ICTがGHG削減に貢献できる領域のうち大きな割合を占める技術領域
各機関の調査
United Nation（UN）
- Global e-Sustainability Initiative （GeSI）から引用
- 2030年までに世界のGHGを20%（12ギガトン）削減できる可能性について言及
World Economic Forum（WEF）
2020年の各分野の割合と2050年までのICTによる削減量
- エネルギー分野：43%（削減量：8%）
- 材料分野：26%（削減量：7%）
- モビリティ分野：24%（削減量：5%）
Future of Jobs Report 2023
Fastest-growing jobs are
- AI and machine learning specialists
- sustainability specialists
- business intelligence analysts
- information security specialists
Ericsson
2030年までのICTによる削減量と分野
- Potential of up to 15% with agriculture included
- the total potential GHG reduction was estimated to be about 4 Gt and 8 Gt CO2-equivalents, respectively (or about 5 and 10 Gt including agriculture).
詳細な研究レポート
- The need for office space could be reduced due to dematerializations including fewer bookshelves, thinner screens, less paper, no fixed phones, fewer printers and so on, but it is assumed that this potential has to a large extent already been realized.
- However, some potential still remains in terms of flexi-work spaces, open offices, etc., especially in the global perspective.
Cornell University
- We assess the greenhouse gas emissions of this transition, considering factors including information and communication technology, commuting, noncommute travel, and office and residential energy use.
- We find that, in the United States, switching from working onsite to working from home can reduce up to 58% of work's carbon footprint, and the impacts of IT usage are negligible, while office energy use and noncommute travel impacts are important.
Ubuntu初期設定関連のトラシュー
netplan変更後にやること
ラズパイにUbuntu Server 20.04をインストールして動かすときにネットワーク（wlan0）を設定する場合、netplanを変更するが、一発で設定が反映されないためTipsを書き残す。
sudo vi /etc/netplan/99-cloud-init.yaml ip addr sudo netplan --debug generate sudo netplan apply
RPi4(ROS親機:Ubuntu20.04)とRPi3(TB3実機:Ubuntu20.04)間のPing不通問題
なぜかわからないが、この2台間だけ同セグ通信ができなかった。 双方にGW向けのホストルートを書いて解決。
RViz関連不具合
RPi4にUbuntu Serverインストール後、ROS、TB3のインストールを実行し、 最後にデスクトップ機能をインストールしたところ、RVizが起動しなかった。
qt.qpa.xcb: could not connect to display
これで解決。
export DISPLAY=:1 # run in docker image terminal
Waiting for cache lock: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 3518 (unattended-upgr)
Ubuntuでapt updateができない
Waiting for cache lock: Could not get lock /var/lib/dpkg/lock-frontend. It is held by process 3518 (unattended-upgr)
sudo lsof /var/lib/dpkg/lock-frontend ps aux | grep apt
unattended-upgrades とは
自動アップデートを行うパッケージ。 止め方などは以下参照
sudo apt install -y unattended-upgrades sudo dpkg-reconfigure --priority=low unattended-upgrades Replacing config file /etc/apt/apt.conf.d/20auto-upgrades with new version
聞かれる質問にはNoを選択するらしい marginalia.hatenablog.com
暫定措置
sudo rm /var/lib/apt/lists/lock sudo rm /var/lib/dpkg/lock sudo rm /var/lib/dpkg/lock-frontend
traffic-editorが使えなかったのでHumbleでOpen-RMF環境を再作成
経緯
前回、参考先URLに沿ってFree-Fleetをインストールしたが、Traffic-editorが使えなかったので、環境作成からやり直した。 Humble環境でOpen-RMFをインストール後に、Free-Fleetをインストールする手順で一応、無事に完了したので手順をメモ。 ソースからビルドしようとしていたが２日間くらいハマった。時間がやたらかかるので断念してバイナリインストールの手順に切り替えて実施した。
インストールガイドに沿って手順を進める。
sudo apt update && sudo apt install \ python3-pip \ curl \ python3-colcon-mixin \ ros-dev-tools \ -y sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - python3 -m pip install flask-socketio fastapi uvicorn sudo rosdep init # run if first time using rosdep. rosdep update colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml colcon mixin update default
「ソースからのビルド」ではなく「バイナリインストール」を選択。
sudo apt update && sudo apt install ros-humble-rmf-dev mkdir ~/rmf_ws/src -p cd ~/rmf_ws/src git clone https://github.com/open-rmf/rmf_demos.git -b 2.0.3 cd ~/rmf_ws colcon build
Free-Fleetをインストール。
git clone https://github.com/open-rmf/free_fleet -b main rm -rf ./free_fleet/free_fleet_client_ros2 cd .. source /opt/ros/humble/setup.bash rosdep install --from-paths src --ignore-src --rosdistro humble -yr colcon build --symlink-install --packages-skip-build-finished --continue-on-error --parallel-workers 4
Troubleshooting_1
ビルド時にこんな感じのエラーが出たら source /opt/ros/humble/setup.bash で解決。
CMake Error at CMakeLists.txt:13 (find_package): By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "ament_cmake", but CMake did not find one. Could not find a package configuration file provided by "ament_cmake" with any of the following names: ament_cmakeConfig.cmake ament_cmake-config.cmake Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set "ament_cmake_DIR" to a directory containing one of the above files. If "ament_cmake" provides a separate development package or SDK, be sure it has been installed.
