来訪者受付システム (RS003) - OpenRTM-aist
Contents
1. PA AP API PAC W322. RTC 101 0021 1 18 13 1303 TelFax 03 3256 6353 E Mail contact rtc centerjjp 33
3. RS003 PA10 1 0 2011 6 30 RTC CO RNN 1 FR 1 NG TRI 1 1 3 2 ee 1 1 4 Miettinen 1 SSR Ce 2 Aa 2 2 6 EE 6 2 NN 7 3 2 1 PA10 PC 7 3 2 1 1 1 PES 7 3 2 1 2 2 OpenRTM aist 1 0 0 RELEASE C Ubuntu 10 04 8 3 2 1 3 3 OpenRTM aist Python 1 0 0 RELEASE 9 3 2 1 4 4 Eclipse ee 10 3 2 1 5 5 python visual i 10 3 2 1 6 6 PA10 RTC RTC 10 3 2 1 7 7 Python 10 3 2 1 8 8 nn 11 3 2 2 PC kk 12 3 2 2 1 1 PC kk 12 3 2 2 2 2 OpenRTM aist 1 0 0 RELEASE C Ubuntu 10 04 12 3 2
4. PA10 PA10 No Yes PA10 27 4 2 1 PA10 e 1 PA10 cd PCforSystemControl bin script PCforSystemControl bin script python pa10act_ctr gt gt gt from pa10act ctrl import RTC Activate PA10 PA10 br gt gt gt move_joint j_ready gt gt gt go_to pointl 2 PA10 end PA10 gt gt gt end env Ctrl d python 1 PA10
5. Q phRT lst 1 HH C FTC RTS 2 PC PC pgnRT ist 1 0 0 C TU 2 IIhdE 13 gg 3 PC PC PA10 RH707 3 2 3 2 1 PA10 PC PC OS Ubuntu10 04 1 7 3 2 1 1 1 PC PA10 URL
6. rtc_handle rtshell RTC cd PCforOpenVGR rtc_ conf PCforOpenVGR rtc conf cp conf opt OpenVGR build e MultiCamera OpenVGR example scripVMultiCameraParam conf camera_calib yaml ijeee1394board 0 conf default camera calhb file your directory camera calhb yaml conf default camera setting file your directory ieee1394board 0 e Recognition OpenVGR example scripVRecognitionParam conf ModelList txt conf default camera calhb file your directory camera calhib yaml conf default camera setting file your directory 7ieee1394board 0 e RecognitionResultView OpenVGR example scripVRecognitionResultViewParam conf ModelList txt conf default RecogModelListPath your directory ModelList txt conf default RecogParameterFilePath build param w02 txt 3 2 2 PC PC OS Ubuntu10 04
7. 1 pkg install100 ubuntu sh OmniORB4 pkg_install100_ubuntu sh su sh pkg install100_ ubuntu sh exit InPort read openrtm users 01308 Manager shutdown openrtm users 01149 iDv6 openrtm users 01270 2 OpenRTM aist 1 0 0 RELEASE tar gz tar xvzf OpenRTM aist 1 0 0 RBLEASE tar gz 3 1 PA10 patch lt OpenRTM aist 1 0 0 src lib rtm cp lt PA10 patch RingBuffer h diff OpenRTM aist 1 0 0 src lib rtm cp PA10 patch Manager cpp diff OpenRTM aist 1 0 0 src lib rtm 4 cd OpenRTM aist 1 0 0 src lib rtm patch lt RingBuffer h diff patch lt Manager cpp diff 5
8. 8HmmCW1 ea t Pa10 TC aRWM Pa10 YC ARM U 0 0 0 IIWIWIWIWW vV VWVWVWV6 Q IJ PC PC HP IHEF Comtad EngsimEgs LiEgktoh dcT8H CTTICoreg nad dBaH 9 89GHg HLD ET325H318 5 250GE T2HHrpm EThnntu 10 04 IEEE1394b EEIT 01 0002 FlEa2 000000 WW IEEE1394b 5Port Feint GTEy Research yPF FWE HUE 5FORT 5ET2 IEEE1394b x3 To 3 FUIINON DF6HA 1B 555WWOWO0Ownm 4 W4 4W 3 3 1 1 PA10 PC PC PA10 PA10
9. cd PCforSystemControl bin script lt PCforSystemControlbin script sh killPA10rtc sh RTC PA10 PA10SysRun sh RTC 29 4 2 2 RTC 1 ex 190mm 2 cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSpython VGRdrink ctrl gt gt gt from VGRdrink ctrl import RTC Activate PA10 4 1 3 5 3 end gt gt gt end env Ctrl d python
