{"id":1793,"date":"2013-03-06T18:15:37","date_gmt":"2013-03-06T09:15:37","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=1793"},"modified":"2013-03-06T18:15:37","modified_gmt":"2013-03-06T09:15:37","slug":"turtlebot%e3%81%ae%e7%8a%b6%e6%85%8b%e3%82%92%e7%a2%ba%e8%aa%8d%e3%81%99%e3%82%8b%e3%80%82","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/1793","title":{"rendered":"TurtleBot\u306e\u72b6\u614b\u3092\u8abf\u3079\u308b"},"content":{"rendered":"

\u30ed\u30dc\u30c3\u30c8\u304c\u52d5\u304b\u306a\u3044\u9593\u306f\u3068\u3066\u3082\u4e0d\u5b89\u306a\u3082\u306e\u3060\u304c\u3001\u4e00\u5ea6\u52d5\u4f5c\u3055\u305b\u3089\u308c\u308b\u3068\u9014\u7aef\u306b\u697d\u3057\u304f\u5922\u304c\u5e83\u304c\u308b\u3002
\nROS\u306fwiki\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u30b7\u30b9\u30c6\u30e0\u304c\u5145\u5b9f\u3057\u3066\u3044\u3066\u7d20\u6674\u3089\u3057\u3044\u306e\u3060\u304c\u3001\u73fe\u72b6\u3068\u3042\u3063\u3066\u3044\u306a\u3044\u5834\u5408\u3082\u3057\u3070\u3057\u3070\u3042\u308b\u306e\u3067\u3001\u3042\u307e\u308a\u9d5c\u5451\u307f\u306b\u3059\u308b\u306e\u306f\u6016\u3044\u3002\u3042\u308c\u3060\u3051\u306e\u60c5\u5831\u91cf\u3060\u304b\u3089\u4ed5\u65b9\u306a\u3044\u3068\u3053\u308d\u3082\u3042\u308b\u304c\u3002\u6d41\u308c\u3066\u3044\u308b\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u3046\u307e\u304f\u6349\u3048\u308c\u3070\u3001\u305d\u308c\u304c\u89e3\u6c7a\u306e\u7aef\u7dd2\u3068\u306a\u308b\u3053\u3068\u3082\u591a\u3044\u3002
\n\u524d\u56de\u306e\u8a18\u4e8b\u3067\u306f\u4f55\u3068\u304b\u63a5\u7d9a\u304c\u3067\u304d\u3066\u3044\u308b\u3088\u3046\u306a\u69d8\u5b50\u3060\u3063\u305f\u304c\u3001TurtleBot\u3092\u6587\u5b57\u901a\u308a\u52d5\u304b\u3059\u3053\u3068\u304c\u3067\u304d\u3066\u3044\u306a\u3044\u306e\u3067\u3001\u4f55\u3068\u306a\u304f\u4e0d\u5b89\u304c\u6b8b\u308b\u3002\u4eca\u65e5\u306f\u305d\u308c\u3092\u89e3\u6d88\u3059\u308b\u305f\u3081\u306b\u3044\u308d\u3044\u308d\u5b9f\u9a13\u3092\u884c\u3063\u3066\u307f\u305f\u3002
\n\u307e\u305a\u306f\u3001USB\u306a\u3069\u63a5\u7d9a\u3092\u78ba\u8a8d\u3057\u305f\u5f8c\u3067TurtleBot\u672c\u4f53\u3060\u3051\u3092\u52d5\u304b\u3059\u30b7\u30b9\u30c6\u30e0\u3092\u8d77\u52d5\u3059\u308b\u3002
\nroslaunch tutlebot_bringuup minimal.launch<\/code>
\n\u3055\u307e\u3056\u307e\u306a\u30d7\u30ed\u30bb\u30b9\u304c\u8d77\u52d5\u3057\u305f\u3068\u3044\u3046\u30e1\u30c3\u30bb\u30fc\u30b8\u306e\u4e2d\u3067\u3044\u304f\u3064\u304b\u306e\u8b66\u544a\u304c\u73fe\u308c\u308b\u3002