Troubleshooting_2
特定のパッケージのビルドをスキップしたいときは、以下のようにCOLCON_IGNOREファイルを当該Dir直下に作成するとスキップできる。
touch src/ros-visualization/COLCON_IGNORE
Troubleshooting_3
--packages-skip-build-finished：すでにビルド済みのパッケージをスキップしたいとき --parallel-workers 1：CPUが高騰して発熱でシステムが落ちるとき
colcon build --symlink-install --packages-skip-build-finished --continue-on-error --parallel-workers 1
Ref
Open-RMFを使って群制御をやってみる
Env
Troubleshooting_1
root@5901057b3d24:~/ff_ros2_ws# rosdep install --from-paths src --ignore-src -y --rosdistro foxy ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: ff_examples_ros2: Cannot locate rosdep definition for [turtlebot3_navigation2] ff_examples_ros1: Cannot locate rosdep definition for [catkin] free_fleet_client_ros1: Cannot locate rosdep definition for [move_base_msgs] free_fleet_client_ros2: Cannot locate rosdep definition for [nav2_msgs] free_fleet: Cannot locate rosdep definition for [cyclonedds] ff_rviz_plugins_ros1: Cannot locate rosdep definition for [roscpp]
root@5901057b3d24:~/ff_ros2_ws# colcon build
Starting >>> free_fleet
Starting >>> rmf_fleet_msgs
--- stderr: free_fleet
CMake Error at CMakeLists.txt:15 (find_package):
By not providing "FindCycloneDDS.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"CycloneDDS", but CMake did not find one.
Could not find a package configuration file provided by "CycloneDDS" with
any of the following names:
CycloneDDSConfig.cmake
cyclonedds-config.cmake
Add the installation prefix of "CycloneDDS" to CMAKE_PREFIX_PATH or set
"CycloneDDS_DIR" to a directory containing one of the above files. If
"CycloneDDS" provides a separate development package or SDK, be sure it has
been installed.
---
Failed <<< free_fleet [8.85s, exited with code 1]
Aborted <<< rmf_fleet_msgs [16.7s]
これで解決。
sudo apt install ros-foxy-rmw-cyclonedds-cpp
Troubleshooting_2
EOLのROSの依存関係をアップデートする場合のコマンド。
rosdep update --include-eol-distros
Troubleshooting_3
root@5901057b3d24:~/ff_ros2_ws# colcon build
Starting >>> free_fleet_client_ros2
--- stderr: free_fleet_client_ros2
CMake Error at CMakeLists.txt:34 (find_package):
By not providing "Findnav2_util.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"nav2_util", but CMake did not find one.
Could not find a package configuration file provided by "nav2_util" with
any of the following names:
nav2_utilConfig.cmake
nav2_util-config.cmake
Add the installation prefix of "nav2_util" to CMAKE_PREFIX_PATH or set
"nav2_util_DIR" to a directory containing one of the above files. If
"nav2_util" provides a separate development package or SDK, be sure it has
been installed.
