{"id":1788,"date":"2013-03-05T21:00:44","date_gmt":"2013-03-05T12:00:44","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=1788"},"modified":"2013-03-05T21:00:44","modified_gmt":"2013-03-05T12:00:44","slug":"turtlebot%e3%81%ae%e3%82%bb%e3%83%83%e3%83%88%e3%82%a2%e3%83%83%e3%83%973-ros","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/1788","title":{"rendered":"TurtleBot\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7(3) – ROS"},"content":{"rendered":"

TurtleBot\u306b\u7a4d\u3080PC\u306eROS\u74b0\u5883\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3002ROS\u306fubuntu 12.10\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u3068\u308a\u3042\u3048\u305aubuntu\u306e\u30b5\u30a4\u30c8<\/a>\u304b\u3089ubuntu Desktop\u306e32bit\u7248\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305f\u3002\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u5272\u611b\u3059\u308b\u3002
\n3\/14\u8ffd\u8a18 Kinect\u306e\u63a5\u7d9a\u3067\u30c8\u30e9\u30d6\u30eb\u3092\u89e3\u6c7a\u3067\u304d\u306a\u304b\u3063\u305f\u305f\u308112.04LTS\u3092\u7528\u3044\u305f\u3002<\/ins>
\nROS\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3046\u3002ROS\u306e\u30b5\u30a4\u30c8<\/a>\u306b\u5f93\u3063\u3066\u3001Ubuntu 12.10 (Quantal)\u7528\u306esources.list\u3068\u30ad\u30fc\u3092\u8a2d\u5b9a\u3057\u3066\u3001apt-get update\u3092\u884c\u3063\u305f\u5f8c\u3001Desktop-Full Install\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u53d6\u308a\u8fbc\u3080\u3002\u305d\u306e\u4ed6\u3001\u66f8\u3044\u3066\u3042\u308b\u901a\u308a\u306b\u7d30\u304b\u3044\u8a2d\u5b9a\u3092\u884c\u3046\u3002
\n\u5177\u4f53\u7684\u306a\u624b\u9806\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3002
\nsudo sh -c 'echo \"deb http:\/\/packages.ros.org\/ros\/ubuntu precise main\" > \/etc\/apt\/sources.list.d\/ros-latest.list'
\nwget http:\/\/packages.ros.org\/ros.key -O - | sudo apt-key add -
\nsudo apt-get update
\nsudo apt-get install ros-groovy-desktop-full
\nsudo rosdep init
\nrosdep update<\/code>
\nTurtleBot\u7528\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002\u57fa\u672c\u7684\u306b\u3001TurtleBot\u306e\u30da\u30fc\u30b8<\/a>\u306e\u30012-1.Installation, 2-2. Post-Installation Setup, 2-3. Workstation Installation, 2-4. Network Configuration\u3092\u9806\u306b\u884c\u3046\u3002
\n\u307e\u305a\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u305f\u3081\u306b\u3001Installation\u306e\u30da\u30fc\u30b8<\/a>\u3067Install from Debs\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u624b\u9806\u3092\u8868\u793a\u3055\u305b\u308b\u3002\u306a\u304a\u884c\u982d\u306e>\u306e\u6587\u5b57\u306f\u5165\u529b\u3057\u306a\u3044\u3002
\nsudo apt-get install ros-groovy-turtlebot ros-groovy-turtlebot-apps ros-groovy-turtlebot-viz<\/code>
\n\u4e0a\u8a18\u306e\u3088\u3046\u306b\uff13\u3064\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5c0e\u5165\u3059\u308b\u3002\u4eca\u56de\u4f7f\u3046\u306e\u306f\u53e4\u3044\u30bf\u30a4\u30d7\u306eTurtleBot\u306a\u306e\u3067\u3001\u305d\u306e\u5f8c\u306e\u300crosrun kobuki_ftdi create_udev_rules\u300d\u306f\u5b9f\u884c\u3057\u306a\u3044\u3002
