次世代ロボット知能化技術開発プロジェクト ロボット知能 - OpenRTM-aist
Contents
1. s s PA s API API PAC W32 e 3 VVV RTC 101 0021 1 18 13 1303 TelFax 03 3256 6353 E Mail contact rtc center jp 402. 3 2 3 4 API API PAC W32 RH707 API API PAC W32 C CONTEC 18 3 2 3 5 RTC es HandCtrl Cdeyice HandCtrl Web 9 99877 XX device W C device HandCtrl HandCtrlIComp_vc9 vcproj com_rh707d com rh VGC_impnlcpp IH comrh707SVC_implh copypropsba
3. RS002 PA10 0 5 2011 3 16 RTC 1 3 2 822208220828838288HH0288288RRE232828088 328C2882802822REBS22822822 1 BR 2 2 3 CH 7 3 0 NR SS 5822 eee 8 3 5 SNR RR 8 3 RE EE EI 9 3 2 1 PA10 PC 9 3 2 1 1 PC kk 9 3 2 1 2 OpenRTM aist 1 0 0 RELEASE C Ubuntu 10 04 10 3 2 1 3 OpenRTM aist Python 1 0 0 RELEASE i 12 3 2 1 4 Eclipse kk 13 325 pythonvisual lt RC RI SS R11 13 21 6 RICOALNATE BREE RR 13 32 SR NS 14 3 2 2 RH PC kk 14 3 2 2 1 PC tk 14 3 2 2 2 OpenRTIM aist 1 0 0 RELEASE C Ubuntu 10 04 Lik 15 3 2 2 3 python visual 15 3 23 PC 16 3 2 3 1 PC
4. pkg_install_python_ubuntu sh URL http www openrtm org OpenRTM aisWdownload install_scripts SU sh pkg install python ubuntu sh y Y 2 VVVrtc Python RTM 3 2 1 1 PA10 VVV_IDL VVV idl usr lib python2 6 dist packages OpenRTM aisRTM IDL unzip PA10 VVV_IDL zip sudo cp lt PA10 VVV_IDL VVVidl usrlib python2 6 dist packages OpenRTM aistRTM IDL 3 IDL cd usr hb python2 6 dist packages OpenRTM aist RTM IDL 7usr lib python2 6 dist packages OpenRTM aist RTM IDL sudo omniidl bpython VVV idl 12 3 2 1 4 Eclipse RTC RTSystemEditor RTSystemEditor Eclipse Eclipse URL RTSystemEditor Eclipse Linux
5. URL http www openrtm org openrtm ja node 94 1 Dackage Eclipse 3 2 1 5 python visual python visual 1 Synaptic Synaptic 2 python visual python visual python visual 3 libgtkglext libgtkglext1 libgtkglext1 dev 3 2 1 6 RTC 3 2 1 1 RTC PCforSystemControbin comp e PA10SystemController cd PCforSystemControl src GeneralController PA10SystemController lt PCforSystemControl src GeneralController PA10SystemController Smake f Makefile PA10SystemController lt PCforSystemControl src GeneralController PA10SystemController make f Makefile PA10SystemController insta
6. me device 0U R CtrlrAlt F7 Gy 0 a IComp palDvelComp DEL pa1nyelComp U YE pa1nyelComp J D O 21 C device pa10vel components C device pa10vel rtc conf C palDvel components FF pal0velCompexe 107 KB LO rtc cont 1 KB CONF 22 4 PA10 PA10 2 PA10
7. C device HandCtrl rtc conf FF HandCtrlComp exe 71 KB RE 20 s pa10vel C device pa10ve pa10velComp_vc9 vcproj palDwel win D C device palDvel I _ com pa10 dl 1 KB Interface Definition a _pa1USVG_implcpp BKB G Saurce nN com pa10SVC_implh 2KB C C Header copypropsbat 1 KB MS DOS Web Makefilena1yel 3KB PA1UVEL cpa1yelcpp BKB O Saurce XX nh pa10yelh TKB C C Header palOvelxm xml 6 KB XML pa1 Dvel ve8 wcproj 5 KB MG Project pal yel vcd wcproj 5 KB MG Project cpa1 yelComp cpp 3 KB C Saurce palHyelComp_ycB wcproj 5 KB MG Project pa1UvelCnmp_yc9ycpraj 5 KB VC Project 1 KB CONF RTGxml 6 KB XML asm rtm_config wsprops 3KB Praject Property File asm user_config wsprops 1 KB Praject Property File Release