---
Failed <<< free_fleet_client_ros2 [23.0s, exited with code 1]
Aborted <<< rmf_door_msgs [2min 25s]
これで解決。
sudo apt install ros-foxy-navigation2
Troubleshooting_4
サーバ機能のみ使いたいので、不要なものは削除。
root@5901057b3d24:~/ff_ros2_ws/src# rm -rf ./free_fleet/free_fleet_client_ros1 root@5901057b3d24:~/ff_ros2_ws/src# rm -rf ./free_fleet/free_fleet_client_ros2
Ref
Docker環境上でROS2 Humble＋TB3のGazeboシミュレーションする
まだ検証中なので、参考サイトやメモを残すだけ。 あとで内容をまとめるつもり。
Troubleshooting_1
mkdir -p ~/turtlebot3_ws/src cd ~/turtlebot3_ws/src/ git clone -b humble-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git git clone -b humble-jp-devel https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_jp_custom.git cd ~/turtlebot3_ws colcon build --symlink-install
ここでエラー発生。
root@1d491d21ae70:~/turtlebot3_ws# colcon build --symlink-install
Starting >>> dynamixel_sdk
Starting >>> turtlebot3_msgs
--- stderr: dynamixel_sdk
CMake Error at CMakeLists.txt:18 (find_package):
By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"ament_cmake", but CMake did not find one.
Could not find a package configuration file provided by "ament_cmake" with
any of the following names:
ament_cmakeConfig.cmake
ament_cmake-config.cmake
Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
"ament_cmake_DIR" to a directory containing one of the above files. If
"ament_cmake" provides a separate development package or SDK, be sure it
has been installed.
---
Failed <<< dynamixel_sdk [0.33s, exited with code 1]
Aborted <<< turtlebot3_msgs [0.27s]
Summary: 0 packages finished [1.04s]
1 package failed: dynamixel_sdk
1 package aborted: turtlebot3_msgs
2 packages had stderr output: dynamixel_sdk turtlebot3_msgs
10 packages not processed
以下を参考にして、ひとまず解決。 https://github.com/ros2/ros2/issues/710
source /opt/ros/humble/setup.bash
Troubleshooting_2
Finished <<< turtlebot3_navigation2 [1.41s] Starting >>> turtlebot3_teleop --- stderr: turtlebot3_teleop /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.16.0-unknown is an invalid version and will not be supported in a future release warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.1build1 is an invalid version and will not be supported in a future release warnings.warn( --- Finished <<< turtlebot3_teleop [10.6s] Starting >>> turtlebot3_example --- stderr: turtlebot3_example /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools. warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.16.0-unknown is an invalid version and will not be supported in a future release warnings.warn( /usr/lib/python3/dist-packages/pkg_resources/__init__.py:116: PkgResourcesDeprecationWarning: 1.1build1 is an invalid version and will not be supported in a future release warnings.warn( --- Finished <<< turtlebot3_example [13.3s]
これで解決。 https://zenn.dev/tasada038/articles/f2f5b500cdc36a
pip install setuptools==58.2.0
Troubleshooting_3
cd ~/turtlebot3_ws/src/ git clone -b humble-jp-devel https://github.com/ROBOTIS-JAPAN-GIT/turtlebot3_simulations_jp_custom git clone https://github.com/robotics-upo/lightsfm cd lightsfm make sudo make install cd ~/turtlebot3_ws colcon build --symlink-install
これをやったらこうなった。
[Processing: turtlebot3_gazebo]
[Processing: turtlebot3_gazebo]
--- stderr: turtlebot3_gazebo
CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:438 (message):
The package name passed to `find_package_handle_standard_args` (PkgConfig)
does not match the name of the calling package (gazebo). This can lead to
problems in calling code that expects `find_package` result variables
(e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
/usr/share/cmake-3.22/Modules/FindPkgConfig.cmake:99 (find_package_handle_standard_args)
/usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:72 (include)
CMakeLists.txt:23 (find_package)
This warning is for project developers. Use -Wno-dev to suppress it.
