{"id":419,"date":"2016-05-03T20:24:09","date_gmt":"2016-05-03T11:24:09","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=419"},"modified":"2016-05-20T12:10:26","modified_gmt":"2016-05-20T03:10:26","slug":"robotino-2%e3%81%ae%e3%82%bb%e3%83%83%e3%83%88%e3%82%a2%e3%83%83%e3%83%97","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=419","title":{"rendered":"Robotino 2\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7"},"content":{"rendered":"

\u307e\u305a\u306f\uff0cCF\u30ab\u30fc\u30c9\u306e\u521d\u671f\u5316\u304b\u3089\u884c\u3044\u307e\u3059\uff0e
\nRobotino wiki – Download\u304b\u3089Robotino 2\u306eCF\u30ab\u30fc\u30c9\u306e\u30a4\u30e1\u30fc\u30b8\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u307e\u3059\uff0e<\/p>\n

\u4eca\u306e\u3068\u3053\u308d\uff0cVersion 2.4\u304c\u6700\u65b0\u3067\u3059\uff0e4GB \u7248\u3092\u4f7f\u3063\u3066\u307f\u307e\u3059\uff0e
\nRobotino_CF_Image_V24_20110325_4GB.dd.gz<\/a><\/p>\n

wget http:\/\/doc.openrobotino.org\/download\/flashcard\/Robotino_CF_Image_V24_20110325_4GB.dd.gz\r\ngunzip Robotino_CF_Image_V24_20110325_4GB.dd.gz\r\n<\/pre>\n
Ubuntu \u306e\u5834\u5408\uff0cCF\u30ab\u30fc\u30c9\u306e\u5834\u6240\u3092ls\/dev\/sd*\u3067\u78ba\u8a8d\u3057\u3066\uff0cof\u306b\u305d\u308c\u3092\u6307\u5b9a\u3057\u307e\u3059\uff0e<\/p>\n
\r\nsudo dd if=Robotino_CF_Image_V24_20110325_4GB.dd of=\/dev\/sd? bs=1m\r\n<\/pre>\n
Mac OS X \u306e\u5834\u5408\uff0cCF\u30ab\u30fc\u30c9\u306e\u5834\u6240\u3092ls\/dev\/rdisk*\u3067\u78ba\u8a8d\u3057\u3066\uff0cof\u306b\u305d\u308c\u3092\u6307\u5b9a\u3057\u307e\u3059\uff0e<\/p>\n
sudo diskutil unmountDisk \/dev\/rdisk?\r\nsudo dd if=Robotino_CF_Image_V24_20110325_4GB.dd of=\/dev\/rdisk? bs=1m\r\n<\/pre>\n
\u79c1\u306e\u74b0\u5883\u3067\u306f\uff0c3\u520620\u79d2\u307b\u3069\u3067\u66f8\u304d\u8fbc\u307f\u3092\u7d42\u3048\u307e\u3057\u305f\uff0e<\/p>\n
\r\nMacBook-Air-5:Downloads kotora$ time sudo dd if=Robotino_CF_Image_V24_20110325_4GB.dd of=\/d\r\nev\/rdisk2 bs=1m\r\n3815+0 records in\r\n3815+0 records out\r\n4000317440 bytes transferred in 200.675104 secs (19934299 bytes\/sec)\r\n\r\nreal    3m20.716s\r\nuser    0m0.020s\r\nsys     0m3.362s\r\n<\/pre>\n
\u7528\u610f\u3057\u305fCF \u30ab\u30fc\u30c9\u304c\uff0c4GB \u4ee5\u4e0a\u306e\u5834\u5408\u306f\uff0cgparted \u3067\u30d1\u30fc\u30c6\u30a3\u30b7\u30e7\u30f3\u306e\u30b5\u30a4\u30ba\u3092\u5927\u304d\u304f\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\uff0e
\n\u3042\u3068\uff0cswap \u304c\u5b58\u5728\u3057\u3066\u3044\u306a\u3044\u306e\u3067\uff0c1GB \u7a0b\u5ea6\u78ba\u4fdd\u3057\u3066\u304a\u304f\u65b9\u304c\u826f\u3044\u306e\u304b\u306a\u3041\u3068\u601d\u3044\u307e\u3059\u304c\uff0c\u5b9f\u969b\u306f\u3069\u3046\u304b\u308f\u304b\u308a\u307e\u305b\u3093\uff0e<\/p>\n
\u307e\u305a\uff0c\u524d\u6bb5\u968e\u3068\u3057\u3066\uff0cCF\u30ab\u30fc\u30c9\u5185\u306e\/etc\/sudoers\u306e\u8a2d\u5b9a\u3092\u66f8\u304d\u63db\u3048\u307e\u3057\u3087\u3046\uff0e<\/p>\n
\r\n# robotino ALL = NOPASSWD: \/bin\/date, \/etc\/init.d\/gyrod.sh, \/etc\/init.d\/iod.sh, \/etc\/init.d\r\n\/lcdd.sh, \/etc\/init.d\/control.sh, \/etc\/init.d\/webserverd.sh, \/etc\/init.d\/startapi.sh, \/usr\/\r\nsbin\/ntpdate\r\nrobotino ALL=(ALL)       NOPASSWD: ALL\r\n<\/pre>\n
