{"id":540,"date":"2016-06-23T22:48:59","date_gmt":"2016-06-23T13:48:59","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=540"},"modified":"2016-06-23T22:48:59","modified_gmt":"2016-06-23T13:48:59","slug":"amcl-yaml-%e3%81%a8gazebo-%e3%81%a7%e8%a8%ad%e5%ae%9a%e3%81%97%e3%81%9f%e5%88%9d%e6%9c%9f%e5%ba%a7%e6%a8%99%e5%80%a4%e3%81%8c%e3%81%9a%e3%82%8c%e3%82%8b%e4%bb%b6","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=540","title":{"rendered":"amcl.yaml \u3068gazebo \u3067\u8a2d\u5b9a\u3057\u305f\u521d\u671f\u5ea7\u6a19\u5024\u304c\u305a\u308c\u308b\u4ef6"},"content":{"rendered":"<p>gazsim.bash \u3067\u5b9f\u884c\u3057\u305f\u3068\u304d\u306b\uff0camclthread\u304c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nApplying Pose \u81ea\u5206\u306e\u5165\u529b\u3057\u305f\u5ea7\u6a19\r\nSetting Pose carologistics \u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u5024\r\nApplying Pose carologistics \u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u5024\r\n<\/pre>\n<p>\u306e\u9806\u3067\u4e0a\u66f8\u304d\u3055\u308c\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u4e0a\u306erobotino\u306e\u5ea7\u6a19\u304c\u304a\u304b\u3057\u304f\u306a\u308a\u307e\u3059\uff0e<\/p>\n<p>fawkes-robotino\/fawkes\/src\/plugins\/amcl\/amcl_thread.cpp \u3092\u8aad\u3093\u3067\u307f\u307e\u3057\u305f\uff0e<\/p>\n<p>\u300cApplying Pose \u81ea\u5206\u306e\u5165\u529b\u3057\u305f\u5ea7\u6a19\u300d\u306b\u95a2\u3057\u3066\u306f\uff0c<br \/>\ninit() \u306b\u3066\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n\u3000init_pose_\u3078\uff0c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\uff08amcl.yaml\uff09\u306einit_pose_{x, y, a}\u3092\u4ee3\u5165\uff0e\r\n\u3000pf_init_pose_mean \u3078\uff0cinit_pose_ \u3092\u4ee3\u5165\uff0e\r\n\u3000initial_pose_hyp_ \u3078 pf_init_pose_mean \u3092\u4ee3\u5165\uff0e\r\n\u3000apply_initial_pose() \u3092\u547c\u3073\u51fa\u3057\uff0c\u5ea7\u6a19\u5024\u3068\u3057\u3066initial_pose_hyp_ \u3092\u4f7f\u3046\uff0e<\/pre>\n<p>\u3064\u307e\u308a\uff0c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306einit_pose_? \u3067\uff0c\u5ea7\u6a19\u5024\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>\u6b21\u306e\uff0cSetting Pose caro \u30c7\u30d5\u30a9\u30eb\u30c8\u5024 \u3067\u3059\u304c\uff0c<br \/>\n\u3053\u308c\u306f\uff0cset_initial_pose() \u3067\u51fa\u529b\u3057\u3066\u3044\u308b\u30e1\u30c3\u30bb\u30fc\u30b8\u3067\u3059\uff0e<\/p>\n<p>\u3053\u306e\u95a2\u6570\u306f\uff0cbb_interface_message_received() \u3067\u547c\u3073\u51fa\u3057\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u3053\u3053\u3092\u898b\u3066\u307f\u308b\u3068\uff0cLocalizationInterface \u306e SetInitialPoseMessage \u3092<br \/>\n\u53d7\u3051\u53d6\u3063\u305f\u3068\u304d\u306b\uff0c\u305d\u306e\u4e2d\u306e\u30c7\u30fc\u30bf\u306b\u57fa\u3065\u3044\u3066\uff0cset_initial_pose() \u3092<br \/>\n\u547c\u3073\u51fa\u3057\u3066\uff0c\u5ea7\u6a19\u5024\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\uff0e<\/p>\n<p>\u3064\u307e\u308a\uff0camcl \u3068\u3057\u3066\u306e\u521d\u671f\u5316\u3060\u3051\u3067\u306a\u304f\uff0c<br \/>\nBlackBoard \u7d4c\u7531\u3067\uff0c\u521d\u671f\u5024\u60c5\u5831\u3092\u53d7\u3051\u53d6\u3063\u305f\u3089\uff0c<br \/>\n\u305d\u3061\u3089\u3067\u4e0a\u66f8\u304d\u3059\u308b\u3068\u3044\u3046\u30d7\u30ed\u30b0\u30e9\u30e0\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>\u3055\u3066\uff0cLocalizationInterface \u306f\uff0c\u8ab0\u304c\u6271\u3063\u3066\u3044\u308b\u304b\u3068\u3044\u3046\u3068\uff0c<br \/>\n\u8d77\u52d5\u3057\u305f\u5f8c\u306b\uff0cffplugin -l webview \u3067webview \u3092\u8aad\u307f\u8fbc\u307f\uff0c<br \/>\n8081 \u30dd\u30fc\u30c8\u3067\u78ba\u8a8d\u3057\u307e\u3059\uff0e<br \/>\n\uff08gazsim.bash \u3067\u306f\uff0c\uff12\u3064\u306efawkes \u3092\u52d5\u304b\u3057\u307e\u3059\u306e\u3067\uff0c<br \/>\n\u3000\u30ed\u30b0\u3092\u898b\u3066\u30dd\u30fc\u30c8\u756a\u53f7\u3092\u63a2\u3057\u307e\u3059\uff09<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nShowing LocalizationInterface::AMCL\r\n\r\nType:\tLocalizationInterface\r\nID:\tAMCL\r\nWriter:\tAmclThread\r\nReaders:\tAmclROSThread, WebviewThread (2)<\/pre>\n<p>\u3068\u3044\u3046\u3053\u3068\u306a\u306e\u3067\uff0cAcmlROSThread \u304c\u72af\u4eba\u3067\u3059\u306e\u3067\uff0cacml\/ros_thread.cpp \u3092\u958b\u304d\uff0c<br \/>\nLocalizationInterface \u3067\u3042\u308b loc_if_ \u3092\u8ffd\u3044\u304b\u3051\u307e\u3059\uff0e<\/p>\n<p>initial_pose_received() \u306e\u95a2\u6570\u3067\uff0c\u66f8\u304d\u8fbc\u3093\u3067\u3044\u308b\u3088\u3046\u306a\u306e\u3067\uff0c<br \/>\n\u305d\u306e\u547c\u3073\u51fa\u3057\u5143\u3092\u898b\u3066\u307f\u308b\u3068\uff0cinit ()\u306b\u3066\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  initial_pose_sub_ =\r\n    rosnode-&gt;subscribe(&quot;initialpose&quot;, 2,\r\n                       &amp;AmclROSThread::initial_pose_received, this);<\/pre>\n<p>\u3068\uff0crosnode \u304b\u3089\u53d7\u3051\u53d6\u3063\u3066\u3044\u308b\u3063\u307d\u3044\u3067\u3059\uff0e<\/p>\n<p>\u3067\uff0cros \u306e\u3069\u3053\u3067initialpose \u3092\u51fa\u3057\u3066\u3044\u308b\u306e\u304b\u63a2\u3057\u3066\u307f\u307e\u3057\u305f\u304c\uff0c<br \/>\n\u5168\u7136\u898b\u3064\u304b\u308a\u307e\u305b\u3093\u3067\u3057\u305f\uff0e<\/p>\n<p>gazebo-rcll\/worlds\/test.world \u306e\u5ea7\u6a19\u3092\u4f7f\u3063\u3066\u3044\u308b\u3088\u3046\u3067\u3082\u3042\u308a\u307e\u305b\u3093\uff0e<\/p>\n<p>gazsim.bash \u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3092\u898b\u3066\u3044\u3066\uff0c\u3088\u3046\u3084\u304f\u7b54\u3048\u304c\u308f\u304b\u308a\u307e\u3057\u305f\uff0e<\/p>\n<p>gazsim.bash \u306e\u4e2d\u306b\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">\r\n# publish initial poses\r\nsleep 15s\r\necho &quot;publish initial poses&quot;\r\n$initial_pose_script_location -d<\/pre>\n<p>\u3053\u3093\u306a\u4f5c\u696d\u304c\u66f8\u304b\u308c\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>initial_pose_script_location \u306e\u4e2d\u8eab\u306f\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">initial_pose_script_location=$script_path\/gazsim-publish-initial-pose.bash<\/pre>\n<p>\u3067\u3059\uff0e<\/p>\n<p>\u3068\u3044\u3046\u308f\u3051\u3067\uff0cgazsim-publish-initial-pose.bash \u3092\u898b\u3066\u307f\u308b\u3068\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">$set_pose -r localhost:1921 -t 2.0 --  3.5  -0.5 0.0  0.0 0.0 0.7 0.7<\/pre>\n<p>\u898b\u899a\u3048\u306e\u3042\u308b\u6570\u5b57\u304c\u51fa\u3066\u304d\u307e\u3057\u305f\uff0e<\/p>\n<p>\u3053\u3053\u3067\uff0c\u5404\u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u5024\u3092\uff0c\u30a2\u30ca\u30a6\u30f3\u30b9\u3059\u308b\u3053\u3068\u3067\uff0c<br \/>\n\u518d\u8a2d\u5b9a\u3057\u3066\u3044\u308b\u308f\u3051\u3067\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>gazsim.bash \u3067\u5b9f\u884c\u3057\u305f\u3068\u304d\u306b\uff0camclthread\u304c Applyin &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=540\"> <span class=\"screen-reader-text\">amcl.yaml \u3068gazebo \u3067\u8a2d\u5b9a\u3057\u305f\u521d\u671f\u5ea7\u6a19\u5024\u304c\u305a\u308c\u308b\u4ef6<\/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],"tags":[],"class_list":["post-540","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\/540","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=540"}],"version-history":[{"count":1,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/540\/revisions"}],"predecessor-version":[{"id":541,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/540\/revisions\/541"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=540"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=540"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=540"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}