8. 2 1 pkg lt lt conmolep gt PA10 PC OS Ubuntu 10 04 lt lt scmpb gt PA10DnnkSeve lt lt scmpbz pa10act_cml lt lt snpb gt lt lt scmpb gt Yecog_RH lt lt scmpb gt ecog_dimk lt lt RTS gt gt WV PA10 lt lt ARCNET gt lt lt Eemeb gt lt lt conholep gt PC OS WdowP lt lt corDolep gt obob gt lt lt obob gt lt lt conoler gt lt lt robop gt RH700C3 RH707 lt lt EWeme gt lt lt sensop gt IEEE1394b Flea2 lt lt sensop gt lt lt sensop gt IEEE1394b Flea2 RH PC OS Ubunts 10 04 lt lt RTS gt gt Vvvk lt lt HUB gt gt jEEE1394p lt EEE13946 gt gt asa lt lt sensop gt IEEE1394b Flea2 lt lt sensop gt lt lt sensor gt IEEE1394b Flea2 lt lt sensop gt lt lt EEE139
9. 2 RH cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSpython vrecog_RH gt gt gt from vVrecog RH import 36 RTC Activate PA10 4 3 script RH 3 RH end RH Ctrl d python 37 4 2 3 RH707 1 cd PCforSystemControl bin script lt PCforSystemControl bin scriptSpython hand_ctrl gt gt from hand ctrl import RTC Activate RH707 PA10 4 3
10. RMRC VVV RTC 2 PC PA10 RTC PA10 RTC Ctrl c PA10 3 PC RH707 RTC RH707 RTC Ctrl c 4 PA10 PC PA10SystemController PA10 PC PA10SystemController Ctrl C 31 4 1 5 PA10 1 Rtc Handle RTC PA10 RTC RTC RTSystemEditor
11. gt gt gt Selectmode table 1 RH 2 QUIT 3 1 PA10 gt gt gt Selectmode table 1 RH 2 QUIT 3 1 moveto1 OK Enter 2 PA10 PC RH RH PC 26 3 PA10 gt gt gt Selectmode table 1 RH 2 QUIT 3 3 4 1 3 PA10 1 PA10 4 1 5 1 2 4 1 4 2 2 4
12. 4 6 RTC frm_ctrlO 2 python Ctrl d 3 OFF 1 RTC PA10 32 4 2 Noe PA10 Noe PA10 33 4 2 1 PA10 1 PA10 cd PCforSystemControl bin script pa10act ct gt gt gt from pa10act ctrl import RTC Activate A PA10 4 3 script PA10 2 PA10
13. PA10 URL OpenRTM RS002 URL http 7 210 154 184 16 RS002 RS002 html s s PA10 fk FCSysmonol2p PAn PC PCforvwzip a PC eorap wwsmwptz To ingame Wemws PenRT apr meerzzz C C zip PA10 PA10 zip O 2 D Pa asel ccc TortoiseSVN 0 16 PA10 device zip C
14. RH PC rm naming 9876 rtm namng 9876 7 4 RH PC RTC RH Nt ot oO cd PCforVVV PCforVVV sh start comp2 sh 25 4 1 2 PA10 PA10 14 PA10 3 1 PA10 PC PA10 cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSpython vvV calb py gt gt gt need ready 1 7 yorn y gt gt gt need ready 1 7 yorn gt gt gt Selectmode table 1 RH 2 QUIT 3 1 RH 2 ex
15. RTC PA10 RTC TerminalServer0 PA10SystemController0 7 PA10 1 4 5 5 1 6 6 1 s s
16. email irtsp vvv m aist go jp 3 2 1 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 1 pkg_install100_ubuntu sh OmniORB4 pkg_install100_ubuntu sh URL http www openrtm org pub OpenRTM aistcxx install scripts sudo sh pkg install100_ ubuntu sh 10 e InPort read openrtm users 01308 s Manager shutdown openrtm users 01149 e iDv6 openrtm users 01270 2 OpenR
17. O 105 KB ZipFile 5 D 3 GASVN Lha Dp lus device zip OK 3 2 3 2 OpenRTM aist 1 0 0 RELEASE C Windows C RTC RT o 1 URL OpenRTM aist 1 0 0 RELEASE C Windows o URL http www openrtm org openrtm ja content windows E3 81 B8 E3 81 AE E3 82 A49 E3 83 B3 E3 82 B9 E3 83 88 E3 83 BC E3 83 AB Ubuntu 10 04 2 3 2 1 1 PA10 1 0 0_Windows zip 3 C Program FilesvOpenRTM aist1 0Ubin 3 2 3 3 PA PA10 PA 17
