自律移動システムマニュアル（開発元：豊橋技術科学大学）
Contents
1. NEDO sisi SCIP2 0 2598 http www roboken esys tsukuba ac enis URG Classic URG Top UR SCIP2 0 EN URG 7T URG URG 2002. X Y 1m d ruos NEDO h range start position range end position range data num 416 hom pewedmamm 2 1 1 0 range_data_num
3. PNG Top URG
4. 3 2 2 RTC 4 2 1 Q 1 RTC PathPlannerV2 USE PEOPLE TRACKING 1 USE WAYPOINT PORT 0 6 1 NEDO 2 3 3 2 3 1 83 7
5. 1 make_MotionSet exe Please input Tile name to create a motion ti 4 14 make MotionSet exe test mtn test mtn Create tile 3 test mti 4 15 4 16 29 motion num 29 UK motion num 29 4 17 NEDO
6. Imml 0 4 18 HImm secl 4 19 NEDO 2 read MotionSet exe Please input read file name 4 20 Imml mm sl ot on num 29 y 50 00 PES UTE VES v7 50 00 50 00 y 100 00 7150 00 v7 5l UL y 5 O00 y 150 00 v 50 00 4 r 0 C0 v 0 00 4 21
7. deg 403 deg TATA Re des N SS sensitive mode OFF CON OFF Top URG ON JU Vu E CE Localization Particle 100 LocalizationComp USE INIT POSE 0 INIT X INIT Y INIT HEADING pi start position end position 180 0 data grouping number motor slow rate 0
8. RT SystemEditor CO ARA be EI E 5 mart Hamme Service 442 URL NEDO http openrtm org openrtm a content 6 E5968B969596 E496BD969 C96 E 796A296 BA96 E 896A A 968D windows96E 796B 796A489623toc119623toc119623toc112toc2 2012 2 1 URL 4 2 RTC 4 2 1 RTC RT
9. xScale X m cell yScale Y m cell width X cell height Y cell origin cell 0 0 pose xScale m cell 4 4 i l f E 47 43 44 45 45 47 48 S mlmlmlmlmlmlm OO i I ga m en dL L 1 1 i t7 iLe I I sani 14 15 16 18 19 20 gi m i rm IN m m m Er M 2 E feee N E V 1 a o Y xh origin cell O 000 pose 1 4 NEDO 15 1 5 1 RTC BSD Top URG RTC
10. 3 9 RTC 3 4 Hm lg E a Erwironmenta imulatorf PathP larmer VT Dummoyz2Poseszsendert E P Ex GlobalPathP anser E 3 9 3 4 RTC D RTC A oE RTC Simulator EnvironmentSimulatorComp a RTC PathPlanner v2 6 ver IIS pue E Showlmage 2 Bamblebee2Module Bamblebee2Module ShowlmageComp RTC GlobalPathPlanner GlobalPathPlannerComp Dummy2PosesSender GlobalPathPlanner 1 Dummy2PosesSenderComp NEDO 3 3 RTC
11. 4 13 NEDO 3 RTC 4 23 exe 4 23 MEI i SuperMarkt txt P am A M NEDO 4 2 2 RTC MotionSet mtn
12. 30 zc 418 oe 31 x 4 19 31 PAD uo cuo PE Mm 32 qe dl A ppc edu epu eee s con adecistic ciue 32 rd UM voc Ru o n aaa A 33 zn DUE va RR D PERS 9T 1V NEDO zc D DB CIBO cc 45 2a Dub xls sut ccm ids uL elici cct 46 aA E p dpu m 3 PED MEC D E e IP c em 4 RIKO c DENM 5 1 4 oinnia n a E i 6 PE a e a a E E E E N 9 Ro v 072 aAA RC ccu MT 12 E03 Wan 2c pee RDQGe I ALL i 13 13 pu sempe ok 14 3 5 Dummy velocity_data Li 14 E 3 6 ETT Leu na 15 EI 0 A T A a ae r 16 RSS AN AE a A T m 17 3 9 VRT esses 18 3 10 KT ruai a a 19 3 11 20
13. X m USE INIT POSE 0 Y m USE INIT POSE 0 radian USE INIT POSE 0 NEDO RICA VAULT wi pixeD 0 SLAM Particle SLAMComp 21 debug_window LocalMapRTC LocalMapWidth 200 XX LocalMapComp ee LocalMapHeight 200 Y cell LocalMapScal
14. zd quse E i iL EL MMC C P D D ILE 1 za ME 0 ua T T 2 EES ee eee 2 o B Se en Ue Ra 9 am MU dc s RETE 11 z 0 BUE NU UR gue ik 11 ddub BP UEDEXE OO 12 TRS JOE Sd RTOP aae a det eden e oa S 16 3 3 er EIU OE eioisiates t ePesias tn asit ium a rte a bend d dote id 17 K 3 4 RTC 18 zx 8 5 RTC seriinin 20 de dq Iss TE 21 zo 4 9 Open bM astu x v Sv gres RUR deeds sete eG Ra E o hn 22 2 453 JIREO A Apes UR fl 29 zc 44 Open VLO TS EN UR a 23 rao PlvCapnbture7 UU pgs UR kk kkk 23 zc wp Tyuelops 3 2 NUKI 23 2AT ARA CO TAUR ce oii 23 a ds COCALO GC a URN Danna E 24 zc WO ar es E ctu ap USUS aa 27 a H0 AO TTE CLA I a E EN R 28 z dl 2 ee o aie 28 TAT AN ORROA T EC CEN 28 adl EDITORA OAR MPO ege Le ausutesdsu edet edt ubi tret 29 a 4dq4 mm vog pen ep ER 29 4 305 es 29 416 iiei 30 zx 4 17