10. PA10 PC s PC 3 PA10 gt gt gt Selectmode table 1 RH 2 QUIT 3 3 22 4 1 3 PA10 1 2 png 23 3 PA10 RTSystemEditor RTC PA10 RTC PA10 RTC PA10ControllerO TerminalServer0 PA10 PA10 24 4 PA10
11. 3 2 3 3 3 PA PA10 PA C NWinPApci 3 2 3 4 4 API API PAC W32 RH707 API API PAC W32 API DIO 98 PC 14 RH700C3 PIO 32 32L PCI H C CONTEC 3 2 3 5 5 RTC HandCtrl C device HandCtr HandCtrlIComp_vc9
12. copypraopsbat 1 KB MS DOS Web la Makefile pa10ve 3KB PA10VEL lg pa1 yelcanf KB CONF cpa1nyelcpp BKB C Saurce XX lm pa1nyelh 7 KB C C Header palDvelxm xml 6 KB XML pal Dvel ve8 wcproj GKE VCt t Project pal Dvel vecd swcproj 6 KB MG Project ME cpa1 DvelComp cpp SKE _ C Saurce palDwelComp we8 wcproj 6 KB MG Project pa1 DwelComp_ wed wcproj 5 KB _ VGC Project 1KB CONF RTCxml 6 KB XML El rtm_config wsprops 3KB Project Property File sn user_config wsprops 1KB Project Property File Release 9 palUvelComp_ isual C 2 xpress Edition FE E P 9 DD A lt lt Win32 YB 2 Xx DJE RR CtrlrAlt
13. OpenRTM RSO03 PA10 EE REE CE TE eroperveRzp p6 Pc 1 0 0 Windows zp Windows OpenRTM PLepgfneon 9 5L PA10 unzip PA10 zp cp PA10 PCforSystemControl zip cp PA10 PCforOpenVGR zip unzip PCforSystemControl zip unzip PA10 PCforOpenVGR zp 3 2 1 2 2 OpenRTM aist 1 0 0 RELEASE C Ubuntu 10 04 C RTC RT OpenRTM aist 1 0 0 RELEASE OpenRTM aist 1 0 0 RELEASE
14. RH707 PA10 4 1 3 4 deactivate deactivate gt gt gt deactivate Ctrl d python 4 3 PA10 PA10 1 PA10 3 5 3 2 PA10 7 3 RTC cd PCforSystemControl bin script lt 7PCforSystemControl bin script sh killPA10rtc sh lt 7PCforSystemControl bin script sh simPA10SysRun sh 4 PA10 1 2 31 5 PA10 RTSystemEditor PA10SystemController
15. PC PA10 ES DigitalIO PC Ethernet F amp 10 PC RH FC a a PGC IEEE1394b IEEE1394 IEEE1394b 9 9 IEEE139ab PF amp 10 PC IEEE1394b 9 9 IEEE139ab IEEE1394 IEEE1394b 9 9 RH700C3 PIO 32 32L PCI H AC100V RH7O0C3 Pt UTPUT INPLT om eey eo os oren sro wo erose sow srop ee Sh 6 re mm re ov eer led DIOboard 12V DC AMP PA10 PC PC EPSGTN IEmdeawor Frod350 PC PC HDD HD251HI 25GE CE Windoms KF ES PA
16. PA10 PC 12 3 2 3 PC PC OS Windows XP 1 5 3 2 3 1 1 PC PA10 URL OpenRTM RSO03 PA10 10 FCSyaianConrolzp PA PC FCrofemveR zh EN LEE ln mr TRWmdgrs 5 Wigpws PenRTM ppepefmdon 5L zip PA10 PA10 zip O 2 2 cc H
17. 1 3 3 2 2 1 1 PC PA10 URL OpenRTM RSO03 PA10 WM 5 PA10 Pc 1 0 0 Windows zip Windnws OnenRTM mu Depefmmen 2 pu PA10 unzip PA10 zp cp PA10 PCforOpenVGR zip unzip PCforOpenVGR 3 2 2 2 2 OpenRTM aist 1 0 0 RELEASE C Ubuntu 10 04 PA10 PC 3 2 2 3 3 python visual PA10 PC 3 2 2 4 4
18. PC RTC cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSsh killPA10rtc sh lt PCforSystemControlbin script sh simPA10SysRun sh 2 PA10 cd PCforSystemControl bin script lt PCforSystemControl bin scriptSpython 28 pa10sim_ctrl gt gt gt from palOsim ctrl import RTC RTC Activate PA10 PA10 PA10 PA10 brl gt gt gt moVe ont ready gt gt gt go_to pointl 3 PA10 end PA10 gt gt gt end env Ctrl d python 4 RTC
