RH 取扱説明書 - OpenRTM-aist
Contents
1. RS002 RH 0 1 2011 3 23 RTC EM Ck bee a ibit ih 1 NIU 1 TIA E O e Ce ee RC TIPP 1 IO 1 JW oc c 1 DAVID d ct a ra ee le oa oe Eo oo ec i ae es 2 DE MESA RT A E E IR OTT RO ee ORT RN 2 NN en RE eT RN UN ne ee EA A Cee 3 Bid ENT URL D RR 3 DUCERE sp cpu Kc 4 PE MERO RUPTURE DO 4 DEN E 7 c EE 4 UNE ULIS Dc MEER 4 nao II RF 5 3 3 3 OpenRTM aist 1 0 0 RELEASE CH 6 3 3 4 OpenRTM aist Python 1 0 0 RELEASE sess tne enne 7 3 3 5 RTSystemEditor RTCBuilder 1 0 0 RELEASE eese enne nnne 8 33 6 rtetree rteshell xiii ettet tete mien d de S d ie i a e n 8 RESISTE 8 3 3 8 MOXA Uport 14501 9 3 3 9 python visual conicere eere tr tbe Ee Peers re A E eie ar S enoa Nano a n iint 9 ESCRITA 9 3 3 11 gtk 2 0 libglade 2 0 gmodule 2 0 re 9 DONE appa cV Lp NEC 10 MINA Das xii etc UR RN LA CLR RP LR MUR CREE 10 DAD TEINAT I Rae OO Me AO or Ro M2. DRA RIC RT System Editor 6 3 36 7 7 1 7 2 7 3 e
3. e e e e RTC 101 0021 1 18 13 1303 Tel Fax 03 3256 6353 E Mail co
4. Add Name Server 3 5 1 set_envpy RT System Editor RTSE_Files 2010_09_06_02_53_21_069__RS001 xml Eclipse SE R W JV7 H 8 vB S B ConnectorProfile TRTE E E cq MM Y xr 192 168 30 186 2809 a MatchingComponentO SoundPlayerO Data Type lt unkno I BatteryWatcherOlrt Interface Type corba c pyOpenJTalkGulseAudioOutputO I CameraEyeOlrtc RHCtrlO Dataflow Type push I CeilingNavigationO Subscription T flush LP DijkstraOlrtc BatteryWatcherO v BY OutPort I HazardMeshOjrte eno Name Localize LocalizeCenterOlrtc ANE Data Type TimedP I gt ManagementOfArea ns Interface Ty corba c I NavigationO rtc m sias joe Dataflow Ty pull pus Subscriptioi flush ney port port ty DataOu TerminalServer0 i E RH2ArmControlO Name positio MnpData_Hub0 tool_ctrl0 ERE TDS Interface Ty corba c 9 OdometryOlrtc D PathCnvOlrtc I PathFollowerOlrtc
5. URG PC RH PC 4 3 1 2 PC PC 4 3 1 3 PC 1 2 rtm naming 2809 rtm naming 5005 HE Linux kill sudo killall omniNames 22 2 PC Bluetooth RH x TIZ ROIR Pz zm H Internal Audio Analog Stereo Stereo
6. 4 3 2 5 BatteryWatcher RHCtrl RHCtrlO BatteryWatcherO 21V 29 4 3 3 RH RH cd opt RH bin script control python RHBaseStop py python RHStop py gt e RHBaseStop py HD 4 cd opt RH bin script control pyth
7. PC 4 1 cd joydrive091215 joydriveV2 4 svm setmode SVM VELOC Ox01 HE 2 8 HORE 4 cd joydrive091215 joybaseV2 4 sym setmode SVM VELOC 0x01 lt gt e ih Hexe e E 4
