{"id":3152,"date":"2023-01-10T16:38:00","date_gmt":"2023-01-10T07:38:00","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3152"},"modified":"2023-01-11T14:30:31","modified_gmt":"2023-01-11T05:30:31","slug":"gazebo%e3%81%a7robotino","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3152","title":{"rendered":"gazebo\u3067robotino"},"content":{"rendered":"

BTR2022\u306e\u8a2d\u5b9a\uff08gazebo\u95a2\u4fc2\uff09<\/a>\u3068RCLL\u7528\u306egazebo<\/a><\/mark>\u304c\u3067\u304d\u305f\u306e\u3067\uff0c\u6b21\u306fRobotino \u3092gazebo\u4e0a\u3067\u4f7f\u3063\u3066\u307f\u307e\u3057\u3087\u3046\uff0e
\nRobotino\u3067ROS\uff08official?\uff09<\/a><\/mark>\u306eROS\u7528\u306e\u30d5\u30a1\u30a4\u30eb<\/a><\/mark>\u3092\u4f7f\u3063\u3066\u307f\u307e\u3059\uff0e<\/s> \u2190 \u305d\u306e\u307e\u307e\u3058\u3083\u4f7f\u3048\u306a\u3055\u305d\u3046
\nsdf\u30d5\u30a1\u30a4\u30eb\u3092rviz\u4e0a\u306eRobotDescription\u3067\u8868\u793a\u3059\u308b\uff08\u524d\u534a\uff09<\/a><\/mark>\u3092\u53c2\u8003\u306burdf\u30d5\u30a1\u30a4\u30eb\u3092\u6271\u3063\u3066\u307f\u307e\u3059\uff0e<\/p>\n

\r\n# \u307e\u305a\u306f\u30d5\u30a1\u30a4\u30eb\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\uff0e\r\ncd ~\/Downloads\r\nwget https:\/\/doc.openrobotino.org\/ROS\/robotino-complete-20190308.zip\r\nunzip robotino-complete-20190308.zip\r\n\r\n# launch \u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u3063\u3066\u307f\u308b\uff0e\r\ncd ros\/robotino_description\r\nmkdir launch\r\necho <<EOF > robotino.launch\r\n <launch>\r\n  <include file="$(find gazebo_ros)\/launch\/empty_world.launch"><\/include>\r\n\r\n  <node pkg="gazebo_ros" \r\n\ttype="spawn_model" \r\n\tname="spawn_model" \r\n\trespawn="false" \r\n\targs="-file $(find robotino_description)\/robotino.urdf -urdf -model object1 -z 1" \/>\r\n\r\n  <param name="robot_description" \r\n\t textfile="$(find robotino_description)\/robotino.urdf" \/>\r\n\r\n  <param name="use_gui" \r\n\t value="true"\/>\r\n  \r\n  <node name="joint_state_publisher"\r\n\tpkg="joint_state_publisher" \r\n\ttype="joint_state_publisher" \/>\r\n\r\n  <node name="robot_state_publisher" \r\n\tpkg="robot_state_publisher" \r\n\ttype="robot_state_publisher" \/>  \r\n\r\n  <node name="rviz" \r\n\tpkg="rviz" \r\n\ttype="rviz"\/>  \r\n\r\n<\/launch>\r\nEOF\r\n\r\n# \u305d\u306e\u307e\u307e\u3060\u3068joint_state_publisher\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u3000\u3068\u8a00\u308f\u308c\u308b\u306e\u3067\uff0c\r\nsudo apt-get install joint-state-publisher librobot-state-publisher-dev\r\n\r\n# gazebo\u306e\u8d77\u52d5\r\ngazebo $GAZEBO_WORLD_PATH\r\n<\/pre>\n
\u3046\u30fc\u3080\uff0e\u3084\u3063\u3071\u308a\u3046\u307e\u304f\u3044\u304b\u306a\u3044\u2026\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
BTR2022\u306e\u8a2d\u5b9a\uff08gazebo\u95a2\u4fc2\uff09\u3068RCLL\u7528\u306egazebo\u304c\u3067\u304d\u305f\u306e\u3067\uff0c …<\/p>\n
  gazebo\u3067robotino<\/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":[3,2,9,24,27],"tags":[],"class_list":["post-3152","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-3","category-robotino-4","category-ros"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3152","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=3152"}],"version-history":[{"count":3,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3152\/revisions"}],"predecessor-version":[{"id":3155,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3152\/revisions\/3155"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3152"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3152"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3152"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}