1. M1
M1
2017/1/18

2. 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

3. Robotics Laboratory
3
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

4. VLC
Robotics Laboratory
4
Wakayama University Graduate School of System Engineering Robotics Laboratory
VLC Video Lan Client
Ubuntu Mac mini
Kinect
IEEE802.11n100BASE-T

5. VLC
Robotics Laboratory
5
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))

6. Kinect
Robotics Laboratory
6
Wakayama University Graduate School of System Engineering Robotics Laboratory
NiViewer OpenNI/Samples/Bin/Release

7. PCL
Robotics Laboratory
7
Wakayama University Graduate School of System Engineering Robotics Laboratory
5
[-1,1]
PCD
x
y
z

8. PCL
Robotics Laboratory
8
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

9. JETSON TK1
Robotics Laboratory
9
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

10. JETSON TK1
Robotics Laboratory
10
Wakayama University Graduate School of System Engineering Robotics Laboratory
✴ SSD 1.5mm
→ SSD

11. PCD
Robotics Laboratory
11
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

12. ROS Turtle Sim
Robotics Laboratory
12
Wakayama University Graduate School of System Engineering Robotics Laboratory
ROS (Robot Operating System)
✴ ROS
● Kinetic Kame
✴ (TurtleSim)
● teleop_key
➢
● rqt_graph
➢

13. MORSE
Robotics Laboratory
13
Wakayama University Graduate School of System Engineering Robotics Laboratory
MORSE Simulator
✴ ( Socket )
● 4000
➢
● 60000
➢
✴ telnet
✴ MORSE Simulator
socket
$ telnet localhost 4000

14. Blender rospy
Robotics Laboratory
14
Wakayama University Graduate School of System Engineering Robotics Laboratory

15. Protege
Robotics Laboratory
15
Wakayama University Graduate School of System Engineering Robotics Laboratory

16. Protege
Robotics Laboratory
16
Wakayama University Graduate School of System Engineering Robotics Laboratory

17. Apache Web
Robotics Laboratory
17
Wakayama University Graduate School of System Engineering Robotics Laboratory

18. PostgreSQL DB
Robotics Laboratory
18
Wakayama University Graduate School of System Engineering Robotics Laboratory

19. Webmin
Robotics Laboratory
19
Wakayama University Graduate School of System Engineering Robotics Laboratory

20. Tomcat
Robotics Laboratory
20
Wakayama University Graduate School of System Engineering Robotics Laboratory

21. Tomcat
Robotics Laboratory
21
Wakayama University Graduate School of System Engineering Robotics Laboratory
◆
daytime.java