{"id":390,"date":"2016-04-20T10:13:25","date_gmt":"2016-04-20T01:13:25","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=390"},"modified":"2016-04-21T12:45:47","modified_gmt":"2016-04-21T03:45:47","slug":"robotino-3%e3%81%b8%e3%81%aefawkes%e3%81%ae%e3%82%a4%e3%83%b3%e3%82%b9%e3%83%88%e3%83%bc%e3%83%ab%ef%bc%88ros%e3%81%ae%e9%83%a8%e5%88%86%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=390","title":{"rendered":"Robotino 3\u3078\u306eFawkes\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08ROS\u306e\u90e8\u5206\uff09"},"content":{"rendered":"<p><a href=\"https:\/\/www.kdel.org\/wp\/?p=127\">Robotino 3\u3078\u306eFawkes\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a>\u306f\uff0ccarologistics \u306e\u30da\u30fc\u30b8\u3092\u8a33\u3057\u305f\u3060\u3051\u3067\u3059\u304c\uff0c\u30aa\u30ea\u30b8\u30ca\u30eb\u306e\u30da\u30fc\u30b8\u3092\u898b\u3066\u307f\u308b\u3068\uff0c\u4ee5\u4e0b\u306e\u6ce8\u610f\u6587\u304c\u3042\u308a\u307e\u3059\uff0e<\/p>\n<blockquote><p>ROS packages have to be rebuilt to adapt them to Boost 1.54. The major change was to update the build dependencies with the following (and similar) changes:<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sed -i -e 's\/libboost-all-dev\/libboost1.54-all-dev\/g' debian\/control<\/pre>\n<p>As package sources we have used \u200bcode.ros.org (look into the stacks for package source files), sources from the packages.ros.org (via apt-get source, unfortunately source is provided for a few packages only), and an \u200bROS PPA. The situation is really unsatisfying for older ROS and Ubuntu versions. We use an old ROS version for compatibility with other projects and to avoid the catkin burden, and for Ubuntu we use the version supported by Festo for the Robotino (for now).<\/p><\/blockquote>\n<p>ROS \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306fBoost 1.54\u306b\u9069\u5fdc\u3055\u305b\u308b\u305f\u3081\u306b\uff0c\u30ea\u30d3\u30eb\u30c9\u3057\u306a\u3051\u308c\u3070\u306a\u308a\u307e\u305b\u3093\uff0e<br \/>\n\u5927\u304d\u306a\u5909\u66f4\u306f\uff0c\u4ee5\u4e0b\u306e\uff08\u3082\u3057\u304f\u306f\u3053\u306e\u3088\u3046\u306a\u611f\u3058\u306e\uff09\u4f5c\u696d\u306b\u3088\u308b\u66f4\u65b0\u304c\u5fc5\u8981\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sed -i -e 's\/libboost-all-dev\/libboost1.54-all-dev\/g' debian\/control<\/pre>\n<p>\u203b\uff08\u8a33\u8005\u6ce8\uff09deb\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f5c\u308b\u3068\u304d\u306b\uff0c\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u4f9d\u5b58\u95a2\u4fc2\u3092\u8981\u6c42\u3059\u308b\u3068\u3053\u308d\u3092\u4e0a\u8a18\u306e\u3088\u3046\u306b1.54 \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u540d\u3078\u3068\u5909\u66f4\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u306f\u305a\u3067\u3059\uff0e<br \/>\nCarologistcs \u306e\u65b9\u3067\u4f7f\u3063\u305f\u30d1\u30c3\u30b1\u30fc\u30b8\u30bd\u30fc\u30b9\u306f\uff0c<a href=\"https:\/\/code.ros.org\/gf\/project\/release\/scmsvn\/?action=browse&#038;path=%2Fdownload%2Fstacks%2F\">code.ros.org<\/a>\uff08package source files \u306e\u5009\u5eab\u3092\u63a2\u3057\u3066\u4e0b\u3055\u3044\uff09\u3068\uff0cpackages.ros.org\u3000\uff08apt-get source\u30b3\u30de\u30f3\u30c9\u3067\u624b\u306b\u5165\u308b\u5206\u306f\uff0c\u6b8b\u5ff5\u306a\u304c\u3089\u307b\u3093\u306e\u5c11\u3057\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3057\u304b\u3042\u308a\u307e\u305b\u3093\uff09\uff0c\u305d\u3057\u3066ROS