19. 8 a 1 ex 2 cd PCforSystemControl bin script PCforSystemControl bin script python VGRholder_ctrl gt gt gt from VGRholder ctrl import RTC Activate PA10 4 1 3 6 30 3 end gt gt gt end env Ctrl d python 4 2 3 RH707 cd PCforSystemControl bin script lt PCforSystemControlbin script Spython hand_ctrl gt gt from hand ctrl import RTC Activate
20. 1 4 http www js alst gn jp Tt Ope 2 PA10 3 RH707 PA1 0 NM ROSS II 0 i ina 9 P http 21015418416 RSO03 RSO003 html 2 2 1 pkg lt lt conwolep gt PA10 PC OS Ubuntu 10 04 lt lt RTC gt gt a PA10SystemControler lt cRTCr gt ACT_PA10_RH RMRC cps PA10OnmkSene lt csmpbz pat0act_ cit lt lt scmpb gt hand_ctl smpe gt VGRhoider_cil ccscnpb gt VGRdmk_ cm lt RT OpanvGf PA10 R lt lt E
21. S f TortoiseSVN 0 13 PA10 device zip C lt o 105 KB ZipFile 2 D Gy c c H oi mn Lhaplus deyicezip OK 3 2 3 2 2 OpenRTM aist 1 0 0 RELEASE C Windows C RTC RT 1 URL OpenRTM aist 1 0 0 RELEASE C Windows URL http 7 www openrtm org OpenRTM aisthtmlE3839EE3838BE383A5E382A2E383AB2FC2B2BE78988E382A4E383B3E382B9 E38388E383BCE383AB28Windows202C1 0 029 htm n7036074 Ubuntu 10 04 2 1 PA10 1 0 0_ Windows ip 3 C Program Files OpenRTM aist1 0Wbin
22. RH PA10 0 OK 1 OK 25 4 1 4 PA10 1 PA10 RTSystemEditor PA10SystemController RMRC OpenVGR RTC 2 PC PA10 RTC 3 PA10 RTC Ctrl C PA10 4 PC RH707 RTC RH707 RTC Ctrl C 5 PA10 PC PA10SystemControl
23. rtm naming 9876 rtm namng 9876 5 6 PC PA10 RTC RTC PA10 C Documents and Settings rtc center gt cd C device pal10vel components C device pal0vel components gt pal0velComp exe 20 6 RH707 1 6 2 PC RH707 RTC C Documents and Settingstc center cd C devicevHandCtrhcomponents C devicevHandCtrhcomponents gt HandCtrIComp exe 7 7 1 PC rtm naming 9876 rtm naming 9876 7 2 PC RTC cd PCforOpenVGR lt 7PCforOpenVGR sh OpenVGR_run sh 7 3 PA10 PC rtm naming 5005 rtm naming 5005 7 4 i 0 PC
24. unzip PA10 IDL TypeDefinition zp sudo cp lt PA10 IDL TypeDefinition OpenVGR_ idl usr lib python2 6 dist packages OpenRTM ais RTM IDL sudo cp lt PA10 IDL TypeDefinition ManipulatorCommonInterface CommonData idl usr lib python2 6 dist packages OpenRTM aisCRTM IDL sudo cp lt PA10 IDL TypeDefinition ManipulatorCommonInterface DataTypes idl usr lib python2 6 dist packages OpenRTM aisORTM IDL sudo cp lt PA10 IDL TypeDefinition ManipulatorCommonInterface MiddleLevelData idl usr hb python2 6 dist packages OpenRTM aist RTM IDL sudo cp lt PA10 IDL TypeDefinition7RMRCData idl nsrhb python2 6 dist packages OpenRTM ais RTM IDL sudo cp lt PA10 IDL TypeDefinition omniidl clean sh usr hb python2 6 dist packages OpenRTM aisURTM_IDL 3 IDL cd usr hb python2 6 dist packages OpenRTM aisURTM IDL usr lib python2 6 dist packages OpenRTM aistRTM IDL sudo sh omniidl clean sh usr lib python2 6 dist packages OpenRTM aist RTM IDL sudo omniidl bpython I usr lib python2 6 dist packages OpenRTM aist RTM IDL idl 3 2 1 4 4 Eclipse RTC RTSystemEditor RTSystemEditor Eclipse Eclipse
