{"id":310,"date":"2016-03-15T22:16:56","date_gmt":"2016-03-15T13:16:56","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=310"},"modified":"2016-07-02T22:19:30","modified_gmt":"2016-07-02T13:19:30","slug":"gazsim-config-override-yaml%e3%82%92%e8%aa%ad%e3%82%93%e3%81%a7%e3%81%bf%e3%81%9f%ef%bc%8e","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=310","title":{"rendered":"Gazebo simulation (gazsim)\u3092\u8aad\u3093\u3067\u307f\u305f"},"content":{"rendered":"<p>gazsim-config-override.yaml \u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u6700\u521d\u306b doc-url\u3068\u3057\u3066<a href=\"https:\/\/trac.fawkesrobotics.org\/wiki\/Carologistics\/gazsim\/plugins\">Gazebo Simulation (gazsim)<\/a>\u304c\u6307\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u306e\u3067\uff0c\u307e\u305a\u306f\u305d\u308c\u3092\u8aad\u3093\u3067\u307f\u307e\u3057\u3087\u3046\uff0e<\/p>\n<h4>Gazebo Simulation (gazsim)<\/h4>\n<p><a href=\"https:\/\/trac.fawkesrobotics.org\/wiki\/RoboCup\">RoboCup<\/a> Logistics league \u7528\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\uff0cFawkes \u306e\u5c0e\u5165\u306e\u624b\u5f15\u304d\u306f\u4ee5\u4e0b\u306b\u3042\u308a\u307e\u3059\uff0e<\/p>\n<ul>\n<li><a href=\"https:\/\/trac.fawkesrobotics.org\/wiki\/Carologistics\/Gazsim-Setup\">Fawkes \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li>\n<li><a href=\"https:\/\/trac.fawkesrobotics.org\/wiki\/Carologistics\/Gazsim-Setup-Without-Fawkes\">ROS \u3084\u305d\u308c\u4ee5\u5916\u306e\u30ed\u30dc\u30c3\u30c8\u30bd\u30d5\u30c8\u30a6\u30a8\u30a2\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li>\n<\/ul>\n<p>Gazebo\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306b\u95a2\u9023\u3057\u305fFawkes\u306e\u5168\u3066\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u7d39\u4ecb\u3057\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3078\u306e\u62e1\u5f35\u65b9\u6cd5\u3092\u7d39\u4ecb\u3057\u307e\u3059\uff0e<br \/>\n\u305d\u3057\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3078\u3068\u62e1\u5f35\u3057\u305f\u3068\u304d\u306b\u751f\u3058\u308b\u554f\u984c\u3068\u89e3\u6c7a\u7b56\u3092\u5217\u6319\u3057\u307e\u3059\uff0e<\/p>\n<h4>Plugins<\/h4>\n<h4>\u4e00\u822c\u7684\u306aGazsim Plugins<\/h4>\n<ul>\n<li>gazebo\n<ul>\nFawkes \u3092Gazebo Master\u306b\u63a5\u7d9a\u3057\u307e\u3059\uff0e<br \/>\n\u4ed6\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3088\u308a\u524d\u306b\u30ed\u30fc\u30c9\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e<\/ul>\n<\/li>\n<li>gazsim-laser\n<ul>\n\u300claser\u300d\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u5317\u967d\u306e\u30ec\u30fc\u30b6\u30fc\u30ec\u30f3\u30b8\u30d5\u30a1\u30a4\u30f3\u30c0\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3059\u308b\u3088\u3046\u306b\u7f6e\u304d\u63db\u3048\u307e\u3059\uff0e\u3053\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306f\uff0cGazebo \u304b\u3089\u306e\u30c7\u30fc\u30bf\u3092Laser360Interface \u306b\u66f8\u304d\u51fa\u3057\u307e\u3059\uff0e<br \/>\n\u203b \u73fe\u5728\uff0c\u30d7\u30e9\u30b0\u30a4\u30f3\u306frobotino \u306e\u8a2d\u5b9a\u306e\u307f\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3057\u307e\u3059\uff08\u8996\u91ce\u306b\u304a\u3044\u3066\uff0c\u89d2\u5ea6\u5f53\u305f\u308a1\u3064\u306e\u30d3\u30fc\u30e0\uff09\uff0e<\/ul>\n<\/li>\n<li>gazsim-localization\n<ul>\namcl-\u4f4d\u7f6e\u63a8\u5b9a\u3092\u7f6e\u304d\u63db\u3048\uff0cPosition3DInterface \u306e\u4f4d\u7f6e\u30c7\u30fc\u30bf\u3092\u66f8\u304d\u51fa\u3057\u307e\u3059\uff0e\u5b8c\u74a7\u306a\u4f4d\u7f6e\u63a8\u5b9a\u3067\u30c6\u30b9\u30c8\u3059\u308b\u305f\u3081\u306b\u7528\u610f\u3057\u307e\u3057\u305f\uff0e<\/ul>\n<\/li>\n<li>gazsim-robotino\n<ul>\n\u300crobotino\u300d\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u7f6e\u304d\u63db\u3048\u307e\u3059\uff0eMotorInterface \u3068RobotioSensorInterface \u3092\u63d0\u4f9b\u3057\u307e\u3059\uff0e<br \/>\n\u203b \u73fe\u5728\uff0c\u30d0\u30f3\u30d1\u30fc\u3068\u30bd\u30ca\u30fc\u30bb\u30f3\u30b5\u30fc\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u306f\u3057\u3066\u3044\u307e\u305b\u3093\uff0e<\/ul>\n<\/li>\n<li>gazsim-comm\n<ul>\n\u57fa\u672c\u7684\u306b\uff0c\u5404\u30ed\u30dc\u30c3\u30c8\u3068RefBox\u9593\u306e\uff11\u5bfe\uff11\u901a\u4fe1\u3092\u63d0\u4f9b\u3059\u308b\u30b9\u30a4\u30c3\u30c1\u3067\u3059\uff0e<br \/>\n\u3053\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306f\uff0c\u5225\u306e\u7aef\u672b\u3068\u306e\u901a\u4fe1\u306e\u305f\u3081\u306b\uff0cgazsim.yaml \u3067\u8a2d\u5b9a\u3055\u308c\u305f\uff0c\u7570\u306a\u308b\u30dd\u30fc\u30c8\u3092\u4f7f\u3044\uff0c\u5168\u3066\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u5225\u306e\u7aef\u672b\u306b\u8ee2\u9001\u3057\u307e\u3059\uff0e<br \/>\n\uff08\u300cgazsim.yaml\u3067\u8a2d\u5b9a\u3057\u305f\u30dd\u30fc\u30c8\u300d\u306a\u306e\u304b\uff0c\u300cgazsim.yaml\u3067\u8a2d\u5b9a\u3057\u305f\u30dd\u30fc\u30c8\u3068\u306f\u7570\u306a\u308b\u30dd\u30fc\u30c8\u300d\u306a\u306e\u304b\uff0c\u3053\u306e\u6587\u7ae0\u3067\u306f\u4e0d\u660e\u77ad\uff09<br \/>\n\u3053\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306f\uff0c\u30d1\u30b1\u30c3\u30c8\u6d88\u5931\u3068\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u9045\u5ef6\u3082\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3057\u307e\u3059\uff0e<\/ul>\n<\/li>\n<li>gazsim-timesource\n<ul>\nFawkes-timesource \u3092\u63d0\u4f9b\u3057\u307e\u3059\uff0e<br \/>\n\u6a19\u6e96\u306eFawkes\u6642\u9593\u3092\u4f7f\u3046\u3059\u307a\u3066\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u3092\u4f7f\u3046\u3067\u3057\u3087\u3046\uff0e<\/ul>\n<\/li>\n<li>gazsim-vis-localization\n<ul>\nGazebo\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u306e\u7d50\u679c\u3092\u53ef\u8996\u5316\u3057\u307e\u3059\uff0e<br \/>\n\u3053\u308c\u306f\uff0c\u9593\u9055\u3063\u305f\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u306b\u3088\u3063\u3066\u5909\u306a\u632f\u308b\u821e\u3044\u304c\u751f\u3058\u305f\u3068\u304d\u306b\uff0c\u7c21\u5358\u306b\u7279\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\uff0e<\/ul>\n<\/li>\n<li>gazsim-webcam\n<ul>\nGazebo \u5185\u306e\u30ab\u30e1\u30e9\u306e\u5171\u6709\u30e1\u30e2\u30ea\u753b\u50cf\u3092\u751f\u6210\u3057\u66f4\u65b0\u3057\u307e\u3059\uff0e<\/ul>\n<\/li>\n<\/ul>\n<h4>Logistics league\u7528\u306ePlugins<\/h4>\n<ul>\n<li>gazsim-llsfrbcomm\n<ul>\nRefBox\u3068Gazebo\u901a\u4fe1\u7aef\u672b\u3068\u306e\u9593\u306eProtobuf\u901a\u4fe1\u30a2\u30c0\u30d7\u30bf\uff0e<br \/>\n\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3092refbox\u3068\u3064\u306a\u3050\u3068\u304d\u306b\u306f\u30ed\u30fc\u30c9\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e<\/ul>\n<\/li>\n<li>gazsim-light-front\n<ul>\n\u300clight-front\u300d\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u7f6e\u304d\u63db\u3048\u3066\uff0cRobotioLightInterface\u3092\u63d0\u4f9b\u3057\u307e\u3059\uff0e\u300clight-front\u300d\u304c\u4fe1\u53f7\u3092\u898b\u3064\u3051\u308b\u4f4d\u7f6e\u306b\u6700\u3082\u8fd1\u3044\u30de\u30b7\u30f3\u3092\u898b\u3064\u3051\u308b\u3053\u3068\u3067\uff0cRobotino\u306e\u524d\u65b9\u306e\u30de\u30b7\u30f3\u306e\u4fe1\u53f7\u30b7\u30b0\u30ca\u30eb\u3092\u691c\u77e5\u3057\u307e\u3059\uff0e\u3082\u3057\uff0c\u8ddd\u96e2\u304c\u96e2\u308c\u3059\u304e\u3066\u3044\u308b\u3068\uff0c\u4fe1\u53f7\u306f\u691c\u77e5\u3067\u304d\u307e\u305b\u3093\uff0e<\/ul>\n<\/li>\n<li>gazsim-puck-detection\n<ul>\n\u300comnivision-pucks\u300d\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u7f6e\u304d\u63db\u3048\u3066\uff0c\u30d1\u30c3\u30af\u306e\u305f\u3081\u306ePosition3DInterfaces\u3092\u63d0\u4f9b\u3057\u307e\u3059\uff0e<\/ul>\n<\/li>\n<li>gazsim-llsf-control\n<ul>\n\u6307\u5b9a\u6642\u9593\uff0c\u30b2\u30fc\u30e0\u3092\u81ea\u52d5\u7684\u306b\u958b\u59cb\u3057\uff0c\u30b2\u30fc\u30e0\u304c\u7d42\u308f\u3063\u305f\u3089\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5168\u4f53\u3092\u7d42\u3048\u307e\u3059\uff0e<\/ul>\n<\/li>\n<li>gazsim-llsfrbcomm\n<ul>\n\u30b2\u30fc\u30e0\u306b\u95a2\u3059\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\uff08\u4f8b\u3048\u3070\uff0c\u4fe1\u53f7\u30b7\u30b0\u30ca\u30eb\u306e\u60c5\u5831\uff09\u3092\u6848\u5185\u3059\u308b\u305f\u3081\u306b\uff0cRefBox \u304b\u3089\u306e\u30af\u30e9\u30a4\u30a2\u30f3\u30c8\u30e1\u30c3\u30bb\u30fc\u30b8\u3092Gazebo\u4e0a\u306e\u30ce\u30fc\u30c9\u306b\u8ee2\u9001\u3057\u307e\u3059\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u3084\u5b9f\u6642\u9593\u9805\u76ee\uff08\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30b9\u30d4\u30fc\u30c9\uff09\u3092RefBox \u306b\u9001\u4fe1\u3057\u307e\u3059\uff0e<\/ul>\n<\/li>\n<li>gazsim-llsf-statistics\n<ul>\nmongodb \u306b\u6307\u5c0e\u5316\u3055\u308c\u305fGazsim\u30b2\u30fc\u30e0\u306b\u95a2\u3059\u308b\u7d71\u8a08\u3092\u81ea\u52d5\u7684\u306b\u751f\u6210\u3057\u307e\u3059\uff0emongo\u30b5\u30fc\u30d3\u30b9\u306e\u5b9f\u884c\uff08sudo service mongod start\uff09\u3068mongodb\u30d7\u30e9\u30b0\u30a4\u30f3\u304c\u5fc5\u8981\u3067\u3059\uff0emongo\u30b7\u30a7\u30eb\u3067\u306e\u4fbf\u5229\u306a\u30b3\u30de\u30f3\u30c9\u306f\uff0cshow