15. OMNIORB_USEBHOSTNAME TP 192 168 0 1 set cosnames omninames set orb omniORB set port 1 set OMNIORB USEHOSTNAME 192 168 0 11 set PATH PATH OMNI_RO0T bin x86_win32 2 RTC a Select Camera Camera Serial Resolution Color Humber of cameras detected 0 Selected Camera Information Bus Mnode Sensor Mas Speed ASINE sach Cancel Configure Selected 61 NEDO 3 HTC RTC a RTC RTC
16. 6 range sensor x range sensor y range sensor heading K 4319 range sensor x range_sensor_y range sensor heading 443 k E 90 y 4 3 NEDO 1 show map scale display range data 420 RTC show_map_scale
17. FREIDURA DR L VRREE ESAE T OR FREE IEU A DR 5 ERROR RTC_LRSServicelmpl lt lt sgtart position invalid value y dm il ERROR RTC LRSServicelmpl lt lt Si a k Oo gt gt end position invalid value 724 246 ERROR RTC LRSServicelmpl lt lt gt gt scan interval invalid value ERROR RTC_LRSServicelmpl lt lt gt gt data_grouping_number invalid value ERROR Start Measurement Error lt lt A gt 10 ERROR lt lt gt gt failue of powre off 11 ERROR lt lt gt gt failure of start measurement
18. 3 3 1 TopURG MobileRobots RTC Bumblebee2 3 10 3 3 2 NEDO 3 3 3 8 11 RTC 3 5 L FEFA PRENNE AG Ti cii tCTop URG S URGDataF lewCompll M MobileR
19. ROBOT ACCE LERATION m s 2 ROBOT MAX SPEED m s 2 ROBOT_RADIUS 0 310 m ENON PeopleBot PatraFour 8 TREAD 0 3325 m ENON PeopleBot PatraFour 3 MOTION SET Motion FILE Set mtn SOUND SET A 0 1 1 2 2 USE_WAYPOINT_ PORT DEGAY 0 o Bu 2 USE_WAYPOINT_ HEADING AT 0 EDT ME SERM J 1 1 1
20. a omniORBpy Open rtm aist 1 0 0 C omniORB omniORB OpenRTM aist omniORB omniORB WE LG D OMNI_ROOT Start Naming Service RTM_ROOT bin rtm naming bat omniNames exe omniNames exe OMNI_NAMES OpenRTM aist OMNI_ROOT OMNI_ ROOT gt gt gt gt
21. open trying to dislodge WARN Trying to close possible old EE EN INFO COM COM Ro COM 6 2 11 Dumy velocity dataComp HL 7I ste RL 6 2 12 nen ERROR Service provider is not activated WEE ABEST E CIE IT A7 TEDE ap WARN Gemerated no waypoints Coordinate is out of area EUIS 3 INFO Compute Global Path from lt lt gt gt 2 lt lt gt gt to lt lt gt gt lt lt gt gt 4 INFO Number of Generated waypoints lt lt gt gt 6 2 13 Dummy2PosesSenderComp ERROR Component create failed NEDO 63 1
22. 2 2 1 RTC RTC RTC RTC RTC ied T APRH I 2 1 d 2 1 e voccs s RTC NET ET Showlmage ShowImageComp OpenCV 2 1 Ye up Top URG
23. PC 4 2 8 T3 ES BHL TS E Camera Dumblebec OE TEEN MAE I Humbe oi ram erac detecte wleClml Coursera Filorina tin Bus Mode A Sengr 1021x782 lax Epeak 3400 Paymo TU boh o4 Canol Confizac Solocted 424 NEDO 2 RT SystemEditor Exit LocalMapViewerCmp HT System Editar HCP a orrum Dagram i amZut pep Jut 4 n ET iagi i eere p Lr te Peth LURI ke esa Ls heira Mame Loca Type Hims Leap i Descriphon Beer Local Veri rn 1ng em agli ca hri Daima B NW E p 3 LT PEN PEREN Sise INACTIVE pi x gm 3 15 pm ae Exin cr her L ga EESTI Rl az Fr Dral FERII em Fa igg OU e Poen Faras Lr Man y Loca aps wenn Data Typa lim mmm it Typ corta cdr eal Ee Typ xil push e aJ WA Subs F Exit Ys palgi
