{"id":3200,"date":"2023-04-26T14:48:17","date_gmt":"2023-04-26T05:48:17","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3200"},"modified":"2023-04-27T17:02:17","modified_gmt":"2023-04-27T08:02:17","slug":"robotino%e3%81%ae%e3%82%bb%e3%83%83%e3%83%88%e3%82%a2%e3%83%83%e3%83%97%ef%bc%88btr2013%e3%81%ab%e5%90%91%e3%81%91%e3%81%a6%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3200","title":{"rendered":"Robotino\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\uff08BTR2023\u306b\u5411\u3051\u3066\uff09"},"content":{"rendered":"

SSD\u304c\u3076\u3063\u98db\u3093\u3060\u306e\u3067\uff0c\u5165\u308c\u76f4\u3057\uff0e
\n\u3061\u3087\u3046\u3069\u6628\u5e74\u5f8c\u534a\u306bRobotino \u306e\u30a4\u30e1\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u3092\u30d0\u30c3\u30af\u30a2\u30c3\u30d7\u3057\u3066\u3044\u305f\u306e\u3067\uff0c\u305d\u308c\u3092\u4f7f\u3063\u3066\u5fa9\u5143\uff0e
\n\u30b9\u30bf\u30fc\u30c8\u30e9\u30a4\u30f3\u306f\u4ee5\u4e0b\u306e\u72b6\u614b\u3067\u3059\uff0e
\n\u30fb Ubuntu 20.04
\n\u30fb RobView 4.4.x
\n\u30fb RealSense\u304c\u4f7f\u3048\u308b
\n\u305f\u3060\u3057\uff0c\u30c1\u30fc\u30e0\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\uff0c\u307e\u3060\u4f55\u3082\u5bfe\u5fdc\u3057\u3066\u3044\u307e\u305b\u3093\uff0e<\/p>\n

\u307e\u305a\u306f\uff0cGUI \u3067\u7121\u7ddaLAN\u306b\u3064\u306a\u304e\u307e\u3057\u3087\u3046\uff0e
\n\u3042\u3068\uff0c\u6709\u7dda\u306e\u30a2\u30c0\u30d7\u30bf\u3082MAC\u30a2\u30c9\u30ec\u30b9\u304c\u5408\u3063\u3066\u3044\u306a\u3044\u306e\u3067\uff0csettings\u306eNetwork\u304b\u3089\u8a2d\u5b9a\u3057\u307e\u3057\u3087\u3046\uff0e
\nCobotta \u306e\u3053\u3068\u3092\u8003\u3048\u308b\u3068\uff0c\u6709\u7ddaLAN\u306f\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u5171\u6709\u306e\u8a2d\u5b9a\u306b\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u3051\u3069\uff0c\u4eca\u306f\u3068\u308a\u3042\u3048\u305a\u7f6e\u3044\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n

\u3055\u3066\uff0c\u4f5c\u696d\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n

\r\nsudo apt-get update\r\nsudo apt-get -y upgrade\r\nsudo apt-get -y dist-upgrade\r\n# refbox \u306e\u66f4\u65b0\r\ncd ~\/rcll-refbox\r\ngit pull --ff-only\r\nmake clean all -j4\r\n# \u30c1\u30fc\u30e0\u306e\u30bd\u30fc\u30b9\u306e\u53d6\u5f97\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/wadaru\/btr2023\r\n# catkin_make\r\ncd ~\/catkin_make\r\ncatkin_make\r\n<\/pre>\n
\u3068\u308a\u3042\u3048\u305a\uff0c\u3053\u3093\u306a\u611f\u3058\u304b\u306a\u3041\uff0e
\ngit\u306e\u4f5c\u696deditor\u304cnano\u306b\u306a\u3063\u3066\u3044\u305f\u2026\uff0e<\/p>\n
\r\n### \u6a19\u6e96\u306e\u30a8\u30c7\u30a3\u30bf\u3092vim \u306b\u5909\u66f4\r\nsudo update-alternatives --config editor\r\ngit config --global user.email "hogehoge@mail.ryukoku.ac.jp"\r\ngit config --global user.name "Hoge Hoge"\r\ngit config --global credential.helper store\r\n<\/pre>\n
\u30af\u30a9\u30fc\u30bf\u30cb\u30aa\u30f3\u95a2\u4fc2<\/p>\n
\r\npip3 install numpy-quaternion\r\n<\/pre>\n
Odometry \u306e\u89d2\u5ea6\u306e\u6271\u3044\u304c\u9762\u5012\u304f\u3055\u3044\u306e\u3067\uff0c<\/p>\n
\r\ncat ~\/catkin_ws\/src\/robotino_node\/src\/OdometryROS.cpp \r\n# 41\u884c\u76ee\u30920\u304b\u3089phi\u306b\u5909\u66f4\r\n        odometry_msg_.pose.pose.position.z = phi;\r\n<\/pre>\n
\r\ncd ~\/catkin_ws\r\ncatkin_make\r\n<\/pre>\n
robotino_node \u304c\u30ab\u30e1\u30e9\u3092\u53d6\u3063\u3061\u3083\u3063\u3066\u3044\u308b\u611f\u3058\uff0e<\/p>\n
\r\ncat ~\/catkin_ws\/src\/robotino_node\/launch\/robotino_node.launch \r\n...\r\n    <!-- <node name="robotino_camera_node" pkg="robotino_node" type="robotino_camera_node" output="screen">\r\n        <param name="hostname" value="$(arg hostname)" \/>\r\n        <param name="cameraNumber" value="0" \/>\r\n    <\/node> -->\r\n<\/pre>\n
\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3057\u3061\u3083\u3048\uff0e
\n\u901f\u5ea6\u3082\u9045\u3044\u306a\u3041\uff0e\u6700\u5927\u5024\u30920.1\u304b\u30890.5\u306b\u5909\u66f4<\/p>\n
\r\n                <param name="max_linear_vel" value="0.3" \/>\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"
SSD\u304c\u3076\u3063\u98db\u3093\u3060\u306e\u3067\uff0c\u5165\u308c\u76f4\u3057\uff0e \u3061\u3087\u3046\u3069\u6628\u5e74\u5f8c\u534a\u306bRobotino \u306e\u30a4\u30e1\u30fc …<\/p>\n
  Robotino\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\uff08BTR2023\u306b\u5411\u3051\u3066\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":[3,2,9,24],"tags":[],"class_list":["post-3200","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\/3200","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=3200"}],"version-history":[{"count":14,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3200\/revisions"}],"predecessor-version":[{"id":3214,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3200\/revisions\/3214"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3200"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3200"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3200"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}