\u203b\u4eca\u56de\u306fGW\u671f\u9593\u4e2d\u306e\u305f\u3081\uff0c\u5927\u5b66\u3067\u306f\u306a\u304f\u81ea\u5b85\u3067\u4f5c\u696d\u3057\u307e\u3057\u305f\uff0e\u305d\u306e\u305f\u3081\uff0cProxy\u306e\u8a2d\u5b9a\u306f\u3057\u3066\u3044\u307e\u305b\u3093\uff0e\u5927\u5b66\u3067\u4f7f\u3046\u5206\u306b\u306f\uff0c\u74b0\u5883\u5909\u6570http_proxy\u3068https_proxy\uff0csubversion\uff0cgit\u306e\u8a2d\u5b9a\u3092\u3057\u307e\u3057\u3087\u3046<\/p>\n
Robotino 2\u306b\u4f5c\u6210\u3057\u305fCF\u30ab\u30fc\u30c9\u3092\u633f\u3057\u3066\uff0c\u8d77\u52d5\u3057\u307e\u3059\uff0e
\n\u30d1\u30fc\u30c6\u30a3\u30b7\u30e7\u30f3\u306e\u30b5\u30a4\u30ba\u3092\u5909\u3048\u3066\u3044\u305f\u5834\u5408\u306f\uff0c\u30c7\u30a3\u30b9\u30af\u306e\u30c1\u30a7\u30c3\u30af\u304c\u3042\u308a\u5c11\u3057\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3059\uff0e
\n\u5834\u5408\u306b\u3088\u3063\u3066\u306ffailed \u3068\u306a\u3063\u3066\u96fb\u6e90\u304c\u843d\u3061\u308b\u304b\u3082\u3057\u308c\u307e\u305b\u3093\u304c\uff0c\u3082\u3046\u4e00\u5ea6\u96fb\u6e90\u3092\u5165\u308c\u308c\u3070\uff0c\u6210\u529f\u3059\u308b\u3053\u3068\u304c\u591a\u3044\u3067\u3059\uff0e<\/p>\n
\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306e\u8a2d\u5b9a\u306e\u5909\u66f4\u3092\u3057\u307e\u3057\u3087\u3046\uff0e
\n\/etc\/network\/interfaces<\/p>\n
\r\nauto lo\r\niface lo inet loopback\r\n\r\nauto eth0\r\niface eth0 inet dhcp\r\n\r\nauto eth0:1\r\niface eth0:1 inet static\r\n  address 172.26.101.103\r\n  netmask 255.255.0.0\r\n\r\nauto wlan0\r\niface wlan0 inet dhcp\r\n<\/pre>\n
\u3053\u308c\u3067\uff0c\u6709\u7dda\u304cdhcp \u306b\u306a\u308a\u307e\u3059\u306e\u3067\uff0cdhcp\u30b5\u30fc\u30d0\u306e\u52d5\u3044\u3066\u3044\u308b\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306b\u3064\u306a\u3052\u308b\u3053\u3068\u3067\uff0c\u4ed6\u306e\u30d1\u30bd\u30b3\u30f3\u304b\u3089ssh \u3067\u30ed\u30b0\u30a4\u30f3\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e
\n\u203bRobotino \u672c\u4f53\u3067\u4f5c\u696d\u3092\u3059\u308b\u3068\uff0c\u30ad\u30fc\u30dc\u30fc\u30c9\u304c\u30c9\u30a4\u30c4\u8a9e\u914d\u5217\u306b\u306a\u308b\u305f\u3081\uff0c\u5165\u529b\u304c\u56f0\u96e3\u3067\u3059\uff0e<\/p>\n
apt\u3092\u6709\u52b9\u306b\u3059\u308b\u305f\u3081\u306b\uff0c\/etc\/apt\/sources.list \u3092\u4ee5\u4e0b\u3078\u66f8\u304d\u63db\u3048\u307e\u3059\uff0e
\n\u203bUbuntu 9.04\u306f\uff0c\u3059\u3067\u306b\u30b5\u30dd\u30fc\u30c8\u5916\u3068\u306a\u3063\u305f\u305f\u3081\u3067\u3059\uff0e<\/p>\n
\r\nrobotino@robotino:~$ cat \/etc\/apt\/sources.list\r\ndeb http:\/\/doc.openrobotino.org\/download\/packages .\/\r\n\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty main restricted\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty main restricted\r\n<\/pre>\n
\u8ffd\u52a0\u4f5c\u696d<\/p>\n
\r\nsudo apt-get libelf-dev\r\n<\/pre>\n
Fawkes \u7528\u306esources.list \u306b\u3057\u305f\u65b9\u304c\u826f\u3044\u3067\u3059\uff08Ubuntu 10.04\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5f37\u5f15\u306b\u5229\u7528\u3059\u308b\u611f\u3058\u3067\u3059\uff09\uff0e<\/p>\n