\n\u3061\u306a\u307f\u306b\u73fe\u884c\u306eROS\u306f\u65b0\u3057\u3044\u30bf\u30a4\u30d7\u306eTurtleBot\uff08kobuki\u3068\u547c\u3070\u308c\u308b\u3082\u306e\uff09\u304c\u30c7\u30d5\u30a9\u30eb\u30c8\u306a\u306e\u3067\u3001\u53e4\u3044\u30bf\u30a4\u30d7\u3092\u7528\u3044\u308b\u305f\u3081\u306b\u306f\u5225\u9014\u8a2d\u5b9a\u3092\u884c\u3046\u5fc5\u8981\u304c\u3042\u308b\u3002
\nPost-Installation Setup\u306e\u30da\u30fc\u30b8<\/a>\u3067\u306f\u3001\u6642\u523b\u540c\u671f\u306e\u8a2d\u5b9a\u3092\u884c\u3046\u3088\u3046\u306b\u66f8\u3044\u3066\u3042\u308b\u306e\u3067\u305d\u306e\u3088\u3046\u306b\u3059\u308b\u3002\u7d9a\u3044\u3066\u3001Create Base\u306e\u30da\u30fc\u30b8<\/a>\u306b\u9032\u3093\u3067\u3001Debs Installation\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u624b\u9806\u3092\u8868\u793a\u3055\u305b\u3001\u5148\u307b\u3069\u8aac\u660e\u3057\u305f\u3088\u3046\u306b\u53e4\u3044\u30bf\u30a4\u30d7\u306eTurtleBot\u306e\u8a2d\u5b9a\u3092\u884c\u3046\u3002
\n\u5177\u4f53\u7684\u306b\u306f\u3001~\/.bashrc\u3092\u958b\u3044\u3066\u4ee5\u4e0b\u306e\u5185\u5bb9\u3092\u8ffd\u52a0\u3059\u308b\u3002\u3064\u3044\u3067\u306bros\u306e\u8a2d\u5b9a\u3082\u884c\u3046\u3088\u3046\u306b\u3059\u308b\u3002
\nexport TURTLEBOT_BASE=create
\nexport TURTLEBOT_STACKS=circles
\nexport TURTLEBOT_3D_SENSOR=kinect
\nsource \/opt\/ros\/groovy\/setup.bash<\/code>
\n\u8a18\u8ff0\u306e\u9806\u5e8f\u304c\u91cd\u8981\u3067\u3001export\u306e3\u884c\u306f\u5fc5\u305asource\u3088\u308a\u524d\u306b\u7f6e\u304b\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u3088\u3046\u3060\u3002
\n3D_SENSOR\u306e\u3068\u3053\u308d\u306b\u306fkinect\u3060\u3051\u3067\u306a\u304f\u3001ASUS XTION PRO\u3082\u6307\u5b9a\u3067\u304d\u308b\u3089\u3057\u3044\u3002\uff08asus_xtion_pro\u3068\u8a18\u8f09\u3059\u308b\uff09
\nNetwork Configuration<\/a>\u3067\u306f\u3001TurtleBot\u3068\u306f\u7570\u306a\u308b\u30e2\u30cb\u30bf\u30ea\u30f3\u30b0\u7528\u306ePC\u306e\u8a2d\u5b9a\u3092\u884c\u3046\u3002Installation\u3068Post-Installation Setup\u3092\u884c\u3063\u305f\u5f8c\u3067\u3001\u6642\u523b\u306e\u540c\u671f\u3092\u3057\u3066\u304a\u3051\u3070\u3088\u3044\u3089\u3057\u3044\u3002
\nsudo apt-get install chrony
\nsudo ntpdate ntp.ubuntu.com<\/code>
\nNetwork Configuration<\/a>\u3067\u306f\u3001TurtleBot\u3068\u30e2\u30cb\u30bf\u7528PC\u76f8\u4e92\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u8a2d\u5b9a\u3092\u884c\u3046\u3002\u4e8b\u524d\u306bifconfig\u306a\u3069\u3067TurtleBot\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092\u8abf\u3079\u3001ping\u306a\u3069\u3067\u63a5\u7d9a\u306e\u78ba\u8a8d\u3092\u3059\u307e\u305b\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308b\u3002\u6709\u7dda\u3067\u63a5\u7d9a\u3057\u3066\u3044\u308b\u5834\u5408\u3001\u3044\u305a\u308c\u7121\u7dda\u63a5\u7d9a\u306b\u3059\u308b\u306e\u3067\u7121\u7ddaLAN\u5074\u306eIP\u30a2\u30c9\u30ec\u30b9\u3092\u78ba\u5b9a\u3057\u3066\u304a\u3044\u305f\u65b9\u304c\u826f\u3044\u3002