8. Lenovo ThinkPad SL300 Wt CPU Core 2 Duo P8400 2 26GHz Memory PC2 5300 DDR2 SDRAM 2GB HDD 250GB Serial ATA OS Ubuntu 10 04LTS SW OpenRTM aist 1 0 0 RELEASE OpenRTM aist Python 1 0 0 RELEASE OmniORBA 4 1 2 1 gcc 4 4 3 OpenCV 2 0 0 3 3 2 PC e RH PC 1 OpenRTM aist 1 0 0 RELEASE C 2 OpenRTM aist Python 1 0 0 RELEASE 3 rtctree rtcshell 4 OpenCV2 0 5 MOXA Uport 14501 e PC 1 OpenRTM aist 1 0 0 RELEASE C 2 OpenRTM aist Python 1 0 0 RELEASE 3 RTSystemEditor RTCBuilder 1 0 0 RELEASE 4 rtctree rtcshell 5 OpenCV2 0 6 python visual 7 OpenHRI 8 gtk 2 0 libglade 2 0 gmodule 2 0 13 3 3 13 3 4 13 3 6 13 3 7 13 3 8 13 3 3 13 3 4 13 3 5 3 3 6 13 3 7 73 3 9 3 3 10 33 11 3 3 3 OpenRTM aist 1 0 0 RELEASE C C RTC RT e RH PC e PC InPort read ope
9. PC optRH 3 4 2 RH RTC RTC RH Alek PC gt cd opt src InternalWatch Battery Watcher make make install lt PC gt cd opt src ScenarioPlayer RHCtrl make make install python RTC IDL RH PC PC gt cd opt RH idl sudo cp p intellirobot 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 gt cd opt RH src MotionControl sh makeall sh e RH PC PC gt cd opt RH src mclean mk minst 10 3 5 3 5 1 python RH python PATH PYTHONPATH set_envpy
10. bash gt vi bashre export PY THONPATH opt RH etc env gt source bashrc csh gt vi cshre setenv PY THONPATH opt RH etc env gt source cshre e set envpy RH ik PC gt Rh2IdlDir opt th idl IDL RtmToolsDir opt rh bin script control rtmtools RtcHandle Rh2BaseToolsDir opt rh bin script control Rh2Base Rh2ArmToolsDir opt rh bin script control Rh2Arm Rh2CamToolsDir opt rh bin script control Rh2Cam Rh2VoiceToolsDir opt rh bin script control Rh2Voice Rh2RtcDir optrh bin comp RTC Rh2ConfDir optrh etc conf rtc conf Rh2LibDir lopt rh lib CtrlTermNS 192 168 30 125 9876
11. Rh2VoiceToolsDir opt rh bin script control Rh2Voice Rh2RtcDir optrh bin comp RTC Rh2ConfDir optrh etc conf rtc conf Rh2LibDir lopt rh lib CtrlTermNS 192 168 30 125 9876 IP Rh2BaseNS1 192 168 30 106 2809 RH PCO IP Rh2BaseNS2 localhost 2809 PCO IP Rh2ArmNS 192 168 30 106 9876 IP R Rh2VoiceNS localhost 5005 IP R ES Rh2CamNS 192 168 30 106 5006 IP zs Rh2CtrINS1 192 168 30 106 2809 RH RH POCO DIP Rh2CtrINS2 localhost 2809 RH PCO IP 13 3 5 2 RH
12. y Y 3 3 5 RTSystemEditor RT CBuilder 1 0 0 RELEASE RIC RTSystemEditor RTSystemEditor Eclipse Eclipse URL RTSystemEditor Eclipse e PC URL http www openrtm org openrtm ja node 941 3 3 6 rtctree rtcshell RIC rtctree rtcshell URL e RH PC e PC URL http www openrtm org openrtm ja node 869 http www openrtm org openrtm a node 1323 3 3 7 OpenCV2 0 e RH PC e
13. RH 4 2 1 1 MOXA Uport 14501 ls dey tab ttyMXUSB2 ttyMXUSB0 ttyMXUSB3 ttyMXUSB3 238 ABE TU CU ls dev input tab js0 18 4 2 1 2 calib armV2 MOXA Uport 1450I vi calib armV2 c 11 define RS48S DEVNAME dev ttyM XUSB3 moxa 11 ttyMXUSB3 BETS make joydriveV2 MOXA Uport 14501
14. 3 5 3 RH PC l opt etc conf Position conf PC optetc confLocalPosition conf E X m Y m deg 3 4 7 7 90 1 44 10 5 90 2 6 2 67 90 3 95 1 05 180 6 9 0 77 30 14 3 5 4 RHCtrl scripts Rh2Voice message py message RHBase mstr001 mstr002 mstr003 mstr004 mstr005 mstr006 mstr007 RHArm mstr010 mstr011 mstr012
