{"id":3082,"date":"2022-11-15T17:10:00","date_gmt":"2022-11-15T08:10:00","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3082"},"modified":"2022-11-16T15:15:50","modified_gmt":"2022-11-16T06:15:50","slug":"robotino%e3%81%a7ros-2","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3082","title":{"rendered":"Robotino\u3067ROS\uff08ct2034\uff09"},"content":{"rendered":"<p>\u81ea\u4f5c\u306eRobotino\u7528\u306eROS\u3082\u3044\u3044\u3051\u3069\uff0c\u3084\u3063\u3071\u308a\u30aa\u30d5\u30a3\u30b7\u30e3\u30eb\u306eROS\u304b\u306a\u3000\u3068\u3044\u3046\u3053\u3068\u3067\u63a2\u3057\u3066\u307f\u305f\u3051\u3069\uff0c\u30da\u30fc\u30b8\u304c\u306a\u304f\u306a\u3063\u3066\u3044\u308b\u2026\uff0e<br \/>\ngithub \u306e\u65b9\u306b\u30b3\u30d4\u30fc\u304c\u6b8b\u3063\u3066\u3044\u305f\u306e\u3067\uff0c\u305d\u308c\u3092\u5229\u7528\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/ct2034\/robotino\r\ncd ~\/catkin_ws\/src\r\nln -s ~\/git\/robotino\/robotino-ros-pkg\/* .\r\ncd ..\r\ncatkin_make\r\n<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n-- Could NOT find costmap_2d (missing: costmap_2d_DIR)\r\n-- Could not find the required component 'costmap_2d'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.\r\nCMake Error at \/opt\/ros\/noetic\/share\/catkin\/cmake\/catkinConfig.cmake:83 (find_package):\r\n<\/pre>\n<p>costmap_2d \u3063\u3066\u306a\u3093\u3058\u3083\u3089\u307b\u3044\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install ros-noetic-costmap-2d\r\n<\/pre>\n<p>\u3068\u308a\u3042\u3048\u305a\u5165\u308c\u3066\u307f\u308b\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n-- Could NOT find image_transport (missing: image_transport_DIR)\r\n-- Could not find the required component 'image_transport'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.\r\n<\/pre>\n<p>\u6b21\u306f\uff0cimage_transport \u304b\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install ros-noetic-image-transport\r\n<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n-- Could NOT find nav_core (missing: nav_core_DIR)\r\n-- Could not find the required component 'nav_core'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.\r\nCMake Error at \/opt\/ros\/noetic\/share\/catkin\/cmake\/catkinConfig.cmake:83 (find_package):\r\n<\/pre>\n<p>nav_core\u3089\u3057\u3044\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install ros-noetic-nav-core\r\n<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/home\/robotino\/catkin_ws\/src\/robotino_node\/include\/ComROS.h:11:10: fatal error:rec\/robotino\/api2\/Com.h: No such file or directory\r\n   11 | #include &quot;rec\/robotino\/api2\/Com.h&quot;\r\n<\/pre>\n<p>\u3042\u30fc\uff0eapi\u5468\u308a\u304b\u2026\uff0e<br \/>\n\u5834\u6240\u306f\uff0c\/opt\/robotino\/include\/rec\/robotino\/api2 \u306b\u3042\u308b\u306f\u305a\uff0e<br \/>\n<del datetime=\"2022-11-16T05:54:26+00:00\">CMakelists.txt \u306b\u8ffd\u52a0\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncat src\/robotino_node\/CMakeLists.txt \r\n...\r\nset(CMAKE_MODULE_PATH \/usr\/local\/robotino\/api2\/cmake)\r\nset(RobotinoAPI2_INCLUDE_DIRS \/opt\/robotino\/include)\r\n## System dependencies are found with CMake's conventions\r\n# find_package(Boost REQUIRED COMPONENTS system)\r\nfind_package(RobotinoAPI2)\r\nset(REC_ROBOTINO_API2_LIBRARY \/opt\/robotino\/lib\/librec_robotino_api2.so)\r\n...\r\n## Specify additional locations of header files\r\n## Your package locations should be listed before other locations\r\n# include_directories(include)\r\ninclude_directories(\r\n  include\r\n  ${catkin_INCLUDE_DIRS}\r\n  ${RobotinoAPI2_INCLUDE_DIRS}\r\n)\r\n...