{"id":2007,"date":"2013-05-09T21:15:16","date_gmt":"2013-05-09T12:15:16","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=2007"},"modified":"2013-05-09T21:15:16","modified_gmt":"2013-05-09T12:15:16","slug":"ros%e7%b5%8c%e7%94%b1%e3%81%a7kinect%e3%81%ae%e9%aa%a8%e6%a0%bc%e6%83%85%e5%a0%b1%e3%82%92%e5%be%97%e3%82%8bgroovy","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/2007","title":{"rendered":"ROS\u7d4c\u7531\u3067Kinect\u306e\u9aa8\u683c\u60c5\u5831\u3092\u5f97\u308b(groovy)"},"content":{"rendered":"

\u4ee5\u524d\u3001ROS\u3067kinect\u3092\u52d5\u304b\u3059\u3002<\/a>\u3068\u3044\u3046\u8a18\u4e8b\u3067\u3001Kinect\u306e\u9aa8\u683c\u60c5\u5831\u3092ROS\u7d4c\u7531\u3067\u5f97\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\u3002\u3057\u304b\u3057\u3001\u76f8\u5f53\u306b\u53e4\u3044\u60c5\u5831\u306a\u306e\u3067\u3001\u73fe\u5728\u306egroovy\u3067\u306f\u3046\u307e\u304f\u52d5\u304b\u306a\u3044\u3088\u3046\u3060\u3002
\n\u305d\u3053\u3067\u3001groovy\u3067\u52d5\u304b\u3059\u65b9\u6cd5\u3092\u518d\u5ea6\u307e\u3068\u3081\u3066\u307f\u305f\u3002
\n2013\/10\/3\u8ffd\u8a18\uff1a\u3053\u306e\u4ef6\u306b\u95a2\u3057\u3066\u307e\u3068\u307e\u3063\u3066\u3044\u308b\u30b5\u30a4\u30c8\u3092\u898b\u3064\u3051\u305f\u306e\u3067\u8ffd\u52a0\u3057\u3066\u304a\u304f\u3002<\/ins>
\nhttp:\/\/www.technolabsz.com\/2013\/06\/how-to-solve-opennitracker-error-find.html<\/a>
\n\u57fa\u672c\u7684\u306b\u306f\u3001openni_tracker<\/a>\u3068\u3044\u3046\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u5c0e\u5165\u3059\u308b\u3053\u3068\u3067\u9aa8\u683c\u60c5\u5831\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u306a\u308b\u3089\u3057\u3044\u3002
\nsudo apt-get install ros-groovy-openni-tracker<\/code>
\n\u4e0a\u8a18\u306e\u3088\u3046\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u3001
\nroslaunch turtlebot_bringup 3dsensor.launch<\/code>
\n\u3067Kinect\u3092\u52d5\u4f5c\u3055\u305b\u305f\u5f8c\u3067\u3001\u5148\u307b\u3069\u306e\u30da\u30fc\u30b8\u306b\u8a18\u8ff0\u3055\u308c\u3066\u3044\u308b\u3088\u3046\u306btraker\u3092\u8d77\u52d5\u3057\u305f\u3002\u3059\u308b\u3068\u3001
\nrosrun openni_tracker openni_tracker
\n[ERROR]: Find user generator failed: This operation is invalid!
\n<\/code>
\n\u306e\u3088\u3046\u306a\u3064\u308c\u306a\u3044\u30e1\u30c3\u30bb\u30fc\u30b8\u3068\u3068\u3082\u306b\u7d42\u4e86\u3057\u3066\u3057\u307e\u3046\u3002
\n\u9069\u5f53\u306b\u30b0\u30b0\u3063\u3066\u63a2\u3057\u3066\u307f\u308b\u3068\u540c\u3058\u73fe\u8c61\u306b\u3064\u3044\u3066\u306e\u5831\u544a\u304c\u3055\u308c\u3066\u3044\u305f\u3002
\nOpenNI\/NITE incompatible in Fuerte\/Groovy on Precise<\/a>
\n\u8981\u306fNITE\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u7570\u306a\u308b\u305f\u3081\u3089\u3057\u3044\u306e\u3060\u304c\u3001\uff15\u756a\u76ee\u306e\u30b3\u30e1\u30f3\u30c8\u306e\u65b9\u6cd5\u3092\u8a66\u3057\u3066\u307f\u305f\u3089\u3046\u307e\u304f\u3044\u3063\u305f\u3002
\n\u307e\u305a\u3001OpenNI SDK history<\/a>\u306e\u30da\u30fc\u30b8\u304b\u3089\u3001NiTE v1.5.2.21\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\u3002\uff08\u3046\u3061\u306e32bit\u7248ubuntu12.04\u306e\u5834\u5408\u3001NITE-Bin-Linux-x86-v1.5.2.21.tar.zip\u3068\u306a\u308b\u3002\uff09
\n\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305fZIP\u30d5\u30a1\u30a4\u30eb\u3092\u5c55\u958b\u3059\u308b\u3068\u3001bz2\u5f62\u5f0f\u306e\u5727\u7e2e\u30d5\u30a1\u30a4\u30eb\u304c\u5f97\u3089\u308c\u308b\u306e\u3067\u3001\u3055\u3089\u306btar xjf\u30b3\u30de\u30f3\u30c9\u3067\u5c55\u958b\u3059\u308b\u3002\u5c55\u958b\u3057\u305f\u30d5\u30a9\u30eb\u30c0\u306e\u4e2d\u306binstall.sh\u3068\u3044\u3046\u30b9\u30af\u30ea\u30d7\u30c8\u304c\u3042\u308b\u306e\u3067\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3002
\nsudo .\/install.sh<\/code>
\n\u3053\u308c\u3067\u5148\u307b\u3069\u306erosrun openni_tracker openni_tracker<\/code>\u3092\u5b9f\u884c\u3059\u308b\u3068\u30a8\u30e9\u30fc\u3092\u5410\u304b\u306a\u304f\u306a\u3063\u305f\u3002
\n\u3057\u304b\u3057\u3001Kinect\u306e\u524d\u3067PSI\u30dd\u30fc\u30ba\u3092\u53d6\u3063\u3066\u307f\u3066\u3082\u30a6\u30f3\u3068\u3082\u30b9\u30f3\u3068\u3082\u8a00\u308f\u306a\u3044\u3002\u30a2\u30e4\u3057\u3044\u3068\u601d\u3063\u3066\u3001roslaunch turtlebot_bringup 3dsensor.launch\u3092\u6b62\u3081\u3066\u5225\u306elaunch\u3092\u8a66\u3057\u305f\u3089\u3046\u307e\u304f\u3044\u3063\u305f\u3002
\nroslaunch openni_launch openni.launch<\/code>
\n\u307e\u3068\u3081\u308b\u3068\u3001\u4ee5\u4e0b\u306e\u624b\u9806\u3067Kinect\u304c\u9aa8\u683c\u60c5\u5831\u3092\u751f\u6210\u3059\u308b\u3088\u3046\u306b\u306a\u3063\u305f\u3002<\/p>\n

