M1

M1

2017/1/18

Robotics Laboratory

2

Wakayama University Graduate School of System Engineering Robotics Laboratory

M1

VLC Kinect PCL PCL JETSON TK1 PCD ROS Turtle Sim MORSE Blender rospy

Protege Apache Web PostgreSQL DB Webmin Tomcat

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

✴ Ubuntu Desktop 16.04 LTS ✴ PCL 1.8 ✴ MORSE Simulator 1.4 ✴ ROS Kinetic Kame ✴ Blender 2.76 ✴ Python 3.5.2 (or 2.7.12) ✴ Pyenv ✴ Anaconda 4.1.1 ✴ Protege5.1.0 ✴ Apache 2.4.18 ✴ Postgre SQL 9.5.5 ✴ Webmin 1.820 ✴ Tomcat 8.5.9

VLC

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

VLC Video Lan Client

Ubuntu Mac mini

Kinect

IEEE802.11n100BASE-T

VLC

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

VLC http://wiki.princo.org/?VLC%A4%C7%A5%B9%A5%C8%A5%EA%A1%BC%A5%DF%A5%F3%A5%B0%C7%DB %BF%AE(Windows%C8%C7(XP%2CVista%2C7))

Kinect

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

NiViewer OpenNI/Samples/Bin/Release

PCL

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

5 [-1,1]

PCD

x

y

z

PCL

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

*

http://ros-robot.blogspot.jp/2011/08/pclapi-point-cloud-library-pcl-pcl-api.html http://pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation

JETSON TK1

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

✴ 2mm ✴ 25mm×8 20mm×4

✴

SSD

JETSON

(25mm×2)

(20mm)

Side View

Top View Bottom View

140

140

φ40

φ3

11.5

11.5

75

60

60

65

JETSON TK1

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

✴ SSD 1.5mm

→ SSD

PCD

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

PCL *data-master/tutorials/ism_train_cat.pcd

* https://github.com/PointCloudLibrary/data ** http://pointclouds.org/documentation/tutorials/cloud_viewer.php *** https://developer.blender.org/T27711

ROS Turtle Sim

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

ROS (Robot Operating System)

✴ ROS ● Kinetic Kame

✴ (TurtleSim)

● teleop_key➢

● rqt_graph ➢

MORSE

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

MORSE Simulator

✴ ( Socket )

● 4000

➢

● 60000

➢

✴ telnet

✴ MORSE Simulator

socket

$ telnet localhost 4000

Blender rospy

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

Protege

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

Protege

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

Apache Web

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

PostgreSQL DB

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

Webmin

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

Tomcat

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

Tomcat

Robotics Laboratory

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Wakayama University Graduate School of System Engineering Robotics Laboratory

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