24. 02 100 URG 3 1 8 1 1 4 2 1 0 degree degree degree mm 90 180 0 E 1 1 NEDO 2
25. 1 3 1 3 1 NL 1 3 2 1 1 LNo O Wk E wd Bumblebee2Module 23 URG RT RTC Y PR JF Ei x 23 7 19 23 10 27 23 10 27 23 7 19 23 11 7 23 UST MobileRobots 23
26. D RTC PathPlannerV2Comp USE PEOPLE TRACKING 1 USE WAYPOINT PORT 0 4 Top URG RTC a RTC RTC RTC RT SytemEditor
27. 2 RTC 5 1 0 4 22 4 22 We a Walls 1 1 2 Walls1 1 x nm 1 y nm 2 x nm 2 y m 3 x nm 3 y m 4 x m 4 y m 4 5 E NEDO
28. 3 OpenCV2 1 OpenCV OpenCV URL 4 4 NEDO 4 4 OpenCV2 1 URL http sourceforge net projects opencvlibrary files opencv win OpenCV 2 1 0 win32 vs2008 exe http www java com ja download help windows_manual_download xml 2012 2 1 URL 4 FlyCapture 1 8 FlyCaputre TOURD NN U 9 2 4 5 FlyCapture URL http www ptgrey com support downloads download asp
29. NEDO 4 2 3 Point Grey Bumblebee2 PC 1 Bumblebee2 Bumblebee2 RTC PeopleTrackingV2Comp 4 2 4 Top URG URB2 0 PO COM PC 4 22 COM3 Top URG RTC 6 1 1 O FRA EE H A 2
30. BE 2 Ve nuo ata 6 Ton NEDO b walkingrate mean walkingrate std deviation 410 2 walkingrate_mean walkingrate std deviation c localmap_width localmap_height localmap_scale globalmap_s
31. I ss Bumblebee2 PointGrey BB2 08S2C 25 AUT VONT XGA 110 EZ 2 Top URG UTM 30LX O NNN MobileRobots mRyb 0 MobileRobots O NEDO 3 3 1 3 1 3 1 3 2 RTC RTC 5 Environment Simulator LEE s Lj i P e e 1 e OcEERJS t 3 1
32. 47 INFO Service getLatestData 48 INFO Service getLatestData exit 49 INFO Service getStatus PERASA F AART A AR RO NEDO sil INFO Service getStatus exit ES INFO SerialPort Connected to lt lt UNE 5e INFO SerialPort Disconnected INFO setBaudRate BaudRate OK BaudRate OK INFO setMotorSlowRate Motor slow rate 55 INFO setSensitiveMode Sensitive mode NF 56 INFO startMeasurement Measurement ul aai starts 57 INFO Power off
33. x 48 CGAL URL http www cgal org download html CGAL 3 7 Setup exe 2012 2 1 URL NEDO 4 1 2 1 RT SystemEditor RT SystemEditor X RTC OpenRTM aist 1 0 0 C 1 OpenRTM aist gt gt C gt gt tools gt gt RT SystemEditor RT SystemEditor OF Vas Manaus DE Vies ampie HMP Vie Comprei Hai Coil EE met W Ermi ai lL 1 Pi 4 1 RT SystemEditor URL http openrtm org openrtm a content 6 E5968B969596 E496BD969C96 E 796A296 BA96 E 896A A 968D windows96 E796 B 796A89623toc1 1 ztoc1 1 2012 2 1 URL NEDO
34. x XX m y Y m heading X radian Y B 1 2 NEDO 3 origin 0 xScale X m cell yScale Y m cell width X cell height Y cell origin cell 0 0 xScale m cell sas EEIEI width X origin cell O 0 height Y yScale m cell 1 3 NEDO 4
35. 2 rtc conf rtc conf rtc conf URL http openrtm org openrtm a content76E5 8B 95 E4 BD 9C 6E7 A206BA ES AA 8D windows E7 B7 A8 23toc11 23toc11 toc11 2012 2 1 URL 3 OpenRTM aist gt gt C gt gt Itools gt gt Start Naming Service
36. display_range_data 0 4 4 44 m simulate people simulate skip 4 21 simulate people 0 V simulate_people RTC simulate_skip 1 simulate_skip 2 following_target_id NEDO
37. Top URG RTC RTC Top URG RTC D Top URG RTC 2 Top URG RTC 2 1 http creativecommons org licenses by sa 2 1 jp 1 5 2 1 Open rtm aist 1 0 0 C Open rtm aist
38. b Destination 1 4 2 Destinationt 1 2 3 4 6 D X 2 X 1 x m 1 y m 2 x m 2 y m 4 7 P m P nm y m
39. 7 16H 24 1 11 NEDO 1 3 3 1 2 Web http www aisl cs tut ac p http www aisl cs tut ac p R T C index html X L3 2 2 i CCD
