Get Started Guide

  • 2021.3
  • 10/21/2021
  • Public Content

Run FastMapping Algorithm

Run the Sample Application

  1. Go to the
    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:
    ./ 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:
  5. Check the rviz2 output (rviz2 was opened in step 4.c):
    Be sure to add in rviz2 the
    (from world/fused_map) and
    (from Map) using the
    button and
    By Topic


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

Summary and Next Steps

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

Product and Performance Information


Performance varies by use, configuration and other factors. Learn more at