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UPS 6000 and UP Xtreme i11 Robot Kits
Create Your Own Robot Kit
Perception
Navigation
Simulation
Benchmarking and Profiling
EI for AMR Container on a Virtual Machine
Fibocom’s FM350 5G Module Integration
Change Existing and Add New Docker* Images to the EI for AMR SDK
Troubleshooting for Robot Tutorials
Intel® RealSense™ ROS 2 Sample Application
ROS 2 OpenVINO™ Toolkit Sample Application
OpenVINO™ Sample Application
2D LIDAR and ROS 2 Cartographer
Slamtec* RPLIDAR A3 2D LIDAR
SICK* nanoScan3* Safety Laser Scanner
Troubleshooting
GStreamer* Pipelines
Point Cloud Library (PCL) Optimized for the Intel® oneAPI Base Toolkit
Spatial Partitioning and Search Operations with Octrees
Constructing a Convex Hull Polygon for a 3D Point Cloud
Detecting Specific Models and Their Parameters in 3D Point Clouds
Plane Model Segmentation
Surface Reconstruction with Intel® oneAPI Base Toolkit's Moving Least Squares (MLS)
Intel® oneAPI Base Toolkit's Iterative Closest Point (ICP)
KdTree Search Using Intel® oneAPI Base Toolkit's KdTree FLANN
Downsampling 3D Point Clouds with a Voxelized Grid
Filtering Point Clouds with a Passthrough Filter
PCL Optimizations Outside of Docker* Images
Optimized PCL Known Limitation
Optimized PCL Troubleshooting
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2D LIDAR and ROS 2 Cartographer
Slamtec* RPLIDAR A3 2D LIDAR
Connect a Slamtec* RPLIDAR A3 2D LIDAR to your system.
Add a new udev rule.
Create a new file:
sudo nano /etc/udev/rules.d/rplidar.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
Check if your installation has the amr-rplidar and amr-cartographer Docker* images.
docker images |grep amr-rplidar #if you have it installed, the result is: amr-rplidar docker images |grep amr-cartographer #if you have it installed, the result is: amr-cartographer
NOTE:If one or both of the images are not installed, continuing with these steps triggers a build that takes longer than an hour (sometimes, a lot longer depending on the system resources and internet connection).If one or both of the images are not installed, Intel recommends installing the Robot Base Kit or Robot Complete Kit with the Get Started Guide for Robots.
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 the docker_compose environment:
source ./01_docker_sdk_env/docker_compose/common/docker_compose.source export CONTAINER_BASE_PATH=`pwd` export ROS_DOMAIN_ID=114
Get the Slamtec* RPLIDAR serial port:
dmesg | grep cp210x
Check for similar logs:
usb 1-3: SerialNumber: 0001 cp210x 1-3:1.0: cp210x converter detected usb 1-3: cp210x converter now attached to ttyUSB0
Export the port:
export RPLIDAR_SERIAL_PORT=/dev/ttyUSB0 # this value may differ from system to system, use the value returned in the previous step
Run the Slamtec* RPLIDAR tutorial:
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/cartographer.rplidar_a3.lua.tutorial.yml up
Go to rviz2 that is already open, and turn off LaserScan.
Click Add in lower left corner, click By topic, select PointCloud2 from the /scan_matched_points2 topic, and click OK.
The rviz2 window looks like this:
SICK* nanoScan3* Safety Laser Scanner
Connect a SICK* nanoScan3* laser scanner to your system. For the hardware setup and configuration required in a production environment, see the SICK* website.
Get the SICK* nanoScan3* laser scanner’s IP and the host’s IP.
This information can be found when configuring the SICK* nanoScan3* laser scanner using the Safety Designer, in the “Networking” chapter.
Check if your installation has the amr-sick-nanoscan and amr-cartographer Docker* images.
docker images |grep amr-sick-nanoscan #if you have it installed, the result is: amr-sick-nanoscan docker images |grep amr-cartographer #if you have it installed, the result is: amr-cartographer
NOTE:If one or both of the images are not installed, continuing with these steps triggers a build that takes longer than an hour (sometimes, a lot longer depending on the system resources and internet connection).If one or both of the images are not installed, Intel recommends installing the Robot Complete Kit with the Get Started Guide for Robots.
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 the docker_compose environment:
source ./01_docker_sdk_env/docker_compose/common/docker_compose.source export CONTAINER_BASE_PATH=`pwd` export ROS_DOMAIN_ID=114 # Export the Sick NanoScan3 IP and the host's IP export HOST_IP=<host_ip> export SICK_NANOSCAN_IP=<sick_nanoscan_ip>
Run the SICK* nanoScan3* laser scanner tutorial:
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/cartographer.sick_nanoscan.lua.tutorial.yml up
In rviz2, add the LaserScan topic (Add > By Topic > scan/LaserScan), and change Fixed Frame to scan:
Go to rviz2 that is already open, and turn off LaserScan.
Click Add in lower left corner, click By topic, select PointCloud2 from the /scan_matched_points2 topic, and click OK.
The rviz2 window looks like this:
Troubleshooting
For general robot issues, go to: Troubleshooting for Robot Tutorials.
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