Edge Insights for Autonomous Mobile Robots (EI for AMR) Developer Guide
ID
767160
Date
7/18/2022
Public
Run a ROS 2 Sample Application in the Docker* Container
Run an Intel® RealSense™ ROS 2 Sample Application in Docker* Container
Run a GStreamer* Video Pipeline using GStreamer* Plugins in Docker* Container
Run a GStreamer* Audio Pipeline using GStreamer* Plugins in Docker* Container
Run the Sample Application
Troubleshooting
Run a GStreamer* Video Pipeline using libv4l2 in Docker* Container
Run a GStreamer* Video Pipeline using the Intel® RealSense™ Plugin in the Docker* Container
Optional (Only for Sony* IMX390 Setups): Run a GStreamer* Video Pipeline using Sony’s IMX390 MIPI Sensor in Docker* Container
Run OpenVINO™ Sample Applications in Docker* Container
Run ROS 2 OpenVINO™ Toolkit Sample Applications in Docker* Container
Run Intel® oneAPI Base Toolkit Sample Applications in Docker* Container
Run Profiling Application in Docker* Container with VTune™ Profiler
Run OpenVINO™ Benchmarking Tool
Run the ADBSCAN Algorithm
Launch Wandering Application with Gazebo* Simulation
Launch Wandering Application on AAEON* Robot Kit
Launch Cartographer with 2D LIDAR
Run FastMapping Algorithm
Run ROS 2 Navigation Sample Applications Using the ITS Path Planner Plugin in a Docker* Container
ITS Path Planner Plugin Customization
Run the Edge Insights for Autonomous Mobile Robots Container in KVM Guest
Run a Collaborative SLAM System
Build New and Custom Docker* Images from the Edge Insights for Autonomous Mobile Robots SDK
Troubleshooting for Robot Tutorials
Run a GStreamer* Audio Pipeline using GStreamer* Plugins in Docker* Container
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
Prepare environment setup:
source 01_docker_sdk_env/docker_compose/05_tutorials/config/docker_compose.source export CONTAINER_BASE_PATH=`pwd` export ROS_DOMAIN_ID=34
Run an automated yml file that opens a GStreamer* sample application inside the EI for AMR Docker* container.
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/gstreamer_audio.demo.yml up
Expected output:
#gst-launch-1.0 filesrc location=/data_samples/media_samples/sample.ogg ! oggdemux ! vorbisdec ! audioconvert ! audioresample ! Testsink error: XDG_RUNTIME_DIR not set in the environment. Setting pipeline to PAUSED ... Pipeline is PREROLLING ... Pipeline is PREROLLED ... Setting pipeline to PLAYING ... New clock: GstSystemClock Got EOS from element "pipeline0". Execution ended after 0:01:14.349609320 Setting pipeline to PAUSED ... Setting pipeline to READY ... Setting pipeline to NULL ... Freeing pipeline ...
To close this, do one of the following:
Type Ctrl-c in the terminal where you did the up command.
Run this command in another terminal:
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/gstreamer_audio.demo.yml down
For an explanation of what happened, open the yml file:
The first 23 lines are from the EI for AMR infrastructure.
Line 26 plays the audio file using GStreamer*.
To use your own audio, use the same yml file but update line 26 to target your own file.
For example, copy the file:
cp test.ogg ${CONTAINER_BASE_PATH}/01_docker_sdk_env/docker_compose/05_tutorials/test.oggAnd update line 26 to:
gst-launch-1.0 filesrc location=${CONTAINER_BASE_PATH}/01_docker_sdk_env/docker_compose/05_tutorials/test.ogg ! oggdemux ! vorbisdec ! audioconvert ! audioresample ! testsink
Troubleshooting
For general robot issues, go to: Troubleshooting for Robot Tutorials.