{"id":3087,"date":"2022-11-16T15:20:33","date_gmt":"2022-11-16T06:20:33","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3087"},"modified":"2022-12-19T17:07:08","modified_gmt":"2022-12-19T08:07:08","slug":"robotino%e3%81%a7ros%ef%bc%88official%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3087","title":{"rendered":"Robotino\u3067ROS\uff08official?\uff09"},"content":{"rendered":"

\u518d\u5ea6\u6311\u6226\uff0e
\nRobotino Wiki\u306eROS<\/a><\/mark>\u306e\u9805\u76ee\u306e\u30ea\u30f3\u30af\u304b\u3089\u306f\uff0c\u3053\u306e\u30da\u30fc\u30b8<\/a><\/mark>\u304c\u30ea\u30f3\u30af\u3055\u308c\u3066\u3044\u308b\u306e\u3067\uff0c\u3053\u3053\u304b\u3089\u30bd\u30fc\u30b9\u3092\u843d\u3068\u3057\u3066\u307f\u308b\uff0e<\/p>\n

\r\ncd ~\/Downloads\r\nwget https:\/\/doc.openrobotino.org\/ROS\/robotino-complete-20190308.zip\r\nwget https:\/\/doc.openrobotino.org\/ROS\/robotino_rest_node-20190301.tgz\r\nunzip robotino-complete-20190308.zip\r\ntar zxvf robotino_rest_node-20190301.tgz\r\ncd ~\/catkin_ws\/src\r\nln -s ~\/Downloads\/ros\/robotino_* .\r\n# robotino_rest_node \u306f\uff0c\u3053\u306eros\u306e\u4e2d\u306b\u3082\u3042\u308a\u307e\u3059\u306d\u3047\uff0e\r\n# \u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u7684\u306b\u3082\uff0cros\u306e\u4e2d\u306e\u65b9\u304c\u65b0\u3057\u3044\u6c17\u304c\u3057\u307e\u3059\u306e\u3067\uff0c\r\n# \u4eca\u56de\u306f\uff0crobotino_rest_node-20190301.tgz \u306f\u7121\u8996\u3057\u307e\u3059\uff0e\r\ncd ..\r\ncatkin_make\r\n<\/pre>\n
robotino_node.launch \u30d5\u30a1\u30a4\u30eb\u3092\u898b\u3066\u307f\u308b\u3068\uff0chostname\u304c\u6a19\u6e96\u3067192.168.1.110\u306b\u306a\u3063\u3066\u3044\u308b\u306e\u3067\uff0c<\/p>\n
\r\nroslaunch robotino_node.launch hostname:=127.0.1.1\r\n<\/pre>\n
\u3067\u8d77\u52d5\uff0e<\/p>\n
\r\nrobotino@robotino:~$ rosservice list\r\n\/laser_camera_broadcaster\/get_loggers\r\n\/laser_camera_broadcaster\/set_logger_level\r\n\/laser_link_broadcaster\/get_loggers\r\n\/laser_link_broadcaster\/set_logger_level\r\n\/reset_odometry\r\n\/robotino_camera_node\/get_loggers\r\n\/robotino_camera_node\/set_logger_level\r\n\/robotino_laserrangefinder_node\/get_loggers\r\n\/robotino_laserrangefinder_node\/set_logger_level\r\n\/robotino_node\/get_loggers\r\n\/robotino_node\/set_logger_level\r\n\/robotino_odometry_node\/get_loggers\r\n\/robotino_odometry_node\/set_logger_level\r\n\/rosout\/get_loggers\r\n\/rosout\/set_logger_level\r\n\/set_encoder_position\r\n<\/pre>\n
\r\nrobotino@robotino:~$ rostopic list\r\n\/analog_readings\r\n\/bumper\r\n\/camera_info\r\n\/cmd_vel\r\n\/digital_readings\r\n\/distance_sensors\r\n\/distance_sensors_clearing\r\n\/encoder_readings\r\n\/image_raw\r\n\/joint_states\r\n\/motor_readings\r\n\/odom\r\n\/power_readings\r\n\/rosout\r\n\/rosout_agg\r\n\/scan\r\n\/set_digital_values\r\n\/tf\r\n<\/pre>\n
