RH 取扱説明書 - OpenRTM-aist
Contents
1. e2. 13 4 4 1 1 1 1 RH 1 2 RH RH 2 2 1 RH 2 2 RH 2 3 RH 2 4 RH 4 2 1 4 2 1 RH RH PC PC RH2 e MOXA Uport 1130 e RH 4 2 1 1
3. PC PC 1 Moxa URL http www moxa com support support_home aspx 1 2 3 2011 7 7 UR 1 2 0 MOXA 2 readme tx 3 3 9 python visual RH python visual PC 1 Synaptic VAFA gt VAT AEH I Synaptic 2 python visual python visual
4. RS003 RH 0 5 HE 2011 7 13 RTC A NS 0 EA AE E A NN 0 EA 0 OO 0 A PR 0 SI 1 DN S 1 hr 2 3 1 SE DL I 2 A A A 2 A e A e A 2 a AAA 321 1s 3 A ada 3 o TA E A 5 3 3 3 2 3 0penRTM aist 1 0 0 RELEASE CHH kk 5 3 3 4 2 4 OpenRTM aist Python 1 0 0 RELEASE coonoccnccnocnoonoonconconnonncnncnnconnonncncnnnnn non ncn nn n nan rrn non nrannnnrnnnns 6 3 3 5 2 RTSystemEditor RTCBuilder 1 0 0 RELEASE eatin 7 33 6 2 61tctreeitshell atu de Yh Lo RE 7 SI DN E RE RE 7 3 3 8 2 8 MOXA Uport 1130 kk 7 3 3 9 2 9jpython UA aiii ias 8 3 3 10 ds A A A A 8 a e ee no Dead ale y oe o yd a le y e ATE 8 F3 AAN A A 8 o A A E AE 9 A A E IT 9 ATID IA O EEN E E EO EEA ON E E A EEA SS 9 CE eE ES ON 10 AS T E E 10 3 5 2 4 2 kk 11 A eE AE ERAT E a E E E E E T E EE 11 3 5 3 1 kk 11 ES A 12 3 5 5 4 5 13 A O oe ne 14 E KADN ia E
5. RTC 101 0021 1 18 13 1303 Tel Fax 03 3256 6353 E Mail contact Artc center jp 31
6. PC cd joydrive091215 joydriveV2 4 sym setmode SVM VELOC Ox01 ZA cd joydrive091213 joybaseV2 4 svm setmode SVM_VELOC 0x01 4 2 2 e A 15 4 3 2 RH
7. E kil sudo killall omniNames 19 4 3 1 6 2 RH start sh cd opt rh RS003 bin script control start sh gt start sh 4 3 1 7 PC 4 3 1 7 1 Srtm naming 2809 gt Linux E kill sudo killall omniNames 4 3 1 7 2 start sh cd optrh RS003 bin script control start sh start sh cU
8. Rh2IdlDir opt rh RS003 idl IDL Rh2BinDir optrh RS003 bin Rh2ConfDir optrh RS003 etc conf tc conf Rh2LibDir opt rh RS003 lib RtmToolsDir Rh2BinDir script control rtmtools RtcHandle Rh2BaseToolsDir Rh2BinDir script control Rh2Base Rh2ARToolsDir Rh2BinDir script control Rh2AR AR Rh2ArmToolsDir Rh2BinDir script control Rh2Arm Rh2VoiceToolsDi Rh2BinDir script control Rh2Voice r Rh2RtcDir Rh2BinDir comp RTC CtrITermNS 192 168 30 125 9876 IP Rh2BaseNS1 192 168 30 138 2809 PCO 192 168 30 198 2809 IP Rh2BaseNS2 192 168 30 138 2809 RH PCO 192 168 30 106 2809 IP Rh2BaseNS3 localhost 2809 SEACE E PCCO
9. PCinRH src comp Irf urg_module lib urg 0 8 12 URL URL http www hokuyo aut co jp 02sensor 07scanner download urg programs devel lin page html 3 4 3 4 1 RH RHL zip PC RHArm 4 a RBL PC RemotePC RH PC PCinRH 4 PC RHBase PC opVRH 3 4 2 PC cd optrh RS003 src comp mclean mk minst python RTC IDL ExtemdedDataTypes idl RtcHandle cd usr lib python2 6 dist packages OpenRTM_aist RTM_IDL Scp p ExtendedDataTypes idl ExtendedDataTypes idl org Sed optrh RS003 id12 sudo cp p usr lib python2 6 dist