40. 12 ERROR resetSensor failue of reset sensor 13 ERROR resetSensor failure of set motor slow rate NEDO Eoo V 5 zt 00 0 14 ERROR resetSensor failure of sensitive TE 15 ERROR checkAllConfigureParameters error Vae Spe ou UY RA 03S IY ERROR onActivated failure of set motor slow stie ERROR onActivated failure sensitive dE SIL ers ERROR onActivated failure of start
41. Triclops Software Development Kit SDK Manual Reference X Triclops PointGrey http www ptgrey com 1index asp 2012 2 1 URL 5 ARIA ARIA GPL GNU General Public License MobileRobots http robots mobilerobots com wikVARLA 2012 2 1 URL 6 CGAL CGALD LGPL GNU Lesser General Public License QPL Q Public License CGAL http www cgal org hcense html 2012 2 1 URL NEDO
42. T COM LPT ECP LPT 3 USB Serial Port COM3 i COMI DD 4 22 NEDO 4 3 4 3 1 Windows 1 RT SystemEditor Name Service View System Diagram 4 23 LocalMapCmp LocalMapViewerCmp HI Fa L Edior ROF Em Yee jip EX a LaL E AT Ression em NU riter Doa I 3g 4 Ba ZI TT4 re hi Pyth LR vv o 3 beca ep d eee je y y amp H kilanes Mare Tipe Hare Dezergit mi FUNHIF PERIODIC iia Le a wpe Tman re m gt D rn b Distale Tip paullpush Subscrgkm Ar putpori ge LumlmhnFrmt J Pt Hare Licoma Data Fype DeedPoses rcm Tm corba cir
43. URG URGDataFlowComp RTC Comp RTC Bumblebee2 PeopleTrackingV2Co OpenCV 2 1 mp FlyCapture 1 7 Triclops 3 2 OpenCV 2 1 NEDO RTC tici 273 ue RTC SimpleGlobalMapLo OpenCV 2 1 aderComp SLAMComp OpenCV 2 1 RTC LocalMapComp RTC EnvironmentSimulat Op
44. RTC NEDO RTC Y ERF A gt PS iRiBsIEIFE 27 18 88 3 2 RTC 3 2 1 RTC 1 RTC RTC
45. Ee INFO Calibration File successfully saved at NEDO EN bumblebee1234567 cal dp 4202 JJ Y2xSS Es 3 INFO Get Context from bumblebee1234567 cal 6 2 4 LocalizationComp service provider mao size cir Si INFO Start to predict and to update Global Map INFO Finish to predict and to update Global Map 13 gt gt lt lt gt gt lt lt gt gt 17 INFO Required Time per cycle 1 Average lt lt gt gt ms cycle Maximum amp ms Minimum lt lt gt gt ms 6 2 5 SimpleGlobalMapLoaderComp HIAS gres Ne OQ m or DD J 6 2 6
46. flycapture 1 8 3 26 x86 exe 2012 2 1 URL 5 Triclops 3 2 Triclops MNO See cs vepres K 4 6 Triclops 3 2 DX 7 7n URL http www ptgrey com support downloads download asp triclops3 3b03_x86 exe 2012 2 1 URL 6 ARIA 2 7 1 ARIA MobileRobots URL 4 7 ARIA 2 7 1 URL http robots mobilerobots com ARIA download archives ARIA 2 7 1 exe http robots mobilerobots com ARIA INSTALL txt 2012 2 1 URL X version 2 7 1 NEDO 7 CGAL 3 7 CGAL C
47. b RTC RTC RTC RT SytemEditor RTC reset c RTC RTC RTC
48. gt gt gt gt c 2 omniNames exe TEMP 2 C temp TEMP rtm naming bat set cosnames omninames set orb omniORB set port 1 rem set OMNIORB USEHOSTNAME localhost set PATH PATH OMNI_RO00T bin x86_win32 set TEMPZC Xtemp PCO IP omniNames exe NEDO
49. RTC 3 2 ShawImageh Env ironmentieimulatort FathPlanner wl E 3 7 3 2 RTC RTC RTC Simulator EnvironmentSimulatorComp E RTC PathPlanner v2 6 ver IIS PathPlannerV2Comp 3 ShowImage Bamblebee2Module ShowImageComp NEDO 2 3 8 RTC 3 3 Dumy velacitv data Env ir anmentairmulatart X 3 8 d 3 3 RTC RTC 2 RTC Simulator EnvironmentSimulatorComp Dummy velocity data MobileRobotsController Dumy velocity_dataComp NEDO 3
