Run the Sample Application

Check if your CPU supports hardware virtualization using the following command. Output greater than zero indicates support is present:

egrep -c '(vmx|svm)' /proc/cpuinfo

If the output is not greater than zero, then reboot your server. Modify BIOS Settings > Security features > Enable Virtualization Technology

Check if Kernel-based Virtual Machine (KVM) acceleration can be used with the commands:

sudo apt install -y cpu-checker
kvm-ok
INFO: /dev/kvm exists
KVM acceleration can be used

Install KVM in Ubuntu* 20.04 using the following commands:

sudo apt update
sudo apt install -y qemu qemu-kvm libvirt-daemon libvirt-daemon-system libvirt-clients bridge-utils virt-manager virtinst
sudo adduser $USER libvirt
sudo adduser $USER kvm


# Check if libvirtd is active
sudo systemctl status libvirtd


# If libvirtd is not active use
sudo systemctl enable --now libvirtd

Create KVM bridge:

Create a new bridge XML file:

vim br_kvm.xml

Add bridge details to

br_kvm.xml

:

<network>
   <name>br_kvm</name>
   <forward mode='nat'>
     <nat>
       <port start='1024' end='65535'/>
     </nat>
   </forward>
   <bridge name='br10' stp='on' delay='0'/>
   <ip address='192.168.124.1' netmask='255.255.255.0'>
     <dhcp>
       <range start='192.168.124.50' end='192.168.124.200'/>
     </dhcp>
   </ip>
 </network>

Define and start

br_kvm

network using the following commands:

sudo virsh net-define br_kvm.xml
sudo virsh net-start br_kvm
sudo virsh net-autostart br_kvm


# Check if autostart is enabled for br_kvm
sudo virsh net-list –all


Name      State      Autostart   Persistent
 br_kvm      active     yes         yes
 default   active     yes         yes


# Confirm bridge creation and IP address
ip addr show dev br_10
13: br10: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc noqueue state UP group default qlen 1000
    link/ether 52:54:00:21:ff:4f brd ff:ff:ff:ff:ff:ff
    inet 192.168.124.1/24 brd 192.168.124.255 scope global br10
       valid_lft forever preferred_lft forever

Create KVM with Ubuntu 20.04.

Download the Ubuntu 20.04 desktop .iso image from
<releases.ubuntu.com/20.04/>
.
Open virt-manager. Click on
File
>
New VM >
Select
Local install media (ISO image or CDROM)
. Choose the .iso file downloaded and choose the operating system that will be installed.

Select the CPUs and Memory. For example: Memory: 4096, CPUs: 2
Add minimum 100 GB for the virtual machine storage.

Select the Virtual Network created above for Network Preferences.

Click
Finish
and start the Ubuntu 20.04 installation.

After Ubuntu Installation, add the Intel® RealSense™ camera to the VM by clicking on

Show virtual hardware details

in Virt Manager >

Add Hardware

>

Select USB Host Device

and Select the RealSense Camera.



Install Edge Insights for Autonomous Mobile Robots using the steps in Install Edge Insights for Autonomous Mobile Robots.

If your system is behind a proxy, you must configure the proxy settings.

Run the Intel® RealSense™ ROS 2 sample application inside the Docker container using the steps from Run an Intel® RealSense™ ROS 2 Sample Application in Docker* Container.

Troubleshooting

If the following error is encountered:

$ ./run_interactive_docker.sh amr-ubuntu2004-full-flavour-sdk:<TAG> eiforamr
bash: ./run_interactive_docker.sh Permission denied

Give executable permission to the script:

$ chmod 755 run_interactive_docker.sh

If the following error is encountered:

Error connecting to graphical console:
Error opening Spice console, SpiceClientGtk missing

Install gir1.2-spiceclientgtk-3.0:

$ sudo apt-get install -y gir1.2-spiceclientgtk-3.0

Summary and Next Steps