{"id":3279,"date":"2023-12-05T12:12:25","date_gmt":"2023-12-05T03:12:25","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3279"},"modified":"2023-12-12T11:05:38","modified_gmt":"2023-12-12T02:05:38","slug":"robotino2%e3%82%92%e5%86%8d%e5%88%a9%e7%94%a8","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3279","title":{"rendered":"Robotino2\u3092\u518d\u5229\u7528"},"content":{"rendered":"

Robotino Wiki\u306b\u3042\u308bRobotino Raspberry<\/a><\/mark>\u3092\u53c2\u8003\u306b\uff0c\u7814\u7a76\u5ba4\u3067\u7720\u3063\u3066\u3044\u308bRobotino 2\u3092\u5fa9\u6d3b\u3055\u305b\u307e\u3057\u3087\u3046\uff0e
\n\uff08\u3068\u3044\u3046\u306e\u3092\uff0c\u5b66\u751f\u306b\u3084\u3063\u3066\u3082\u3089\u3063\u305f\u306e\u3067\uff0c\u305d\u306e\u30e1\u30e2\u3067\u3059\uff09<\/p>\n

\u307e\u305a\uff0cRaspberry pi\u7528\u306eOS\u306e\u6e96\u5099\uff0e
\n\u6b8b\u5ff5\u306a\u304c\u308964bit\u7248\u306b\u306f\u5bfe\u5fdc\u3057\u3066\u3044\u306a\u3044\u3063\u307d\u3044\u306e\u3067\uff0c32\u30d3\u30c3\u30c8\u7248\uff08armhf\uff09\u3092\u63a2\u3057\u3066\u53d6\u3063\u3066\u304f\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e
\nIndex of \/raspios_armhf\/images<\/a><\/mark>\u304b\u3089buster\u3092\u843d\u3068\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u304b\uff0e
\n\u3068\u3059\u308b\u3068\uff0c2021-05-07-raspios-buster-armhf.zip<\/a><\/mark>\u3067\u3059\u306d\uff0e<\/p>\n

Raspberry pi \u3092\u8d77\u52d5\u3057\u305f\u3089\uff0c\u307e\u3041\uff0c\u3044\u308d\u3044\u308d\u3068\u521d\u671f\u8a2d\u5b9a\u304c\u5fc5\u8981\u3067\u3059\u304c\uff0craspi-config\u3092\u4f7f\u3063\u3066\uff0cSSH\u3068VNC\u306fON\u306b\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\uff0e
\n\u3042\u3068\uff0cSerialPort\u3082Enable\u306b\u3057\u3066\u304a\u304f\u3079\u304d\u304b\u306a\uff0e
\nVNC\u306f\uff0c\u6697\u53f7\u5316\u3092OFF\u306b\u3057\u3066\u304a\u304b\u306a\u3044\u3068\uff0cMacOS\u3068\u304b\u304b\u3089\u3064\u306a\u304c\u3089\u306a\u3044\u306f\u305a\uff0e
\nvnc\u306e\u8a2d\u5b9a\u306e\u753b\u9762\u304b\u3089\uff0c\u300cSecurity\u300d-\u300cEncryption\u300d\u3092\u300cPrefer off\u300d\u3078\u5909\u66f4\uff0e
\n\u300cAutentication\u300d\u3092\u300cVNC password\u300d\u3078\u5909\u66f4\uff0e
\n\u3053\u308c\u3067\uff0c\u624b\u5143\u306e\u30d1\u30bd\u30b3\u30f3\u304b\u3089\u9060\u9694\u3067\u4f5c\u696d\u304c\u3067\u304d\u307e\u3059\uff0e<\/p>\n

Robotino_Raspberry<\/a><\/mark>\u306e\u30da\u30fc\u30b8\u306b\u5f93\u3063\u3066\u4f5c\u696d\u3057\u307e\u3059\uff0e
\n\u307e\u305a\uff0capt\u306bopenrobotino\u306e\u30ec\u30dd\u30b8\u30c8\u30ea\u3092\u8ffd\u52a0\uff0e<\/p>\n

\r\nsudo su\r\necho "deb http:\/\/packages2.openrobotino.org buster main" > \/etc\/apt\/sources.list.d\/openrobotino.list\r\nexit\r\nsudo apt-get update\r\n<\/pre>\n