\r\ndeb http:\/\/doc.openrobotino.org\/download\/packages .\/\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty main restricted\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty main restricted\r\n\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty-updates main restricted\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty-updates main restricted\r\n\r\ndeb http:\/\/ja.archive.ubuntu.com\/ubuntu\/ lucid main restricted\r\ndeb http:\/\/ja.archive.ubuntu.com\/ubuntu\/ lucid-updates main restricted\r\n\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty universe\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty universe\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty-updates universe\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty-updates universe\r\n\r\ndeb http:\/\/ja.archive.ubuntu.com\/ubuntu\/ lucid universe\r\ndeb http:\/\/ja.archive.ubuntu.com\/ubuntu\/ lucid-updates universe\r\n\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty multiverse\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty multiverse\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty-updates multiverse\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu\/ jaunty-updates multiverse\r\n\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu jaunty-security main restricted\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu jaunty-security main restricted\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu jaunty-security universe\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu jaunty-security universe\r\ndeb http:\/\/old-releases.ubuntu.com\/ubuntu jaunty-security multiverse\r\ndeb-src http:\/\/old-releases.ubuntu.com\/ubuntu jaunty-security multiverse\r\n\r\n# deb http:\/\/ppa.launchpad.net\/pdoes\/ppa\/ubuntu lucid main\r\n# deb http:\/\/ppa.launchpad.net\/v-launchpad-jochen-sprickerhof-de\/pcl\/ubuntu\/ lucid main\r\n# deb http:\/\/ppa.launchpad.net\/openmw\/deps\/ubuntu lucid main\r\n\r\n# deb http:\/\/files.fawkesrobotics.org\/robotino\/aptrepo robotino\/\r\ndeb http:\/\/files.fawkesrobotics.org\/packages\/robotino2 robotino\/\r\n<\/pre>\n
upgrade \u3057\u306a\u3044\u3088\u3046\u306b\u6c17\u3092\u3064\u3051\u3066\u4e0b\u3055\u3044\uff0e<\/p>\n
\r\nsudo apt-get update\r\n<\/pre>\n
openrobotino\u95a2\u4fc2\u306f\uff0c\u4ee5\u4e0b\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u304c\u66f4\u65b0\u3055\u308c\u308b\u306f\u305a\u3067\u3059\uff0e<\/p>\n
\r\nThe following packages will be upgraded:\r\n  linux-image-2.6.28.9.robotino-rtai-3.7.1-gcc-4.3 openrobotino1 openrobotino2 robview2\r\n  robview2-api\r\n<\/pre>\n
Robotino<\/a>\u306e\u9805\u76ee\u306b\u5f93\u3063\u3066\uff0c\u4f5c\u696d\u3092\u9032\u3081\u307e\u3059\uff0e<\/p>\n
\r\nfor f in \/etc\/network\/interfaces*; do \\\r\n  sudo sed -i -e 's\/auto eth0:1\/#auto eth0:1\/' $f; \\\r\ndone\r\n<\/pre>\n
\/etc\/apt\/apt.conf.d\/01ubuntu \u3092\u4ee5\u4e0b\u3078\u5909\u66f4\uff0e<\/p>\n
\r\nAPT\r\n{\r\n  Cache-limit "67108864";\r\n};\r\n<\/pre>\n
\r\nsudo apt-get update\r\n<\/pre>\n
\r\nsudo apt-get remove '.*java.*' '.*gcj.*'\r\nsudo apt-get install libboost1.40-all-dev\r\n# The following removes GCC 4.3\r\nsudo apt-get remove gcc\r\n# The following install GCC 4.4 from Lucid Lynx repositories\r\nsudo apt-get install gcc g++ libboost1.40-all-dev\r\nsudo apt-get install git-core vim libmagic-dev libssl-dev libavahi-client-dev libsqlite3-dev \\\r\n  libxml++2.6-2 libxml++2.6-dev libdaemon-dev libmicrohttpd-dev  liblua5.1-0-dev libtolua++5.1-dev \\\r\n  libpng12-dev libjpeg62-dev libcv-dev libcvaux-dev librrd-dev cmake \\\r\n  graphviz-dev libeigen3-dev libgtest-dev libqhull-dev libtinyxml-dev liburg0-dev \\\r\n  libv4l-dev v4l-utils yaml-cpp-dev distcc\r\n<\/pre>\n
