{"id":3766,"date":"2025-03-09T17:33:57","date_gmt":"2025-03-09T08:33:57","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=3766"},"modified":"2025-03-09T20:15:30","modified_gmt":"2025-03-09T11:15:30","slug":"ros2-rcll_refbox_peer-%e3%82%92%e4%bd%9c%e3%81%a3%e3%81%a6%e3%81%bf%e3%82%8b%ef%bc%8e","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=3766","title":{"rendered":"ros2-rcll_refbox_peer \u3092\u4f5c\u3063\u3066\u307f\u308b\uff0e"},"content":{"rendered":"<p>protobuf_comm\u304c\u5fc5\u8981\u306a\u306e\u3067\uff0c\u904e\u53bb\u306eRefBox\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u53c2\u8003\u306b\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5165\u308c\u3066\u307f\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n### RefBox \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\r\n### \u307e\u305a\u306f\uff0c\u5fc5\u8981\u306a\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\r\n# sudo add-apt-repository ppa:timn\/clips # \u2190 focal \u306eRelease\u30d5\u30a1\u30a4\u30eb\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u3063\u3066\u6012\u3089\u308c\u308b\u2026\uff0e\u307e\u3041\uff0c\u305d\u308a\u3083\u305d\u3046\u3060\u3088\u306d\uff0e\r\n# sudo apt-get update\r\nsudo apt-get install -y libmodbus-dev \\\r\n                     protobuf-compiler libprotobuf-dev libprotoc-dev \\\r\n                     libboost-all-dev libmodbus-dev \\\r\n                     libglibmm-2.4-dev libgtkmm-3.0-dev \\\r\n                     libncursesw5-dev libyaml-cpp-dev libavahi-client-dev \\\r\n                     libssl-dev libgecode-dev \\\r\n                     lib64ncurses5-dev cmake-curses-gui git \\\r\n                     libmbedtls-dev gcc g++\r\n# \u2191 libclips-dev clips libclipsmm-dev \u3092\u53d6\u308a\u9664\u3044\u3066\u307f\u307e\u3057\u305f\uff0e\r\n# \u305d\u308c\u3089\u306fbionic \u7248\u3092\u5f37\u5f15\u306b\u5165\u308c\u3066\u307f\u307e\u3059\uff0e\r\ncd ~Downloads\r\nwget http:\/\/ppa.launchpad.net\/timn\/clips\/ubuntu\/pool\/main\/c\/clips\/clips_6.30-2ppa4~bionic1_amd64.deb\r\nwget http:\/\/ppa.launchpad.net\/timn\/clips\/ubuntu\/pool\/main\/c\/clips\/clips-common_6.30-2ppa4~bionic1_all.deb\r\nwget http:\/\/ppa.launchpad.net\/timn\/clips\/ubuntu\/pool\/main\/c\/clips\/libclips_6.30-2ppa4~bionic1_amd64.deb\r\nwget http:\/\/ppa.launchpad.net\/timn\/clips\/ubuntu\/pool\/main\/c\/clips\/libclips-dev_6.30-2ppa4~bionic1_amd64.deb\r\nwget http:\/\/ppa.launchpad.net\/timn\/clips\/ubuntu\/pool\/main\/c\/clips\/xclips_6.30-2ppa4~bionic1_amd64.deb\r\nwget http:\/\/ppa.launchpad.net\/timn\/clips\/ubuntu\/pool\/main\/libc\/libclipsmm\/libclipsmm-dev_0.3.4-1ppa1~bionic1_amd64.deb\r\nwget http:\/\/ppa.launchpad.net\/timn\/clips\/ubuntu\/pool\/main\/libc\/libclipsmm\/libclipsmm_0.3.4-1ppa1~bionic1_amd64.deb\r\nsudo apt-get install -y libtinfo5 \r\nsudo dpkg -i *.deb\r\n# \u4f55\u3068\u304b\u5165\u3063\u305f\u3063\u307d\u3044\uff0e\r\n\r\n# OPC-UA \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/FreeOpcUa\/freeopcua\r\ncd freeopcua\r\n### \u2193 \u9078\u629e\u80a2\u306f\u300cc\u300d\u2192\u300ce\u300d\u2192\u300cc\u300d\u2192\u300ce\u300d\u2192\u300cg\u300d\r\nccmake .\r\ncmake .\r\nmake -j4\r\nsudo make install\r\nsudo apt-get install -y libxml2-dev dh-autoreconf\r\nsudo ldconfig\r\ncd ..\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install -y libmicrohttpd-dev rapidjson-dev libaprutil1-dev libwebsocketpp-dev\r\n<\/pre>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\ncd ~\/git\r\ngit clone https:\/\/github.com\/robocup-logistics\/rcll-refbox\r\ncd rcll-refbox\r\ngit checkout d0bcd590ab140691645fe8b651a3d00afad39151\r\nmake clean all -j4\r\nsudo ldconfig\r\n<\/pre>\n<p>opc_utils.cpp\u306e\u30a8\u30e9\u30fc\u306f<mark><a href=\"https:\/\/www.kdel.org\/wp\/?p=3365\">RefBox\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08Ubuntu: 2024\/02\/07\u7248\uff09<\/a><\/mark>\u3092\u53c2\u8003\u306b\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n## cd \r\n## git clone https:\/\/github.com\/robocup-logistics\/rcll-refbox\r\n## git checkout d0bcd590ab140691645fe8b651a3d00afad39151\r\n## cd rcll-refbox\r\n#\r\n# ... \u3053\u3053\u304b\u3089\u3067\u3059\u306d ...