10. 3 RH 1 RTC RT System Editor RTC RTC RH 2 6 6 E 3 RH RH lt gt AE email tomo 3440 9mayekawa co jp 6 2 RH
11. RH TELET RTC RT System Editor EE En 6 3 O 30 7 7 1 7 2 7 3
12. MOXA Uport 1130 ls dev tab PC PC ttyUSB0 ls devinput tab js0 4 2 1 2 calib armV2 vi cahb armV2 c11 define RS48S DEVNAME dev ttyUSB0 moxa 11 ttyUSB0 make joydriveV2 14 MOXA Uport 1130 dev ttyUSBO vijoydriveV2 c18 define JOYDEVNAME dev input s0 21 define RS485_DEVNAME moxa
13. 3 Ilibgtkglext libgtkglextl libgtkglext1 dev 3 3 10 OpenHRI RTC PC X Bluetooth PC USB RH PC OpenHRI http openhri ne 3 3 11 ARToolKit2 27 1 AR ARToolkit2 27 1 e RH PC RH PCinRH src lib ARToolkit ARToolKit 3 3 12 URG 0 8 2 LRF UTM 30LX URG 0 8 2 e RH PC RH
14. F Ba cd opt bin script control python RHRestart py l 4 3 4 2 4 RH 4 3 4 1 start sh cd opt bin script control python RHArmStandUp py python RHStop py sh kl sh La Deactivate ON 4 3 4 2 RH PC sudo reboot CH k sudo shutdown h now 25 5 5 1 N SSD RH PC SSD 5 2 1
15. ON 4 3 1 3 PC PC 4 3 1 4 4 3 1 4 1 2 Srtm naming 2809 rtm naming 5005 lt HR gt Linux kil sudo killall omniNames 4 3 1 4 2 PC Bluetooth 17 RH e x O A n i E ah H Internal Audio Analog Stereo Stereo 4 3 1 4 3 PC st
16. X m Y m deg 3 4 7 7 90 1 44 10 3 90 4 24 1 1 180 6 08 1 06 0 E DEO 3 5 4 PC opt rh RSO03 bin script control Rh2Voice message py message RHBase mstr001 mstr002 mstr003 mstr004 mstr005 mstr006 mstr007 mstr008 RHArm mstr010 mstr011 mstr012
17. lt lt TCP P gt lt lt converters gt lt lt robot gt gt lt lt comverter gt gt RS 485 USB RH2 RS 485 USB lt crobot gt gt RH lt lt RS485 gt gt lt lt RS 485 gt gt 3 3 1 1 HW 1 1 RH PC 2 S W S W 2 1 2 2 2 3 OpenRTM aist 1 0 0 RELEASE 2 4 OpenRTM aist Python 1 0 0 RELEASE 2 5 RTSystemEditor RTCBuilder 1 0 0 RELEASE 2 6 rtctree rtcshell 2 7 OpenCV2 0 2 8 MOXA Uport 14501 2 9 python Visual 2 10 OpenHRI 2 11 gtk 2 0 libglade 2 0 gmodule 2 0 3 RH 3 1 32 4 a
18. make 21 47 18 js0 ttyUSB0 moxa dev ttyUSBO vijoybaseV2 c18 define JOYDEVNAME dev input s0 21 define RS485 DEVNAME moxa 4 2 1 3 21 18 js0 ttyUSB0 make cd joydrive091213 calib armV2 gt RH O J5 h OUE 4 1 En RH
19. set envpy CtriTermNS TerminalServery RHCtrl Activate X RHCtrlO teryWatcherO TerminalServer0 4 3 2 2 2 RH 4 3 2 1 4 3 2 2 PC python e RH 22 4 3 2 3 Activate LocalizeCenter DispPosition LncalizeCenter Activate 23 4 3 2 4 Activate GamePad SwitchInputRTCO GamePad0
