{"id":321,"date":"2016-03-17T18:02:06","date_gmt":"2016-03-17T09:02:06","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=321"},"modified":"2016-06-25T01:11:47","modified_gmt":"2016-06-24T16:11:47","slug":"gazsim-startup-bash%e3%82%92%e8%bf%bd%e3%81%84%e3%81%8b%e3%81%91%e4%b8%ad","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=321","title":{"rendered":"gazsim-startup.bash\u3092\u8ffd\u3044\u304b\u3051\u4e2d"},"content":{"rendered":"<p><a href=\"https:\/\/www.kdel.org\/wp\/?p=285\">gazsim.bash\u8ffd\u3044\u304b\u3051\u4e2d<\/a>\u306e\u7d9a\u304d\u3067\u3059\uff0e<\/p>\n<p>fawkes\u306e\u8d77\u52d5\u90e8\u5206\u306f\uff0c\u4ee5\u4e0b\u306e\u4e8c\u3064\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\/home\/robotino\/fawkes-robotino\/bin\/gazsim-startup.bash -x fawkes -p 11311 -i robotino1 -r -m gazsim-meta-agent -f \/home\/robotino\/fawkes-robotino\/bin\r\n\/home\/robotino\/fawkes-robotino\/bin\/gazsim-startup.bash -x comm -p 11311\r\n<\/pre>\n<p>\u3055\u3066\uff0c\u4e8c\u3064\u306b\u5206\u304b\u308c\u306611311\u30dd\u30fc\u30c8\u3067\u901a\u4fe1\u3057\u3066\u3044\u307e\u3059\u304c\uff0c\u305d\u308c\u3089\u306e\u95a2\u4fc2\u306f\u3069\u3046\u306a\u3063\u3066\u3044\u308b\u306e\u3067\u3057\u3087\u3046\u304b\uff0e<br \/>\n\u3082\u3068\u3082\u3068\uff0ccarologistics \u30c1\u30fc\u30e0\u306f\uff0cRobotino 3\u306eCPU\u3068\uff0c\u305d\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u4e0a\u90e8\u306b\u642d\u8f09\u3057\u305fThinkPad \u306e\uff12\u53f0\u306e\u30d1\u30bd\u30b3\u30f3\u3092\u4f7f\u3063\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u3092\u5236\u5fa1\u3057\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u5f62\u614b\u3092\u8003\u616e\u3059\u308b\u3068\uff0c\u4e00\u3064\u304cRobotino 3\u4e0a\u3067\u52d5\u304fFawkes \u3067\uff0c\u3082\u3046\u4e00\u3064\u304cThinkPad\u4e0a\u3067\u52d5\u304fFawkes \u306a\u306e\u304b\u3082\u3057\u308c\u307e\u305b\u3093\uff0e<br \/>\n\u3082\u3057\u304f\u306f\uff0cGazebo \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3068\u901a\u4fe1\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u306e\u3067\uff0c\u305d\u306e\u305f\u3081\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\uff0c\u3069\u3061\u3089\u304b\u4e00\u65b9\u306a\u306e\u304b\u3082\u3057\u308c\u307e\u305b\u3093\uff0e<br \/>\n\u203b\u5f8c\u65e5\u6ce8\uff0c\u304a\u305d\u3089\u304f\u5f8c\u8005\u3067\u3059\uff0eRefBox \u3068Gazebo \u306e\u9593\u3092\u3064\u306a\u3050\u5f79\u5272\u3067\uff0c\u904b\u55b6\u5074\u306e\u3088\u3046\u306a\u4f4d\u7f6e\u3065\u3051\u3067\u3059\u308b<\/p>\n<p>\u305d\u306e\u8fba\u308a\u306e\u4e88\u6e2c\u3092\u3057\u305f\u4e0a\u3067\uff0c\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u8aad\u307f\u9032\u3081\u3066\u307f\u307e\u3059\uff0e<\/p>\n<h4>fawkes\u306e\u8d77\u52d5<\/h4>\n<p>gazsim-startup.bash -x fawkes \u306b\u3088\u308bFawkes \u306e\u8d77\u52d5\u30b9\u30af\u30ea\u30d7\u30c8\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">    fawkes )\r\n        # ulimit -c unlimited\r\n        export ROS_MASTER_URI=http:\/\/localhost:$PORT\r\n        robotino_plugins=gazsim-meta-robotino$ROS$VISION$AGENT$META_PLUGIN\r\n        $GDB $FAWKES_BIN\/fawkes -c $CONF\/$ROBOTINO.yaml -p $robotino_plugins\r\n        if &#x5B; -n &quot;$GDB&quot; ]; then\r\n                echo Fawkes exited, press return to close shell\r\n                read\r\n        fi\r\n        ;;<\/pre>\n<p>PORT\u306f\uff0c-p \u306e\u5f15\u6570\u3067\u3057\u3066\u3044\u305f\u30dd\u30fc\u30c8\u756a\u53f7\uff0811311\uff09\u3067\u3059\uff0e<br \/>\n\u305d\u306e\u30dd\u30fc\u30c8\u3092\u4f7f\u3063\u3066\uff0cros\u3068\u3084\u308a\u3068\u308a\u3057\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\uff08ROS_MASTER_URI\uff09\uff0e<br \/>\n\u30d7\u30e9\u30b0\u30a4\u30f3\u3068\u3057\u3066\uff0cgazsim-meta-robotino-ros\uff08-r \u30aa\u30d7\u30b7\u30e7\u30f3\uff09, gazsim-meta-agent\uff08-m \u30aa\u30d7\u30b7\u30e7\u30f3\u306e\u5f15\u6570\u3067\u6307\u5b9a\uff09\u3092\u7528\u3044\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u305d\u308c\u4ee5\u5916\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u6307\u5b9a\u3067\u304d\u308b\u30d7\u30e9\u30b0\u30a4\u30f3\u3068\u3057\u3066\uff0cgazebo-meta-robotino-vision-low-level\uff08-d \u30aa\u30d7\u30b7\u30e7\u30f3\uff09\uff0c gazsim-meta-agent\uff08-a \u30aa\u30d7\u30b7\u30e7\u30f3\uff09\u304c\u3042\u308a\u307e\u3059\uff0e<br \/>\nfawkes \u306e\u30c7\u30d0\u30c3\u30b0\u7528\u306e\u8d77\u52d5\u3068\u3057\u3066\uff0c-d \u3082\u3057\u304f\u306f-v\u30aa\u30d7\u30b7\u30e7\u30f3\u304c\u3042\u308a\uff0cgdb \u3082\u3057\u304f\u306fvargrind \u3092\u4ecb\u3057\u3066fawkes\u3092\u8d77\u52d5\u3057\u307e\u3059\uff0e<\/p>\n<p>\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306f\uff0c-i \u30aa\u30d7\u30b7\u30e7\u30f3\u3067\u6307\u5b9a\u3057\u305frobotino\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\uff081\u53f0\u76ee\u306fgazsim-configurations\/default\/robotino1.yaml\uff09\u3092\u4f7f\u3044\u307e\u3059\uff0e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306edefault\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306f\uff0c-c \u30aa\u30d7\u30b7\u30e7\u30f3\u3067\u5909\u66f4\u3067\u304d\u307e\u3059\uff0e<\/p>\n<p>\u3068\u3044\u3046\u308f\u3051\u3067\uff0cusage \u3092\u307e\u3068\u3081\u308b\u3068\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<pre>\r\n[robotino@localhost bin]$ .\/gazsim-startup.bash -h\r\n\u4f7f\u3044\u65b9: .\/gazsim-startup.bash options\r\n\r\n\u3053\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\uff0c\u6307\u5b9a\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u7528\u306b\u8d77\u52d5\u3057\u307e\u3059\uff0e\r\n\r\n\u30aa\u30d7\u30b7\u30e7\u30f3:\r\n  \u5171\u901a:\r\n   -h             \u3053\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u8868\u793a\u3057\u307e\u3059\r\n   -x gzserver|gzclient|fawkes|comm|roscore|move_base|refbox|refbox_shell\r\n                  \u6307\u5b9a\u3057\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u8d77\u52d5\u3057\u307e\u3059\r\n   -p arg         ROS \u306e\u30dd\u30fc\u30c8\u756a\u53f7\u3092\u6307\u5b9a\u3057\u307e\u3059\r\n\r\n  FAWKES:\r\n   -c \uff08\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u540d\uff09\r\n                  cfg\/gazsim-configurations\u306e\u4e0b\u306b\u3042\u308b\u6307\u5b9a\u3057\u305f\u8a2d\u5b9a\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u4f7f\u3044\u307e\u3059\r\n   -r             ROS \u3092\u4f7f\u3063\u3066\u8d77\u52d5\u3057\u307e\u3059\r\n   -s             \u30b2\u30fc\u30e0\u306e\u5f8c\u306b\uff0c\u7d71\u8a08\u3092\u6b8b\u3057\u3066\u7d42\u4e86\u3057\u307e\u3059\r\n   -i robotino[1|2|3]\r\n                  Robotino \u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092\u6307\u5b9a\u3057\u307e\u3059\uff0erobotino1\uff0crobotino2\uff0crobotino3\u3067\u6307\u5b9a\u3057\u3066\u4e0b\u3055\u3044\r\n   -d             \u8a73\u7d30\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u3059\uff08\u4f8b\u3048\u3070\uff0cwebcam\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u3057\u307e\u3059\uff09\r\n   -a             Agent \u3092\u4f7f\u3063\u3066\u8d77\u52d5\u3057\u307e\u3059\r\n   -f arg         Fawkes \u306e\u5b9f\u884c\u30d5\u30a9\u30eb\u30c0\u3078\u306e\u30d1\u30b9\u3092\u6307\u5b9a\u3057\u307e\u3059\r\n                  (\u6307\u5b9a\u3057\u306a\u3044\u3068\u304d\u306f\/home\/robotino\/fawkes-robotino\/bin \u3092\u7528\u3044\u307e\u3059)\r\n   -g             GDB \u3067Fawkes \u3092\u8d77\u52d5\u3057\u307e\u3059\uff08\u30c7\u30d0\u30c3\u30b0\u7528\uff09\r\n   -v             Valgrind \u3067Fawkes \u3092\u8d77\u52d5\u3057\u307e\u3059\uff08\u30c7\u30d0\u30c3\u30b0\u7528\uff09\r\n  GAZEBO:\r\n   -e arg         \u30ea\u30d7\u30ec\u30a4\u3092\u4fdd\u5b58\u3057\u307e\u3059\uff0e<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>gazsim.bash\u8ffd\u3044\u304b\u3051\u4e2d\u306e\u7d9a\u304d\u3067\u3059\uff0e fawkes\u306e\u8d77\u52d5\u90e8\u5206\u306f\uff0c\u4ee5\u4e0b\u306e\u4e8c &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=321\"> <span class=\"screen-reader-text\">gazsim-startup.bash\u3092\u8ffd\u3044\u304b\u3051\u4e2d<\/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-321","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\/321","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=321"}],"version-history":[{"count":5,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/321\/revisions"}],"predecessor-version":[{"id":563,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/321\/revisions\/563"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=321"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=321"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=321"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}