{"id":3484,"date":"2024-02-28T17:49:01","date_gmt":"2024-02-28T08:49:01","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3484"},"modified":"2024-03-05T14:39:10","modified_gmt":"2024-03-05T05:39:10","slug":"btr2024%e3%81%ae%e6%ba%96%e5%82%99","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3484","title":{"rendered":"BTR2024\u306e\u6e96\u5099"},"content":{"rendered":"

\u4eca\u307e\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u66f8\u3044\u3066\u3044\u307e\u3057\u305f\u304c\uff0cDocker\u3067\u826f\u3044\u306e\u3067\u306f\uff1f\u3068\u601d\u3063\u3061\u3083\u3063\u305f\u306e\u3067\uff0cDocker\u306b\u3057\u3066\u307f\u307e\u3057\u305f\uff0e
\ntiryoh\/ros-desktop-vnc:noetic \u3092\u30d9\u30fc\u30b9\u306bRCLL\u95a2\u4fc2\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3068\u3057\u3066Ubuntu 20.04\u3067\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\uff082023\/12\/20\u7248\uff09<\/a><\/mark>\u3092\u4ed5\u8fbc\u3093\u3067\u3044\u307e\u3059\uff0e<\/p>\n

\r\ngit clone https:\/\/github.com\/wadaru\/docker-config\r\ncd docker-config\/rcll-btr\r\ndocker build -t btr2024 .\r\ndocker run -p 6080:80 -p 22:22 btr2024:latest \r\n<\/pre>\n
\u3053\u308c\u3067\uff0c\u30d6\u30e9\u30a6\u30b6\u306b\u3066\u958b\u767a\u74b0\u5883\u304c\u6271\u3048\u307e\u3059\uff0e
\n\u3082\u3057\uff0c\u30db\u30b9\u30c8\u30de\u30b7\u30f3\u3067ssh server\u304c\u52d5\u3044\u3066\u3044\u308b\u3068\u304d\u306f\uff0c-p 22:22 \u306e\u3068\u3053\u308d\u3092 -p 10022:22 \u3042\u305f\u308a\u306b\u5909\u3048\u3066\u4e0b\u3055\u3044\uff0e
\n\u30a2\u30ab\u30a6\u30f3\u30c8\u540drobotino\u306b\u5bfe\u3059\u308b\u30d1\u30b9\u30ef\u30fc\u30c9\u306frobotino \u3067\u3059\uff0e
\n\u30db\u30b9\u30c8\u30de\u30b7\u30f3\u5074\u306e\u30d6\u30e9\u30a6\u30b6\u304b\u3089\uff0chttp:\/\/localhost:6080<\/a><\/mark> \u306b\u63a5\u7d9a\u3059\u308c\u3070\uff0cvnc\u7d4c\u7531\u306e\u753b\u9762\u3067\u6271\u3048\u307e\u3059\uff0e<\/p>\n
ssh localhost -l robotino<\/pre>\n
\u3067CUI\u3067\u63a5\u7d9a\u3067\u304d\u307e\u3059\uff0e
\n\u3082\u3057\uff0c-p 10022;22 \u306b\u3057\u3066\u3044\u308b\u3068\u304d\u306f\uff0c<\/p>\n
 ssh localhost -l robotino -p 10022<\/pre>\n
\u3067\u63a5\u7d9a\u3057\u3066\u4e0b\u3055\u3044\uff0e
\nDOckerfile \u306eapt\u306e\u90e8\u5206\uff082\u3064\u3081\uff09\u306b\u5909\u66f4\u304c\u3042\u308b\u3068openssh-server \u3092\u5165\u308c\u76f4\u3059\u3053\u3068\u306b\u306a\u308b\u306e\u3067\uff0c\u63a5\u7d9a\u30ad\u30fc\u304c\u5909\u308f\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\uff08\u4e00\u5fdc\uff0c\u63a5\u7d9a\u30ad\u30fc\u304c\u5909\u308f\u308b\u3053\u3068\u304c\u5c11\u306a\u304f\u306a\u308b\u3088\u3046\u306bDockerfile\u3092\u66f4\u65b0\u3057\u307e\u3057\u305f\uff09\uff0e
\n\u305d\u306e\u6642\u306f\uff0c\u753b\u9762\u306b\u51fa\u3066\u304d\u305f\u30e1\u30c3\u30bb\u30fc\u30b8\u306b\u5f93\u3063\u3066\uff0c\u4fdd\u7ba1\u3057\u3066\u3044\u308b\u30ad\u30fc\u3092\u524a\u9664\u3057\u3066\u4e0b\u3055\u3044\uff0e
\n\u4ee5\u4e0b\u306e-R\u4ee5\u964d\u306f\uff0clocalhost\u306e10022\u756a\u30dd\u30fc\u30c8\u306e\u5834\u5408\u3067\u3059\uff0e<\/p>\n
ssh-keygen -f "\/export\/home\/wataru\/.ssh\/known_hosts" -R "[localhost]:10022"<\/pre>\n