dbs\uff0cuse gazsim-runs\uff0cshow-collections \u305d\u3057\u3066\uff0cdb.collection_name.find()\u3067\u3059\uff0e<br \/>\n\uff08\u8a33\u6ce8\uff1amongo\u30c7\u30fc\u30bf\u30d9\u30fc\u30b9\u3092\u89e6\u3063\u3066\u3044\u306a\u3044\u306e\u3067\uff0c\u3053\u308c\u3089\u306e\u30b3\u30de\u30f3\u30c9\u304c\u6b63\u3057\u3044\u304b\u3069\u3046\u304b\u308f\u304b\u308a\u307e\u305b\u3093\u2026\uff09<\/ul>\n<\/li>\n<\/ul>\n<h4>Meta-Plugins<\/h4>\n<ul>\n<li>gazsim-full-robotino\n<ul>\nROS\u3092\u4f7f\u3046\u3053\u3068\u306a\u304fRobotino\u4e0a\u3067\u30b9\u30ad\u30eb\u3068\u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306a\u6a19\u6e96\u7684\u306a\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u305f\u3081\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u96c6\u5408\u3067\u3059\uff0e<br \/>\n\u4ee5\u4e0b\u3092\u542b\u307f\u307e\u3059: gazebo,static-transforms,gazsim-robotino,gazsim-puck-detection,gazsim-laser,laser-filter,laser-pointclouds,laser-cluster,gazsim-light-front,gazsim-timesource,webview,skiller<\/ul>\n<\/li>\n<li>gazsim-full-robotino-ros\n<ul>\nROS\u3092\u4f7f\u3063\u3066Robotino\u4e0a\u3067\u30b9\u30ad\u30eb\u3068\u30d7\u30e9\u30b0\u30a4\u30f3\u3068\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306a\u6a19\u6e96\u7684\u306a\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u305f\u3081\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u96c6\u5408\u3067\u3059\uff0e<br \/>\n\u4ee5\u4e0b\u3092\u542b\u307f\u307e\u3059: gazsim-meta-robotino,ros,robotino-ros-joints,ros-cmdvel,ros-odometry,ros-tf,ros-laserscan,ros-navigator,amcl,navgraph,gazsim-timesource<\/ul>\n<\/li>\n<li>gazsim-organization\n<ul>\nGazebo\u3067Logistics League\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u305f\u3081\u306b\u5fc5\u8981\u306a\u57fa\u672c\u7684\u306a\u30a4\u30f3\u30d5\u30e9\u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u96c6\u5408\u3067\u3059\uff0e<br \/>\n\u4ee5\u4e0b\u3092\u542b\u307f\u307e\u3059: gazebo,gazsim-llsfrbcomm,gazsim-comm<\/ul>\n<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>gazsim-config-override.yaml \u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u6700\u521d\u306b  &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=310\"> <span class=\"screen-reader-text\">Gazebo simulation (gazsim)\u3092\u8aad\u3093\u3067\u307f\u305f<\/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":[10,3,2,4],"tags":[],"class_list":["post-310","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-winter-school-2015"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/310","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=310"}],"version-history":[{"count":10,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/310\/revisions"}],"predecessor-version":[{"id":582,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/310\/revisions\/582"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=310"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=310"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=310"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}