\r\n<\/pre>\n<p><\/del><br \/>\n\u4e0a\u8a18\u306f\uff0c\u5b66\u751f\u304b\u3089\u306e\u60c5\u5831\u306b\u3088\u308a\uff0cCMake\u306e\u90e8\u5206\u304c\u9593\u9055\u3063\u3066\u3044\u308b\u3068\u306e\u3053\u3068\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n## set(CMAKE_MODULE_PATH \/usr\/local\/robotino\/api2\/cmake)\r\nset(CMAKE_MODULE_PATH \/usr\/local\/robotino\/api2\/cmake)\r\n<\/pre>\n<p><amrk><a href=\"https:\/\/github.com\/dietriro\/rto_core\/blob\/noetic-devel\/rto_node\/CMakeLists.txt\"><\/mark>\u3053\u3063\u3061\u3092\u898b\u308b\u9650\u308a\u3067\u306f\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nlist(APPEND CMAKE_MODULE_PATH &quot;\/usr\/local\/robotino\/api2\/cmake&quot; &quot;\/opt\/robotino\/cmake&quot;)\r\n<\/pre>\n<p>\u3053\u3046\u3057\u305f\u65b9\u304c\uff0c\u4e21\u65b9\u3092\u53c2\u7167\u3067\u304d\u308b\u306e\u3067\uff0c\u826f\u3055\u305d\u3046\u3067\u3059\u306d\uff0e<\/p>\n<p>\u3053\u308c\u3067\uff0c\u6b21\u306f<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\/home\/robotino\/catkin_ws\/src\/robotino_local_planner\/src\/RobotinoLocalPlanner.cpp:12:24: error: expected constructor, destructor, or type conversion before \u2018(\u2019 token\r\n<\/pre>\n<p>\u3080\u3080\u3080\uff1f<br \/>\nPLUGINLIB_DECLARE_CLASS \u306e\u30de\u30af\u30ed\u306e\u90e8\u5206\u304c\u304a\u304b\u3057\u3044\u3063\u3066\u611f\u3058\u3067\u3059\u304c\uff0c\u3053\u308c\u306fpluginlib\/class_list_macros.h \u3067\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u308b\u306f\u305a\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd \/opt\/ros\/noetic\/include\/pluginlib\r\ngrep PLUGINLIB_DECLARE_CLASS * -R\r\n<\/pre>\n<p>\u898b\u3064\u304b\u3089\u306a\u3044\u2026\uff0e\u306a\u304f\u306a\u3063\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\u306d\uff0e<br \/>\n<mark><a href=\"https:\/\/sgunji.hatenablog.jp\/entry\/2019\/05\/08\/161652\">ROS\u3067 Tara &#8211; USB Stereo Vision Camera\u3092\u4f7f\u3046<\/a><\/mark>\u306e\u4f5c\u696d\u6b74\u3060\u3068\uff0c<br \/>\n-PLUGINLIB_DECLARE_CLASS\u3092PLUGINLIB_EXPORT_CLASS\u306b\u7f6e\u304d\u63db\u3048\u3066\u3044\u307e\u3059\u306d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nrobotino@robotino:\/opt\/ros\/noetic\/include\/pluginlib$ grep PLUGINLIB_EXPORT_CLASS *\r\nclass_list_macros.hpp: * \\def PLUGINLIB_EXPORT_CLASS(class_type, base_class_type)\r\nclass_list_macros.hpp:#define PLUGINLIB_EXPORT_CLASS(class_type, base_class_type) \\\r\n<\/pre>\n<p>\u3075\u3080\u3075\u3080\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nrobotino@robotino:~\/catkin_ws$ cat src\/robotino_local_planner\/src\/RobotinoLocalPlanner.cpp\r\n...\r\n\/\/ PLUGINLIB_DECLARE_CLASS(robotino_local_planner, RobotinoLocalPlanner, robotino_local_planner::RobotinoLocalPlanner, nav_core::BaseLocalPlanner)\r\nPLUGINLIB_EXPORT_CLASS(robotino_local_planner::RobotinoLocalPlanner, nav_core::BaseLocalPlanner)\r\n<\/pre>\n<p>\u3053\u3093\u306a\u7f6e\u63db\u3067\uff0c\u5bfe\u5fdc\u3067\u304d\u308b\u304b\u306a\u3041\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n                 from \/home\/robotino\/catkin_ws\/src\/robotino_local_planner\/src\/RobotinoLocalPlanner.cpp:8:\r\n\/opt\/ros\/noetic\/include\/class_loader\/meta_object.hpp: In instantiation of \u2018B* class_loader::impl::MetaObject&lt;C, B&gt;::create() const &#x5B;with C = robotino_local_planner::RobotinoLocalPlanner; B = nav_core::BaseLocalPlanner]\u2019:\r\n\/opt\/ros\/noetic\/include\/class_loader\/meta_object.hpp:196:7:   required from here\r\n\/opt\/ros\/noetic\/include\/class_loader\/meta_object.hpp:198:12: error: invalid new-expression of abstract class type \u2018robotino_local_planner::RobotinoLocalPlanner\u2019\r\n  198 |     return new C;\r\n<\/pre>\n<p>\u6b21\u306f\uff0c\u4f55\u3060\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u81ea\u4f5c\u306eRobotino\u7528\u306eROS\u3082\u3044\u3044\u3051\u3069\uff0c\u3084\u3063\u3071\u308a\u30aa\u30d5\u30a3\u30b7\u30e3\u30eb\u306eROS\u304b\u306a\u3000\u3068 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3082\"> <span class=\"screen-reader-text\">Robotino\u3067ROS\uff08ct2034\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":[3,2,9,24],"tags":[],"class_list":["post-3082","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-3","category-robotino-4"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3082","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=3082"}],"version-history":[{"count":8,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3082\/revisions"}],"predecessor-version":[{"id":3091,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3082\/revisions\/3091"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3082"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3082"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3082"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}