{"id":569,"date":"2016-06-26T17:33:32","date_gmt":"2016-06-26T08:33:32","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=569"},"modified":"2016-06-26T18:52:31","modified_gmt":"2016-06-26T09:52:31","slug":"fawkes-%e3%81%a8llsf-refbox-%e3%81%a8%e3%81%ae%e6%8e%a5%e7%b6%9a-%e3%81%9d%e3%81%ae3","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=569","title":{"rendered":"Fawkes \u3068llsf-refbox \u3068\u306e\u63a5\u7d9a \u305d\u306e3"},"content":{"rendered":"

Fawkes \u3068llsf-refbox \u3068\u306e\u63a5\u7d9a \u305d\u306e2<\/a>\u306e\u7d9a\u304d\uff0e
\n\u305d\u308d\u305d\u308d\uff0c\u7b54\u3048\u304c\u898b\u3048\u3066\u304d\u307e\u3057\u305f\uff0e<\/p>\n

\u307e\u305a\u306f\uff0cRefBox \u304c\u52d5\u304f\u74b0\u5883\u3068\u4f5c\u308a\u307e\u3059\uff0e
\nRefBox \u3068\u63a5\u7d9a\u7528\u306e2\u53f0\u306ePC\u3092\uff0c\u7528\u610f\u3057\u307e\u3059\uff0e<\/p>\n

\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u306f\uff0c192.168.4.0\/24 \u3067\u3059\uff0e<\/p>\n

RefBox \u5074\u306e~llsf-refbox\/cfg\/config.yaml \u306f\uff0e\u4ee5\u4e0b\u306e\u901a\u308a\uff0e<\/p>\n

