{"id":2970,"date":"2022-05-24T16:43:12","date_gmt":"2022-05-24T07:43:12","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=2970"},"modified":"2022-06-17T09:42:40","modified_gmt":"2022-06-17T00:42:40","slug":"btr2022%e3%81%ae%e8%a8%ad%e5%ae%9a%ef%bc%88gazebo%e9%96%a2%e4%bf%82%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=2970","title":{"rendered":"BTR2022\u306e\u8a2d\u5b9a\uff08gazebo\u95a2\u4fc2\uff09"},"content":{"rendered":"<p>gazebo-rcll \u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u524d\u306bspdlog\u306e\u4fee\u6b63<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo rm -rf \/usr\/local\/include\/opc\/spdlog\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/gabime\/spdlog\r\ncd spdlog\r\n# CMakeLists.txt \u306b\u300cadd_compile_options(-fPIC)\u3092\u8ffd\u52a0\u3057\u3066\u4e0b\u3055\u3044\uff0e\r\n# include(GNUInstallDirs)\r\n# + add_compile_options(-fPIC)\r\nvi CMakeLists.txt \r\nccmake .\r\ncmake .\r\nmake\r\nsudo make install\r\nsudo ldconfig\r\nsudo ln -s \/usr\/local\/include\/spdlog \/usr\/local\/include\/opc\/\r\n <\/pre>\n<p>\u7d9a\u3044\u3066\uff0cgazebo-rcll \u306e\u4fee\u6b63<\/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<\/pre>\n<p>error: \u2018color\u2019 may be used uninitialized in this function [-Werror=maybe-uninitialized] \u306b\u5bfe\u3059\u308b\u4fee\u6b63<br \/>\nplugins\/src\/plugins\/mps\/ring_station.cpp \u306e56\u884c\u76ee\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u4fee\u6b63\u3057\u3066\u4e0b\u3055\u3044\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>\u3042\u3068\uff0cCMakeLists.txt \u306e37\u884c\u76ee\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u4fee\u6b63\u3057\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n- add_compile_options(-g -Wall -WError)\r\n+ add_compile_options(-g -Wall -WError -std=c++17)\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\necho &quot;add_compile_options(-g -Wall -Werror -std=c++17)&quot; &gt;&gt; CMakeLists.txt\r\ncmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncmake --build build\r\n<\/pre>\n<p>\u3053\u308c\u3067\uff0c\u3068\u308a\u3042\u3048\u305amake\u306f\u901a\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e<br \/>\n\u304a\u305d\u3089\u304f\uff0c.bashrc \u306eGAZEBO_PLUGIN_PATH \u304c\u9593\u9055\u3063\u3066\u3044\u308b\uff08\u3068\u3044\u3046\u304b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u304c\u5b58\u5728\u3057\u306a\u3044\uff09\u306e\u3067\uff0c\u3068\u308a\u3042\u3048\u305a\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u4fee\u6b63\uff08\u672c\u5f53\u306f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u4f5c\u308b\u65b9\u304c\u826f\u3044\u6c17\u304c\u3059\u308b\uff09\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$GAZEBO_RCLL\/plugins\/lib\/gazebo\r\nexport GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$GAZAEBO_RCLL\/plugins\r\n<\/pre>\n<p>\u3042\u3068\uff0c\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3082\u8aad\u307f\u306b\u884c\u3063\u3066\u3044\u306a\u3044\u6c17\u304c\u3059\u308b\u306e\u3067\uff0c\u5ff5\u306e\u305f\u3081\u4ee5\u4e0b\u3092\u8ffd\u52a0<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nexport GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:\/opt\/ros\/noetic\/lib\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>gazebo-rcll \u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u307e\u3059\uff0e \u305d\u306e\u524d\u306bspdlog\u306e\u4fee\u6b63  &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=2970\"> <span class=\"screen-reader-text\">BTR2022\u306e\u8a2d\u5b9a\uff08gazebo\u95a2\u4fc2\uff09<\/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":[3,2,16],"tags":[],"class_list":["post-2970","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-16"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2970","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=2970"}],"version-history":[{"count":12,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2970\/revisions"}],"predecessor-version":[{"id":2995,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/2970\/revisions\/2995"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2970"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2970"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2970"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}