15. 5 2 1 1 ON ON 2 OFF OFF 0 ON OFF 31 S X st a nmn 9 cok 2 RH 2 4 2 rt AWU 32 Eq ia m x
16. 7AB DC 3 PC start sh 8 sh start sh start2 sh RH sh start2 sh start3 sh sh start3 sh 23 4 eclipse eclipse eclipse clean home rtc center workspace eclipse gt gt gt gt RT System Editor 4 3 1 4 RH PC RH RH PC SSH 4 1 1
17. 4 2 2 PA LE 20 4 3 RH 4 3 1 RH 4 3 1 1 RH PC e ON OFF ON OFF 0 ON e ON ON 21V xd Ut RR ON e PC URL https 21 e RH PC ON ATX
18. IP Rh2BaseNS1 localhost 2809 RH PC IP Rh2BaseNS2 192 168 30 138 2809 PCO IP Rh2ArmNS localhost 9876 IPL Rh2 VoiceNS 192 168 30 138 5005 IP Rh2CamNS localhost 5006 IP zs Rh2CtrINS1 localhost 2809 RH RH PO DIP Rh2CtrINS2 192 168 30 138 2809 RH PCCO TP 12 PC gt Rh2IdlDir opt th idl IDL RtmToolsDir opt rh bin script control rtmtools RtcHandle Rh2BaseToolsDir opt rh bin script control Rh2Base Rh2ArmToolsDir opt rh bin script control Rh2Arm Rh2CamToolsDir opt rh bin script control Rh2Cam
19. f E int disp 0 web int height 480 int match level 70 HARE OD B i int_width 640 16 matching leve 17 4 4 1 4 2 4 2 1 RH 4 2 2 43 RH RH 4 3 1 RH 4 3 20 RH 43 3 RH 43 4 RH 4 2 4 2 1 RH RH RH PC E RH2 MOXA Uport 14501
20. 3 llibgtkglext libgtkglext1 libgtkglext1 dev 3 3 10 OpenHRI RTC e PC e RH PC Bluetooth PC USB RH PC OpenHRI http openhri net 3 3 11 gtk 2 0 libglade 2 0 gmodule 2 0 e PC sudo apt get install libsdl dev libtk2 0 dev libglade2 dev 3 4 3 4 1 RH URL RS002 unzip RH zip RH zip PC RemotePC RH PC PCinRH
21. 3 RTC 201 0 07 02 5 _ 6 los OpenRT M Aist BIRTM RT F ee o 1 4 1 OpenRTM aist Official Website 2 2 1 pkg lt lt Controller gt gt Remote Control PC Scenario Player g Remote Control Mapping and Planning 8 Motion Planning wu Human Robot interaction lt lt USB gt gt Wireless TCP IP gt gt lt lt Bluetooth gt gt lt lt device gt gt Jy E lt lt device gt gt Bluetooh lt lt converter gt gt lt lt TCP IP gt gt lt lt Controller gt gt PC in robot Path Tracking Motion Control Mobile Robot Controller 8 Manipulator Controller Internal Watch g A lt lt USB gt gt lt lt converter gt gt RS 485 USB l
22. PA10 RHGarbageCollpy RHGarbageDump py RHGoBack py RHMovetoTest py RH RHReturn py RH RH cd opt RH bin script control python py 27 4 3 2 3 Activate LocalizeCenter DispPositionO LocalizeCenter Activate 4 3 2 4 Activate GamePad SwitchlInputRTCO GamePad0 28 6
23. 5 2 2 33 5 3 SSD HDD RH PC 2 5 SATA SDD HDD 5 3 1 1 SSD HDD 2 SSD HDD 2 SSD HDD 34 6 6 1 RH RH URAI 1 RTC 2 3 RH 1
24. mstr043 Boot mstr050 mstr051 mstr052 15 3 5 5 e 3 5 6 3 5 6 1 Web ls dey v tab video0 3 5 6 2 sda tempmatch web photol bmp photo2 bmp photo3 bmp photo4 bmp
25. DrinkTransport mstr020 mstr021 mstr022 GarbageDump mstr030 mstr031 mstr032 mstr033 mstr034 Battery mstr040 mstr041 mstr042