20. 4 3 1 RH 4 3 1 1 RH PC ON OFF ON OFF lt 0 ON ON ON 21V ON EIA NAL AO YE lit PC 22 URL https forums ubuntulinux jp viewtopic php id 4222 RH PC ON ATX URG PC RH PC 16 4 3 1 2 PC PC RH PC2
21. DrinkTransport mstr020 mstr021 mstr022 GarbageDump mstr030 mstr031 mstr033 mstr034 Battery mstr040 mstr041 mstr042 mstr043 Boot mstr050 mstr051 mstr052 ObstacleMonitor add RS003 mstr060 mstr061 mstr062 12 3 5 5
22. 20 4 3 1 8 PC RTC cd opt rh RS003 bin script control Rh2Arm python Rh2Arm run py cd opt rh RS003 bin script control python RHArmReady py cd optrh RS003 bin script control python RHArmReady py RTC cd opt rh RS003 bin script control Rh2Base python Rh2Base run py 4 3 1 8 1 RT System Editor Add Name Server set envpy 21 4 3 1 8 2
23. 4 1 42 4 3 44 4 5 3 2 1 H W 3 2 1 RH PC RH PC O RH PC 3 3 SW 3 3 1 1 RH PC PC RH RH RER PC CPU AMD Phenom II X4 903e 2 5GHz Memory PC2 6400 4GB SSD OCZ OCZ SSD2 1SUM60G M B GeForce 8200 ITX WIFI GF8200 C E Mini BOX M4 ATX ATX E PC S 2 5 CERS25 WT OS Ubuntu 10 04LTS SW OpenRTM aist 1 0 0 RELEASE OpenRTM aist Python 1 0 0 RELEASE OmniORB4 4 1 2 1 gcc 4 4 3 OpenCV 2 0 0 MOXA Uport 14501 2 PC PC Lenovo ThinkPad SL300 CPU CoreTM2 Duo P8400 2 26GHz Memory PC2 530
24. 6 4 3 2 5 BatteryWatcher RHCtr1 Activate X RHCtrlO BatteryWatcher0 21V 24 4 3 3 2 3 RH RH cd opt bin script control python RHBaseStop py python RHStop py RHBaseStop py gt Ff
25. RH 21V 5 2 1 1 ON ON 2 OFF OFF 0 ON _OFF gM 3 2 26 RH 2 4 2 EP
26. 4 3 1 5 2 NM33 N UVC luvcview cd opt rh RS003 bin tool sudo luveview d dev video1 ROZE 4 3 1 5 3 sh start sh 4 3 1 5 4 AR sh ar start sh 4 3 1 6 PC 4 3 1 6 1 rtm naming 9876 gt Linux
27. 1 4 2 2 1 pkg lt lt Controller gt gt Remote Control PC e lt device gt gt z Buetooh lt Bluotooth gt gt lt lt script gt gt User Scenario Script lt lt Script gt gt Rh2Base_ctri lt lt Wireless TCP P gt gt lt lt Script gt gt Rh2Voice_ctri lt lt Controller gt gt PC in robot Sense BRA lt lt USB gt gt lt lt USE gt gt AAA lt lt converter gt gt lt lt deyice gt gt s device gt gt s lt device gt gt s lt deyice gt gt USB 1 USB 2 Car PC DC DC lt lt Controllor gt RH Eese lt lt TCPIP gt gt lt lt Contraller gt RH Arm ACT
28. 27 6 5 2 2 1 2 28 5 3 2 SSD HDD RH PC 2 5 SATA SDD HDD 5 3 1 1 SSD HDD 2 SSD HDD 2 SSD HDD 29 6 6 1 RH RH 1 RTC 2
29. IP 10 Rh2ArmNS 192 168 30 191 9876 TP Rh2ARNS 192 168 30 106 2809 AR Rh2VoiceNS localhost 5005 IP Rh2CtrINS1 192 168 30 106 2809 RH RH PCOO P Rh2CtrINS2 192 168 30 138 2809 localhost 2809 RH PC P 3 5 2 O 9 3 5 3 3 5 3 1 AX AE ZJU AX AE PC optrh RS003 etc conf7Position conf RH PC optrh RS003 etc conf LocalPosition conf ACT F Ti