\n[WARN] [WallTime: 1352644359.480259] Create : robot not connected yet, sci not available<\/code>
\nTurtleBot\u306e\u63a5\u7d9a\u304c\u3055\u308c\u3066\u3044\u3066\u3082\uff12\u3001\uff13\u56de\u306f\u4e0a\u8a18\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u8868\u793a\u3055\u308c\u308b\u3002\u3044\u305a\u308c\u6d88\u3048\u308b\u306e\u3067\u3053\u308c\u306f\u7121\u8996\u3057\u3066\u3088\u3044\u3088\u3046\u3060\u3002
\n[WARN] [WallTime: 1352644359.951470] Battery : unable to check laptop battery state [[Errno 2] No such file or directory: '\/proc\/acpi\/battery\/BAT0']<\/code>
\n\u30ce\u30fc\u30c8PC\u306e\u30d0\u30c3\u30c6\u30ea\u30fc\u72b6\u614b\u3092\u76e3\u8996\u3059\u308b\u305f\u3081\u306b\u3001\/proc\/acpi\/battery\/BAT0 \u3092\u53c2\u7167\u3059\u308b\u304c\u3001ubuntu 12.10\u3067\/sys\/class\/power_supply\/BAT0\u306b\u5909\u308f\u3063\u305f\u3089\u3057\u3044\u3002\u3057\u304b\u3057\u5185\u90e8\u306e\u5f62\u5f0f\u3082\u7570\u306a\u308b\u306e\u3067\u3069\u3046\u306b\u3082\u306a\u3089\u306a\u3044\u3088\u3046\u3060\u3002\u3068\u308a\u3042\u3048\u305a\u7121\u8996\u3059\u308b\u3002
\n[ERROR] [WallTime: 1352644430.487165] Faild to cotact device with error: [Error reading from SCI port. No Data.]. Please check that the Create is powered on and that the connector is plugged into the Create.<\/code>
\nUSB\u30b1\u30fc\u30d6\u30eb\u304c\u5916\u308c\u3066\u3044\u305f\u308aTurtleBot\u672c\u4f53\u306e\u96fb\u6e90\u304c\u5165\u3063\u3066\u3044\u306a\u3044\u3068\u304d\u306b\u751f\u3058\u308b\u30a8\u30e9\u30fc\u3067\u3001\u72b6\u614b\u304c\u6539\u5584\u3057\u306a\u3051\u308c\u3070\u7e70\u308a\u8fd4\u3057\u8868\u793a\u3055\u308c\u308b\u3002\u63a5\u7d9a\u3057\u3066\u96fb\u6e90\u3092\u5165\u308c\u308c\u3070\u3044\u305a\u308c\u51fa\u306a\u304f\u306a\u308b\u3002
\n\u4f55\u3082\u65b0\u305f\u306a\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u51fa\u306a\u304f\u306a\u308c\u3070\u4e00\u5fdc\u63a5\u7d9a\u306f\u554f\u984c\u306a\u3044\u3002\u305f\u3060\u3057\u3061\u3083\u3093\u3068\u52d5\u3044\u3066\u3044\u308b\u306e\u304b\u308f\u304b\u3089\u306a\u3044\u306e\u3067\u3001ROS\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u53d7\u4fe1\u3057\u3066\u307f\u3066\u304d\u3061\u3093\u3068\u52d5\u4f5c\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u304b\u3081\u308b\u3002
\n\u5225\u306bshell\u3092\u958b\u304f\u304b\u30e2\u30cb\u30bf\u7528\u306ePC\u3067\u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3059\u308b\u3002
\nrostopic list<\/code>