50. rm mt 5m 58 INFO receiver Command accepted INFO Start position lt lt gt gt INFO End position lt lt INFO Scan interval lt lt Fm M INFO Data grouping number lt lt gt gt 64 INFO Device Already Opened RTC 65 INEO onlnitialize Component created onlnitialize RTC INFO onFinalize Finalizing onFinalize RTC onFinalize RTC 6 2 8 PeopleTrackingV2Combp ERROR flycaptureStart 0 reported The IEEE1394 requested bandwidth would exceed Bumblebee2 the maximum ViewPLUS Web http www viewplus co jp support p 87 fixSP2g exe
51. 9 22 WARN characterDecode length ld il mode 6ld Length error HERT FORT be 24 WARN parsePP Default value used 25 WARN createMDMS Invalid value s el Default value NORMAL used RUU OCE ZIT 26 WARN createMDMS Invalid value ld Default value 44 used 27 WARN createMDMS Invalid value ld Default value 725 used 28 WARN createMDMS Invalid value ld Default value 5 used loads 29 WARN createSS Invalid value 1d Default value 19200 used 30 WARN
52. m X 4 8 NEDO 3 f S8 1 2 2 S x m y m 4 9 TQ dx dy Q x m ty Im dx m dy m 4 10 c AH Entrance 1 2 2 Entrance 1 1 x
53. E 3 3 NEDO 2 RTC RTC Dummy_veloeity_data OERE m s Irad sl 3 5 Dummy_velocity_data NEDO 3 RTC RTC RTC X 3 6 Dummy2PosesSender
54. radian continuous output 0 1 INS deactivate_to_stop 0 NEDO 62 rte conf OpenRTM aist gt gt RTC gt gt ZAR http openrtm org openrtm 1a content 96 E896A 896A D96 E 596A E969 A96 E 39683969596 E 3968296 A 196 E3968296A4496 3968396 A B 96 E5969 F96BA96 E 796A 4968 E96 E796 B 196 A SfEtoC3 2012 2 1 URL 6 2 1 ShowImageComp 6 2 0 URGDataFlowCompComp
55. range_start_position range_end_position range end position range start position erel ox range data num i range max distance range far code range std deviation 417 2 long rmefarede ho range std deviation range max distance range far code range max distance range_far_ code range_std_deviation NEDO range peason radius X 418 range peason radius 0
56. WARN danger t COLLISION Robot is here x lt lt gt gt y lt lt gt gt direction lt lt gt gt path predict x lt lt gt gt y lt lt gt gt theta lt lt gt gt 7 INFO onExecute Start step lt lt gt gt onExecute call period t lt lt gt gt sec Get a local map state time lt lt msec Connected to PeopleBot PeopleBot Number of motion set lt lt gt Goal Position x lt lt gt y lt lt gt gt INFO BEST PATH and REUSE INFO Time for making Best Tree lt lt msec INFO node for best path lt lt gt gt 17 INFO Route Search Computation time lt lt gt gt msec INFO Build Path Start closest node lt lt gt gt 19 I
57. SLAMComp DOM e 1 INFO Output Estimated Robot Pose lt lt gt gt lt lt gt gt lt lt gt gt INFO Finish to calculate Likelihoods INFO Start to make GlobalMap NEDO INFO Finish to make GlobalMap Input Robote Pose us INFO Input LRF Data LRF Step lt lt gt gt INFO Start to predict and to update GlobalMap Finish to predict and to update GlobalMap EX INFO The end of SLAM Total Execution Time lt lt gt gt s Required Time per cycle 1 Average lt lt gt gt ms cyclel Maximum amp ms Minimum lt lt gt gt msj 6 2 7 LocalMapComp7 LICE 6 2 8 EnvironmentSimulatorComp ERROR Component cr
58. Corfmunatan amer Hra Corel Ver Carrie Cargar aem vore Tr puliriam Subscriphos Ar CospeoneniMams Los Coniapguralenoet mm ME paipai hm DatakiPort B a ie Po 7 7 0 E T ar z E TE i siad Erra exe rt porrpert rae Cora oit Locate Hi AO T erm z E Poritita Lata M ane Dus LE 0 S SensorMexDatance mm XX Tope Hia MAFC Plata 1 Pari jr PROVIDED Pine Lasia hiria Fn balerm Ei 4 23 exe PeopleTrackingV2Comp a PeopleTrackingV2Comp exe 4 24 OK NEDO OK