30. RTSystemEditor Eclipse Eclipse URL RTSystemEditor Eclipse PC URL http www openrtm org openrtm ja node 941 3 3 6 rtctree rtshell RTC rtctree rtshell URL e RH PC PC URL http www openrtm org openrtm a node 869 http www openrtm org openrtm ja node 1323 3 3 7 OpenCV2 0 e RH PC PC 1 sudo aptitude install libcv4 libhighgui4 libcvaux4 libcv dev libhighgui dev libevaux devpython opencv opencv doc URL http opencv jp openev2 x tips install linuxubuntu 3 3 8 MOXA Uport 1130 RH
31. 0 2 7 5 ARToolKit2 27 1 2 11 6 URG 0 8 12 2 12 PC 1 OpenRTM aist 1 0 0 RELEASE C 2 3 2 OpenRTM aist Python 1 0 0 RELEASE 2 4 3 RTSystemEditor RTCBuilder 1 0 0 RELEASE 2 5 4 rtctree rtshell 2 6 5 OpenCV2 0 2 7 6 python visual 2 9 7 OpenHRI 2 10 e PC 1 OpenRTM aist 1 0 0 RELEASE C 2 3 2 OpenRTM aist Python 1 0 0 RELEASE 2 4 4 rtctree rtshell 2 6 MOXA Uport 1130 2 8 PC 1 OpenRTM aist 1 0 0 RELEASE C 2 3 2 OpenRTM aist Python 1 0 0 RELEASE 2 4 4 rtctree rtcshell 2 6 5 OpenCV2 0 2 7 MOXA Uport 1130 2 8 3 3 3 OpenRTM aist 1 0 0 RELEASE C C RTC RT e RH PC PC PC PC O InPort read openrtm users 01308 3 5 O Manager shutdown openrtm users 01149 3 5 ipv6 openrtm users 01270 X6 OpenRTM ais
32. AAE AE AE EEE EEEE EE EEEE AAE E 14 O 14 A a O A AM A A e a s 14 4 2 1 1 321 SD S E ERN ON 14 aE a E E E E AE T EA E 14 4 2 1 3 kk 15 A te E SS O 15 E A 16 OR A A A O A ROS SA A ANNA 16 EN A A 16 4 3 1 2 PC PC kk 17 4 3 1 3 EARNE PO dada 17 pi eS 17 Li sl A O EAA ATE 17 4 3 1 4 2 PC kkk 17 4 3 1 4 3 PC kkk 18 4 3 1 4 4 eclipse lA AAA 19 4 3 1 5 1 kk 19 4 3 1 5 2 NM33 N UVC kk 19 4 3 1 5 3 19 4 3 1 5 4 AR kk 19 4 3 1 6 PC eeneeseseeeeseeeesereessreessreessreessreesreessreesreessreessreessreessreessreens 19 4 3 1 6 1 kk 19 4 3 1 6 2 kk 20 4 3 1 7 PC kk 20 PE E E a A A AS 20 4 3 1 7 2 T ARPES aE lnnseeeeeeseeeesereesereesereessreesereeosreessreessreessreeosrressveeosr
33. packages OpenRTM_aist RTM_IDL sudo cp p intellirobot idl usr lib python2 6 dist packages OpenRTM_aist RTM_IDL sudo cp p ExtendedDataTypes idl usr lib python2 6 dist packages OpenRTM_aist RTM_IDL cd usr lib python2 6 dist packages OpenRTM_aist RTM_IDL sudo omniidl bpython idl e RH PC cd optrh RS003 src comp mclean mk minst o PC cd opt rh RS003 src comp mclean mk minst RTC cd opt rh RS003 src comp mclean mk minst 3 5 3 5 1 python RH 8 PATH ke E python 2 PYTHONPATH set_envpy bash csh gt vi lt bashrc export PYTHONPATH 0pt R H etc env gt source bashrc gt vi cshrc setenv PYTHONPATH opt RH etc env gt source cshrc PC set_envpy