/root/turtlebot3_ws/src/turtlebot3_simulations_jp_custom/turtlebot3_gazebo/src/infinite_corridor_sfm_plugin.cpp: In member function ‘virtual void gazebo::InfiniteCorridorSFMPlugin::Reset()’:
/root/turtlebot3_ws/src/turtlebot3_simulations_jp_custom/turtlebot3_gazebo/src/infinite_corridor_sfm_plugin.cpp:283:23: warning: comparison of integer expressions of different signedness: ‘int’ and ‘std::vector<ignition::math::v6::Vector3<double> >::size_type’ {aka ‘long unsigned int’} [-Wsign-compare]
283 | for (int i = 0; i < goals.size(); i++) {
| ~~^~~~~~~~~~~~~~
---
Finished <<< turtlebot3_gazebo [7min 21s]
Starting >>> turtlebot3_simulations
Finished <<< turtlebot3_simulations [5.17s]
Summary: 19 packages finished [7min 50s]
1 package had stderr output: turtlebot3_gazebo
root@1d491d21ae70:~/turtlebot3_ws#
こちらを参考に修正。 https://memoteki.net/archives/7187
vi /root/turtlebot3_ws/src/turtlebot3_simulations_jp_custom/turtlebot3_gazebo/CMakeLists.txt -find_package(gazebo REQUIRED) +find_package(gazebo_ros REQUIRED)
Troubleshooting_4
今回利用させていただいたDockerイメージでは、VNCからターミナルを開くとRootでログインできない。 また、ROSのワークスペースが /root配下にあるため、source ~/turtlebot3_ws/install/setup.bash を実行できない。 VSCodeでこのDockerにShellをアタッチするとRootでログインできるので、ここでRootパスワードを変更した。
sudo passwd root
Troubleshooting_5
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
これをやったら、こうなった。
root@1d491d21ae70:~# ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py [INFO] [launch]: All log files can be found below /root/.ros/log/2023-08-02-00-58-41-294663-1d491d21ae70-4888 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_big_wheel.urdf.xacro urdf_file_name : turtlebot3_big_wheel.urdf.xacro [ERROR] [launch]: Caught exception in launch (see debug for traceback): executed command failed. Command: xacro /root/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_big_wheel.urdf.xacro Captured stderr output: error: environment variable 'LDS_MODEL' is not set when evaluating expression 'lds_model=='LDS-01'' when processing file: /root/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_big_wheel.gazebo.xacro included from: /root/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_big_wheel.urdf.xacro
こちらを参考に解決。
https://blog.csdn.net/weixin_45365549/article/details/127225258
export LDS_MODEL=LDS-01
Troubleshooting_6
ubuntu@1d491d21ae70:/$ gazebo ALSA lib confmisc.c:855:(parse_card) cannot find card '0' ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_card_inum returned error: No such file or directory ALSA lib confmisc.c:422:(snd_func_concat) error evaluating strings ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory ALSA lib confmisc.c:1334:(snd_func_refer) error evaluating name ALSA lib conf.c:5178:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory ALSA lib conf.c:5701:(snd_config_expand) Evaluate error: No such file or directory ALSA lib pcm.c:2664:(snd_pcm_open_noupdate) Unknown PCM default AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
これで解決。 https://waregawa-log.hatenablog.com/entry/2020/10/10/234148
root@1d491d21ae70:/# vi /usr/share/alsa/alsa.conf
pcm.!default {
type plug
slave.pcm "null"
}
Troubleshooting_7
root@1d491d21ae70:~# ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py [ERROR] [gzclient-2]: process has died [pid 18100, exit code -6, cmd 'gzclient'].
権限の問題っぽいので、
chmod 777 /root
をしたうえで、Rootを抜けて一般ユーザでturtlebot3_wsに移動して、
export TURTLEBOT3_MODEL=burger source /root/turtlebot3_ws/install/setup.bash
をやってからリトライしたら正常にGazeboが起動した。 同様の手順をほかのTerminalでも実行したところ、正常にTeleopできた。
Ref
docker上でGrafanaとZabbixを連携
ZabbixとGrafanaを連携させようとしてハマったポイント
- コンテナ起動時に再起動を繰り返す
- doccker logs [container id]
mkdir: can't create directory '/var/lib/grafana/plugins': Permission denied
解決策： user: “$PID:$GID”
docker-compose.yml
version: "3"
services:
grafana-zabbix:
image: grafana/grafana:latest
container_name: grafana
hostname: grafana
ports:
- 3000:3000
volumes:
- ./data/grafana:/var/lib/grafana
user: "$PID:$GID"
environment:
- GF_INSTALL_PLUGINS=grafana-clock-panel,grafana-simple-json-datasource,alexanderzobnin-zabbix-app
restart: always
http://[zabbixのIP]:8080/api_jsonrpc.php
なお、PWとIDは「Zabbix API details」のところに入力すればよく、特に「Auth」でBasicなどを選択して入力する必要はなかった。