PPA\u3067\u3059\uff0e\u72b6\u6cc1\u306f\uff0c\u53e4\u3044\u30d0\u30fc\u30b8\u30e7\u30f3ROS\u3068Ubuntu\u306b\u5bfe\u3057\u3066\u306f\u5341\u5206\u3067\u3059\uff0e\u4ed6\u306e\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u3068\u306e\u4e92\u63db\u6027\u306e\u305f\u3081\u3068\uff0cRobotino\u306e\u305f\u3081\u306bFesto\u306b\u3088\u3063\u3066\u30b5\u30dd\u30fc\u30c8\u3055\u308c\u3066\u3044\u308b\u30d0\u30fc\u30b8\u30e7\u30f3\u306eUbuntu \u306e\u305f\u3081\u306b\uff0c\u53e4\u3044\u30d0\u30fc\u30b8\u30e7\u30f3\u306eROS\u3092\u4f7f\u3044\uff0ccatkin burden\u3092\u907f\u3051\u307e\u3059\uff0e<\/p>\n<p>\u3066\u3053\u3068\u306f\uff0cFawkes on the Robotino \u306e\u30da\u30fc\u30b8\u306b\u66f8\u3044\u3066\u3042\u308bROS \u95a2\u4fc2\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\uff0c\u3059\u3079\u3066\u30ea\u30d3\u30eb\u30c9\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u308f\u3051\u3067\u3059\u306d\uff0e<br \/>\n\u3068\u601d\u3063\u305f\u3051\u3069\uff0chttp:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu precise main \u3092\/etc\/apt\/sources.list.d\/fawkes-robotino3.list \u306b\u7528\u610f\u3057\u3066\u3044\u308b\u306e\u3067\uff0c\u30ea\u30d3\u30eb\u30c9\u7248\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u4f7f\u3063\u3066\u3044\u308b\u306f\u305a\u3067\u3059\uff0e<\/p>\n<p>\u30102016\/04\/21:\u8ffd\u8a18\u3011<br \/>\n\u539f\u56e0\u304c\u5224\u660e\u3057\u307e\u3057\u305f\uff0e<br \/>\nCarologistics \u304c\u4e0a\u8a18\u3092\u4f5c\u3063\u305f\u6bb5\u968e\u3067\u306f\uff0cfawkesrobotics\u306b\u304a\u3044\u3066\u3042\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u65b9\u304c\u65b0\u3057\u3044\u306e\u3067\uff0c\u305d\u3061\u3089\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3066\u304f\u308c\u308b\u306e\u3067\u3059\u304c\uff0c<br \/>\n\u73fe\u5728\u306f\uff0c\u516c\u5f0f\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u65b9\u304c\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u4e0a\u306b\u306a\u3063\u3066\u3057\u307e\u3063\u305f\u305f\u3081\uff0cfawkesrobotics \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u7121\u8996\u3055\u308c\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p><a href=\"http:\/\/files.fawkesrobotics.org\/packages\/robotino3\">fawkes-robotino3.list<\/a>\u306b\u304a\u3044\u3066\u3042\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5168\u3066\u624b\u4f5c\u696d\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo dpkg -i *.deb<\/pre>\n<p>\u3068\u3057\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u306a\u3044\u3068\u3044\u3051\u307e\u305b\u3093\uff0e<\/p>\n<p>libboost \u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3068\u304d\u306b\uff0c\u4ee5\u4e0b\u306e\u4f5c\u696d\u3092\u3057\u3066\u3044\u307e\u3057\u305f\u304c\uff0c\u305d\u306e\u969b\u306b\uff0c\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u63d0\u6848\u304c\u3042\u308a\u307e\u3057\u305f\u306e\u3067\uff0c\u305d\u308c\u3092\u8ffd\u52a0\u3057\u3066\u307f\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nsudo apt-get remove 'libboost.