59. MobileRobotsController ARIA 2 7 3 2012 2 1 kg Um 5 9 RTC RTC OpenCV RTC 5 1 NEDO 6 61 1 RTSystemEditor OpenRTM aist OpenRTM aist RTSystemEditor OpenRTM 1 0 0 X 61 No RTCZ 2332 25 AE 1 1 Peopl
60. m 1 y m 58200 x E m 2 y m 411 NEDO d Actions 1 Actions 4 12 e IFirstActions Actions FirstActions 0
61. nas Diah ori amp 9 CES SWRA E Sevier N es portgort tie CortaPost Por pte el Cenlaural n Vae anapi Canina Vire Compin Coeponent em par PellreeMx Typa Hr MERFC Pala Component ume Locs Gier celso ax Port ipte FEOLEREO ir coniu hame m F z telauh cor Pemp n pergon adag p te rebat radar 4 25 CtrlTC NEDO 5 5 1 RTC Magen d ARA 1 m cell l A OpenCV PA iA ri RTC 5 1 5 1 No Windows bitmaps BMP DIB JPEG files JPEG JPG JPE Portable Network Graphics PNG NMLITXITIIT TO MN 1 Porai imase tornat PEM CO NN sum sh s mwmemmnp wsGsemamsi 5 2 MobileRobots RTC
62. 1 0 0 C EPL Eclipse Public License AIST 6 SS 2 omniORB omniORB iX GPLv2 GNU General Public License v2 LGPLv2 GNU Lesser General Public License v2 omniORB http omniorb sourceforge net 2012 2 1 URL 3 OpenCV OpenCV BSD OpenCV DARD REEHB http opencv willowgarage com wik 2012 2 1 URL NEDO 4 FlyCapture Triclops FlyCapture Triclops PointGrey FlyCapture URL http www ptgrey com support kb data eula rtf 2012 2 1 URL Triclops Triclops
63. 2 msi http Www openrtm org openrtm ja content windows 2012 2 1 URL b JRE OpenRTM aist Too1l RT System Editor Java JRE Java Runtime Environment JDK Java Development Kit URL 4 3 43 JRE URL http www java com 1a download manual jsp mw http avadl sun com webapps download AutoDL BundleId 58139 http www java com ja download help windows manual download xml 2012 2 1 URL 2 omniORB 4 1 4 omniORB OpenRTM aist1 0 0 X Open rtm aist 1 0 0 C omniORBpy omniORB
64. 6 WARN setSensitiveMode Command HS no response 37 WARN startMeasurement Command MD or ORE 38 WARN powerOff Command QT no response MM 6077 39 WARN onHilelize called receiverO exit RTC 40 WARN receiver Status error 41 WARN getResponse Response buffer overflow 10KB 49 INFO Measurement starts 43 INFO Sensor ON 44 INFO Sensor OFF 45 INFO Parameters for mesurement reset 46 INFO Service resetSensor
65. AT SVS6IOM6MNOE UE 25 PME ME MNO Eee ee ee 26 BAs Sa uabgu 31 PP Ae CE E MER RE i 32 PM LOEO 0 EE e A A E E E 33 En E ER E E E I M E A CE 34 RE i A 34 RE NER 34 PCS EN A Gc 35 OE Cc i i 35 A i i i 35 NN TE ct 36 A SUDAN Ee eo NG 36 4 14 make MotionSet exe 38 Ain WES xu Jk SAO UB EE S OE SS uatitedcuueniib m A 38 NEDO UE OMA E NOB ULdcuce MDC RN 38 V E UUdcuab MD m 38 tiS d URS nica OE s 39 4419 RE A EP SM DNUDAE Se once ots iiec eee beh rotos EM Eten 39 4 20 X93 2 TAIR AANT SEE ES SP IUD PAIRE BERI Vecuntt depo ses to asado cas 40 4291 40 T MESS A i Ec 41 09 ves IN BE ec RM TANE RP ME IUE DUUM DRE 42 T WE du n MJ 43 2 MEG LL UR MT em 44 PESE s CE SEREMAU ANS UT UT 62 Y1 NEDO 1 iue R 1 4 1 2
66. C E 2 RTC eere uq Oc d Qo 0 1 RTC a FieldDataFile 4 9 FieldDataFile
67. EDO e robot tread robot acceleration robot deceleration 413 robot tread robot_acceleration D robot_deceleration f robot init x robot init y robot init heading R 414 ET mesi oo hmm mens RTC robot_init_ x C X robot_init y Y robot_init_heading 1 3 g robot move error x robot move error y robot move error heading X 415
