{"id":404,"date":"2016-04-21T12:56:45","date_gmt":"2016-04-21T03:56:45","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=404"},"modified":"2016-06-17T06:00:55","modified_gmt":"2016-06-16T21:00:55","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%88%e4%bf%ae%e6%ad%a3%e7%89%88%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=404","title":{"rendered":"Robotino 3\u3078\u306eFawkes\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u4fee\u6b63\u7248\uff09"},"content":{"rendered":"<p><a href=\"https:\/\/trac.fawkesrobotics.org\">fawkes robotics<\/a>\u306e<a href=\"https:\/\/trac.fawkesrobotics.org\/wiki\/Robotino3\">Robotino 3<\/a>\u306e\u30da\u30fc\u30b8\u3092\u53c2\u8003\u306b\u9032\u3081\u307e\u3059\uff0e<\/p>\n<ol>\n<li>GCC\u306e\u8a2d\u5b9a<\/li>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\nsudo apt-get install software-properties-common python-software-properties\r\nsudo -E add-apt-repository ppa:ubuntu-toolchain-r\/test\r\nsudo apt-get update\r\nsudo apt-get install gcc-4.8 g++-4.8\r\n\r\nsudo update-alternatives --remove gcc \/usr\/bin\/gcc-4.6\r\nsudo update-alternatives --install \/usr\/bin\/gcc gcc \/usr\/bin\/gcc-4.8 60 --slave \/usr\/bin\/g++ g++ \/usr\/bin\/g++-4.8\r\nsudo update-alternatives --install \/usr\/bin\/gcc gcc \/usr\/bin\/gcc-4.6 40 --slave \/usr\/bin\/g++ g++ \/usr\/bin\/g++-4.6<\/pre>\n<li>boost1.46\u304b\u3089boost1.54\u3078\u5909\u66f4<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo -E add-apt-repository ppa:boost-latest\/ppa\r\nsudo apt-get update\r\nsudo apt-get remove 'libboost.*'\r\nsudo apt-get install libboost1.54-dev 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    libboost1.54-all-dev libtinyxml-dev \\\r\n    libfltk1.1-dev libnetpbm10-dev libsdl-image1.2-dev \\\r\n    libhdf5-serial-dev \r\n<\/pre>\n<li>ROS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\"># Add ROS package repository, required e.g. for bullet\r\nsudo sh -c 'echo &quot;deb http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu precise main&quot; &gt; \/etc\/apt\/sources.list.d\/fawkes-robotino3.list'\r\nwget http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/fawkes-robotino3.key -O - | sudo apt-key add -\r\n\r\n# Repository which has a new version of libmicrohttpd\r\nsudo -E add-apt-repository -y ppa:openvas\/stable\r\n\r\n# Recent CLIPS\/clipsmm versions\r\nsudo -E add-apt-repository -y ppa:timn\/clips\r\n\r\nsudo apt-get update\r\nsudo apt-get upgrade\r\n\r\nsudo apt-get install build-essential git-core g++ vim asciidoc doxygen \\\r\n  libmagic-dev libssl-dev libavahi-client-dev libsqlite3-dev libxml++2.6-2 libxml++2.6-dev \\\r\n  libdaemon-dev libmicrohttpd10-dev  liblua5.1-0-dev libtolua++5.1-dev yaml-cpp \\\r\n  libdc1394-22-dev libbluetooth-dev libbullet-dev libelf-dev \\\r\n  libjpeg-dev libtiff4-dev libjpeg8-dev libjpeg-turbo8-dev libpng12-dev \\\r\n  libopencv-dev libopencv-objdetect-dev libopencv-highgui-dev libopencv-calib3d-dev \\\r\n  libopencv-features2d-dev libopencv-legacy-dev libopencv-contrib-dev \\\r\n  librrd-dev graphviz libgraphviz-dev flite1-dev libasound2-dev \\\r\n  libxmlrpc-c3-dev libgl1-mesa-dev freeglut3-dev libsdl1.2-dev liburg0-dev \\\r\n  libgtkmm-3.0-dev libcairomm-1.0-dev libgconfmm-2.6-dev \\\r\n  libclipsmm-dev libprotobuf-dev libprotoc-dev protobuf-compiler \\\r\n  mongodb-dev mongodb-server devscripts\r\n\r\nwget http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/p\/pcl-1.7\/pcl-1.7_1.7.0-2+precise2.debian.tar.gz\r\nwget http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/p\/pcl-1.7\/pcl-1.7_1.7.0-2+precise2.dsc\r\nwget http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/p\/pcl-1.7\/pcl-1.7_1.7.0.orig.tar.gz\r\ndpkg-source -x pcl-1.7_1.7.0-2+precise2.dsc \r\ncd pcl-1.7-1.7.0\r\ndebuild -uc -us -b\r\nsudo dpkg -i *pcl*.deb\r\n\r\n# Fix a bug in the PCL 1.7 pkg-config files\r\nfor f in people segmentation visualization; do \\\r\n  sudo sed -i -e 's\/pcl_geometry-1.7 \/\/' \/usr\/lib\/pkgconfig\/pcl_$f-1.7.pc; \\\r\ndone\r\n<\/pre>\n<p>ROS \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306f\uff0capt \u3060\u3068fawkesrobotics.org \u3092\u53d6\u308a\u306b\u884c\u304b\u306a\u3044\u306e\u3067\uff0c<br \/>\n\u30d1\u30c3\u30b1\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u3092\u624b\u4f5c\u696d\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u4e0b\u3055\u3044\uff0e<br \/>\n<a href=\"http:\/\/files.fawkesrobotics.org\/packages\/robotino3\/ubuntu\/pool\/main\/r\/\">fawkesrobotics.org<\/a>\u304b\u3089\u5168\u3066\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nsudo dpkg -i ros*.deb\r\n\r\necho &quot;source \/opt\/ros\/fuerte\/setup.bash&quot; &gt;&gt; ~\/.bashrc\r\nsource \/opt\/ros\/fuerte\/setup.bash<\/pre>\n<p>2016\/06\/15\u73fe\u5728\uff0capt-get upgrade \u3067ros \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u66f4\u65b0\u3059\u308b\u3068\uff0cfawkes\u306emake \u3067\uff0c\u3044\u304f\u3064\u304b\u306e\u8b66\u544a\u304c\u51fa\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\uff0e<br \/>\n\u305d\u3057\u3066fawkes \u3067\u306f\uff0c\u8b66\u544a = \u30a8\u30e9\u30fc\u3068\u3057\u3066\u3044\u308b\u305f\u3081\uff0c\u30b3\u30f3\u30d1\u30a4\u30eb\u3067\u304d\u306a\u304f\u306a\u308a\u307e\u3059\uff0e<br \/>\n\uff08\u3053\u306e\u524d\u307e\u3067\u306f\uff0cupgrade \u3057\u3066\u3082\u554f\u984c\u306a\u304b\u3063\u305f\u306e\u3067\u3059\u304c\u2026\uff09<br \/>\n\u3068\u308a\u3042\u3048\u305a\u306e\u5bfe\u51e6\u6cd5\u3068\u3057\u3066\uff0c\u4e0a\u8a18\u306esudo dpkg -i *pcl*.deb \u304b\u3089\u306e\u4f5c\u696d\u3092\u3082\u3046\u4e00\u5ea6\u3057\u3066\uff0c\u53e4\u3044\u30d1\u30c3\u30b1\u30fc\u30b8\u306b\u623b\u3057\u305f\u3089\uff0c\u76f4\u308a\u307e\u3057\u305f\uff0e<br \/>\n\u305f\u3060\u3057\uff0c\u3053\u308c\u306f\u30b3\u30f3\u30d1\u30a4\u30eb\u53ef\u80fd\u306a\u6bb5\u968e\u306eros \u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u6642\u306b\uff0crobotino \u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u4f5c\u696d\u3092\u3057\u3066\u3044\u305f\u5834\u5408\u306e\u307f\u6709\u52b9\u3067\uff0c\u73fe\u5728\u65b0\u898f\u3067\u4f5c\u696d\u3057\u3066\u3044\u308b\u5834\u5408\u306f\uff0c\u7121\u7406\u3067\u3059\uff0e<\/p>\n<li>ccache\u306e\u8a2d\u5b9a<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo apt-get install -y ccache\r\necho 'export PATH=&quot;\/usr\/lib\/ccache:$PATH&quot;' | tee -a ~\/.bashrc \\ &amp;&amp; source ~\/.bashrc &amp;&amp; echo $PATH\r\nwhich g++ gcc<\/pre>\n<ul>\n<li>\u4ee5\u4e0b\u306e\u51fa\u529b\u304c\u51fa\u305f\u3089Ok\u3067\u3059\uff0e<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\/usr\/lib\/ccache:\/opt\/ros\/fuerte\/bin:\/usr\/lib\/ccache:\/opt\/ros\/fuerte\/bin:\/usr\/local\/sbin:\/usr\/local\/bin:\/usr\/sbin:\/usr\/bin:\/sbin:\/bin:\/usr\/games\r\n\/usr\/lib\/ccache\/g++\r\n\/usr\/lib\/ccache\/gcc<\/pre>\n<li>\u4ee5\u4e0b\u306e\u8a2d\u5b9a\u3092\u3057\u307e\u3057\u3087\u3046\uff0e<\/li>\n<\/ul>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">ccache -F 0 &amp;&amp; ccache -M 2<\/pre>\n<li>OpenRobotino daemons\u306e\u7121\u52b9\u5316<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo update-rc.d -f joystick.sh remove\r\nsudo update-rc.d lighttpd disable\r\nsudo su -c &quot;echo manual &gt; \/etc\/init\/fleetcomd.override&quot;\r\n\r\nfor f in 99-camd2.rules 99-ftdid.rules 99-joystick.rules; do\r\n  sudo sed -e 's\/^\\(.\\)\/#\\1\/' -i \/etc\/udev\/rules.d\/$f\r\ndone<\/pre>\n<li>Socket\u6a29\u9650\u306e\u4fee\u6b63<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">sudo cat &lt;&lt;EOM &gt;&gt;\/etc\/init\/rpcd.conf\r\npost-start script\r\n  sleep 5\r\n  chmod 666 \/tmp\/__REC__RPC__12080__\r\nend script\r\n\r\nEOM<\/pre>\n<li>fawkes \u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/li>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ncat &lt;&lt; EOF &gt;&gt; ~\/.bashrc\r\nexport FAWKES_DIR=~\/fawkes-robotino\r\nexport GAZEBO_RCLL=~\/gazebo-rcll\r\nexport GAZEBO_PLUGIN_PATH=\\$GAZEBO_PLUGIN_PATH:\\$GAZEBO_RCLL\/plugins\/lib\/gazebo\r\nexport GAZEBO_MODEL_PATH=\\$GAZEBO_RCLL\/models\r\nexport GAZEBO_MODEL_PATH=\\$GAZEBO_MODEL_PATH:\\$GAZEBO_RCLL\/models\/carologistics\r\n\t \r\nexport LLSF_REFBOX_DIR=~\/llsf-refbox\r\nexport GAZEBO_WORLD_PATH=~\/gazebo-rcll\/worlds\/carologistics\/llsf.world\r\nEOF\r\nsource ~\/.bashrc\r\n\r\ncd\r\nwget https:\/\/files.fawkesrobotics.org\/releases\/fawkes-robotino-2015.tar.bz2 --no-check-certificate\r\ntar xf fawkes-robotino-2015.tar.bz2\r\ncd fawkes-robotino\r\nmake -j4 clean all gui<\/pre>\n<p>\u3053\u308c\u3067\u5b8c\u6210\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>fawkes robotics\u306eRobotino 3\u306e\u30da\u30fc\u30b8\u3092\u53c2\u8003\u306b\u9032\u3081\u307e\u3059\uff0e  &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=404\"> <span class=\"screen-reader-text\">Robotino 3\u3078\u306eFawkes\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\uff08\u4fee\u6b63\u7248\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-404","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\/404","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=404"}],"version-history":[{"count":5,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/404\/revisions"}],"predecessor-version":[{"id":520,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/404\/revisions\/520"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=404"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=404"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=404"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}