LXTerminal \u304c\u6a19\u6e96\u3067\u5165\u3063\u3066\u3044\u307e\u3059\u304c\uff0c\u30c1\u30fc\u30e0\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306fgnome-terminal \u3092\u4f7f\u3063\u3066\u3044\u307e\u3059\u306e\u3067\uff0cgnome \u3082\u4e0a\u66f8\u304d\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u3044\u307e\u3059\uff0e
\ngazebo\u3092\u4f7f\u3048\u308b\u3088\u3046\u306b\u3057\u307e\u3057\u305f\uff0e
\n\u672c\u5f53\u306frefbox-frontend \u3092\u4f7f\u3046\u65b9\u304c\u826f\u3044\u306e\u3067\u3059\u304c\uff0c\u624b\u3063\u53d6\u308a\u65e9\u3044\u306e\u3067llsf-refbox-shell\u3067\u5236\u5fa1\u3057\u307e\u3059\uff0e
\n\u4ee5\u4e0b\u3067\uff0c\u81ea\u52d5\u8d77\u52d5\u3057\u307e\u3059\uff0e<\/p>\n
\r\ncd ~\/git\/rcll\/scripts\r\n.\/startRCLL.sh gazebo\r\n<\/pre>\n
gnome-terminal\u3067\u591a\u6570\u306e\u30bf\u30d6\u3092\u958b\u3044\u3066\u3044\u307e\u3059\u304c\uff0c
\n\u5de6\u304b\u3089
\n\u30fbroscore
\n\u30fbrefbox\u3068ROS\u3092\u5909\u63db\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0
\n\u30fbrefbox
\n\u30fbrefbox-shell
\n\u30fbgazebo
\n\u30fb\u4ee5\u964d\uff0crobotino1\u95a2\u4fc2\uff0crobotino2\u95a2\u4fc2\uff0crobotino3\u95a2\u4fc2
\n\u3068\u306a\u3063\u3066\u3044\u307e\u3059\uff0e
\nrebox-shell \u3067F4\u3092\u62bc\u3057\u3066\uff0c\u30c1\u30fc\u30e0\u3092\u9078\u629e\u3057\u307e\u3057\u3087\u3046\uff08CYAN\u3068MAGENTA\uff09\uff0e
\n\u305d\u306e\u5f8c\uff0cF3\u3067SETUP\u30d5\u30a7\u30fc\u30ba\u306b\u5909\u66f4\u3059\u308b or SPACE\u30ad\u30fc \u3067\u30b2\u30fc\u30e0\u304c\u59cb\u307e\u308a\u307e\u3059\uff0e
\n\u30c1\u30fc\u30e0\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\uff0c\u5225\u306b\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u958b\u3044\u3066\uff0c<\/p>\n
\r\ncd ~\/git\/rcll\/python\r\npython3 game2024.py gazebo 1\r\n<\/pre>\n
\u3067\u8d77\u52d5\u3057\u307e\u3059\uff08\u6700\u5f8c\u306e1\u306f\u30ed\u30dc\u30c3\u30c8\u756a\u53f7\u3067\u3059\uff09\uff0e
\n\u5404\u30ed\u30dc\u30c3\u30c8\u306e\u30aa\u30c9\u30e1\u30c8\u30ea\u30fc\u306f\uff0c\/robotino1\/odom\u307f\u305f\u3044\u306a\u5f62\u3067Publish\u3055\u308c\u3066\u3044\u307e\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
\u4eca\u307e\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u66f8\u3044\u3066\u3044\u307e\u3057\u305f\u304c\uff0cDocker\u3067\u826f\u3044\u306e\u3067\u306f\uff1f\u3068\u601d\u3063 …<\/p>\n
  BTR2024\u306e\u6e96\u5099<\/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":[3,2,26,9,24,16],"tags":[],"class_list":["post-3484","post","type-post","status-publish","format-standard","hentry","category-logistics-league","category-robocup","category-robotino-2","category-robotino-3","category-robotino-4","category-16"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3484","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=3484"}],"version-history":[{"count":10,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3484\/revisions"}],"predecessor-version":[{"id":3504,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3484\/revisions\/3504"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3484"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3484"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3484"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}