{"id":3104,"date":"2022-11-16T17:50:27","date_gmt":"2022-11-16T08:50:27","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3104"},"modified":"2023-02-14T10:21:19","modified_gmt":"2023-02-14T01:21:19","slug":"rcll%e7%94%a8%e3%81%aegazebo","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3104","title":{"rendered":"RCLL\u7528\u306egazebo"},"content":{"rendered":"<p>RCLL\u7528\u306egazebo\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u305f\u3044\u306e\u3067\uff0c\u305d\u306e\u30e1\u30e2\uff0e<br \/>\n\u307e\u305a\u306f\uff0cgazebo-rcll \u3092git \u3067\u53d6\u3063\u3066\u304d\u307e\u3059\uff0e<br \/>\n\uff08\u4eca\u307e\u3067\u306e\u4f5c\u696d\u306e\u4e2d\u306b\u542b\u307e\u308c\u3066\u3044\u307e\u3059\uff09<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/robocup-logistics\/gazebo-rcll\r\n<\/pre>\n<p>\u3059\u3067\u306b\u53d6\u5f97\u6e08\u307f\u306e\u4eba\u306f\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\/gazebo-rcll\r\ngit pull -ff-only\r\n<\/pre>\n<p>\u4e8b\u524d\u6e96\u5099\u3068\u3057\u3066\u306f\uff0c<mark><a href=\"https:\/\/www.kdel.org\/wp\/?p=2970\">BTR2022\u306e\u8a2d\u5b9a\uff08gazebo\u95a2\u4fc2\uff09<\/a><\/mark>\u304c\u3042\u308a\u307e\u3059\u306d\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\/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>\u3042\u3068\uff0cCMakeLists.txt \u306e<s>37<\/s><mark>36<\/mark>\u884c\u76ee\u3092\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u4fee\u6b63\uff0e<\/p>\n<pre class=\"brush: bash; 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<p>spdlog\u306e\u30a8\u30e9\u30fc\u306f\uff0c<s>rcll-refbox \u3092\u518d\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u305f\u3089\u6d88\u3048\u305f\u2026\uff08\u2190\u305d\u306e\u9593\uff0c\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u8272\u3005\u3068\u89e6\u3063\u305f\u306e\u3067\uff0c\u305d\u308c\u306e\u5f71\u97ff\u3082\u3042\u308a\u305d\u3046\u2026\uff09<\/s>libspdlog-dev\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u5bfe\u5fdc\uff0e<br \/>\n# freeopcua \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u8981\u306frefbox\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff09\u306e\u624b\u5f15\u304d\u306e\u6240\u3082\uff0c\u4fee\u6b63\u3057\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install -y libspdlog-dev libspdlog1\r\ncd ~\/Downloads\/freeopcua\r\nccmake .\r\ncmake .\r\nmake clean all\r\nsudo make install\r\nsudo ldconfig\r\n## \u2193 refbox \u306e\u518d\u30b3\u30f3\u30d1\u30a4\u30eb\u306f\u4e0d\u8981\u3063\u307d\u3044\r\n# cd ~\/rcll-refbox\r\n# make clean\r\n# make\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\/gazebo-rcll\r\ncmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncmake --build build\r\n<\/pre>\n<p><s>\u5f8c\u307b\u3069\uff0cRobotino \u4e0a\u3067\u3082\u8a66\u3057\u3066\u307f\u307e\u3059\uff0e<\/s>\u3068\u308a\u3042\u3048\u305a\uff0c\u4e0a\u8a18\u3067\u5bfe\u5fdc\u3067\u304d\u305d\u3046\u3067\u3059\u306d\uff0e<\/p>\n<p>\u3042\u3068\u306f\uff0c~\/.bashrc\u306e\u4fee\u6b63\u3067\u3059\u306d\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nsource \/usr\/share\/gazebo\/setup.sh\r\nexport GAZEBO_RCLL=~\/git\/gazebo-rcll\r\nexport GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$GAZEBO_RCLL\/build\/plugins\r\nexport GAZEBO_MODEL_PATH=$GAZEBO_RCLL\/models\r\nexport GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$GAZEBO_RCLL\/models\/carologistics\r\nexport GAZEBO_WORLD_PATH=$GAZEBO_RCLL\/worlds\/carologistics\/llsf.world\r\nexport LLSF_REFBOX_DIR=~\/rcll-refbox\/\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsource ~\/.bashrc\r\ngazebo $GAZEBO_WORLD_PATH\r\n<\/pre>\n<p>\u8d77\u52d5\u3067\u3051\u305f\uff0e<br \/>\nRefBox \u306b\u3064\u306a\u304e\u306b\u884c\u3053\u3046\u3068\u3057\u3066\u3044\u308b\u306e\u3067\uff0crefbox \u3092local\u3067\u4f7f\u3048\u308b\u8a2d\u5b9a\u306b\u3057\u3066\uff0c\u8d77\u52d5\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\u306d\uff0e<br \/>\nrcll-refbox-fronted \u3092\u52d5\u304b\u305d\u3046\u304b\u306a\u3068\u601d\u3063\u305f\u3051\u3069\uff0chttpd\u3068\u304b\u304c\u5fc5\u8981\u306a\u306e\u3067\u3084\u3081\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/rcll-refbox\/bin\r\n.\/llsf-refbox --dump-cfg\r\n<\/pre>\n<p>\u3053\u308c\u3067\uff0ccfg\/config_generated.yaml \u3092\u4f5c\u3063\u3066\u304f\u308c\u308b\u6a21\u69d8\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/rcll-refbox\/bin\r\n.\/llsf-refbox-shell\r\n<\/pre>\n<p>\u3088\u3057\uff0c\u52d5\u3044\u305f\uff0e<br \/>\nSetup Phase\u306b\u5909\u66f4\u3057\u305f\u3089\uff0cMPS\u3082\u3061\u3083\u3093\u3068\u914d\u7f6e\u3055\u308c\u307e\u3057\u305f\uff0e<br \/>\n\u3088\u3057\u3088\u3057\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>RCLL\u7528\u306egazebo\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u3066\u307f\u305f\u3044\u306e\u3067\uff0c\u305d\u306e\u30e1\u30e2\uff0e \u307e\u305a\u306f\uff0cgaz &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3104\"> <span class=\"screen-reader-text\">RCLL\u7528\u306egazebo<\/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":[3,2,26,9,24],"tags":[],"class_list":["post-3104","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\/3104","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=3104"}],"version-history":[{"count":13,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3104\/revisions"}],"predecessor-version":[{"id":3177,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3104\/revisions\/3177"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3104"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3104"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3104"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}