25. No 19 4 1 1 PA10 1 PA10 2 OFF 3 PA10 PC PC PC 4 eclipse cd eclipse lt eclipse sh eclipse sh Eclipse sh URL http www openrtm org openrtm ja node 941 toc0 5 PA10 5 1 PA10 PC rtm naming 9876 rtm naming 9876 5 2 PA10 PC rtm naming 2809 rtm naming 2809 5 3 PA10 PC PA10 RTC cd PCforSystemControl bin comp PCforSystemControl bin comp PA10SystemControllerComp f etc PA10SystemController conf 5 4 PA10 PC RTC cd PCforSystemControl bin script lt PCforSystemControl bin script sh PA10SysRun sh 5 5 PC
26. URL RTSystemEditor Eclipse Linux Eclipse 3 2 1 5 5 python visual python visual 1 Synaptic Synaptc 2 python visual python visual 3 libgtkglext libgtkglext1 Iibgtkglext1 dev 3 2 1 6 6 PA10 RTC RTC 1 RTC PCforSystemControlbin comp PA10SystemController cd PCforSystemControl src GeneralController PA10SystemController lt PCforSystemControl src GeneralControlleryPA10SystemController make f Makefile PA10SystemController lt PCforSystem
27. ServiceSimulation_dmyd VPython ata ServiceSimulation VPython 6 PA10 RTSystemEditor RTC PA10 RTC PA10 RTC PA10Controller0 TerminalServer0 PA10 PA10 7 PA10 1 4 32 5 5 1 1 6 6 1 6 2
28. make lt OpenRTML aist 1 0 0 configure prefix usr lt 7OpenRTM aist 1 0 0 make clean lt OpenRTM aist 1 0 0Smake lt 7OpenRTM aist 1 0 0 sudo make install 6 etc hosts localhost ipv6 1 localhost ip6 localhost ip6 loopback 3 2 1 3 3 OpenRTM aist Python 1 0 0 RELEASE Python RTC RT Rtc_Handle RTC Python RTM 1 pkg_install_python_ubuntu sh pkg_install_python_ubuntu sh SU sh pkg install python ubuntu sh y Y 2 Python RTM 1 PA10 IDL_TypeDefiniton idl usr lib python2 6 dist packages OpenRTM_aisVRTM_IDL
29. 2 3 3 python visual i 12 3 2 2 4 4 ikki 12 3 2 3 PC kk 13 3 2 3 1 1 PC kk 13 3 2 3 2 2 OpenRTM aist 1 0 0 RELEASE C Windows 14 3 2 3 3 3 PA 14 3 2 3 4 4 API API PAC W32 14 93296 RDC 2 1 OONNOOANRR0RODSUGMNAee0 15 RRBRRRREBRRRGRRNRREBRHRREHORBRRNERBSERRER 19 4 PA10 TOT 19 4 1 1 PA10 Li 20 4 SS SN 22 4 1 3 PA10 kk 23 4 1 4 PA10 ki 26 0 3 26 4 2 27 42APA10 EE 28 4 2 2 RTC ti 30 0 P 267 br 1 31 4 8 PA10 KEK EKKE KO 31 1 bo 33 1 2 9 001 Ri 33 60500 ESNLERKRRRSE Ss eo 33 6 1 iii 62 Sa Annas monde one pon Cbs on
30. A10 1 PA10 PC PA10 cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSpython VGRcalib py gt gt gt need ready 1 yorn gt gt gt need ready 1 7 yorn y gt gt gt Selectmode table 1 RH 2 QUIT 3 1 2 eXx gt gt gt Select mode table 1 RH 2 QUIT 3 1 PA10 gt gt gt Selectmode table 1 RH 2 QUIT 3 1 move to 1 OK Enter 2 14 3d txt PC 14 e
31. Control src GeneralController PA10SystemControllerSmake f Makefile PA10SystemController install ACT_PA10_RH RMRC vel_7dof pa10disp pa10hand_disp slider cd PCforSystemControl src MotionController lt 7PCforSystemControl src MotionController makeall sh 3 2 1 7 7 Python lt PCforSystemControl etc set_envjpy 10 usr bin env python Python import subprocess import os pwd UserName pwd getpwuid os getuid 0 LibDir home UserName PCforSystemControl lib SrcDir home UserName PCforSystemControl src MotionController EtcDir home UserName PCforSystemControl etc IcldDir home UserName PCforSystemControl include LogDir home UserName PCforSystemControl log BinDir home UserName PCforSystemControl bin Nameserver RMRC NS localhost 9876 DEVICE NS oooo 9876 DRINK NS localhost 5005 RH NS o000 9876 PACT NS localhost 2809 CT _NS oooo 2809 oooo PC IP 3 2 1 8 8 7 8 7 rtshell