\u516c\u958b\u9375\uff08public key\uff09\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u3063\u3066\u8a00\u308f\u308c\u308b\u306e\u3067\u8ffd\u52a0 \u3057\u3088\u3046\u3068\u3057\u305f\u3051\u3069\uff0ckeyserver.ubuntu.com \u306b\u306f\u767b\u9332\u3055\u308c\u3066\u3044\u306a\u3044\u3063\u307d\u3044\u2026<\/s><\/p>\n

\n\u4ed5\u65b9\u304c\u7121\u3044\u306e\u3067\uff0cdeb \u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u624b\u52d5\u3067\u5165\u308c\u307e\u3059\u304b\u2026\uff0e<\/p>\n
\r\ncd ~\/Downloads\r\nwget https:\/\/packages2.openrobotino.org\/pool\/buster\/main\/g\/gmapping\/gmapping_54_armhf.deb\r\nwget https:\/\/packages2.openrobotino.org\/pool\/buster\/main\/libo\/libopen62541-1-dev\/libopen62541-1-dev_1.0.1_armhf.deb\r\nwget https:\/\/packages2.openrobotino.org\/pool\/buster\/main\/r\/rec-rpc\/rec-rpc_1.6.1_armhf.deb\r\nwget https:\/\/packages2.openrobotino.org\/pool\/buster\/main\/r\/robotino-api2\/robotino-api2_1.1.14_armhf.deb\r\nwget https:\/\/packages2.openrobotino.org\/pool\/buster\/main\/r\/robotino-daemons\/robotino-daemons_2.0.20_armhf.deb\r\nwget https:\/\/packages2.openrobotino.org\/pool\/buster\/main\/r\/robotino-dev\/robotino-dev_1.0.3_armhf.deb\r\nwget https:\/\/packages2.openrobotino.org\/pool\/buster\/main\/u\/urg-library\/urg-library_1.2.5_armhf.deb\r\nsudo dpkg --install *.deb\r\n<\/pre>\n
\u3048\u30fc\u3068\uff0e\u4f9d\u5b58\u95a2\u4fc2\u304c\u3042\u308b\u306e\u304b\u2026\uff0ecmake\uff0clibqt5serialport5\uff0cat\uff0cwput\uff0cjq\uff0cgawk\uff0clibcpprest2.10\uff0clibboost-program-options1.67.0\uff0c\u304c\u8db3\u308a\u306a\u3044\u3063\u3066\u8a00\u308f\u308c\u308b\uff0e
\n\u3067\uff0c\u305d\u3044\u3064\u3089\u3092\u5165\u308c\u3088\u3046\u3068\u3057\u305f\u3089\uff0c\u3055\u3089\u306b\u4f9d\u5b58\u95a2\u4fc2\u3067\u6587\u53e5\u3092\u8a00\u308f\u308c\u308b\u2026\uff0e<\/p>\n
\r\nsudo apt-get install cmake libqt5serialport5 at wput jq gawk libcpprest2.10 libboost-program-options1.67.0 cmake-data libjsoncpp1 librhash0 libuv1 libsigsegv2 libjq1 libonig5 libboost-chrono1.67.0 libboost-date-time1.67.0 libboost-filesystem1.67.0 libboost-random1.67.0 libgnutls-openssl27 libgnutls30\r\n<\/pre>\n
\u3053\u308c\u3067\uff0c\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u305d\u308d\u3063\u305f\u304b\u306a\uff0e
\n<\/s>
\n\u3084\u3063\u3071\u308a\u6700\u521d\u306e\u65b9\u6cd5\u3067\u826f\u304b\u3063\u305f\u306e\u304b\u2026\uff0e
\npublic key \u306e\u8ffd\u52a0\u65b9\u6cd5\u3092\u898b\u843d\u3068\u3057\u3066\u3044\u307e\u3057\u305f\uff0e
\nDeb repository<\/a><\/mark>\u306e\u4e00\u756a\u6700\u521d\u306b\u3042\u308bImport key file\u306e\u4f5c\u696d\u3092\u3084\u308a\u5fd8\u308c\u3066\u3044\u307e\u3057\u305f\uff0e<\/p>\n
\r\nwget -qO - http:\/\/packages.openrobotino.org\/keyFile | sudo apt-key add -\r\n<\/pre>\n
\u3053\u308c\u3067\uff0capt\u304c\u901a\u308b\u3088\u3046\u306b\u306a\u308b\u306e\u3067\uff0cdeb\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u76f4\u306b\u5165\u308c\u308b\u5fc5\u8981\u6027\u306f\u306a\u304f\u306a\u308a\u307e\u3059\uff0e<\/p>\n