26. PC 1 sudo aptitude install libcv4 libhighgui4 libcvaux4 libcv dev libhighgui dev libcvaux dev python opencv opencv doc URL http opencv jp opencv2 x tips install linuxubuntu 3 3 8 MOXA Uport 14501 RH e RH PC 1 Moxa URL http www moxa com support support home aspx 2 readme tx 3 3 9 python visual RH python visual e PC 1 Synaptic Synaptic 2 python visual python visual
27. sudo killall omniNames sudo password rtc rtm naming 9876 rtm naming 5006 rtm naming 2809 24 2 RH 2 RH start sh cd opt RH bin script control start sh startsh e RH e RT System Editor RT System Editor e X 25 3 set_envpy CtrITermNS TermmalServery 2 X RHCtrlO teryWatcherO TerminalServerO 4
28. 30 4 3 4 2 kk 30 SRA TT E 31 JUMBO D T 31 5 2 31 5 2 1 5 2 2 S385 DID DO EN RN 34 Be Vile TO E EEE Nek M ea aie ee eR tee itl ED MARTE 34 SR a A Pc arc AI REE OT TENES 35 6 1 RH kk 35 GTR By drop E 36 6 3 HERALDS ABD DKS IM CUE DICER DIE oie ccccccccscsscsssscsssscsssscsssscsssessssucsssecsesecassecasenenees 36 p a s oM M a es 37 pU uU 37 TD S D A 37 y Ic 37 1 1 1 RH 1 2 1 3 No _ 1 2
29. 1 ff E vi joydriveV2 c 18 define JOYDEVNAME dev input jsO 2 define RS485 DEVNAME dev ttyMXUSB3 18 moxa 21 s0 ttyMXUSB3 make moxa vi joybaseV2 c 18 define JOYDEVNAME devinput7js0 2 define RS48S DEVNAME dev ttyMXUSB2 18 moxa 21 ljs0 ttyMXUSB2 make 19 4 2 1 3 cd joydrive091215 calib armV2 HE RH J5 ds Ori d TRH
30. 3 4 1 3 4 2 3 5 3 5 1 3 5 2 3 5 3 3 5 4 3 5 5 3 556 3 2 HW 3 2 1 RH PC RH PC RH PC 3 3 SW 3 3 1 1 RH PC AS PC RH RH cH X gp H fF PC CPU AMD Phenom II X4 905e 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 2 CERS25 WT OS Ubuntu 10 04LTS SW OpenRTM aist 1 0 0 RELEASE OpenRTM aist Python 1 0 0 RELEASE OmniORBA 4 1 2 1 gcc 4 4 3 GRX RH2 OpenCV 2 0 0 MOXA Uport 14501 2 PC PC
31. RTC RT System Editor RTC RTC RH 2 6 6 3 RH RH gt email tomo 3440 mayekawa co jp 35 6 2 RH 315 RH
32. D RefHardRh20lrtc I RHCtrlOlrtc coord transd I SwitchinputRTCOIl I TestinputOGOAL rt I TestInputOSTARTIrt EHE zT 192 168 30 186 5006 RHfKO Testinput0 I MatchingComponer zT 192 168 30 186 9876 I coord transOlrtc ManagementOfAreaMap azardMeshO frm ctrlo Dataflow Ty pull pus Subscriptiol Any port port_ty DatainP 4 4 PathCnvO D frm_ctrlOlrtc jinvOlrtc I mixerOlrtc 1 I MnpData_HubOlrtc AE DispPosition0 D moveOlrtc llocaizeCentec I RH2ArmControlOlrt mi tool_ctrlOjrte Navigation0 PathFollower0 I tool_mixerOlrtc SwitchinputRTCO OdometryO E trjacobOlrtc GamePadO RefHardRh20 v xdg MESES Camere FD gNavigationO E Configuration View 31 if Manager Control View RI Composite Component View R Execution Context View Rf RT Log View O 5 n 26 4 3 2 RH 4 3 2 1 e 4 3 2 2 python RHDrinkServe py PALO RHDrinkTransportpy