18. PA10 URL OpenRTM RS002 URL http 210 154 184 16 RS002 RS002 html s s PA10 Graencomedap 90u MBPC IPGgmwwap EN LEFT EL oondp owsmjpt 1 00_Windows an Windnws OnenRTM pr mptzzr PA10 unzp PA10 zp cp PA10 PCforSystemControl Zzip unzip PCforSystemControl Zzip 3 VVV lt gt
19. 1 1 2 1 3 1 2 RTO 201 0 10 01 61os _ OpenRTM Aist BIRTM IRT F 9 IRTC __ RT 10IRTS _ RI 11 IOSS 13IRH 1 A PA OQ RH7O07 1 4 1 3 1OHrRTM alst Ofal Webate tp ewwisaEtgpJp rOpnRTM als mo RTC HP AORMRG RS001 Pe Httpn7 210154 184 16 RSO01 RSCO1 ht ml 2 2 1
20. 4 1 PA10 PA10 PA10 INJne PA10 PA10 Noe PA10 23 4 1 1 PA10 1 PA10 2 OFF 3 PA10 PC PC RH PC 4 Eclipse cd echpse lt eclipse sh eclipse sh Eclipse sh URL http Wwww openrtm org openrtm ja node 94 1 oc0 5 PA10 5 1 PA10 PC rim naming 9876 5 2 PA10 PC rtm naming 2809 rtm naming 2809 5 3 PA10 PC PA10 RTC cd PCforSystemControlbin comp lt 7PCforSystemControl bin comp PA10SystemControllerComp
21. FCSsmCormol2p P10 pC IGGzp W Pe Pc ET FE TT 1 0 0 Windows ip Windows OpenRTM oe KC ZZ PA10 unzip PA10 zp cp PA10 PCforVVV zp unzip PCforVVV 3 VVV lt gt emall irtsp vvv m aist go jp 3 2 2 2 OpenRTM aist 1 0 0 RELEASE C Ubuntu 10 04 PA10 PC 3 2 2 3 python visual PA10 PC 15 3 2 3 PC PC OS Windows XP 3 2 3 1 3 2 3 5 3 2 3 1 PC
22. etc PA10SystemController conf 5 4 PA10 PC RTC cd PCforSystemControl bin script lt PCforSystemControlbin script sh PA10SysRun sh 5 5 PC rtm naming 9876 rtm naming 9876 24 5 6 PC PA10 RTC RTC PA10 C Documents and Settings rtc center gt cd PA10 device pa10vel win components C device pa10vel win components gt pa10velComp exe 6 RH707 6 1 6 2 PC RH707 RTC C Documents and Settings rtc center gt cd C device pa10vel components C device pa10vel components gt pa10velComp exe 7 7 1 PA10 PC rtm naming 5005 rtm naming 5005 7 2 PA10 PC RTC cd PCforSystemControlbin comp lt PCforSystemControl bin script sh start comp2 sh 7 3
23. kk 16 3 2 3 2 OpenRTM aist 1 0 0 RELEASE C Windows ik 17 3 2 3 3 PA 17 3 2 3 4 API API PAC W32 18 19 Ei PP PTY IGP PT 23 0 2 23 41 PAT10 Sn RN 24 26 4 1 3 PA10 27 41 4 PA10 NR EE 31 4 1 5 EAI 32 SE 33 4K26 AUO NII 34 4 2 2 RTC 36 4 2 3 RH707 kk 38 4 2 4 PA10 38 ON 39 5 1 kk 39 CO MR PN 40 ER 40 1 1 1 PA10 RH707 PA10 1 2
24. 2 27 3 PA10 RTSystemEditor RTC PA10 RTC PA10 RTC 4 3 TerminalServer0 PA10SystemControllerO PA10 PA10 28 4 PA10 RH PA10 OK 4 4 29 OK 4 5 30 4 1 4 PA10 1 PA10 RTSystemEditor PA10SystemController
25. Ctrl d python 4 RTC cd PCforSystemControlbin script lt PCforSystemControlbin script sh killPA10rtc sh 4 2 2 RTC 1 ex 190mm 2 cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSpython vrecog_drink gt gt gt from vVrecog drimk import RTC Activate PA10 4 3 script 3 end gt gt gt end env Ctrl d python RH 1 ex
26. 2 onas pon oeas DIOboard 12V DC AMF PA10 PC PC EFSON Endeavor Frod350 CP Cared Dio ES 3 15GHg HLD ST325031045 250GE SATA T2HHrhm EE Ubuntu 10 04 PC PC IRT HDD HD251HI 25IGE IOGE Wimdews KF ES PA 2 ARCNBT BUmm W1 A CTEC FIG 32 32LIFCTIE HDSTGaaHH18 5 2aHGE T2UHTpm Thnritn 10 4 IEEE1394b int Grey Research DEVEIT 01 HH2YFlEa2 jj aoiht Crey Research VP FWB HUB 5FORT SET2 int Grey Resear