\r\n[wataru@liva-fedora ~]$ cat llsf-refbox\/cfg\/config.yaml \r\n%YAML 1.2\r\n%TAG ! tag:fawkesrobotics.org,cfg\/\r\n---\r\n# Configuration meta information document\r\ninclude:\r\n  # reads files ending in .yaml from conf.d config subdir\r\n  # - !ignore-missing conf.d\/\r\n  # Reads the host-specific configuration file, no failure if missing\r\n  - !host-specific host.yaml\r\n---\r\n# Main configuration document\r\n\r\nllsfrb:\r\n  log:\r\n    level: info\r\n    general: refbox.log\r\n    clips: clips.log\r\n    game: game.log\r\n\r\n  sps:\r\n    enable: false\r\n    host: !ipv4 192.168.1.77\r\n    port: !tcp-port 502\r\n    test-lights: false\r\n\r\n  mps:\r\n    enable: false\r\n    # type: 1(incoming station), 2(singel p&p), 3(double p&p), 4(delivery station)\r\n    stations:\r\n      C-BS:\r\n        active: false\r\n        type: BS\r\n        host: !ipv4 192.168.2.27\r\n        port: !tcp-port 502\r\n      C-CS1:\r\n        active: false\r\n        host: !ipv4 192.168.2.24\r\n        port: !tcp-port 502\r\n        type: CS\r\n      C-CS2:\r\n        active: false\r\n        host: !ipv4 192.168.2.25\r\n        port: !tcp-port 502\r\n        type: CS\r\n      C-RS1:\r\n        active: false\r\n        host: !ipv4 192.168.2.23\r\n        port: !tcp-port 502\r\n        type: RS\r\n      C-RS2:\r\n        active: false \r\n        host: !ipv4 192.168.2.26\r\n        port: !tcp-port 502\r\n        type: RS\r\n      C-DS:\r\n        active: false\r\n        host: !ipv4 192.168.2.28\r\n        port: !tcp-port 502\r\n        type: DS\r\n      M-BS:\r\n        active: false\r\n        host: !ipv4 192.168.2.33\r\n        port: !tcp-port 502\r\n        type: BS\r\n      M-CS1:\r\n        active: false\r\n        host: !ipv4 192.168.2.30\r\n        port: !tcp-port 502\r\n        type: CS\r\n      M-CS2:\r\n        active: false\r\n        host: !ipv4 192.168.2.32\r\n        port: !tcp-port 502\r\n        type: CS  \r\n      M-RS1:\r\n        active: false\r\n        host: !ipv4 192.168.2.31\r\n        port: !tcp-port 502\r\n        type: RS\r\n      M-RS2:\r\n        active: false\r\n        host: !ipv4 192.168.2.34\r\n        port: !tcp-port 502\r\n        type: RS\r\n      M-DS:\r\n        active: false\r\n        host: !ipv4 192.168.2.29\r\n        port: !tcp-port 502\r\n        type: DS\r\n\r\n  clips:\r\n    # Timer interval, in milliseconds\r\n    timer-interval: 40\r\n\r\n    main: refbox\r\n    debug: true\r\n    # debug levels: 0 ~ none, 1 ~ minimal, 2 ~ more, 3 ~ maximum\r\n    debug-level: 2\r\n    unwatch-facts: [time, signal, gamestate]\r\n    unwatch-rules: [retract-time,\r\n                    game-update-gametime-points, game-update-last-time,\r\n                    net-send-beacon, net-send-GameState, net-send-OrderInfo,\r\n                    net-send-MachineInfo, net-send-RobotInfo,\r\n                    exploration-send-MachineReportInfo, net-broadcast-MachineInfo,\r\n                    net-send-VersionInfo]\r\n\r\n  comm:\r\n    protobuf-dirs: ["@BASEDIR@\/src\/msgs"]\r\n\r\n    server-port: !tcp-port 4444\r\n    \r\n    public-peer:\r\n      host: !ipv4 192.168.4.255\r\n      # host: !ipv4 127.0.0.1\r\n      port: !udp-port 4444\r\n      # send-port: !udp-port 4444\r\n      # recv-port: !udp-port 4445\r\n\r\n    cyan-peer:\r\n      host: !ipv4 192.168.4.255\r\n      # host: !ipv4 127.0.0.1\r\n      port: !udp-port 4441\r\n      # send-port: !udp-port 4441\r\n      # recv-port: !udp-port 4446\r\n\r\n    magenta-peer:\r\n      host: !ipv4 192.168.4.255\r\n      # host: !ipv4 127.0.0.1\r\n      port: !udp-port 4442\r\n      # send-port: !udp-port 4442\r\n      # recv-port: !udp-port 4447\r\n\r\n  mongodb:\r\n    enable: false\r\n    hostport: localhost\r\n    collections:\r\n      text-log: llsfrb.log\r\n      clips-log: llsfrb.clipslog\r\n      protobuf: llsfrb.protobuf\r\n\r\n  game:\r\n    teams: [Carologistics, BabyTigers]\r\n    crypto-keys:\r\n      Carologistics: randomkey\r\n      BabyTigers: randomkey\r\n\r\n  shell:\r\n    refbox-host: localhost\r\n    refbox-port: 4444\r\n\r\n  simulation:\r\n    enable: true\r\n    # synchronize refbox time with the time of a simulation \r\n    time-sync:\r\n      enable: true\r\n      # estimate time by using the last given simulation time speed\r\n      # (helps reducing the amount of messages to send)\r\n      estimate-time: true\r\n<\/pre>\n
refbox \u5074\u306b\u3066 gazebo \u3092\u8d77\u52d5\uff0e
\nsend\u3068recv\u306eport \u3092\u4f7f\u308f\u306a\u3044\u306e\u3067\uff0c\u540c\u4e00PC\u4e0a\u3067\uff0c\u8907\u6570\u306erefbox \u901a\u4fe1\u95a2\u4fc2\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u52d5\u304b\u305b\u307e\u305b\u3093\uff0e
\n\u3064\u307e\u308a\uff0crobot \u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30c8\u306f\u4e0d\u53ef\u3067\u3059\uff0e
\n\u3068\u3044\u3046\u308f\u3051\u3067\uff0c-n 0 \u3067\u8d77\u52d5\uff0e<\/p>\n
~\/fawkes-robotino\/bin\/gazsim.bash -x start -a -r -n 0<\/pre>\n
~\/fawkes-robotino\/cfg\/conf.d\/clips-agent.yaml \u304c\u602a\u3057\u3044\u306e\u3067\uff0c
\n\u63a5\u7d9a\u7528PC\u306b\u3066\uff0c\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u305f\u4e0a\u3067\uff0cplugin \u3092\u9806\u756a\u306b\u8aad\u307f\u8fbc\u3093\u3067\u307f\u307e\u3059\uff0e<\/p>\n
\r\n    #real-world-setup:\r\n    # peer-address: 172.26.255.255\r\n    peer-address: 192.168.4.255\r\n    peer-port: 4444\r\n    cyan-port: 4441\r\n    magenta-port: 4442\r\n\r\n    team-name: Carologistics\r\n    # team-name: BabyTigers\r\n    crypto-key: randomkey\r\n    cipher: "aes-128-cbc"\r\n<\/pre>\n
\u307e\u305a\uff0croscore \u3092\u8d77\u52d5\uff0e
\n\u5225\u306e\u30bf\u30d6\u3067\uff0cplugin \u3092\u8aad\u307f\u8fbc\u307f\u307e\u3059\uff0e
\n\u9762\u5012\u306a\u306e\u3067\uff0c\u30e1\u30bfplugin \u3092\u7528\u610f\u3057\u307e\u3057\u305f\uff0e<\/p>\n
\r\n  m-wataru: static-transforms,webview,m-fv,ros,navgraph,navgraph-generator,navgraph-generator-mps,skiller,m-clips,clips-agent\r\n  m-sim-wataru: static-transforms,webview,m-fv,ros,gazebo,gazsim-robotino,navgraph,navgraph-generator,navgraph-generator-mps,skiller,m-clips,clips-agent\r\n<\/pre>\n
cd ~\/fawkes-robotino\/bin\r\n.\/fawkes -p m-wataru\r\n<\/pre>\n
\u3053\u308c\u3067\uff0c\u3068\u308a\u3042\u3048\u305a\u30d3\u30fc\u30b3\u30f3\u3092\u51fa\u3057\u3066RefBox \u306b\u73fe\u308c\uff0c
\nRefBox \u304b\u3089\u306e\u60c5\u5831\u3082\uff0c\u53d6\u5f97\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3057\u305f\uff0e<\/p>\n
\u3075\u3045\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"
Fawkes \u3068llsf-refbox \u3068\u306e\u63a5\u7d9a \u305d\u306e2\u306e\u7d9a\u304d\uff0e \u305d\u308d\u305d\u308d\uff0c\u7b54\u3048 …<\/p>\n
  Fawkes \u3068llsf-refbox \u3068\u306e\u63a5\u7d9a \u305d\u306e3<\/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-569","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\/569","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=569"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/569\/revisions"}],"predecessor-version":[{"id":575,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/569\/revisions\/575"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=569"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=569"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=569"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}