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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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Robot Teleop Using a Gamepad
Hardware Prerequisites
You have a robot and a gamepad.
This example uses a Logitech* F710 wireless gamepad and the UP Xtreme i11 Robotic Kit.
Add ros-base-teleop to your robot’s yml file.
EI for AMR contains a yml file with ros-base-teleop configured:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers gedit 01_docker_sdk_env/docker_compose/05_tutorials/aaeon_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml
Copy the lines for ros-base-teleop into your generic-robot yml file:
cd <edge_insights_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers meld 01_docker_sdk_env/docker_compose/05_tutorials/aaeon_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2.tutorial.yml up # replace 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2.tutorial.yml up with your yml file
Insert the USB dongle in the robot.
Place the robot in an area with multiple objects in it.
Go to the installation folder of Edge_Insights_for_Autonomous_Mobile_Robots, and prepare the environment:
cd <edge_insights_for_amr_path>Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers/ source ./01_docker_sdk_env/docker_compose/common/docker_compose.source export CONTAINER_BASE_PATH=`pwd` export ROS_DOMAIN_ID=27 sudo chmod a+rw /dev/input/js0 sudo chmod a+rw /dev/input/event*
Start mapping the area:
docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml up # replace 01_docker_sdk_env/docker_compose/05_tutorials/generic_robot_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml up with your yml file
Expected result: The robot starts wandering around the room and mapping the entire area.
After the robot starts to move, you can control it with the gamepad:
To control the robot, keep the top right button labeled 1 in the picture below pressed at all times.
To move the robot on the X and Y axes, enable the mode button, and use the buttons labeled 2 in the picture below.
To rotate the robot in place, use the joystick labeled 3 in the picture below.
To move the robot on the X and Y axrs, disable the mode button, and use the joystick labeled 4 in the picture below.
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