{"id":536,"date":"2016-06-23T18:46:51","date_gmt":"2016-06-23T09:46:51","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=536"},"modified":"2017-02-14T15:26:26","modified_gmt":"2017-02-14T06:26:26","slug":"fawkes-on-robotino-%e3%82%92%e5%8b%95%e3%81%8b%e3%81%97%e3%81%a6%e3%81%bf%e3%82%8b","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=536","title":{"rendered":"Fawkes on Robotino \u3092\u52d5\u304b\u3057\u3066\u307f\u308b"},"content":{"rendered":"

Getting the robot to run<\/a>\u3092\u57fa\u306b\u8a66\u884c\u932f\u8aa4\u4e2d\uff0e<\/p>\n

Robotino \u4e0a\u306e\u30d1\u30bd\u30b3\u30f3\uff08Ubuntu\ufffc\uff09\u3092robotino-base1\u3068\u3057\uff0c
\n\u30d9\u30a2\u30dc\u30fc\u30f3\u306e\u30d1\u30bd\u30b3\u30f3\uff08Fedora\uff09\u3092robotino-laptop1\u3068\u3057\u307e\u3059\uff0e<\/p>\n

\u305d\u308c\u305e\u308c\uff0c\/etc\/hosts \u306b\u66f8\u3044\u3066\uff0c\u540d\u524d\u3067\u30a2\u30af\u30bb\u30b9\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u304a\u304d\u307e\u3059\uff0e
\nRobotino \u306e\u30b8\u30e3\u30a4\u30ed\u7b49\u306b\u4e00\u822c\u30e6\u30fc\u30b6\u304c\u30a2\u30af\u30bb\u30b9\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u304a\u304d\u307e\u3059\uff0e<\/p>\n

sudo chmod 777 \/dev\/ttyUSB? \/dev\/ttyACM?<\/pre>\n
Robotino \u306e\u30ec\u30fc\u30b6\u30fc\u30ec\u30f3\u30b8\u30d5\u30a1\u30a4\u30f3\u30c0\u30fc\u3092\u4f7f\u3046\u306e\u3067\u3042\u308c\u3070\uff0claser.yaml \u306b\u3066urg \u3092\u6307\u5b9a\u3057\u307e\u3059\uff0e<\/p>\n
\r\nhardware\/laser\/urg\/active:    true\r\nhardware\/laser\/urg\/type:      urg\r\nhardware\/laser\/tim55x\/active: false<\/pre>\n
refbox \u3092\u4f7f\u3046\u306e\u3067\u3042\u308c\u3070\uff0c~\/llsf-refbox\/cfg\/config.yaml \u306e\u8a2d\u5b9a\u304c\u5fc5\u8981\u3067\u3059\uff0e
\n\u6697\u53f7\u5316\u30ad\u30fc\u3092\u9069\u5207\u306b\u8a2d\u5b9a\u3059\u308c\u3070\uff0crefbox \u306b\u30ed\u30dc\u30c3\u30c8\u304c\u63a5\u7d9a\u3067\u304d\u307e\u3059\uff0e
\n2016\u7248\u306erefbox \u306f\uff0cMPS \u306b\u63a5\u7d9a\u3057\u3088\u3046\u3068\u3059\u308b\u305f\u3081\uff0cMPS \u306e\u306a\u3044\u74b0\u5883\u3067\u306f\uff0cPhase \u3092\u5909\u3048\u305f\u3068\u304d\u306b\u56fa\u307e\u308a\u307e\u3059\uff0e
\n\u4ed5\u65b9\u304c\u306a\u3044\u306e\u3067\uff0cgazebo \u3067 MPS \u3092\u52d5\u304b\u3057\u3066\u304a\u3051\u3070\uff0c\u56de\u907f\u3067\u304d\u307e\u3059\uff0e<\/s>
\nsimulation\/enable = true \u3068\u3059\u308c\u3070\uff0cMPS\u304c\u306a\u304f\u3066\u3082\u52d5\u4f5c\u3057\u307e\u3059\uff0e
\ngazebo \u3092\u4f7f\u308f\u306a\u3044\u5834\u5408\u306f\uff0csimulation\/time-sync\/enable = false \u3068\u3059\u308c\u3070OK\u3067\u3059\uff0e<\/p>\n
\u307e\u305a\uff0cRobotino \u4e0a\u3067fawkes \u3092\u8d70\u3089\u305b\u307e\u3059\uff0e
\n\uff12\u3064\u306e\u30bf\u30d6\u304c\u5fc5\u8981\u3067\u3059\uff0e<\/p>\n
\r\nroscore<\/pre>\n
\r\nsudo chmod 777 \/dev\/ttyUSB? \/dev\/ttyACM?\r\ncd ~\/fawkes-robotino\/bin\r\n.\/fawkes -p m-base-full\r\n<\/pre>\n
\u3067\uff0claptop \u30de\u30b7\u30f3\u306e\u4e0a\u3067 fawkes \u3092\u8d70\u3089\u305b\u307e\u3059\uff0e
\n\u3053\u3061\u3089\u306f\uff0crobotino \u306eBlackBoard \u306e\u5024\u3082\u53d6\u3063\u3066\u304d\u305f\u3044\u306e\u3067\uff0cbbsync \u3082\u8aad\u307f\u8fbc\u307f\u307e\u3059\uff0e
\ncfg\/conf.d\/bbsync.yaml \u306ehost \u540d\u3092robotino \u306e\u540d\u524d\u306b\u3057\uff0c\/etc\/hosts \u3067IP \u306b\u5909\u63db\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u3066\u304a\u304d\u307e\u3059\uff0e
\n\u6b21\u306b\uff0ccfg\/conf.d\/machine-signal.yaml \u306e camera \u306e\u9805\u76ee\u3092 camera: v4l2:signal:device=\/dev\/video0 \u3068\u3057\u307e\u3059\uff0e<\/p>\n
\r\ncd ~\/fawkes-robotino\/bin\r\n.\/fawkes -p m-full\r\n<\/pre>\n
\u3055\u3066\uff0c\u3069\u3046\u3084\u3063\u3066refbox \u3068\u901a\u4fe1\u3057\u3066\u3044\u308b\u3093\u3067\u3057\u3087\u3046\u2026\uff0e<\/s>
\nRefBox \u3068\u306e\u901a\u4fe1\u306e\u8a2d\u5b9a\u306f\uff0ccfg\/conf.d\/clips-agent.yaml \u306b\u66f8\u3044\u3066\u3042\u308a\u307e\u3059\uff0e
\n\u30c1\u30fc\u30e0\u540d\uff0c\u30ed\u30dc\u30c3\u30c8\u540d\u7b49\u306e\u8a2d\u5b9a\u3082\u3053\u3053\u3067\u3059\u306e\u3067\uff0c\u9069\u5207\u306b\u8a2d\u5b9a\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
Getting the robot to run\u3092\u57fa\u306b\u8a66\u884c\u932f\u8aa4\u4e2d\uff0e Roboti …<\/p>\n
  Fawkes on Robotino \u3092\u52d5\u304b\u3057\u3066\u307f\u308b<\/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":[10,3,2,9],"tags":[],"class_list":["post-536","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-robotino-3"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/536","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=536"}],"version-history":[{"count":7,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/536\/revisions"}],"predecessor-version":[{"id":651,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/536\/revisions\/651"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=536"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=536"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=536"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}