{"id":2356,"date":"2014-09-05T19:14:22","date_gmt":"2014-09-05T10:14:22","guid":{"rendered":"http:\/\/oohito.com\/nqthm\/?p=2356"},"modified":"2014-09-05T19:14:22","modified_gmt":"2014-09-05T10:14:22","slug":"turtlebotcreate%e3%81%8c%e5%8b%95%e3%81%8b%e3%81%aa%e3%81%8f%e3%81%aa%e3%81%a3%e3%81%9f","status":"publish","type":"post","link":"https:\/\/oohito.com\/nqthm\/archives\/2356","title":{"rendered":"TurtleBot(CREATE)\u304c\u52d5\u304b\u306a\u304f\u306a\u3063\u305f"},"content":{"rendered":"<p>\u4e45\u3057\u3076\u308a\u306bTurtleBot\u3092\u52d5\u304b\u305d\u3046\u3068\u3001\u63a5\u7d9a\u3057\u3066\u3044\u308b\u30de\u30b7\u30f3\u306eubuntu\u3092\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3057\u305f\u3002<br \/>\n\u30a4\u30e4\u306a\u4e88\u611f\u304c\u3057\u305f\u901a\u308a\u3001\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u5f8c\u306bTurtleBot\u304c\u52d5\u304b\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3063\u305f\u3002<br \/>\n\u4ed6\u3068\u554f\u984c\u3092\u5207\u308a\u5206\u3051\u308b\u305f\u3081\u306b\u3001turtlebot_bringup\u3067\u306f\u306a\u304f\u3001create_node\u3060\u3051\u3067\u8d77\u52d5\u3057\u3066\u307f\u305f\u3089\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u7d50\u679c\u3068\u306a\u3063\u305f\u3002<\/p>\n<pre>$ rosrun create_node turtlebot_node.py\n[INFO] [WallTime: 1409911201.387855] serial port: \/dev\/ttyUSB0\n[INFO] [WallTime: 1409911201.389007] update_rate: 30.0\n[INFO] [WallTime: 1409911201.391291] drive mode: twist\n[INFO] [WallTime: 1409911201.392122] has gyro: True\n[INFO] [WallTime: 1409911201.559079] self.gyro_measurement_range 150.000000\n[INFO] [WallTime: 1409911201.560099] self.gyro_scale_correction 1.350000\n[ERROR] [WallTime: 1409911204.652150] Failed to open port \/dev\/ttyUSB0.  Please make sure the Create cable is plugged into the computer.\nFailed to open port \/dev\/ttyUSB0.  Please make sure the Create cable is plugged into the computer. <\/pre>\n<p><!--more--><br \/>\n\u30bd\u30fc\u30b9\u3092\u8ffd\u3044\u304b\u3051\u306a\u304c\u3089\u30c6\u30b9\u30c8\u3057\u3066\u307f\u308b\u3068\u3001\u3069\u3046\u3084\u3089\u8ab0\u304b\u304c\u30dd\u30fc\u30c8(\/dev\/ttyUSB0)\u3092\u5148\u306b\u30aa\u30fc\u30d7\u30f3\u3057\u3066\u3044\u3066\uff08Port is already open.\uff09\u3001\u91cd\u8907\u30aa\u30fc\u30d7\u30f3\u3068\u306a\u3063\u3066\u3057\u307e\u3063\u305f\u3089\u3057\u3044\u3002<br \/>\n\u8ffd\u3048\u3069\u3082\u305d\u306e\u5834\u6240\u304c\u308f\u304b\u3089\u306a\u3044\u305f\u3081\u3001\u7d20\u306ePython\u3067\u8a66\u3057\u3066\u307f\u305f\u3002<\/p>\n<pre>$ python\nPython 2.7.3 (default, Feb 27 2014, 20:00:17)\n[GCC 4.6.3] on linux2\nType \"help\", \"copyright\", \"credits\" or \"license\" for more information.\n>>> import serial\n>>> x = serial.Serial(\"\/dev\/ttyUSB0\", baudrate=57600, timeout=2)\n>>> x.open()\nTraceback (most recent call last):\n  File \"<stdin>\", line 1, in <module>\n  File \"\/usr\/local\/lib\/python2.7\/dist-packages\/serial\/serialposix.py\", line 285, in open\n    raise SerialException(\"Port is already open.\")\nserial.serialutil.SerialException: Port is already open.\n>>> <\/module><\/stdin><\/pre>\n<p>\u4f55\u3068\u8d77\u52d5\u5f8c\u306eopen\u3067\u65e2\u306b\u5931\u6557\u3057\u3066\u3044\u308b\u3002\u8abf\u3079\u3066\u307f\u305f\u3089\u3001\u6700\u8fd1\u306ePySerial\u3067\u306f\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u306e\u751f\u6210\u6642\u306bopen\u3059\u308b\u305f\u3081\u3001\u660e\u793a\u7684\u306bopen\u3059\u308b\u5fc5\u8981\u304c\u306a\u304f\u306a\u3063\u305f\u3089\u3057\u3044\u3002<br \/>\n\uff08\u305d\u3046\u3044\u3046\u5909\u66f4\u3084\u3081\u3066\u6b32\u3057\u3044&#8230;\uff09<br \/>\n\u3068\u3044\u3046\u3053\u3068\u3067\u3001\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u3092\u660e\u793a\u7684\u306bopen\u3057\u3066\u3044\u308b\u5834\u6240\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3059\u308b\u3060\u3051\u3067\u3088\u304b\u3063\u305f\u3002<\/p>\n<pre>$ roscd create_driver\/src\/\n$ diff create_driver.py create_driver.py.org\n213c213\n< #self.ser.open()\n---\n>     self.ser.open()\n<\/pre>\n<p>\u3053\u308c\u3067\u534a\u65e5\u3064\u3076\u308c\u3066\u3057\u307e\u3063\u305f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e45\u3057\u3076\u308a\u306bTurtleBot\u3092\u52d5\u304b\u305d\u3046\u3068\u3001\u63a5\u7d9a\u3057\u3066\u3044\u308b\u30de\u30b7\u30f3\u306eubuntu\u3092\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3057\u305f\u3002 \u30a4\u30e4\u306a\u4e88\u611f\u304c\u3057\u305f\u901a\u308a\u3001\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u5f8c\u306bTurtleBot\u304c\u52d5\u304b\u306a\u304f\u306a\u3063\u3066\u3057\u307e\u3063\u305f\u3002 \u4ed6\u3068\u554f\u984c\u3092\u5207\u308a\u5206\u3051\u308b\u305f\u3081\u306b\u3001turtle&#8230;<\/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-2356","post","type-post","status-publish","format-standard","hentry","category-ros","category-turtlebot"],"_links":{"self":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2356","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=2356"}],"version-history":[{"count":0,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/posts\/2356\/revisions"}],"wp:attachment":[{"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/media?parent=2356"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/categories?post=2356"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/oohito.com\/nqthm\/wp-json\/wp\/v2\/tags?post=2356"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}