libbullet0 \u3068libbullet-dev \u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306f\uff0c\u4ee5\u4e0b\u306eppa\u304b\u3089\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\uff0e<\/p>\n
\r\nwget http:\/\/ppa.launchpad.net\/openmw\/deps\/ubuntu\/pool\/main\/libb\/libbullet\/libbullet-dev_2.77.1-openmw1~precise2_all.deb\r\nwget http:\/\/ppa.launchpad.net\/openmw\/deps\/ubuntu\/pool\/main\/libb\/libbullet\/libbullet0_2.77.1-openmw1~precise2_i386.deb\r\nsudo dpkg -i *.deb\r\n<\/pre>\n
ROS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n
\r\nsudo sh -c 'echo "deb http:\/\/packages.ros.org\/ros\/ubuntu lucid main" > \/etc\/apt\/sources.list.d\/ros-latest.list'\r\nwget http:\/\/packages.ros.org\/ros.key -O - | sudo apt-key add -\r\nsudo apt-get update\r\n<\/pre>\n
\r\nsudo apt-get remove yaml-cpp-dev\r\nsudo apt-get install yaml-cpp0.2.6-dev\r\n<\/pre>\n
\r\n# ROS comes with its own OpenCV version (that Fawkes can use)\r\nsudo apt-get remove libcv-dev libcvaux-dev libopencv-calib3d-dev libopencv-calib3d2.3 \\\r\n  libopencv-core-dev libopencv-core2.3 libopencv-features2d-dev libopencv-features2d2.3 \\\r\n  libopencv-flann-dev libopencv-flann2.3 libopencv-gpu2.3 libopencv-highgui-dev libopencv-highgui2.3 \\\r\n  libopencv-imgproc-dev libopencv-imgproc2.3 libopencv-legacy2.3 libopencv-ml-dev libopencv-ml2.3 \\\r\n  libopencv-objdetect-dev libopencv-objdetect2.3 libopencv-video2.3\r\n\r\nsudo apt-get install ros-fuerte-ros-comm ros-fuerte-common-msgs ros-fuerte-geometry \\\r\n  ros-fuerte-robot-model ros-fuerte-image-common ros-fuerte-image-transport-plugins \\\r\n  libeigen3-dev=3.0.1-1+ros4~lucid\r\n<\/pre>\n
\r\nsudo sed -e 's\/^\\(.\\)\/#\\1\/' -i \/etc\/udev\/rules.d\/99-rangefinder.rules\r\n# git clone git:\/\/git.fawkesrobotics.org\/fawkes.git \r\n\r\ncat << EOF >> ~\/.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\n# cd\r\n# wget https:\/\/files.fawkesrobotics.org\/releases\/fawkes-robotino-2015.tar.bz2 --no-check-certificate\r\n# tar xf fawkes-robotino-2015.tar.bz2\r\n# cd fawkes-robotino\r\n# make -j2 clean all gui\r\n\r\nhttp:\/\/files.fawkesrobotics.org\/releases\/fawkes-0.5.0.tar.bz2\r\ntar jxf fawkes-0.5.0.tar.bz2\r\ncd jawkes-0.5.0\r\nmake clean all -j2\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"
\u307e\u305a\u306f\uff0cCF\u30ab\u30fc\u30c9\u306e\u521d\u671f\u5316\u304b\u3089\u884c\u3044\u307e\u3059\uff0e Robotino wiki &#821 …<\/p>\n
  Robotino 2\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7<\/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":[10,3,2],"tags":[],"class_list":["post-419","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/419","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=419"}],"version-history":[{"count":19,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/419\/revisions"}],"predecessor-version":[{"id":449,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/419\/revisions\/449"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=419"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=419"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=419"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}