{"id":697,"date":"2017-04-21T14:48:17","date_gmt":"2017-04-21T05:48:17","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=697"},"modified":"2017-04-24T23:20:29","modified_gmt":"2017-04-24T14:20:29","slug":"fawkes-robotino-2016%e3%81%a7%e3%81%ae%ef%bc%8cnavgraph-%e3%81%ae%e7%a2%ba%e8%aa%8d%e6%96%b9%e6%b3%95","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=697","title":{"rendered":"fawkes-robotino 2016\u3067\u306e\uff0cnavGraph \u306e\u78ba\u8a8d\u65b9\u6cd5"},"content":{"rendered":"<p>2015\u307e\u3067\u306efawkes-robotino \u3067\u306f\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">rosrun rviz rviz<\/pre>\n<p>\u3067rviz\u3092\u7acb\u3061\u4e0a\u3052\u3066\uff0cMarkerArray \u3092\u8ffd\u52a0\u3057\u305f\u3089\uff0c\u73fe\u5728\u306e\u7d4c\u8def\u72b6\u614b\u78ba\u8a8d\u3067\u304d\u305f\u306e\u3067\u3059\u304c\uff0c2016\u3067\u306f\u3067\u304d\u306a\u304f\u306a\u3063\u3066\u3044\u307e\u3057\u305f\uff0e<\/p>\n<p>rviz \u3067\u306f\uff0cGlobal Status: Warn \u3068\u3057\u3066\uff0c\u300cFixed Frame: No tf data.  Actual error: Fixed Frame [map] does not exist\u300d\u3068\u306e\u8b66\u544a\u304c\u51fa\u307e\u3059\uff0e<\/p>\n<p>webview \u306etf \u3092\u898b\u308b\u3068\uff0cmap \u3092\u59cb\u3081\uff0c\u5404\u7a2e\u30c7\u30fc\u30bf\u3092publish \u3057\u3066\u3044\u308b\u3063\u307d\u3044\u306e\u3067\u3059\u304c\uff0c<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">rosrun tf view_frames<\/pre>\n<p>\u3092\u5b9f\u884c\u3059\u308b\u3068\uff0c\u7a7a\u3063\u307d\u3067\u3059\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map base_line 10<\/pre>\n<p>\u3068\u3059\u308c\u3070\uff0c\u30a8\u30e9\u30fc\u306f\u6d88\u3048\uff0ctf \u3082\u78ba\u8a8d\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\uff0e<\/p>\n<p>\u307e\u3041\uff0c\u3064\u307e\u308a\uff0c2016 \u3067\u306f\uff0cpublish \u304c\u3046\u307e\u304f\u3067\u304d\u3066\u3044\u306a\u3044\u3063\u307d\u3044\u3067\u3059\uff0e<\/p>\n<p>\u539f\u56e0\u7a76\u660e\u4e2d\uff0e<\/p>\n<p>\u95a2\u9023\u3057\u305d\u3046\u306aplugin \u3068\u3057\u3066\uff0cros-robot-description \u3063\u3066\u306e\u304c\u3042\u308a\u307e\u3059\u304c\uff0c\u3053\u308c\u3092load \u3059\u308b\u3068\uff0cfailed \u3057\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">The encountered error was:\r\n\r\nPlugin &gt;&gt;&gt; ros-robot-description &lt;&lt;&lt; could not be initialized, unloading\r\nCould not initialize thread 'ROSRobotDescriptionThread'\r\nConfig value for '\/ros\/robot-description' not found<\/pre>\n<p>\u30bd\u30fc\u30b9\u3092\u8aad\u3093\u3060\u9650\u308a\u3067\u306f\uff0c\u4ee5\u4e0b\u306e\u6271\u3044\u3092\u3057\u3066\u3044\u308b\u611f\u3058\u3067\u3059\uff0e<\/p>\n<ul>\n<li>\u3082\u3057\uff0c\u5148\u982d\u304c\u300c\/\u300d\u3067\u306a\u3044\u306a\u3089\uff0cRESDIR\u3068\u300c\/urdf\/\u300d\u3092\u982d\u306b\u3064\u3051\u307e\u3059\uff08\u76f8\u5bfe\u30d1\u30b9\u3067\u6307\u5b9a\u3057\u305f\u3068\u304d\u306f\uff0cRESDIR\/urdf\/\u3092\u57fa\u6e96\u3068\u3059\u308b\u308f\u3051\u3067\u3059\u306d\uff09<\/li>\n<li>urdf_file \u3068\u3057\u3066\uff0c\u30aa\u30fc\u30d7\u30f3\u3057\u307e\u3059\uff0e\u5931\u6557\u3057\u305f\u3089\u300cfailed to open URDF File %s\u300d\u306e\u30a8\u30e9\u30fc\u3092\u51fa\u3057\u307e\u3059\uff0e<\/li>\n<li>\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u8aad\u307f\u8fbc\u3093\u3067\uff0curdf \u306b\u52a0\u3048\u3066\u3044\u304d\u307e\u3059\uff0e<\/li>\n<li>ros::param::set\u3092\u4f7f\u3063\u3066\uff0cros_robot_description\u306b\u66f8\u304b\u308c\u305f\u5024\u306b\u5bfe\u3057\u3066 urdf\u3092\u30bb\u30c3\u30c8\u3057\u307e\u3059\uff0e<\/li>\n<\/ul>\n<p>\u3068\u3044\u3046\u308f\u3051\u3067\u95a2\u9023\u3057\u305d\u3046\u306a\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\uff0cfawkes-robotino.2015\/fawkes\/cfg\/conf.d\/ros-robot-description.yaml \u30922016\u306b\u6301\u3063\u3066\u304d\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u4e2d\u306b\u306f\uff0chome\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u8fbc\u307f\u306e\u7d76\u5bfe\u30d1\u30b9\u3067caesar.urdf \u304c\u6307\u5b9a\u3055\u308c\u3066\u3044\u308b\u306e\u3067\uff0c.\/fawkes\/src\/libs\/kdl_parser\/tests\/caesar.urdf \u306b\u7f6e\u304d\u63db\u3048\u3066\u307f\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  robot-description:\r\n    urdf_file: fawkes\/src\/libs\/kdl_parser\/tests\/caesar.urdf\r\n    ros_robot_description: &quot;\/robot_description&quot;\r\n<\/pre>\n<p>\u3042\u3093\u307e\u308a\u95a2\u4fc2\u306a\u304b\u3063\u305f\u2026\uff0e<br \/>\n\u3068\u307b\u307b\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>2015\u307e\u3067\u306efawkes-robotino \u3067\u306f\uff0c rosrun rviz r &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=697\"> <span class=\"screen-reader-text\">fawkes-robotino 2016\u3067\u306e\uff0cnavGraph \u306e\u78ba\u8a8d\u65b9\u6cd5<\/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],"tags":[],"class_list":["post-697","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\/697","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=697"}],"version-history":[{"count":7,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/697\/revisions"}],"predecessor-version":[{"id":712,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/697\/revisions\/712"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=697"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=697"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=697"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}