68. NEDO 1 0 NEDO ro agess ge lt NEDO ME HEC 1 IN E OWEN 1 BO MEEC a a a r a 1 LE AAEE E 1 PC SEE 0 RC 1 YR 1 oo 2 EEG Perte 2 1 B guctnsccddrcctu t i iM LL c is M ci cM MULA e I EIE 2 Ke 3 T E uoo o RE T 1 5 1 Sea A a a E N E E EEEE AE A E E T DIU MIS a a r a E N A 7 LEES ovS PRSE 9 DM 2 572 c o EI 9 LDNEE SU o CREEK 11 DUMP x des d EC NRI 11 EE e dE S RETE ERE 12 A ou EE ENA EEA A EE E EEE EEE ET 12 3 2 S DIS Eis DAT Ra n 12 SO ic vor Em 13 322 dan P ROTER 15 DUC WEE scum RR TET 16 3 8 ec 19 UO MEE A i a 19 LU MEME uds AE E Taaa aaa a a aaa 19 DO Nii i EA E 20 A a 21 REN o GRE 21 A CR 22 NEDO TM EE i cs M DIC M rn 25 29 WEST a sceau unies
69. NFO build path lt lt gt gt node 20 INFO Memory consumption lt lt gt gt MByte 21 INFO calculation period for this step lt lt gt gt msec INFO Total time lt lt gt gt msec INFO Total computation time msec 24 INFO An average computation time of the loop lt lt gt gt msec 25 INFO The maximum cimputation time lt lt gt gt msec 6 2 10 MobileRobotsControllerComp 1 ERROR Syncing lt lt gt gt No packet 2 ERROR Could not connect no robot Responding NEDO ERROR Failed to connect to robot ERROR Failed to connect ERROR asyncConnect failed because robot is not running in its own thread WARN Robot may be connected but not
70. TROT FieldDataFile Field txt SimulatorComp walkingrate_std_deviation 0 1 1 1 O 8 9 0 2 3 4 5 6 T 8 9 0 1 4 NEDO TN D 4 Q C PN O gt Co O gt NN oO O O O oa jor jor oor or aJa A gt Ae 106C1OIOIOIO NJ ce 1 1OCITEDDOIH IO O10 NN CO 0o 1O Ct O gt OQ lag ieeaman width leo 4 2 1 BN ii m pamo lm DICIT NENNEN dM IM mecmeeemes foo meme les ee m netre aoo range sia deviato oo wwepemen di 02 angesema Joo range senos lee range sensor heading 00 arowan see fos Hime eda o amase eie hoo 1 simulate_skip PathPlanner GOAL AREA v2 6 ver IIS PathPlanner V2Comp LOOP TIME MOVING OBST m P m ACLE RADIUS NEDO
71. cale 4 11 iJ RTC 2 1calmap_width localmap_height localmap_scale cel globalmap_scale d following target id x 412 RTC following_target_id 0 N
72. createCR Invalid value ld Default value 00 used 31 WARN createHS Invalid value s Default value OFF used NEDO 32 WARN getVersion Command VV nol response Jtr dq 33 WARN getParam Command PP no response 34 WARN resetParam Command RS no response 35 WARN setMotorSlowRate Command CR no response CS 3
73. e 0 05 1 m cell 7 SensorPositionY m LoaderComp InputMapScale Localization MapData data SimpleGlobalMap gmap png OQ m m degree mm SensorMinDistance_mm 20 0 mm classicURG 19 TopURG 1 URG classicURG 1 TopURG 2 SensorPositionTheta_deg SensorIMaxDistance_ 30000 0 mm N 2 2 2 2 2 2 2 2 2 eo Co Co Error code Error mode
74. eTracking DataPortOutputType 0 V2 IsRobotCoord TrackingPeople PeopleTracking 0 V2Comp 0 PeopleTrackingServicePort 0 0 42 5 bps EAD ServicePortOutputType IsRobotCoord TopURG VCxx baud rate exe URGDataFlow MA device name URG 2L WOW BEA Sge wee OG CED RE CNORMAL Z7 IZ SHORT scan interval measure mode NEDO
75. eate failed 2 WARN Start to build spatial network Number of generated Subareas lt lt gt Number of optimised Subareas gt gt 3 INFO Start Initialization NIR Lbusshin shzatg 5 INFO The end of Simulation 1 Total Execution Time lt lt gt gt s Required Time per cycle Average lt lt gt gt ms cycle Maximum lt lt gt gt hms Minimum lt lt gt gt ms 6 INFO STEP lt lt gt gt INFO Number of persons lt lt gt gt INFO Triangules are merged into convex polygons jte e nca ceo ds 6 2 9 PathPlannerV2Comp NEDO
