{"id":3229,"date":"2023-07-02T16:35:58","date_gmt":"2023-07-02T07:35:58","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3229"},"modified":"2025-12-05T00:52:29","modified_gmt":"2025-12-04T15:52:29","slug":"btr2023%e3%81%ae%e6%ba%96%e5%82%99%ef%bc%88gazebo%e3%82%92%e5%8b%95%e3%81%8b%e3%81%99%e3%81%be%e3%81%a7%e3%81%ae%e6%89%8b%e9%a0%86%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3229","title":{"rendered":"btr2023\u306e\u6e96\u5099\uff08gazebo\u3092\u52d5\u304b\u3059\u307e\u3067\u306e\u624b\u9806\uff09"},"content":{"rendered":"

Ubuntu 20.04\u3067gazebo\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u306a\u3063\u305f\u5f8c\u306e\u624b\u9806\u3067\u3059\uff0e<\/p>\n

BTR2022\u306e\u8a2d\u5b9a<\/a><\/mark>\u3092\u3068\u308a\u3042\u3048\u305a\u4f5c\u696d\u3057\u3066\u304f\u3060\u3055\u3044\uff0e
\nlib64ncurses5-dev \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\uff0c\u4ee5\u4e0b\u306e\u30e1\u30fc\u30bb\u30fc\u30b8\u304c\u51fa\u308b\u304b\u3082\uff0e<\/p>\n

\r\nThe following packages have unmet dependencies:\r\n lib64ncurses-dev:i386 : Depends: libncurses-dev:i386 (= 6.2-0ubuntu2.1) but it is not going to be installed\r\n                         Depends: lib64c-dev:i386\r\nE: Unable to correct problems, you have held broken packages.\r\n<\/pre>\n
refbox\u3067\u51fa\u305f\u30a8\u30e9\u30fc\u306f\uff0c\u4ee5\u4e0b\u306e\u5bfe\u5fdc\uff0e<\/p>\n
\r\n\/home\/wataru\/rcll-refbox\/src\/libs\/mps_comm\/opcua\/opc_utils.cpp:606:56: error: \u2018streamed\u2019 is not a member of \u2018fmt\u2019\r\n  606 |   logger->info("{}>{}", std::string(lvl[0], ' '), fmt::streamed(node));\r\n<\/pre>\n
logger \u306a\u306e\u3067\uff0c\u7121\u8996\u3057\u3066\u826f\u3044\u304b\u3089\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\uff0e<\/p>\n
\r\nhome\/wataru\/rcll-refbox\/src\/libs\/rest-api\/clips-rest-api\/clips-rest-api.cpp:179:27:error: ISO C++ forbids converting a string constant to \u2018char*\u2019 [-Werror=write-string]\r\n<\/pre>\n
RefBox \u306e\u66f4\u65b0\uff08RCAP2022\u6642\u70b9\uff09<\/a>\u306e\u306f\u8a71\u306a\u306e\u3067\uff0c
\netc\/buildsys\/config.mk\u306e\u6700\u5f8c\u306e\u65b9\u306b\u4ee5\u4e0b\u3092\u52a0\u3048\u3066\u5bfe\u5fdc\uff0e<\/p>\n
\r\nCLIPS_OLD_63_API = YES\r\n<\/pre>\n
\u5f8c\u306f\uff0c\u4eca\u5e74\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u6271\u3044\u305f\u3044\u306e\u3067\uff0cbtr2023\u3068\uff0crobotino_node\u3092\u843d\u3068\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\u304b\uff0e<\/p>\n
\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/wadaru\/btr2023\r\ngit clone https:\/\/github.com\/ct2034\/robotino\r\ngit clone https:\/\/github.com\/robocup-logistics\/gazebo-rcll\r\ncd ~\/catkin_ws\/src\r\nln -s ~\/git\/robotino\/robotino-ros-pkg\/* .\r\ncd ..\r\ncatkin_make\r\n<\/pre>\n
\r\n\/home\/robotino\/catkin_ws\/src\/robotino_node\/include\/ComROS.h:11:10: fatal error:rec\/robotino\/api2\/Com.h: No such file or directory2\r\n   11 | #include "rec\/robotino\/api2\/Com.h"\r\n<\/pre>\n
\u4e0a\u8a18\u306e\u30a8\u30e9\u30fc\u306fRobotino\u3067ROS\uff08ct2034\uff09<\/a>\u3088\u308a\uff0c<\/p>\n
