1. M1
2016/11/10

2. Robotics Laboratory
2
Wakayama University Graduate School of System Engineering Robotics Laboratory
MORSE Simulator ROS
ROS Robot Operating System

3. Robotics Laboratory
3
Wakayama University Graduate School of System Engineering Robotics Laboratory
✴ Ubuntu Desktop 16.04 LTS
✴ MORSE Simulator 1.4
✴ ROS (Robot Operating System) Kinetic Kame
✴ Blender 2.76
2.78 MORSE-ROS
2.76
✴ Python 3.5.2 (or 2.7.12)
✴ Pyenv
✴ Anaconda 4.1.1

4. 1 / 5
Robotics Laboratory
4
Wakayama University Graduate School of System Engineering Robotics Laboratory
Synaptic / apt install / upgrade
lsb
dpkg: lsb (--configure):
:
lsb
# dpkg -P --force-remove-reinstreq lsb
# apt-get update
# apt-get upgrade

5. 2 / 5
Robotics Laboratory
5
Wakayama University Graduate School of System Engineering Robotics Laboratory
mat7q6@mat7q6:~$ morse check
* Checking up your environment...
* Running on Linux. Alright.
* Found MORSE libraries in '/usr/lib/python3/dist-packages/morse/blender'. Alright.
* Trying to figure out a prefix from the script location...
* Default scene found. The prefix seems ok. Using it.
* Setting $MORSE_ROOT environment variable to default prefix [/usr/]
* Checking version of /usr/bin/blender... Found v.2.76.0
* Found Blender in your PATH
(/usr/bin/blender, v.2.76.0).
Alright, using it.
* Checking version of Python within Blender /usr/bin/blender... Found v.3.5.2
* Blender and Morse are using Python 3.5.2. Alright.
* Your environment is correctly setup to run MORSE.

6. 3 / 5
Robotics Laboratory
6
Wakayama University Graduate School of System Engineering Robotics Laboratory
edit MORSE ROS
Blender Python Python
$ morse edit tutorial-1-ros.py
>>> import sys
>>> sys.path
['/usr/lib/python3.5/site-packages', '/usr/share/blender/scripts/addons', '/usr/
share/blender/scripts/startup', '/usr/share/blender/scripts/modules', '/usr/bin', '/
usr/local/lib/python3.5/dist-packages/catkin_pkg-0.2.10-py3.5.egg', '/usr/local/
lib/python3.5/dist-packages/python_dateutil-2.5.3-py3.5.egg', '/usr/local/lib/
python3.5/dist-packages/docutils-0.12-py3.5.egg', '/usr/local/lib/python3.5/dist-
packages/argparse-1.1-py3.5.egg', '/usr/lib/python3/dist-packages', '/opt/ros/
kinetic/lib/python2.7/dist-packages', '/usr/lib/python35.zip', '/usr/lib/python3.5', '/
usr/lib/python3.5/plat-x86_64-linux-gnu', '/usr/lib/python3.5/lib-dynload', '/usr/
local/lib/python3.5/dist-packages', '/usr/share/blender/scripts/freestyle/modules',
'/usr/share/blender/scripts/addons/modules', '/home/mat7q6/.config/blender/
2.76/scripts/addons/modules']

7. 4 / 5
Robotics Laboratory
7
Wakayama University Graduate School of System Engineering Robotics Laboratory
rospy ROS python
>>> import rospy
Traceback (most recent call last):
File "<blender_console>", line 1, in <module>
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/__init__.py", line 49, in <module>
from .client import spin, myargv, init_node,
File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/client.py", line 52, in <module>
import roslib
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/__init__.py", line 50, in <module>
from roslib.launcher import load_manifest
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ImportError: No module named 'rospkg'

8. 5 / 5
Robotics Laboratory
8
Wakayama University Graduate School of System Engineering Robotics Laboratory
rospy
Blender Python
sys.path
import rospy
$ rospack find rospy
/opt/ros/kinetic/share/rospy
>>> sys.path.append("/opt/ros/kinetic/share/rospy")

9. MORSE Simulator ROS
Robotics Laboratory
9
Wakayama University Graduate School of System Engineering Robotics Laboratory
✴ Blender rospy