27. 4bx gt lt lt sensop gt IEEE13946 Flee2 lt lt HUB gt gt EEEE1394b lt lt EEE1394b gt gt lt lt sensop gt lt csensor gt EEE13945 Flea2 lt lt senson gt 2 2 Ethernet PA10 FC ma mr ARCNET PC PA10 a Wachm 2 ot DigitalIO PC Ethernet FP amp 10 FC RH FC FC IEEE1394b IEEE1394 IEEE1394b 9 9 IEEE1394b F amp 10 FC IEEE1394b 9 9 IEEE1394b IEEE1394 IEEE1394b 9 9 2 3 RH700C3 PIO 32 32L PCD H AC100V RH700C3 EE EE es as 8 io i
28. TM aist 1 0 0 RELEASE tar gz URL http Www openrtm ord pub OpenRTM aisUcxx 1 0 0 tar xvzf OpenRTM aist 1 0 0 REBLBASE tar gz 3 3 2 1 1 PA10 patch lt OpenRTM aist 1 0 0 src lib rtm unzip PA10 patch zip cp PA10 patch RingBuffer h diff OpenRTM aist 1 0 0 src lib rtm cp lt PA10 patch Manaeer cpp dff 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 make cd OpenRTM aist 1 0 0 OpenRTM aist 1 0 0 configure prefix usr OpenRTM aist 1 0 0 make clean OpenRTM aist 1 0 0 make OpenRTM aist 1 0 0 sudo make install 6 etc hosts localhost ipv6 1 localhost ip6 localhost ip6 loopback 3 2 1 3 OpenRTM aist Python 1 0 0 RELEASE Python RTC RT Rtc_Handle RTC Python RTM 1 pkg install_python_ubuntu sh
29. ch FLa U35gM C x3 FUIINMGTI FEHA 1E 3 3 1 1 PA10 PC PC PA10 PA10 2 RH PC PC WW 3 PC PC PA10 RH707 3 2 3 2 1 PA10 PC PC OS Ubuntu10 04 3 2 1 1 3 2 1 7 3 2 1 1 PC
30. end PA10 Ctrl d python 1 PA10 PC RTC cd PCforSystemControl bin script lt PCforSystemControlbin script sh killPA10rtc sh PCforSystemControl bin script sh simPA10SysRun sh PA10 cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSpython pa10sim_ctr gt gt gt from pa10sim ctrl import RTC Activate PA10 4 7 PA10 PA10 PA10 4 3 script PA10 3 PA10 end PA10
31. ll 13 e RMRC vel_7dof pa10disp pa10hand_disp slider cd lt PCforSystemControl src MotionController lt PCforSystemControl src MotionController makeall sh 3 2 1 7 lt PCforSystemControl etc set_envpy usr bin env python Python import subprocess Nameserver RMRC NS localhost 9876 DEVICE NS OOOO 9876 DRINK NS localhost 5005 RH NS OOOO 9876 PACT NS localhost 2809 CT _NS OOOO 2809 PC IP 3 2 2 RH PC PC OS Ubuntu10 04 3 2 2 1 3 2 2 3 3 2 2 1 PC PA10 URL OpenRTM RS002 URL http 210 154 184 16 RS002 RS002 html e 14 s PA10 1
32. script 2 deactivate gt gt deacivate Ctrl d python 4 2 4 PA10 PA10 1 PA10 3 5 3 2 PA10 7 3 RTC cd PCforSystemControl bin script lt 7PCforSystemControl bin scriptSsh killPA10rtc sh lt PCforSystemControlbin script sh simPA10SysRun sh 4 PA10 1 2 38 5 PA10 RTSystemEditor PA10SystemController ServiceSimulation_dmydata VPython 6 PA10 RTSystemEditor RTC PA10
33. t HandCtrlcanf HandGtrlcpp IH HandCtrlh HandCtrl we8 weproj HandCtrl we9 weproj 6 HandCtrIGnmp cpp HandCtr ICo el ve8 wcproj Maketile HondC rtcconf RTCxml asm rtm_config wsprops ss user_config wsprops 19 1 KB 5 KB 2 KB 1 KB I KB 5 KB 6 KB 6 KB 6 KB 3 KB 6 KB 6 KB 3 KB 1 KB 3 KB 3 KB 1 KB project 1 KB _ PROJECT IDL 7 y MS DOS CONF 7 WC Project VC Project MO Fraject MG Project HANDCTRL GONF XML Praject Property File Project Property File Release Visu al C 2UHB Ex press Edition CE 5NP y D D wn32 R GtrF H F7 E G RN HandCtrIComn DEL FU HandCtrIComp UE VE HandCtrIComn J E EOD w O C device HandCtrl components
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