Prerequisites

Enter the command:

sudo nano /etc/udev/rules.d/rpildar.rules

Add these lines:

# set the udev rule, make the device_port be fixed by rplidar
#
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"

Reload the rules:

sudo udevadm control --reload-rules
sudo udevadm trigger

Run the Sample Application

Go to the
AMR_containers
folder:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
Open a terminal. Run the command below to start the Docker* container.
./run_interactive_docker.sh amr-ubuntu2004-full-flavour-sdk:<TAG> eiforamr
ros2 launch rplidar_ros2 view_rplidar_a3_launch.py

Open another terminal. Attach to the running container and get the container ID of your running Docker image:
docker ps
 CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
 ad0af7a34051 ger-is-registry.caas.intel.com/sunsetlake/amr-ubuntu2004-full-flavour-sdk "/docker_entrypoint.…" 3 hours ago Up 3 hours amr_sdk_docker


docker exec -it <container_id> /bin/bash
# (e.g. docker exec -it ad0af7a34051 /bin/bash)
Within the Docker container, run the commands:
source /ros_entrypoint.sh
ros2 run cartographer_ros cartographer_node -configuration_directory /opt/ros/foxy/share/cartographer/configuration_files/ -configuration_basename rplidar_a3.lua
Go to rviz2 that is already open and uncheck
LaserScan
on the left side.
Click
Add
in lower left corner, click by topic and add
PointCloud2
from the
/scan_matched_points2
topic.

Troubleshooting

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

$ chmod 755 run_interactive_docker.sh

Summary and Next Steps