32. F7 G Lod pa10velComp 6 palOvelComp PL RU pa1UyelComp pa1nyelCamn UE L YE pa1nvelComp CN J KD O A EME 17 C devicepa10vel components C udevicepa10velVtc conf C palDvel components gt FF pal0velCompexe 107 KB am CO Ox RE 18 4 PA10 PA10 2 PA10 4 1 PA10 PA10 PA10 No Yes PA10 PA10
33. RTC 7 2 PC DR RTC 7 2 cd PCforSystemControl bin comp PCforSystemControl bin script sh OpenVGR run sh PCforSystemControl bin script python VGRdrink run py PCforSystemControl bin script python VGRholder run py 21 4 1 2 PA10 PA10 14 PA10 6 7 8 14 P
34. Wemeb gt lt lt controler gt gt PC OS WWndowXP phere lt lt conwoler gt lt crobob gt own gt omop gt Ooelox RH700C3 RH707 lt Ememeb gt lt lt sensop gt EEE1394b Flea2 lt lt sensors gt lt lt controher gt gt lt lt sensor gt gt RHE MHMRPC OS Ubunty 10 04 PT IEEF1394b Flea2 lt lt iEEE1394bz gt EEE1394b lt EEE1394b gt gt lt lt sensop gt lt lt sensop gt IEEE1394b Flea2 lt lt sansor gt lt lt EEE1394b gt gt lt lt sensoo gt IEEE1394b Flea2 lt lt HUB gt gt jEEE1394b lt lt EEE1394b gt gt lt lt sensor lt lt sensop gt EEE1394b Flea2 lt lt sensop gt hh CE mw mew Ethernet PA10 PC a ta Fd
35. es Ts rs RSS 33 6 3 a 33 1 1 1 PA10 RH707 PA10 1 2 No 1 3 RTC 201 Q 10 O1 16 IOS OpenRTM Aist BIRTM RT F 9 IRTC _ _ IRIT RT 13IRH _ _ 14 IPA10 FAO RH707
36. ler PA10 PC PA10SystemController Ctrl C 4 1 5 PA10 PA10 PA10 ON 1 Rtc Handle RTC PA10 RTC RTC RTSystemEditor RTC frm_ctrlO 2 python Ctrl d 3 OFF 4 1 RTC PA10 26 4 2
37. operty File 15 Release isual C 2HH8 Express Editinn OU R CtrltAlt F7 0 G Mc Handcrlcomp PLR U HandCtrIComp 0 YE HandCtrIComn VIN J E RTD wtO C device HandCtr components C udevice HandCtrlvtc conf a C PATD device HandCtrl components 2 71 KB 1KB CONF 7 pa10vel C Mevicema10vel pa10velComp_vc9 vcproj P E D H On OO awW D cydevcepaioe 0 0 0 C device na1nyel 1 KB PROJECT _ com pal0 idl 1 KB Interface Definition pa10SVO_implcpp 6 KB C Source nN com pa10SVC_implh 2KB C C Header
38. vcproj i HandCtrl F E LA2 D C device HandOtl gt project 1KB PROJECT com_rh707 dl 1KB IDL 7 com rh707SVC_implepp 5 KB C 22 H com rh 07SVC_implh 2 KB C copypraopsbat 1 KB MS DOS Web HandCtrlcanf nKB CONF 7 9 HandGtrlcpp 5 KB 0 7f IH HandCtlh 6KB 0 XX HandCtrlycBycproj 6 KB MC Project HandCtrl we9 wcproj 6 KB VO Project 9 HandCtrICampcpp 3KB HandCtrlComp_ve8 weproj 5 KB _ VO Project G2 dove I a 9KB HANOOTRL RS Maketile HandCtr Wo i rtc conf 1KB CONF a RTCxml 3 KB XML asm rtm_config wsprops 3KB Project Property File J ss user_config wsprops 1 KB Praject Pr
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