Visible to Intel only — GUID: GUID-1E3A67D1-4A7D-4629-8C86-7E63DD6E48C5
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
Visible to Intel only — GUID: GUID-1E3A67D1-4A7D-4629-8C86-7E63DD6E48C5
Intel® RealSense™ ROS 2 Sample Application
This tutorial tells you how to:
Launch ROS nodes for a camera.
List ROS topics.
See that Intel® RealSense™ topics are publishing data.
Get data from the Intel® RealSense™ camera (data coming at FPS).
See an image from the Intel® RealSense™ camera displayed in rviz2.
Run the Sample Application
Connect an Intel® RealSense™ camera (for example, D435i) to the host.
Check if your installation has the amr-realsense Docker* image.
docker images |grep amr-realsense #if you have it installed, the result is: amr-realsense
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 the image is not installed, Intel recommends installing the 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_*/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=12
Run the command below to start the Docker* container:
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/01_amr/amr-sdk.all.yml run realsense bash
Check for latest Intel® RealSense™ firmware updates.
Open the Intel® RealSense™ viewer application:
realsense-viewer
In the Intel® RealSense™ viewer, if any firmware update is available, a window popup appears in the upper right corner.
During the firmware update installation, do not disconnect the Intel® RealSense™ camera. Press Install in the window popup.
After the installation is complete or if no update is available, close the Intel® RealSense™ viewer.
Exit the Docker* image:
exit
Run an automated yml file that opens the Intel® RealSense™ ROS 2 node and lists camera-relevant information.
CHOOSE_USER=eiforamr docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/realsense.tutorial.yml up
Expected output: The image from the Intel® RealSense™ camera is displayed in rviz2, on the bottom left side.
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/realsense.tutorial.yml down
Troubleshooting
In some cases, the stream may not appear due to permission issues on the host. You may see this error message:
ERROR: Pipeline doesn't want to pause.
To fix this, install the librealsense udev rules.
git clone https://github.com/IntelRealSense/librealsense # Copy the 99-realsense-libusb.rules files to the rules.d folder cd librealsense sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules sudo udevadm trigger
Then open the gst-launch command.
If the problem persists, you can try any or all of the following:
Verify that $DISPLAY has the correct value.
Perform an Intel® RealSense™ hardware reset:
# Open realsense docker container docker-compose -f 01_docker_sdk_env/docker_compose/01_amr/amr-sdk.all.yml run realsense bash # While in realsense container, open the realsense-viewer application realsense-viewer # In realsense-viewer menu, go to "More" and then select "Hardware Reset" # Wait for reset to complete and then close the realsense-viewer application.
Reboot the target.
For Intel® RealSense™ documentation, see https://dev.intelrealsense.com/docs/docs-get-started.
For calibration issues, see https://dev.intelrealsense.com/docs/self-calibration-for-depth-cameras.
For general robot issues, go to: Troubleshooting for Robot Tutorials.
Did you find the information on this page useful?
Feedback Message
Characters remaining: