Get Started Guide

  • 2021.3
  • 10/21/2021
  • Public Content

Run FastMapping Algorithm

Run the Sample Application

  1. Go to the
    AMR_containers
    folder:
    cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
  2. Run the command below to start the Docker container:
    ./run_interactive_docker.sh amr-ubuntu2004-full-flavour-sdk:<TAG> eiforamr
  3. Run the following script in the Docker container (Shell-Instance 1):
    source /opt/ros/foxy/setup.bash
  4. Open two new shell-instances, and attach to the running foxy-container in new shells:
    # Run below command from shell-instance 1: # Below command will give you container_id of running docker-container from step-2 docker ps # Repeat below command in 2 new-shell-instances to attach to running container: docker exec -it <container_id> /bin/bash
    1. Shell-Instance 2: Run ROS 2 bag file:
      source /opt/ros/foxy/setup.bash cd ~/workspace/FastMapping/src/tests/ros2 # -loop option is for running in loop the bag ros2 bag play --loop ros2bag
    2. Shell-Instance 3: Run FM node with ROS 2:
      source /opt/ros/foxy/setup.bash cd ~/workspace/FastMapping/src source prebuilt_fastmapping/local_setup.bash ros2 run fast_mapping fast_mapping_node
    3. Shell-Instance 1: Run rviz2:
      rviz2
  5. Check the rviz2 output (rviz2 was opened in step 4.c):
    Be sure to add in rviz2 the
    MarkerArray
    (from world/fused_map) and
    Map
    (from Map) using the
    Add
    button and
    By Topic
    tab.

Troubleshooting

If the following error is encountered:
$ ./run_interactive_docker.sh amr-ubuntu2004-full-flasvour-sdk:<TAG> eiforamr bash: ./run_interactive_docker.sh Permission denied
Give executable permission to the script:
$ chmod 755 run_interactive_docker.sh

Summary and Next Steps

In this tutorial, you learned how to run the FastMapping algorithm.

Product and Performance Information

1

Performance varies by use, configuration and other factors. Learn more at www.Intel.com/PerformanceIndex.