{"id":952,"date":"2018-01-14T10:08:44","date_gmt":"2018-01-14T01:08:44","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=952"},"modified":"2018-01-14T21:34:12","modified_gmt":"2018-01-14T12:34:12","slug":"%e5%8d%98%e3%81%aa%e3%82%8b%e3%83%a1%e3%83%a2%ef%bc%88btrbtr_gripper%e3%81%ae%e3%83%97%e3%83%a9%e3%82%b0%e3%82%a4%e3%83%b3%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=952","title":{"rendered":"\u5358\u306a\u308b\u30e1\u30e2\uff08BTR:btr_gripper\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\uff09"},"content":{"rendered":"<ul>\n<li>\u30b9\u30ec\u30c3\u30c9\u540d: GripperBTRThread<\/li>\n<li>TF\u540d\uff08TransformAspect\uff09: GRIPPER AX12A<\/li>\n<li>BlackBoard\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u8aad\u307f\u8fbc\u307f\u540d:\uff08\/hardware\/btr_gripper\u306e\u8a2d\u5b9a\u3067\u547c\u3073\u51fa\u3057\uff09>\/li>\n<li>Yaml \u306e\u8a2d\u5b9a: \/hardware\/btr_gripper<\/li>\n<ul>\n<li>Yaml\u306e\u4e2d\u8eab\uff08\/hardware\/btr_gripper\/\u4ee5\u4e0b\uff09\u89d2\u5ea6\u306e\u5358\u4f4d\u306f\uff0c\u3044\u305a\u308c\u3082rad<\/li>\n<li>bool active: \u30d7\u30e9\u30b0\u30a4\u30f3\u306e\u30b9\u30ec\u30c3\u30c9\u3092\u6709\u52b9\u306b\u3059\u308b\u304b\u5426\u304b<\/li>\n<li>driver_prefix: DynamixelServoInterface\u3092\u8aad\u3080\u3068\u304d\u306e\u30b5\u30fc\u30dcID\u3092\u9664\u3044\u305f\u90e8\u5206\u306e\u540d\u524d<\/li>\n<li>servo_id[]: \u30b5\u30fc\u30dc\u306b\u5272\u308a\u5f53\u3066\u3066\u3044\u308b\u30b5\u30fc\u30dcID\uff08\u914d\u5217\u306e\u6dfb\u3048\u5b57\u306f0-4\u3067\uff0c\u30b5\u30fc\u30dcID\u306f1-5\uff09<\/li>\n<li>servo_min[]: \u30b5\u30fc\u30dc\u306b\u8a2d\u5b9a\u3067\u304d\u308b\u6700\u5c0f\u89d2\u5ea6\uff08-3.14 = -180\u5ea6\uff09<\/li>\n<li>servo_max[]: \u30b5\u30fc\u30dc\u306b\u8a2d\u5b9a\u3067\u304d\u308b\u6700\u5927\u89d2\u5ea6\uff08+3.14 = +180\u5ea6\uff09<\/li>\n<li>servo_torque[]: \u30b5\u30fc\u30dc\u306b\u8a2d\u5b9a\u3059\u308b\u30c8\u30eb\u30af\u7387\uff080 &#8211; 1: 0% &#8211; 100%\uff09<\/li>\n<li>servo_margin[]: \u30b5\u30fc\u30dc\u5236\u5fa1\u6642\u306b\uff0c\u76ee\u6a19\u89d2\u5ea6\u3068\u5b9f\u969b\u306e\u89d2\u5ea6\u306e\u30ba\u30ec\u306e\u8a31\u5bb9\u89d2\u5ea6\uff08\u5c0f\u3055\u3044\u3068\u6b62\u307e\u308b\u306e\u306b\u6642\u9593\u304c\u304b\u304b\u308b\uff09<\/li>\n<li>servo_start[]: \u8d77\u52d5\u6642\u306e\u6700\u521d\u306e\u89d2\u5ea6\uff0e\u30a2\u30fc\u30e0\u3092\u3053\u306e\u89d2\u5ea6\u306b\u8fd1\u3044\u72b6\u614b\u306b\u8a2d\u5b9a\u3057\u3066\u304b\u3089\u8d77\u52d5\u3059\u308b\u3053\u3068\u3092\u63a8\u5968\u3057\u307e\u3059\uff0e\u6b21\u306egoto_zero_start\u306e\u30d5\u30e9\u30b0\u3082\u53c2\u7167\uff0e<\/li>\n<li>goto_zero_start: servo_start \u3092\u6709\u52b9\u306b\u3059\u308b\u304b\u5426\u304b\uff0e<\/li>\n<li>servo_get_motion: \u30ef\u30fc\u30af\u3092\u63b4\u3080\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\uff08\u30b5\u30fc\u30dc5\u500b\u305a\u3064\u306e\u89d2\u5ea6\u30c7\u30fc\u30bf\uff0e\u3059\u3079\u30660\u304c\u7d42\u4e86\u8a18\u53f7\uff09<\/li>\n<li>servo_put_motion: \u30ef\u30fc\u30af\u3092\u7f6e\u304f\u30e2\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\uff08\u30b5\u30fc\u30dc5\u500b\u305a\u3064\u306e\u89d2\u5ea6\u30c7\u30fc\u30bf\uff0e\u3059\u3079\u30660\u304c\u7d42\u4e86\u8a18\u53f7\uff09<\/li>\n<li>turn_off: \u30d7\u30e9\u30b0\u30a4\u30f3\u3092\u7d42\u3048\u305f\u3068\u304d\u306b\uff0c\u30b5\u30fc\u30dc\u306e\u96fb\u6e90\u3092\u5207\u308b\uff08\u30c8\u30eb\u30af\u3092\u30aa\u30d5\u306b\u3059\u308b\uff1f\uff09\u304b\u5426\u304b\uff0e<\/li>\n<li>max_speed: \u6700\u5927\u901f\u5ea6\u306e\u5272\u5408\uff080 &#8211; 1: 0% &#8211; 100%\uff09<\/li>\n<li>max_load: \u6700\u5927\u8ca0\u8377\u306e\u5272\u5408\uff080 &#8211; 1: 0% &#8211; 100%\uff09<\/li>\n<li>max_torque: \u6700\u5927\u30c8\u30eb\u30af\u306e\u5272\u5408\uff080 &#8211; 1: 0% &#8211; 100%\uff09<\/li>\n<li>load_for_holds_puck_thread: \u5148\u7aef\u90e8\u304c\u30ef\u30fc\u30af\u3092\u63b4\u3093\u3060\u3068\u5224\u65ad\u3059\u308b\u30c8\u30eb\u30af\u5024\uff08\u4e00\u5fdc\uff0c\u6b8b\u3057\u3066\u3044\u307e\u3059\uff09<\/li>\n<li>angle_for_holds_puck_threshold: \u5148\u7aef\u90e8\u304c\u30ef\u30fc\u30af\u3092\u63b4\u3093\u3060\u3068\u5224\u65ad\u3059\u308b\u89d2\u5ea6\uff08\u4e00\u5fdc\uff0c\u6b8b\u3057\u3066\u3044\u307e\u3059\uff09<\/li>\n<li>center_angle_correction_amount: \u5148\u7aef\u90e8\u3092\u5e83\u3052\u308b\u3068\u304d\u306e\u89d2\u5ea6\u306e\u8abf\u6574\u5024\uff08\u4e00\u5fdc\uff0c\u6b8b\u3057\u3066\u3044\u307e\u3059\uff09<\/li>\n<li>joystick_interface_id: JoystickInterface\u3092\u8aad\u3080\u3068\u304d\u306e\u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u540d<\/li>\n<li>publish_transforms: ROS\u306erviz \u3067\u60c5\u5831\u3092\u8868\u793a\u3059\u308b\u304b\u5426\u304b\u306e\u30d5\u30e9\u30b0<\/li>\n<li>name: rviz \u3067\u8868\u793a\u3059\u308b\u3068\u304d\u306e\u540d\u524d<\/li>\n<li>frame_id_prefix: \u8868\u793a\u7528\u306e\u30d5\u30ec\u30fc\u30e0\u540d\uff08\u30b5\u30fc\u30dc\u30ea\u30f3\u30af\u3068\u3057\u3066\u3053\u306e\u540d\u524d + &#8220;servo&#8221; + \u30b5\u30fc\u30dcID\uff09<\/li>\n<li>axis_forward: <\/li>\n<li>axis_sideward:<\/li>\n<li>drive_mode_axis: \u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067\u52d5\u304b\u3059\u3068\u304d\u306e\u8ef8\u60c5\u5831<\/li>\n<li>drive_mode_axis_threshold: \u30b8\u30e7\u30a4\u30b9\u30c6\u30a3\u30c3\u30af\u3067\u52d5\u304b\u3059\u3068\u304d\u306e\u95be\u5024<\/li>\n<\/ul>\n<li>\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u306e\u5b9a\u7fa9<\/li>\n<ul>\n<li>#define<\/li>\n<ul>\n<li>\u5236\u5fa1\u30b5\u30fc\u30dc\u306e\u6570: servo_no<\/li>\n<\/ul>\n<li>\u5909\u6570<\/li>\n<ul>\n<li>\u30b0\u30ea\u30c3\u30d1\u30fc\u306e\u5236\u5fa1\u7528\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9: __gripper_if;<\/li>\n<li>\u30b5\u30fc\u30dc\u5236\u5fa1\u7528\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9: __servo_if[servo_no]<\/li>\n<\/ul>\n<li>init \u306e\u4e2d\u8eab<\/li>\n<ul>\n<li>init_velocity[servo_no]<\/li>\n<\/ul>\n<li>\u6d88\u3057\u305f\u5909\u6570<\/li>\n<ul>\n<li>close_no: \u30b0\u30ea\u30c3\u30d1\u30fc\u306e\u30aa\u30fc\u30d7\u30f3\uff0c\u30af\u30ed\u30fc\u30ba\u306e\u89d2\u5ea6\u306f\u3044\u3063\u305f\u3093\u4e0d\u8981\uff0e<\/li>\n<li>__cfg_servo_open_angle[]:<\/li>\n<ul>\n<li>yaml: servo_open<\/li>\n<\/ul>\n<li>__cfg_servo_close_loead_angle[]:<\/li>\n<ul>\n<li>yaml: servo_close_load:<\/li>\n<\/ul>\n<li>__cfg_servo_close_xy<\/li>\n<ul>\n<li>yaml: servo_close_xy<\/li>\n<\/ul>\n<li>__cfg_servo_xy<\/li>\n<\/ul>\n<\/ul>\n<\/ul>\n<ul>\n<li>joystick \u306e\u30dc\u30bf\u30f3\u3068\u756a\u53f7\u306e\u95a2\u4fc2<\/li>\n<li>A: 1<\/li>\n<li>B: 2<\/li>\n<li>X: 4<\/li>\n<li>Y: 8<\/li>\n<li>LB: 16<\/li>\n<li>RB: 32<\/li>\n<li>back: 64<\/li>\n<li>start: 128<\/li>\n<li>XBox\u30dc\u30bf\u30f3: 256<\/li>\n<li>axis: <\/li>\n<ul>\n<li>\u5de6\u30a2\u30ca\u30ed\u30b0\u5de6\u53f3\uff0c\u5de6\u30a2\u30ca\u30ed\u30b0\u4e0a\u9650\uff0cLT\uff08\u96e2\u3057\u3066\u3044\u308b\u3068\u304d\u304c1\uff0c\u62bc\u3057\u8fbc\u3093\u3060\u3089-1\uff09<\/li>\n<li>\u53f3\u30a2\u30ca\u30ed\u30b0\u5de6\u53f3\uff0c\u53f3\u30a2\u30ca\u30ed\u30b0\u4e0a\u9650\uff0cRT\uff08\u96e2\u3057\u3066\u3044\u308b\u3068\u304d\u304c1\uff0c\u62bc\u3057\u8fbc\u3093\u3060\u3089-1\uff09<\/li>\n<li>\u5341\u5b57\u30ad\u30fc\u5de6\u53f3\uff08\u5de6\u304c1\uff0c\u53f3\u304c-1\uff09\uff0c\u5341\u5b57\u30ad\u30fc\u4e0a\u4e0b\uff08\u4e0a\u304c1\uff0c\u4e0b\u304c-1\uff09<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u30b9\u30ec\u30c3\u30c9\u540d: GripperBTRThread TF\u540d\uff08TransformAsp &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=952\"> <span class=\"screen-reader-text\">\u5358\u306a\u308b\u30e1\u30e2\uff08BTR:btr_gripper\u306e\u30d7\u30e9\u30b0\u30a4\u30f3\uff09<\/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":[10,3,2,6,14],"tags":[],"class_list":["post-952","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-setting","category-14"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/952","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=952"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/952\/revisions"}],"predecessor-version":[{"id":958,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/952\/revisions\/958"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=952"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=952"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=952"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}