34. 0 DDR2 SDRAM 2GBHDD 250GB Serial ATA OS Ubuntu 10 04LTS SW OpenRTM aist 1 0 0 RELEASE OpenRTM aist Python 1 0 0 RELEASE OmniORB4 4 1 2 1 gcc 4 4 3 OpenCV 2 0 0 3 PC PC RH VIA ARTiGO PC 15 CPU C7 1 5GHz Memory DDR2 533 SODIMM 1GB HDD 80GB Serial ATA OS Ubuntu 10 04LTS Sw OpenRTM aist 1 0 0 RELEASE OpenRTM aist Python 1 0 0 RELEASE OmniORB4 4 1 2 1 gcc 4 4 3 libsvm RH2 4 PC PC RH VIA ARTiGO PC 15 CPU C7 1 5GHz Memory DDR2 533 SODIMM 1GB HDD 80GB Serial ATA OS Ubuntu 10 04LTS Sw OpenRTM aist 1 0 0 RELEASE OpenRTM aist Python 1 0 0 RELEASE OmniORB4 4 1 2 1 gcc 4 4 3 libsvm RH2 3 3 2 PC e RH PC 1 OpenRTM aist 1 0 0 RELEASE C 2 3 2 OpenRTM aist Python 1 0 0 RELEASE 2 4 3 rtctree rtshell 2 6 4 OpenCV2
35. OpenRTM aist 1 0 0 make clean OpenRTM aist 1 0 0 make OpenRTM aist 1 0 0 sudo make install 6 RTSystemBditor etc hosts localhost ipv6 1 localhost ip6 localhost ip6 loopback 3 3 4 OpenRTM aist Python 1 0 0 RELEASE Python RTC RT e RH PC PC RTC RTC 1 pkg install python ubuntu sh pkg install python ubuntu sh su sh pkg install python ubuntu sh y HANI Y 3 3 5 RTSystemEditor RTCBuilder 1 0 0 RELEASE RTC RTSystemEditor
36. art sh sh start sh start2 sh RH sh start2 sh start3 sh sh start3 sh 4 3 1 4 4 eclipse eclipse eclipse clean home rtc workspace eclipse gt gt gt gt RT System Editor 18 4 3 1 5 RH PC RH RH PC SSH 4 3 1 5 1 Srtm naming 2809 gt Linux E kil sudo killall omniNames
37. eersreeosreess 20 E RT System Editor Mema a O ENS 21 ALTA E a 22 Pe IESE A SE 22 AO A E RE o i 22 Es a e aa 22 A n A A o S 23 4 3 2 4 TSA RT 24 e PEV a a OE A 24 4 3 3 2 3 RH 25 R O 25 e 4 0 A kk Ll 25 4342 FERIE I A F Aa a a a a 25 ARA TA AR A a EA A E ao A ed O Ate 26 A E E E A EA E AANA ET 26 PA ESE A E AEEA A AEAEE EA E E E E AE 26 P S rE AE TE POMO o AA EAEAN A EE 26 S AA 28 ERRASTI DI 1D DEOL S 29 A 0 GG REA 29 UNS 30 6 1 DERAUT AAPP rr R naei an iI 30 E KDE E S aa AT EE E EE 30 6 3 kk 30 A E A A TO 31 NAVA 31 a O 31 1 1 1 RH 1 2 1 3 E __ _ 5 1 O 2 EE y RTC 6 los _ O OpenRTM Aist BIRTM _ RT F A
38. t 1 0 0 RELEASE OpenRTM aist 1 0 0 RELEASE 1 pkg install100 ubuntu sh lt OmniORB4 pkg install100 ubuntu sh su sh pkg install100 ubuntu sh exit 2 OpenRTM aist 1 0 0 RELEASE tar gz tar xvzf OpenRTM aist 1 0 0 RBLEASE tar gz 3 1 RH patch lt OpenRTM aist 1 0 0 src lib rtm cp RH patch patch RingBufferh OpenRTM aist 1 0 0 src lib rtmep RH patch Manager cpp diff OpenRTM aist 1 0 0 src lib rtm 4 cd OpenRTM aist 1 0 0 src hb rtmpatch lt RingBuffer h diffpatch lt Manager cpp diff 5 make OpenRTM aist 1 0 0 configure prefix usr
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