\r\n#\r\n# \u2193 \u300cerror: \u2018streamed\u2019 is not a member of \u2018fmt\u2019\u300d\u306b\u5bfe\u3057\u3066\u306f\uff0c606\u884c\u76ee\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3067\u5bfe\u51e6\uff0e\r\n#   https:\/\/www.kdel.org\/wp\/?p=3229\r\nvi ~\/rcll-refbox\/src\/libs\/mps_comm\/opcua\/opc_utils.cpp\r\n# \u2193 \u300cerror: ISO C++ forbids converting a string constant to \u2018char*\u2019 &#x5B;-Werror=write-strings]\u300d\u306b\u5bfe\u3057\u3066\u306f\uff0c\r\n#   etc\/buildsys\/config.mk\u306e\u6700\u5f8c\u306e\u65b9\u306b\u4ee5\u4e0b\u3092\u52a0\u3048\u3066\u5bfe\u5fdc\uff0e\r\n# CLIPS_OLD_63_API = YES\r\nvi ~\/etc\/buildsys\/config.mk\r\n<\/pre>\n<p>\u3042\u3068\u306f\uff0cllsf_msgs\u306e\u4f5c\u6210\u3067\u3059\u306d\uff0e<br \/>\n<mark><a href=\"https:\/\/www.kdel.org\/wp\/?p=2390\">RefBox\u306eROS\u5bfe\u5fdc<\/a><\/mark>\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n\tln -s ~\/rcll-refbox\/src\/msgs ~\/rcll-refbox\/src\/libs\/llsf_msgs\r\n<\/pre>\n<p>\u6b21\u306f\uff0c\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u306eROS2\u5316\uff0e<br \/>\nros::param::get \u306f\uff0crclcpp::param::get \u3078\u7f6e\u63db\u3000\u2190\u3000\u3042\u3063\u3066\u3044\u308b\u304b\u3069\u3046\u304b\u77e5\u3089\u306a\u3044\u2026\uff0e<br \/>\n\u4ed6\u3082\u540c\u69d8\u306b\uff0cros::Time\u306a\u3069\u306frclcpp::Time\u3078\u3068\u7f6e\u63db\uff0e<br \/>\nROS_INFO\u3068\u304bROS_WARN\u3068\u304b\u306f\uff0cRCLCPP_INFO\uff0cRCLCPP_WARN\u3078\u3068\u7f6e\u63db\uff0e<br \/>\nrcll_ros_msgs \u306f\uff0crefbox_msgs \u3078\u7f6e\u63db\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n                 from \/home\/ryukoku\/ros2_ws\/src\/ros2-rcll_refbox_peer\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp:23:\r\n\/opt\/ros\/humble\/include\/rosidl_runtime_cpp\/rosidl_runtime_cpp\/bounded_vector.hpp:477:3: error: \u2018emplace_back\u2019 function uses \u2018auto\u2019 type specifier without trailing return type\r\n  477 |   auto\r\n      |   ^~~~\r\n\/opt\/ros\/humble\/include\/rosidl_runtime_cpp\/rosidl_runtime_cpp\/bounded_vector.hpp:477:3: note: deduced return type only available with \u2018-std=c++14\u2019 or \u2018-std=gnu++14\u2019\r\n<\/pre>\n<p>\u3093\u3068\u30fc\uff0e<s>c++14\u306b\u3057\u3066\u307f\u307e\u3057\u3087\u3046\u304b\uff0e<\/s>c++14\u3067\u3082\u3044\u304f\u3064\u304b\u30a8\u30e9\u30fc\u304c\u51fa\u307e\u3057\u305f\uff0ec++17\u3060\u3068\u884c\u3051\u305d\u3046\u306a\u611f\u3058\uff0e<br \/>\n\u4ee5\u4e0b\u306f\uff0c\u5143\u3005-std=c++11\u3068\uff0cCOMPILER_SUPPORTS_CXX11 \u306b\u306a\u3063\u3066\u3044\u305f\u3068\u3053\u308d\u3067\u3059\uff0e11\u309217\u306b\u7f6e\u63db\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nCHECK_CXX_COMPILER_FLAG(&quot;-std=c++17&quot; COMPILER_SUPPORTS_CXX17)\r\nCHECK_CXX_COMPILER_FLAG(&quot;-std=c++0x&quot; COMPILER_SUPPORTS_CXX0X)\r\nif(COMPILER_SUPPORTS_CXX17)\r\n    set(CMAKE_CXX_FLAGS &quot;${CMAKE_CXX_FLAGS} -std=c++17&quot;)\r\n    message(&quot;-std=c++17&quot;)\r\n<\/pre>\n<p>\u3055\u3066\uff0c\u3053\u3053\u304b\u3089\u3088\u3046\u3084\u304f\u672c\u4f53\u306b\u624b\u3092\u51fa\u305b\u305d\u3046\u3067\u3059\u304c\uff0c\u5225\u306e\u30a8\u30f3\u30c8\u30ea\u30fc\u306b\u3057\u307e\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>protobuf_comm\u304c\u5fc5\u8981\u306a\u306e\u3067\uff0c\u904e\u53bb\u306eRefBox\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u53c2\u8003\u306b &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=3766\"> <span class=\"screen-reader-text\">ros2-rcll_refbox_peer \u3092\u4f5c\u3063\u3066\u307f\u308b\uff0e<\/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":[39,3,2,26,9,24],"tags":[],"class_list":["post-3766","post","type-post","status-publish","format-standard","hentry","category-kachaka","category-logistics-league","category-robocup","category-robotino-2","category-robotino-3","category-robotino-4"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3766","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=3766"}],"version-history":[{"count":16,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3766\/revisions"}],"predecessor-version":[{"id":3782,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3766\/revisions\/3782"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3766"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3766"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3766"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}