    \n
  1. ros-groovy-openni-tracker\u3092apt\u7d4c\u7531\u3067\u5f97\u308b<\/li>\n
  2. NiTE v1.5.2.21\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b<\/li>\n
  3. roscore\u306a\u308aturtlebot_bringup\u3057\u3066\u304a\u304f<\/li>\n
  4. roslaunch openni_launch openni.launch\u3092\u8d77\u52d5\u3059\u308b<\/li>\n
  5. rosrun openni_tracker openni_tracker\u3092\u8d77\u52d5\u3059\u308b<\/li>\n<\/ol>\n

    \u4e0a\u8a18\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u306f\u9aa8\u683c\u60c5\u5831\u3092\u8a8d\u8b58\u3059\u308b\u3068\u3001\/tf\u30c8\u30d4\u30c3\u30af\u306b\u30c7\u30fc\u30bf\u3092\u6d41\u3059\u3088\u3046\u306b\u306a\u308b\u3002\u305d\u3053\u3067\u3001\/tf\u3092subscribe\u3057\u3066\u9069\u5f53\u306b\u30c7\u30fc\u30bf\u3092\u5f97\u308c\u3070\u3044\u3044\u306e\u3060\u304c\u3001\u6c17\u3092\u3064\u3051\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u306e\u306f\u3001child_frame_id\u306b\u73fe\u308c\u308b\u306e\u306f\u3001tracker\u306e\u30da\u30fc\u30b8\u306b\u3042\u308b\u3088\u3046\u306a\/head\u3067\u306f\u306a\u304f\u3001\u8a8d\u8b58\u3057\u305fUser\u306e\u756a\u53f7\u304c\u4ed8\u52a0\u3055\u308c\u305f\/head_4\u306e\u3088\u3046\u306a\u3082\u306e\u3068\u306a\u308b\u3053\u3068\u3067\u3042\u308b\u3002\u5f8c\u306f0\u301c1\u306e\u7bc4\u56f2\u306b\u3042\u308bx, y, z\u304b\u3089\u5024\u3092\u5f97\u308c\u3070\u826f\u3044\uff08\u306f\u305a\u3002\u307e\u3060\u3084\u3063\u3066\u306a\u3044\u3002\uff09<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u4ee5\u524d\u3001ROS\u3067kinect\u3092\u52d5\u304b\u3059\u3002\u3068\u3044\u3046\u8a18\u4e8b\u3067\u3001Kinect\u306e\u9aa8\u683c\u60c5\u5831\u3092ROS\u7d4c\u7531\u3067\u5f97\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\u3002\u3057\u304b\u3057\u3001\u76f8\u5f53\u306b\u53e4\u3044\u60c5\u5831\u306a\u306e\u3067\u3001\u73fe\u5728\u306egroovy\u3067\u306f\u3046\u307e\u304f\u52d5\u304b\u306a\u3044\u3088\u3046\u3060\u3002 \u305d\u3053\u3067\u3001groovy\u3067\u52d5\u304b\u3059\u65b9\u6cd5\u3092…<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2,11],"tags":[],"class_list":["post-2007","post","type-post","status-publish","format-standard","hentry","category-kinect","category-ros"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2007","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=2007"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2007\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=2007"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=2007"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=2007"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}