\n\u304a\u305d\u3089\u304f\u4ee5\u4e0b\u306e\u3088\u3046\u306a30\u884c\u307b\u3069\u306e\u51fa\u529b\u304c\u5f97\u3089\u308c\u308b\u306f\u305a\u3067\u3001\u3053\u308c\u304cminimal.system\u3067\u5229\u7528\u3067\u304d\u308b\u3055\u307e\u3056\u307e\u306a\u30c8\u30d4\u30c3\u30af\uff08Topic\uff09\u306e\u4e00\u89a7\u3067\u3042\u308b\u3002\u30c8\u30d4\u30c3\u30af\u306fROS\u306e\u30ce\u30fc\u30c9\u9593\u3067\u3084\u308a\u3068\u308a\u3055\u308c\u308b\u30c7\u30fc\u30bf\u306e\u30c1\u30e3\u30cd\u30eb\u306e\u3088\u3046\u306a\u3082\u306e\u3067\u3001\u30c8\u30d4\u30c3\u30af\u3054\u3068\u306b\u6d41\u308c\u308b\u30c7\u30fc\u30bf\u306e\u7a2e\u985e\u3084\u983b\u5ea6\u304c\u7570\u306a\u308b\u3002
\n\/cmd_vel_mux\/active
\n\/cmd_vel_mux\/input\/navi
\n\/cmd_vel_mux\/input\/safety_controller
\n\/cmd_vel_mux\/input\/teleop
\n\/cmd_vel_mux\/parameter_descriptions
\n\/cmd_vel_mux\/parameter_updates
\n\/diagnostics
\n\/diagnostics_agg
\n\/diagnostics_toplevel_state
\n\/joint_states
\n...
\n<\/code>
\n\u4e0a\u306e\u30ea\u30b9\u30c8\u306e\u3046\u3061\u3001\/diagnostics_agg\u306f\u3001diagnostic_aggregator\u30b9\u30bf\u30c3\u30af\u306eaggregator_node\u30ce\u30fc\u30c9\u304cPublish\u3059\u308b\u30c8\u30d4\u30c3\u30af\u3067\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u3055\u307e\u3056\u307e\u306a\u72b6\u614b\u3092\uff11\u79d2\u3054\u3068\u306b\u767a\u4fe1\u3059\u308b\u3002
\nrostopic echo \/diagnostics_agg<\/code>
\nTurtleBot\u3068\u306e\u63a5\u7d9a\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\u3001\u4e0a\u8a18\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5165\u529b\u3057\u3066\u3053\u306e\u30c8\u30d4\u30c3\u30af\u3092Subscribe\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u3092\u8abf\u3079\u308b\u3053\u3068\u304c\u3067\u304d\u308b\u3002\u8868\u793a\u3055\u308c\u308b\u60c5\u5831\u306f\u81a8\u5927\u3060\u304c\uff11\u79d2\u3054\u3068\u306b\u30c7\u30fc\u30bf\u304c\u66f4\u65b0\u3055\u308c\u308b\u306a\u3089\u30ed\u30dc\u30c3\u30c8\u3068\u306e\u901a\u4fe1\u306f\u3046\u307e\u304f\u6a5f\u80fd\u3057\u3066\u3044\u308b\u3053\u3068\u304c\u308f\u304b\u308b\u3002
\n\u4ee5\u4e0b\u306f\u4e00\u90e8\u306e\u30c7\u30fc\u30bf\u3060\u304c\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u30d0\u30c3\u30c6\u30ea\u30fc\u72b6\u614b\u304c\u308f\u304b\u308b\u3002
\nlevel: 0
\nname: \/Power System\/Battery
\nmessage: OK
\nhardware_id: ''
\nvalues:
\n-
\nkey: Voltage (V)
\nvalue: 15.251
\n-
\nkey: Current (A)
\nvalue: -0.111
\n-
\nkey: Temperature (C)
\nvalue: 31
\n-
\nkey: Charge (Ah)
\nvalue: 1.985
\n-
\nkey: Capacity (Ah)
\nvalue: 2.702<\/code><\/p>\n","protected":false},"excerpt":{"rendered":"

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