\r\ncat src\/robotino_node\/CMakeLists.txt \r\n...\r\nset(CMAKE_MODULE_PATH \/usr\/local\/robotino\/api2\/cmake)\r\nset(RobotinoAPI2_INCLUDE_DIRS \/opt\/robotino\/include)\r\n## System dependencies are found with CMake's conventions\r\n# find_package(Boost REQUIRED COMPONENTS system)\r\nfind_package(RobotinoAPI2)\r\nset(REC_ROBOTINO_API2_LIBRARY \/opt\/robotino\/lib\/librec_robotino_api2.so)\r\n...\r\n## Specify additional locations of header files\r\n## Your package locations should be listed before other locations\r\n# include_directories(include)\r\ninclude_directories(\r\n  include\r\n  ${catkin_INCLUDE_DIRS}\r\n  ${RobotinoAPI2_INCLUDE_DIRS}\r\n)\r\n...\r\n<\/pre>\n
\u6b21\u306bBTR2022\u306e\u8a2d\u5b9a\u3000\u306e\u6b21\u306e\u8a71\u306e\u30e1\u30e2<\/a>\u306e\u8fba\u308a\u306e\u8a71\uff0e<\/p>\n
\r\nsudo apt-get -y install libgazebo9-dev libgazebo9 gazebo9-common\r\nsudo apt-get install gazebo9\r\nsudo apt-get install ros-noetic-gazebo-ros\r\n\r\n# CmakeLists.txt \u306bBoost\u306e\u60c5\u5831\u3092\u8ffd\u52a0\uff0e\r\necho "find_package(Boost REQUIRED COMPONENTS system program_options filesystem thread)" >> CMakeLists.txt\r\ncd gazebo-rcll\r\ncmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncmake --build build\r\n<\/pre>\n
\u3053\u3053\u307e\u3067\u4f5c\u696d\u4e2d
\n—-<\/p>\n
\r\ncd gazebo-rcll\r\n# CmakeLists.txt \u306bBoost\u306e\u60c5\u5831\u3092\u8ffd\u52a0\uff0e\r\necho "find_package(Boost REQUIRED COMPONENTS system program_options filesystem thread)" >> CMakeLists.txt\r\n<\/pre>\n
\r\ncd ~\/git\/gazebo-rcll\r\ncmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncmake --build build\r\n<\/pre>\n
\u3042\u3068\u306f\uff0cgazebo\u95a2\u4fc2\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u4fee\u6b63\u3092\u3059\u308c\u3070\uff0c\u52d5\u304f\u304b\u306a\uff0e
\nGUI\u3067\u306e\u30ea\u30e2\u30fc\u30c8\u304c\u3064\u306a\u304c\u3089\u306a\u3044\u304b\u3089\uff0c\u3053\u3053\u304b\u3089\u5148\u306e\u4f5c\u696d\u304c\u96e3\u3057\u3044\u2026\uff0e<\/p>\n
\r\ncd ~\/git\/gazebo-rcll\r\nrm CMakeLists.txt; ln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/CMakeLists.txt .\r\ncd models\/carologistics\r\nrm -rf carologistics-robotino-3;  ln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/models\/carologistics-robotino-3 .\r\nrm -rf robotino-nr-1; ln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/models\/robotino-nr-1 .\r\nrm -rf robotino-nr-2; ln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/models\/robotino-nr-2 .\r\nrm -rf robotino-nr-3; ln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/models\/robotino-nr-3 .\r\ncd ..\/bbu\r\nln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/models\/hokuyo_noisy1 .\r\nln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/models\/hokuyo_noisy2 .\r\nln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/models\/hokuyo_noisy3 .\r\ncd ..\r\nln -s pyro\/C920_ros .\r\ncd ..\/plugins\/src\/plugins\r\nrm -rf motor; ln -s  ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/plugins\/src\/plugins\/motor .\r\nrm -rf odometry; ln -s  ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/plugins\/src\/plugins\/odometry .\r\ncd ..\/..\/..\/worlds\/carologistics\r\nln -s ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/world\/llsf_btr.world .\r\necho "export GAZEBO_WORLD_PATH=$GAZEBO_RCLL\/worlds\/carologistics\/llsf_btr.world" >> ~\/.bashrc\r\necho "export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$GAZEBO_RCLL\/models\/bbu" >> ~\/.bashrc\r\nsource ~\/.bashrc\r\ncd ~\/gazebo-rcll\r\ncmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo\r\ncmake --build build\r\n<\/pre>\n