*'\r\nsudo apt-get install libboost1.54-dev<\/pre>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nsudo apt-get install libboost1.54-doc libboost-atomic1.54-dev \\\r\n    libboost-chrono1.54-dev libboost-context1.54-dev \\\r\n    libboost-coroutine1.54-dev libboost-date-time1.54-dev \\\r\n    libboost-exception1.54-dev libboost-filesystem1.54-dev \\\r\n    libboost-graph1.54-dev libboost-graph-parallel1.54-dev \\\r\n    libboost-iostreams1.54-dev libboost-locale1.54-dev \\\r\n    libboost-log1.54-dev libboost-math1.54-dev libboost-mpi1.54-dev \\\r\n    libboost-mpi-python1.54-dev libboost-program-options1.54-dev \\\r\n    libboost-python1.54-dev libboost-random1.54-dev \\\r\n    libboost-regex1.54-dev libboost-serialization1.54-dev \\\r\n    libboost-signals1.54-dev libboost-system1.54-dev \\\r\n    libboost-test1.54-dev libboost-thread1.54-dev \\\r\n    libboost-timer1.54-dev libboost-wave1.54-dev default-jdk fop\r\n<\/pre>\n<p>libpcl-1.7-all-dev \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u4f9d\u5b58\u95a2\u4fc2\u306e\u30a8\u30e9\u30fc\u304c\u3067\u305f\u306e\u3067\uff0c\u624b\u4f5c\u696d\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff0e<br \/>\n<a href=\"http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/\">fawkesrobotics\u306e\u30d1\u30c3\u30b1\u30fc\u30b8<\/a>\u306e.deb\u30d5\u30a1\u30a4\u30eb\u3092\u5168\u3066\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\uff0csudo dpkg -i *.deb \u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff0e<\/p>\n<p>\u203b\u3044\u308d\u3044\u308d\u8a66\u3057\u305f\u7d50\u8ad6\uff0e<br \/>\nlibpcl-1.7-bin \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u304c\u898b\u3064\u304b\u3089\u306a\u3044\u2026\uff0e<br \/>\n\u4ed5\u65b9\u304c\u306a\u3044\u306e\u3067\uff0c\u30ea\u30d3\u30eb\u30c9\u3057\u307e\u3059\uff0e<\/p>\n<p>sudo apt-get install devscripts<br \/>\n wget http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/p\/pcl-1.7\/pcl-1.7_1.7.0-2+precise2.debian.tar.gz<br \/>\nwget http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/p\/pcl-1.7\/pcl-1.7_1.7.0-2+precise2.dsc<br \/>\n wget http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/p\/pcl-1.7\/pcl-1.7_1.7.0.orig.tar.gz<br \/>\ndpkg-source -x pcl-1.7_1.7.0-2+precise2.dsc<br \/>\ncd pcl-1.7-1.7.0<br \/>\ndebuild -uc -us -b<\/p>\n<p>\u3053\u308c\u3067\uff0csudo dpkg -i pcl*.deb \u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\uff0e<\/p>\n<p>ros \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5165\u308c\u308b\u306b\u306f\uff0c\u4ee5\u4e0b\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u8ffd\u52a0\u304c\u5fc5\u8981\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nsudo apt-get install libboost1.54-all-dev libtinyxml-dev \\\r\nlibfltk1.1-dev libnetpbm10-dev libsdl-image1.2-dev \\\r\nlibhdf5-serial-dev \r\n<\/pre>\n<p>\u3053\u308c\u3067\uff0csudo dpkg -i ros*.deb \u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Robotino 3\u3078\u306eFawkes\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306f\uff0ccarologistics &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=390\"> <span class=\"screen-reader-text\">Robotino 3\u3078\u306eFawkes\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08ROS\u306e\u90e8\u5206\uff09<\/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":[10,3,2,9,4],"tags":[],"class_list":["post-390","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-robotino-3","category-winter-school-2015"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/390","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=390"}],"version-history":[{"count":12,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/390\/revisions"}],"predecessor-version":[{"id":403,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/390\/revisions\/403"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=390"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=390"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=390"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}