\nTurtlebot Setup\u306e\u9805\u3067Debs Installation\u3092\u30af\u30ea\u30c3\u30af\u3057\u3066\u3001\u74b0\u5883\u5909\u6570\u306e\u8a2d\u5b9a\u3092\u884c\u3046\u3002\u4eee\u306bTurtleBot\u306eIP\u30a2\u30c9\u30ec\u30b9\u304c192.168.254.68\u3060\u3063\u305f\u5834\u5408\u3001\u74b0\u5883\u5909\u6570\u306e\u8a2d\u5b9a\u30b3\u30de\u30f3\u30c9\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u306a\u308b\u3002
\nexport ROS_MASTER_URI=http:\/\/192.168.254.68:11311
\nexport ROS_HOSTNAME=turtlebot<\/code>
\n\u5148\u307b\u3069\u3068\u540c\u69d8\u306b\u3001\u3053\u306e\uff12\u884c\u3092~\/.bashrc\u306e\u6700\u5f8c\u306b\u8ffd\u52a0\u3059\u308c\u3070\u826f\u3044\u3002
\n\u7d50\u5c40\u3001~\/.bashrc\u306e\u6700\u5f8c\u306e\uff16\u884c\u306f\u6b21\u306e\u3088\u3046\u306b\u306a\u308b\u3002
\nexport TURTLEBOT_BASE=create
\nexport TURTLEBOT_STACKS=circles
\nexport TURTLEBOT_3D_SENSOR=kinect
\nsource \/opt\/ros\/groovy\/setup.bash
\nexport ROS_MASTER_URI=http:\/\/192.168.254.68:11311
\nexport ROS_HOSTNAME=turtlebot<\/code>
\n\u30e2\u30cb\u30bf\u7528\u306ePC\u3067\u306f\u3001\u4e0a\u8a18\u306e\u3046\u3061\u6700\u5f8c\u306e\uff13\u884c\u3092~\/.bashrc\u306e\u6700\u5f8c\u306b\u8ffd\u52a0\u3059\u308c\u3070\u3088\u3044\u3002
\n3\/6\u8ffd\u8a18\uff1aROS_HOSTNAME\u306f\u30e2\u30cb\u30bf\u7528\u306ePC\u306eIP\u30a2\u30c9\u30ec\u30b9\u306b\u3059\u308b\u3002<\/ins>
\n3\/7\u8ffd\u8a18\uff1a\u3055\u3089\u306bdialout\u30b0\u30eb\u30fc\u30d7\u306b\u81ea\u5206\u306e\u30e6\u30fc\u30b6\u30fc\u3092\u52a0\u3048\u308b\u5fc5\u8981\u304c\u3042\u308b\u3002<\/ins>
\n\u57fa\u672c\u7684\u306a\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u306f\u7d42\u308f\u308a\u3001\u5f8c\u306fTurtleBot\u3068\u30e2\u30cb\u30bf\u7528PC\u3068\u3067\u63a5\u7d9a\u3092\u78ba\u8a8d\u3059\u308b\u304c\u3001\u73fe\u6642\u70b9\u3067\u306f\u554f\u984c\u304c\u3042\u3063\u3066\u63a5\u7d9a\u3067\u304d\u306a\u3044\u3002\uff08\u6b21\u56de\u306e\u8a18\u4e8b\u3067\u8aac\u660e\u3059\u308b\uff09<\/p>\n","protected":false},"excerpt":{"rendered":"

TurtleBot\u306b\u7a4d\u3080PC\u306eROS\u74b0\u5883\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u3002ROS\u306fubuntu 12.10\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u3068\u308a\u3042\u3048\u305aubuntu\u306e\u30b5\u30a4\u30c8\u304b\u3089ubuntu Desktop\u306e32bit\u7248\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305f\u3002\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306e\u8a73\u7d30…<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[11,16],"tags":[],"class_list":["post-1788","post","type-post","status-publish","format-standard","hentry","category-ros","category-turtlebot"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1788","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/comments?post=1788"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/1788\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=1788"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=1788"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=1788"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}