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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
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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GStreamer* Audio Pipeline
Run a GStreamer* audio pipeline using GStreamer* plugins in a Docker* container.
Run the Sample Application
Check if your installation has the amr-gstreamer Docker* image.
docker images |grep amr-gstreamer #if you have it installed, the result is: amr-gstreamer
NOTE:If the image is 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 the image is not installed, Intel recommends installing the Robot Base Kit or Robot Complete Kit with the Get Started Guide for Robots.
Go to the AMR_containers folder:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_<version>/AMR_containers
Prepare the environment setup:
source ./01_docker_sdk_env/docker_compose/common/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.tutorial.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.tutorial.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.
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