\r\nsudo su\r\necho "deb http:\/\/packages2.openrobotino.org buster main" > \/etc\/apt\/sources.list.d\/openrobotino.list\r\nexit\r\nsudo apt-get update\r\nsudo apt-get install robotino-daemons\r\n<\/pre>\n
\u3053\u308c\u3067\u3044\u3044\u306e\u304b\u306a\uff08\u3042\u3068\u3067\u8a66\u3057\u307e\u3059\uff0e\u4e88\u60f3\u3068\u9055\u3046\u53cd\u5fdc\u3092\u3057\u305f\u3089\uff0c\u307e\u305f\u66f8\u304d\u8fbc\u307f\u307e\u3059\uff09
\n\u3053\u3053\u304b\u3089\u5148\u306f\uff0c\u540c\u3058\u8a71\u306b\u306a\u308b\u306f\u305a\uff0e<\/p>\n
\u306a\u3093\u304bjaist\u306b\u3064\u306a\u304e\u306b\u884c\u3063\u3066\u3044\u308b\u3051\u3069\uff0c\u30b5\u30fc\u30d0\u304c\u843d\u3061\u3066\u3044\u308b\u3063\u307d\u3044\u2026\uff0e\u3068\u307b\u307b\uff0e
\nRaspberry Pi\uff08Raspbian\uff09\u306b\u3084\u3063\u3068\u3044\u305f\u307b\u3046\u304c\u3044\u3044\u8a2d\u5b9a\uff08\u904b\u7528\uff1a\u30ec\u30dd\u30b8\u30c8\u30ea\u5909\u66f4\uff09<\/a><\/mark>\u306b\u3042\u308b\u7b51\u6ce2\u5927\u306e\u30b5\u30fc\u30d0\u306b\u5909\u66f4\uff0e<\/p>\n
\r\ndeb http:\/\/ftp.jaist.ac.jp\/raspbian\/ buster main contrib non-free rpi\r\n<\/pre>\n
\u518d\u5ea6\uff0capt-get \u3092\u5b9f\u884c\uff0e<\/p>\n
\r\nsudo apt-get update\r\nsudo apt-get install cmake libqt5serialport5 at wput jq gawk libcpprest2.10 libboost-program-options1.67.0 cmake-data libjsoncpp1 librhash0 libuv1 libsigsegv2 libjq1 libonig5 libboost-chrono1.67.0 libboost-date-time1.67.0 libboost-filesystem1.67.0 libboost-random1.67.0 libgnutls-openssl27 libgnutls30\r\n<\/pre>\n
\u3053\u308c\u3067\uff0craspberry pi \u306e\u30bd\u30d5\u30c8\u30a6\u30a8\u30a2\u5074\u306e\u5bfe\u5fdc\u306f\u5b8c\u4e86\u304b\u306a\u3041\uff0e<\/p>\n
\u9055\u3063\u305f\uff0erobotino wiki\u306b\u306f\uff0c\u307e\u3060\u7d9a\u304d\u306e\u4f5c\u696d\u304c\u66f8\u3044\u3066\u3042\u308a\u307e\u3057\u305f\u306d\uff0e<\/p>\n
\r\nsudo systemctl enable controld2.service\r\n<\/pre>\n
\/boot\/cmdline.txt \u304b\u3089\u300cconsole=\u300d\u3092\u524a\u9664\u3057\u308d\u3068\u3042\u308a\u307e\u3059\u306e\u3067\uff0c\u4ee5\u4e0b\u306e\u5f62\u306b\u306a\u308b\u306e\u304b\u306a\u3041\uff0e<\/p>\n
\r\n\u524a\u9664\u524d: console=serial0,115200 console=tty1 root=PARTUUID=1aa64d24-02 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait quiet splash plymouth.ignore-serial-consoles cfg80211.ieee80211_regdom=DE\r\n\u524a\u9664\u5f8c: root=PARTUUID=1aa64d24-02 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait quiet splash plymouth.ignore-serial-consoles cfg80211.ieee80211_regdom=DE\r\n<\/pre>\n
\uff08\u3042\uff0c\u7121\u7ddaLAN\u306bDE\u3092\u6307\u5b9a\u3057\u3066\u3044\u308b\u306e\u304c\u30d0\u30ec\u308b\u2026\uff09<\/p>\n
\r\nsudo systemctl stop serial-getty@ttyS0.service\r\nsudo systemctl disable serial-getty@ttyS0.service\r\nsudo reboot\r\n<\/pre>\n