\u3053\u3093\u306a\u72b6\u614b\uff0e
\n\u3053\u308c\uff0c\u52d5\u4f5c\u3055\u305b\u308b\u306b\u306f\uff0cROS\u7d4c\u7531\u3067\u306f\u306a\u304f\uff0cweb\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3092\u305f\u305f\u304b\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u306e\u304b\uff0e
\n\u306a\u3093\u304b\uff0c\u9762\u5012\u306a\u4ed5\u69d8\u3060\u306a\u3041\uff0e
\nRobotinoWiki\u306eROS\u306e\u9805\u76ee<\/a><\/mark>\u3088\u308a\uff0c<\/p>\n
rosrun robotino_rest_node omnidrive.py ROBOTINO_IP_ADDRESS<\/pre>\n
\u3068\u3042\u308b\u3051\u3069rosrun\u304c\u5165\u3063\u3066\u3044\u306a\u304b\u3063\u305f\u306e\u3067\uff0cpython3 omnidrive.py 127.0.1.1 \u3067\u8d77\u52d5\uff0e<\/p>\n
rostopic pub -r 10 \/cmd_vel geometry_msgs\/Twist '{\u200b\u200b\u200b\u200b\u200b\u200b\u200blinear: {\u200b\u200b\u200b\u200b\u200b\u200b\u200bx: 0.1, y: 0.0, z: 0.0}\u200b\u200b\u200b\u200b\u200b\u200b\u200b, angular: {\u200b\u200b\u200b\u200b\u200b\u200b\u200bx: 0.0,y: 0.0,z: 0.0}\u200b\u200b\u200b\u200b\u200b\u200b\u200b}\u200b\u200b\u200b\u200b\u200b\u200b\u200b'<\/pre>\n
\u3068\u3042\u308b\u3051\u3069\uff0c\u771f\u3063\u76f4\u3050\u9032\u3080\uff080.1 [m\/s]\uff09\u306e\u306f\u6050\u3044\u306e\u3067\uff0c\u56de\u8ee2\u3078\u5909\u66f4\uff0e<\/p>\n
rostopic pub -r 10 \/cmd_vel geometry_msgs\/Twist '{\u200b\u200b\u200b\u200b\u200b\u200b\u200blinear: {\u200b\u200b\u200b\u200b\u200b\u200b\u200bx: 0.0, y: 0.0, z: 0}\u200b\u200b\u200b\u200b\u200b\u200b\u200b, angular: {\u200b\u200b\u200b\u200b\u200b\u200b\u200bx: 0.0,y: 0.0,z: 0.1}\u200b\u200b\u200b\u200b\u200b\u200b\u200b}\u200b\u200b\u200b\u200b\u200b\u200b\u200b\u200b\u200b\u200b\u200b\u200b\u200b'<\/pre>\n
\u3053\u308c\u3067\uff0cRobotino\u304c\uff0c\u56de\u308a\u51fa\u3057\u307e\u3057\u305f\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
\u518d\u5ea6\u6311\u6226\uff0e Robotino Wiki\u306eROS\u306e\u9805\u76ee\u306e\u30ea\u30f3\u30af\u304b\u3089\u306f\uff0c\u3053\u306e\u30da\u30fc\u30b8\u304c …<\/p>\n
  Robotino\u3067ROS\uff08official?\uff09<\/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":[3,2,26,9,24],"tags":[],"class_list":["post-3087","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-2","category-robotino-3","category-robotino-4"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3087","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=3087"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3087\/revisions"}],"predecessor-version":[{"id":3102,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3087\/revisions\/3102"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3087"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3087"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3087"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}