33. 0 0 src Hb rtm cp RH patch patch_ RingBuffer h OpenRTM aist 1 0 0 src lib rtm cp RH patch Manager cpp diff OpenRTM aist 1 0 0 sre lib rtm 4 cd OpenRTM aist 1 0 0 src lib rtm patch lt RingBuffer h diff patch lt Manager cpp diff 5 make 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 RTSystemBditor etc hosts localhost ipv6 Hl localhost ip6 localhost ip6 loopback 3 3 4 OpenRTM aist Python 1 0 0 RELEASE Python RTC RT e RH PC e PC 1 pkg install python ubuntu sh pkg install python ubuntu sh su sh pkg install python ubuntu sh
34. ae Ee eal Ea BL eg tae Ne ceo ie EO Mere 10 Ae Sr Tp ca re OR LE IND E LOCA ao I M 11 DECRE a e T QURE RENE A E AE E EEA AERA 11 Bee A ERA E A E 14 Ed R EE e Vice NIE 14 3 5 4 kk kk 15 3 5 5 0 NERONE RO ES UT 16 asp MR UE ctt xia re dts sca gue ge uec at pee od ip Ee ot 16 GIONE COGI f 16 RN CULO AU qe d A S EE Ques 16 SELLE RTT DTP ESI D aT 18 SSR 18 EE 18 Z2 RH 0S ES E T S cibus Un EE i er E E pe ei ei ord i ER RU 18 EPUM ea NG HUAI e E E 18 Zoqo eausa Re IT ne ROR TT M MENU Due mE nee LS qu eee eR 19 222 m scc En EE EIE M ME MI MEI EI EE E 20 4 22 kk 20 23 BM E desit aa gab etd a tua Aann Nebel Mui ere Ft And en ioi Utt em Hs otl c cc i AU 21 ABD dS CE NONO m 21 4 3 1 1 RH LORAN SE 21 43512 E hate PECORE ostian inh RR 22 EE HE 22 43 TARH PC Ea 2017 Ro e ae iR ER a EUM pepe 24 DD PITA Bey em RH RT 27 AES Ro 27 DOR DEKA aed MEEO E EE 27 ASD SUAS SD FEE E BL AW E aa secte tne tea pit tr Qt D RR e bte rims 28 4 3 2 4 28 43 2 5 lt 29 4 3 3 TRA Ae Me S BEER eee ota etia at De tet aat cmd ue ate t D 30 Dee ILE gae 30 te Mp LIE No x E
35. nrtm users 01308 K3 5 Manager shutdown openrtm users 01149 33 5 ipv6 openrtm users 01270 6 OpenRTM aist 1 0 0 RELEASE OpenRTM aist 1 0 0 RELEASE 1 pkg install100 ubuntu sh 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 RELEASE tar gz 3 1 RH patch OpenRTM aist 1
36. ntact rtc center jp 37
37. on RHRestart py e 4 3 4 RH 4 3 4 1 start sh cd opt RH bin script control python RHArmStandUp py python RHStop py sh kl sh Deactivate ON 4 3 4 2 RH PC sudo reboot sudo shutdown h now 30 5 5 1 3 2 5 3 SSD RH PC SSD 5 2 RH 21V
38. t lt USB gt gt lt lt USB gt gt lt lt USB gt gt lt lt RS 485 gt gt lt lt RS 485 gt gt lt lt robot gt gt RH2 lt lt device gt gt lt lt device gt gt lt lt device gt gt USB 2 USB 1 CarPC DC DC lt lt robot gt gt RH2 Ja 3 3 1 3 2 H W 3 2 1 IRH PC 3 3 S W S W 3 3 1 3 3 2 3 3 3 OpenRTM aist 1 0 0 RELEASE 3 3 4 OpenRTM aist Python 1 0 0 RELEASE 3 3 5 RTSystemEditor RTCBuilder 1 0 0 RELEASE 3 3 6 rtctree rtcshell 3 3 7 OpenCV2 0 3 3 8 MOXA Uport 14501 3 3 9 python visual 3 3 10 OpenHRI 3 3 11 gtk 2 0 libglade 2 0 gmodule 2 0 3 4 RH
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