\u30af\u30ed\u30b9\u30b3\u30f3\u30d1\u30a4\u30eb\u306e\u74b0\u5883\u306f\uff0creaalsense\u3092\u4f7f\u3046\u305f\u3081\u304b\u306a\u3041\uff0e
\nopenrobotino \u306e\u30b3\u30f3\u30d1\u30a4\u30eb\u306f\uff0c\u305d\u3082\u305d\u3082\u30bd\u30fc\u30b9\u304c\u624b\u306b\u5165\u3089\u306a\u304f\u306a\u3063\u3066\u3044\u308b\u3088\u3046\u306a\u2026\uff0e<\/p>\n
\u3068\u308a\u3042\u3048\u305a\uff0c\u3053\u308c\u3067web\u30d6\u30e9\u30a6\u30b6\u7d4c\u7531\u3067robotino \u3092\u5236\u5fa1\u3059\u308b\u753b\u9762\u304c\u51fa\u3066\u304d\u307e\u3059\uff0e
\n\uff08\u307e\u3060\uff0c\u30cf\u30fc\u30c9\u30a6\u30a8\u30a2\u306f\u3064\u306a\u3044\u3067\u3044\u306a\u3044\u306e\u3067\uff0c\u5b9f\u969b\u306b\u306f\u5236\u5fa1\u3067\u304d\u307e\u305b\u3093\u304c\u2026\uff09<\/p>\n
\u3055\u3066\uff0cROS\u3092\u5165\u308c\u307e\u3057\u3087\u3046\u304b\uff0e<\/p>\n
\r\nsudo sh -c 'echo "deb http:\/\/packages.ros.org\/ros\/ubuntu buster main" > \/etc\/apt\/sources.list.d\/ros-noetic.list'\r\nsudo apt-key adv --keyserver 'hkp:\/\/keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654\r\nsudo apt-get update\r\nsudo apt-get install -y python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake\r\nsudo rosdep init\r\nrosdep update\r\nmkdir ~\/ros_catkin_ws\r\ncd ~\/ros_catkin_ws\/\r\nrosinstall_generator desktop --rosdistro noetic --deps --wet-only --tar > noetic-desktop-wet.rosinstall\r\nwstool init src noetic-desktop-wet.rosinstall\r\nrosdep install -y --from-paths src --ignore-src --rosdistro noetic -r --os=debian:buster\r\nsudo src\/catkin\/bin\/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space \/opt\/ros\/noetic -j4 -DPYTHON_EXECUTABLE=\/usr\/bin\/python3\r\necho "source \/opt\/ros\/noetic\/setup.bash" >> ~\/.bashrc\r\nsource ~\/.bashrc\r\n<\/pre>\n
\u6b21\u306f\uff0c\u30cf\u30fc\u30c9\u30a6\u30a8\u30a2\u306e\u7d50\u7dda\u304b\u306a\u3041\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
Robotino Wiki\u306b\u3042\u308bRobotino Raspberry\u3092\u53c2\u8003\u306b\uff0c\u7814 …<\/p>\n
  Robotino2\u3092\u518d\u5229\u7528<\/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":[3,12,2,26,27,6],"tags":[],"class_list":["post-3279","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-raspberry-pi","category-robocup","category-robotino-2","category-ros","category-setting"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3279","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=3279"}],"version-history":[{"count":20,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3279\/revisions"}],"predecessor-version":[{"id":3299,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3279\/revisions\/3299"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3279"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3279"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3279"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}