE_BUILD_TYPE &quot;Release&quot; CACHE STRING &quot;Choose Release or Debug&quot; FORCE)\r\nendif()\r\n\r\n#\r\n# for fPIC\r\n# \r\nadd_compile_options(-fPIC)\r\n<\/pre>\n<p>\u3088\u3057\uff0e\u901a\u3063\u305f\uff0e<br \/>\ngazebo-rcll\u306b\u5bfe\u3057\u3066\u306f\uff0c\u3084\u3063\u3071\u308ag++17\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u304c\u5fc5\u8981\u3060\u3063\u305f\u3063\u307d\u3044\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nadd_compile_options(-g -Wall -WError -std=c++17)\r\n<\/pre>\n<p>\u809d\u5fc3\u306egazebo\u30b3\u30de\u30f3\u30c9\u304c\u5165\u3063\u3066\u3044\u306a\u304b\u3063\u305f\u2026\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">sudo apt-get install gazebo9<\/pre>\n<p>\u3067\uff0cgazebo-ros\u3082\u5fc5\u8981\u3068\u306e\u3053\u3068\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">sudo apt-get install ros-noetic-gazebo-ros<\/pre>\n<p>\u305d\u3057\u305f\u3089\uff0cgazebo\/gazebo.hh \u304c\u898b\u3064\u304b\u3089\u306a\u3044\u3068\u8a00\u308f\u308c\u308b\u306e\u3067\uff0c<mark><a href=\"https:\/\/answers.gazebosim.org\/\/question\/24378\/fatal-error-gazebogazebohh-no-such-file-or-directory\/\">fatal error: gazebo\/gazebo.hh: No such file or directory<\/a><\/mark>\u3092\u53c2\u8003\u306bCMakeLists.txt\u306b\u4ee5\u4e0b\u3092\u8ffd\u52a0\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">include_directories(${GAZEBO_INCLUDE_DIRS})<\/pre>\n<p>\u3068\u308a\u3042\u3048\u305a\uff0cmake\u306f\u901a\u3063\u305f\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>gazebo\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u305f\u3044\u306a\u3041\uff0e cd ~\/git git clone &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2952\"> <span class=\"screen-reader-text\">BTR2022\u306e\u8a2d\u5b9a\u3000\u306e\u6b21\u306e\u8a71\u306e\u30e1\u30e2<\/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":[3,2,6,8],"tags":[],"class_list":["post-2952","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-setting","category-ubuntu"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2952","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=2952"}],"version-history":[{"count":16,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2952\/revisions"}],"predecessor-version":[{"id":2969,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2952\/revisions\/2969"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2952"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2952"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2952"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}