ResetOdometry.h \u7b49\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u3063\u3066\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c
\n\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/plugins\/src\/plugins\/odometry
\n\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u5185\u306e\u30b7\u30f3\u30dc\u30ea\u30c3\u30af\u30ea\u30f3\u30af\u3092\u898b\u76f4\u3057\u3066\u304f\u3060\u3055\u3044\uff0e
\n\u304a\u305d\u3089\u304f\uff0c\u30e6\u30fc\u30b6\u540d\u306b\u4f9d\u5b58\u3059\u308b\u90e8\u5206\uff08\/home\/ryukoku\u306a\u3069\uff09\u304c\u7570\u306a\u3063\u3066\u3044\u308b\u72b6\u614b\u304b\u3068\u601d\u3044\u307e\u3059\uff0e
\n\u30b7\u30f3\u30dc\u30ea\u30c3\u30af\u30ea\u30f3\u30af\u3092\u5f35\u308a\u76f4\u3057\u3066\u304f\u3060\u3055\u3044\uff0e<\/p>\n
\r\ncd ~\/git\/btr2023\/bordeaux2023\/gazebo\/btr\/plugins\/src\/plugins\/odometry\r\nrm ResetOdometry.h\r\nrm ResetOdometryRequest.h \r\nrm ResetOdometryResponse.h \r\nln -s ~\/catkin_ws\/devel\/include\/robotino_msgs\/ResetOdometry*.h .\r\n# ResetOdometry.h \u304b\u3089\u4e0a\u306e\u4e8c\u3064\u306e\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067\u3044\u307e\u3059\u304c\u3001\r\n# include\u3092\u30c0\u30d6\u30eb\u30af\u30a9\u30fc\u30c6\u30fc\u30b7\u30e7\u30f3\u306e\u30d5\u30a1\u30a4\u30eb\u540d\u306b\u4fee\u6b63\u3057\u306a\u3044\u3068\u3044\u3051\u306a\u3044\u30cf\u30ba\u3002\r\n<\/pre>\n
\u3067\uff0c\u5b8c\u4e86\u306e\u306f\u305a\uff0e
\n\/scan \u304c\u51fa\u306a\u3044\u306e\u306f\uff0c\u4ee5\u4e0b\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u629c\u3051\u3066\u3044\u305f\u304b\u3089\u304b\u306a\u3041\uff0e<\/p>\n
\r\nsudo apt-get install ros-noetic-gazebo-plugins libignition-sensors3-lidar\r\n<\/pre>\n
\u5b9f\u884c\u65b9\u6cd5\u306f\u4ee5\u4e0b\u3067\u3059\uff0e<\/p>\n
\r\ncd ~\/git\/btr2023\/bordeaux2023\/scripts\r\n.\/startRCLL.bash gazebo\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"
Ubuntu 20.04\u3067gazebo\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u306a\u3063\u305f\u5f8c\u306e\u624b\u9806\u3067\u3059\uff0e BTR …<\/p>\n
  btr2023\u306e\u6e96\u5099\uff08gazebo\u3092\u52d5\u304b\u3059\u307e\u3067\u306e\u624b\u9806\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":[3,2,9,24,16],"tags":[],"class_list":["post-3229","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-3","category-robotino-4","category-16"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3229","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=3229"}],"version-history":[{"count":23,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3229\/revisions"}],"predecessor-version":[{"id":3911,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3229\/revisions\/3911"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3229"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3229"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3229"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}