76. en rtm aist 1 0 0 C omniORB 4 1 4 OpenCV 2 1 FlyCapture 1 8 Triclops 3 2 ARIA 2 7 1 CGAL 3 7 d 4 1 0 0 T 3sre una ued S T 94mndeOAT 6 8 sdo ora Z6 VIHV lo ololglololololololol o o MEE jolol jolololo omm lsewmaems o lumepwamawews o 3 lrememeasweycaws O lteesewaeop o 5 SiscGianvapi2ndertun C saw o lueewasees o 7 NE 10 Motonet sening O 11 MabieRobotaControarComp O Dumy_velocity_dataComp Her Deme ame o Dumas um O EnvironmentSimulatorComp ENENENENCNEEBENENEN NEDO 4 1 1 1 Open rtm aist 1 0 0 C a Open rtm aist 1 0 0 C OpenRTM aist vc pe co FOURNLNUI 4 2 42 OpenRTM aist URL http www openrtm org openrtm a content openrtm aist 100 release toc2 OpenRTM aist 1 0 0 RELEASE vc9 10021
77. enCV 2 1 orComp CGAL 3 7 RTC CS 2 PathPlannerV2Comp OpenCV 2 1 EE pe e NTE MobileRobots ft MobileRobots MobileRobotsControl ARIA 2 7 1 lerComp Dumy velocity data Comp GlobalPathPlanner DEN 3 Bv DA IX AC s AR Dunt Posee NEDO 2 2 2 2 2 2 X Bo um OpenRTM aist 1 0 0 RELEASE C 3 ommORB aaa mayeeemgaer TC MELE 2 9 2 3 2 3
78. lt 1 J Co USE LOCALIZAT ION PORT robot pose 0 localization port e 1 NEDO Ri fi USE PEOPLE 0 1 9 local map 0 1 TRACKING USE VIDEO 77 USE MAP SERVICE map service port Ja Qs E AR R aa r LORSE Aue Ou U USE PEOPLE _ people tracking service port 0 Lr epos qw os gu PC COM 1 16 SERVICE MobileRobo
79. obateController Lnralanll H dii TERES E Hl did Bet CHE npn PanpleBat Pianser3J Lacalizatiant APHIGSUAGR ME TERI o Show Imagell rena HRS eimpleGlebalMapLoaderl P athPlanner 20 Eumh l ebee t People Tracking Vi E 3 11 zx 8 5 RTC No awan RTO4 a WENN URGDataFlowCompComp uiu Md ucc EL MobileRobotsControllerComp LocalizationComp 5 SimpleGlobalMapLoader 3 Localization 1 sSimpleGlobalMapLoaderComp TC R PathPlanner v2 6 ver IIS PathPlannerV2Comp ShowlImage Bamblebee2Module ShowImageComp RTC PeopleTrackingV2 1 PeopleTrackingV2Comp NEDO 4 Windows 4 1 4 1 Op
80. ts com port no Controller MobileRobots ControllerComp degree secy limit turn dps GlobalPath RobotSafetyRadius Planner GlobalPath PlannerComp GlobalPath Planner Dummy2Poses SenderComp Robot Velocity start heading 1 limit speed meter per second m sec 77 m m s start pose X m start pose Y m start_pose radian NEDO 87 goal x goal pose X m goal y goal pose Y m goal heading goal pose
81. uh adiit het hide dale 27 R O a a DIM DRM 27 492 BS ES 7 tod daten deti dati odii nU etis 38 NL EMEN pP pu MT 41 022 LLL diu A ER TS 41 POE C ET MESI ERROR ET UU 42 Zl MUIBOODWSUL i lic 42 SR c P 45 DU A AAEE EE REO a a a dO NNI d mU 45 5 2 MOBILEROBOTS RTC Liisa 45 Dos A e a ERTO n ean a N 45 ME T i i i i 46 Ole RC NE deducantur ed Dt 46 DUMEME CN i 53 6 9 1 ShowlmageComp sascudenieotituutot diete ee ete 53 62 2 URGDataFlowCompOComp 53 62 3 2 v t U7 W PeopleTrackingV2Comp 56 62 4 dq A Localization Comp a9 ieu E Os rated tn 57 6 2 5 SimpleGlobalMapLoaderComp 57 69 60 SLAMC6im6 sik AlAs 57 62T bocalMapCoMID Nk NR 58 6 2 8 EnvironmentSimulatorComp i 58 6 2 9 PathPlannerV2Comp 58 6 2 10 MobileRobotsControllerComp 59 6 2 11 Dumy velocity dataComp i 60 6 2 12 visse OlobalPasthPlannet o2 pire ORI Nen 60 6 2 13 Dummy2PosesSenderComp i 60 E Sa La a Ql m 61 Emm NEDO
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